Posts by marianflow

It says SPRIME instead of PRIME and MC KILL doesn't exist here, I will use what I have in this case. At the same time, if I use SPRIME in the pc task, it is seen as a illegal variable, I will probably have to give up on this instruction unfortunately. I would like to ask, is there a way of removing programs from stack without using MC KILL

.INTER_PANEL
1,5,"   Error"," "," "," ",6,0,2001
2,5,"  Repeat"," "," "," ",4,1,2002
3,1," ","   Start","   Robot"," ",4,2,2006,0
4,1," ","   Pause","   Robot"," ",4,2,2007,0
7,6,"  Program","    No.",1,0,-1,2010,2,0,3,1,0
8,1," ","   Clear","  Program"," ",4,2,2008,0
9,5,"   MPower"," "," "," ",3,0,2003
17,5,"   Servos"," "," "," ",3,0,2004
25,5,"   Cycle"," "," "," ",4,0,2005
.END
.PROGRAM autostart.pc()
;
again:
100
IF SWITCH(REPEAT )==TRUE THEN
IF ((SIG(2006)==TRUE) AND (SWITCH(CS )==FALSE) AND (TASK(1)<>1)) THEN
IF SWITCH(POWER )==FALSE THEN
MC ZPOWER ON
SWAIT -2006;
IF SWITCH(POWER )==FALSE THEN
GOTO 100
WAIT SWITCH(POWER )==TRUE
END;
END;
IF TASK(1)==2 THEN
MC CONTINUE
ELSE
IF TASK(1)==0 THEN
SWAIT -2006;*************************;
MC EXECUTE pg0,,1;
END;
END;
END;
END;
;
;
;===========================================
; Interrupt and Clear Program Stack
;===========================================
;
IF SIG(2008)==TRUE THEN
TWAIT 0.15
MC HOLD
WAIT ((SWITCH(CS )==FALSE) AND (SWITCH(RGSO )==FALSE))
BITS 2010,2 = 1
TWAIT 0.1
MC ABORT
TWAIT 0.1
SWAIT 2006
SWAIT -2006
MC EXECUTE pg0,,1;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
END
;
;===========================================
; Hold Robot from button
;===========================================
;
IF ((SIG(2007)==TRUE) AND (SWITCH(CS )==TRUE) AND (SWITCH(RGSO )==TRUE)) THEN
MC HOLD
WAIT ((SWITCH(RGSO )==FALSE) AND (SWITCH(CS )==FALSE))
END
;
;===========================================
; Set IFP lamps to reflect status
;===========================================
;
IF SWITCH(ERROR )==TRUE THEN
SIGNAL 2001
ELSE
SIGNAL -2001
END
;
IF SWITCH(REPEAT )==TRUE THEN
SIGNAL 2002
ELSE
SIGNAL -2002
END
;
IF SWITCH(POWER )==TRUE THEN
SIGNAL 2003
ELSE
SIGNAL -2003
END
;
IF SWITCH(RGSO )==TRUE THEN
SIGNAL 2004
ELSE
SIGNAL -2004
END
;
IF SWITCH(CS )==TRUE THEN
SIGNAL 2005
ELSE
SIGNAL -2005
END
;
TWAIT 0.0016
GOTO again
.END
.PROGRAM pg0()
HOME
BREAK 
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
prod.no = BITS(2010,2)
;
CASE prod.no OF
VALUE 1:
CALL pg1
VALUE 2:
CALL pg2
VALUE 3:
CALL pg3
ANY :
HALT
END
;
HOME
BREAK 
;
.END
.PROGRAM pg1()
ACCURACY 100
JMOVE #l1
ACCURACY 100
JMOVE #l2
ACCURACY 100
JMOVE #l3
ACCURACY 100
JMOVE #l1
ACCURACY 100
JMOVE #l2
ACCURACY 100
JMOVE #l3
ACCURACY 100
JMOVE #l1
ACCURACY 100
JMOVE #l2
ACCURACY 100
JMOVE #l3
ACCURACY 100
JMOVE #l1
RETURN
.END
.PROGRAM pg2()
JMOVE #p2
ACCURACY 100
JMOVE #l3
.END
.PROGRAM pg3()
JMOVE #p3
.END
.JOINTS
#l1 -46.708893 -37.902580 -144.682983 -58.194366 40.939236 7.610317
#l2 -76.424690 -35.992859 -153.777634 42.390236 40.939869 7.609248
#l3 -76.424690 -47.028023 -138.862549 -7.265913 -27.815447 7.608963
#p1 -46.708893 -37.902039 -144.683350 -58.199284 40.940502 7.611310
#p2 -74.472969 -36.988407 -152.004257 31.869734 35.513889 7.607113
#p3 -46.708893 -87.559731 -155.001434 5.463277 -108.029556 7.613131
.END
.REALS
prod.no = 3
.END

I managed to accomplish what I wanted in the end without the ones that don't work. This code looks good enough and it works, thanks to Kwakisaki It has few modifications but not alot.

Right, so.. it looks like MC used with PRIME it's literally missing from syntax or something, I've tried the simplest program possible and it's not able to do anything 😕 if I send PRIME pg0 from keyboard it does work but it doesn't like it with MC for some reason, strange problem. I even created a autostart.pc where there is only MC PRIME pg0 .... just one scan and the same error, I've added delays before and after IF conditions, wierd thing.. , If you have any other suggestions please let me know.

