Posts by TRapp

  • restore TOOL after teaching

    Hello,

    When the customer changes the TOOL in teach-mode and forgets to switch back before continue automatic operation,

    the robot will most likely crash somewhere using the wrong TOOL offset.

    Is there any option or system switch to force the system to switch back to the original TOOL ?

    Or could I set an error-trap to save the current tool and restore it after teach mode?

    I haven't found anything in the manual or robot forum about this topic.

    Do you have any strategy to prevent this hazard ?

    Thank you for any help :smiling_face:

  • Kawasaki manuals and documentation

    Thanks a lot for the link to Kawasaki Download center - that will be helpful !!!

    I only had those few manuals which came with K-Roset and K-IDE.

    So there are many items and functions which are not described in those few manuals.

    For example it took me a full day to find out the reason why I couldn't increase the speed of the robot in automatic mode.... it was the dedicated input signal "EXT.SLOW REPEAT MODE" ... how to find that without proper documentation? :grinning_face_with_smiling_eyes:

    Thanks - I hope I will find more information in the download center :smiling_face:

  • Kawasaki manuals and documentation

    The original PDF manuals "Kawasaki-Language_Reference_Manual" "Kawasaki_Instruction_Manual" are not indexed.

    Sometimes it's time consuming to search through the PDF.

    Now I found the K-IDE language manual "ASRef_en.pdf" has tags :thumbs_up:

    for example if you're looking for "TRANS" instruction - just search for "kide_TRANS"

    (within K-IDE software you can also just mark the instruction and press ALT+F1)

    You can find the KIDE (and other software) on ftp.kawasakirobot.de/Software/

    Anyway ... there are still many topics I can't find in the documentation at all .... :loudly_crying_face:

    for example on the teach pendant "AUX data setting", "AS language mode setting", "system" settings, "advanced setting" etc ....

    Does anyone have more manuals/documentation which I could use ?

  • Can not find debugger. How to single-step from the PC ? How about breakpoints ?

    Quote from kwakisaki

    you guys could benefit from doing a Kawasaki training course or two

    Hello Kwakisaki,

    Yes - I am trying to arrange a training - it's just not so simple with the agent here in Taiwan.

    Currently I use K-IDE and now I'm trying to get K-Roset from the agent.

    I already downloaded your Notepad++ and Kterm - thanks a lot - that is very helpful. I already found many useful functions using the terminal:thumbs_up:

    But I was not able to actually move the robot from the terminal ... for example TDRAW 0,0,10

    I tried in manual and automatic mode - but the controller always replied that it was not allowed in the current mode .... is that a safety limitation ? :thinking_face:

    The documentation is only available as PDF ? Because in the PDF the syntax is not bookmarked/indexed - so I can only use the text search and it will always take some time to find certain keywords (Appendix 5 AS Language List only shows the chapter ... no page numbers).

    I also didn't find anything about parameters in call instructions ... for example:

    CALL wait_sensor(vacuum_sensor, 2)

    Code
    .PROGRAM wait_sensor(sensor_no,timeout) #0
    i=0
    while SIG(-sensor_no) AND i<timeout*10 DO
        TWAIT 0.1
        i=i+1
    end
.END

    Does this work and does the controller use "sensor_no" as local variable in this case ?

    And what is the #0 in the .PROGRAM line ?

    Sorry for many questions ... I just started ... :smiling_face:

    Thank you

  • Can not find debugger. How to single-step from the PC ? How about breakpoints ?

    Quote from robotreto

    - So it is not possible to single-step your programs from the PC

    - You need the Pendant and a Terminal, where you have to type STEP for each line.....

    - On-The-Fly changes of code is not possible, you have to stop debugger, make code-changes, save them, and freshly restart the simulator and debugger at line 1 of your code.

    I just started with a Kawasaki project and face exactly the same problems as you.

    (I also have many years of experience with ABBrapid and V+)

    I've spent the whole day reading Kawasaki manuals, searching online solutions and trying to work with K-IDE. I'm desperately searching for a way to code/debug through my PC instead of using teach pendant.

    Do you have any update or suggestion ? :help:

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