Strange issue, it does the same for MC KILL

It looks like PRIME and KILL are not included in the list, it is probably for newer controllers after C-type

.PROGRAM autostart.pc()
;
again:
100
IF SWITCH(REPEAT )==TRUE THEN
IF ((SIG(2006)==TRUE) AND (SWITCH(CS )==FALSE) AND (TASK(1)<>1)) THEN
IF SWITCH(POWER )==FALSE THEN
MC ZPOWER ON
SWAIT -2006;
IF SWITCH(POWER )==FALSE THEN
GOTO 100
END;
WAIT SWITCH(POWER )==TRUE
IF TASK(1)==2 THEN
MC CONTINUE
ELSE
IF TASK(1)==0 THEN
SWAIT -2006;*************************;
MC EXECUTE main,,1;
END;
END;
END;
END;
END;
;

if I am trying this simplified way , without MC Prime, it does work just fine

Hi, same error on MC Prime, is there anything that I was supposed to enable from OPTIONS?

also step 54 from what I see

My dedicated input signals are set to

30 EXT_CYC_START

31 EXT_ERR_RESET

32 EXT_MTRON

but I am not using them at the moment, same with the dedicated outputs. I am only using internal for now, and they do update util the error

Initially the teach/repeat lamp did update on the I/F, it also got to the POWER on stage but immediately the error occurred when it got to a certain stage: step No. 71 as it shows above .

The teach repeat lamp updates until the error apeares

The PC task is running in PC task area, in the program area is nothing shown, I will check and answer all the other questions as soon as I will get there, thank you

Hi, since I found this topic I thought it would be interesting to ask some questions this way other people can benefit from it. I've been trying to learn and understand the basics of AS language and with plenty of help from Kwakisaki, I have managed to accomplish almost everything I need for my application. I am working with a C40 controller, what I wanted was being able to select and execute programs from teach pendant or externally via physical I/O , without the need to type in Execute, Hold, abort, kill, etc.......and that's exactly what we managed to do, Kwakisaki was extremely supportive and provided me an example o a task that is scanning continuously similar to the one above, and it is exactly what I need but there is only one problem, even if it works perfectly fine in simulation mode, when I am using the same code on the real controller it's not doing anything , what I mean by that is, even if all the buttons are displayed on the Interface Panel, they don' respond in any way when pressed. I have the internal signals enabled, it looks like it doesn't respond to the MC instruction or I am not understanding the exact issue.

At startup, the autostart.pc is running, I can see it on the teach pendant

When I press start, clear, hold, from I/P nothing happens

If I press the physical button on the controller Motor on, the following error is displayed: ERROR (-324) Cannot execute with MC instruction, No=1001 ,

Once the error appears the task stops automatically.

Any ideas?

.INTER_PANEL
1,5,"   Error"," "," "," ",6,0,2001
2,5,"  Repeat"," "," "," ",4,1,2002
3,1," ","   Start","   Robot"," ",4,2,2006,0
4,1," ","   Pause","   Robot"," ",4,2,2007,0
7,6,"  Program","    No.",1,0,-1,2010,2,0,3,1,0
8,1," ","   Clear","  Program"," ",4,2,2008,0
9,5,"   MPower"," "," "," ",3,0,2003
17,5,"   Servos"," "," "," ",3,0,2004
25,5,"   Cycle"," "," "," ",4,0,2005
.END
.PROGRAM autostart.pc()
again:
;
;===========================================
; Set IFP lamps to reflect status
;===========================================
;
  IF SWITCH(ERROR )==TRUE THEN
    SIGNAL 2001
  ELSE
    SIGNAL -2001
  END
;
  IF SWITCH(REPEAT )==TRUE THEN
    SIGNAL 2002
  ELSE
    SIGNAL -2002
  END
;
  IF SWITCH(POWER )==TRUE THEN
    SIGNAL 2003
  ELSE
    SIGNAL -2003
  END
;
  IF SWITCH(RGSO )==TRUE THEN
    SIGNAL 2004
  ELSE
    SIGNAL -2004
  END
;
  IF SWITCH(CS )==TRUE THEN
    SIGNAL 2005
  ELSE
    SIGNAL -2005
  END
;
;===========================================
; Hold Robot from button
;===========================================
;
  IF ((SIG(2007)==TRUE) AND (SWITCH(CS )==TRUE) AND (SWITCH(RGSO )==TRUE)) THEN
    MC HOLD
    WAIT ((SWITCH(RGSO )==FALSE) AND (SWITCH(CS )==FALSE))
  END
;
;===========================================
; Interrupt and Clear Program Stack
;===========================================
;
  IF SIG(2008)==TRUE THEN
    MC HOLD
    WAIT ((SWITCH(CS )==FALSE) AND (SWITCH(RGSO )==FALSE))
    BITS 2010,2 = 1
    MC KILL
  END
;
;===========================================
; Start or Continue Robot from button
;===========================================
;
  IF SWITCH(REPEAT )==TRUE THEN
    IF ((SIG(2006)==TRUE) AND (SWITCH(CS )==FALSE) AND (TASK(1)<>1)) THEN
      IF SWITCH(POWER )==FALSE THEN
        MC ZPOWER ON
        WAIT SWITCH(POWER )==TRUE
      END
      IF TASK(1)==2 THEN
        MC CONTINUE
      ELSE
        IF TASK(1)==0 THEN
          MC PRIME pg0,1
          WAIT TASK(1)==2
          MC EXECUTE
        END
      END
    END
  END
;
  TWAIT 0.0016
  GOTO again
.END
.PROGRAM pg0()
;
  HOME
;
  prod.no = BITS(2010,2)
;
  CASE prod.no OF
   VALUE 1:
    CALL pg1
   VALUE 2:
    CALL pg2
   VALUE 3:
    CALL pg3
   ANY :
    HALT
  END
;
  HOME
.END
.PROGRAM pg1()
  JMOVE #p1
.END
.PROGRAM pg2()
  JMOVE #p2
.END
.PROGRAM pg3()
  JMOVE #p3
.END

Hello, I've ordered a card 8MB from ebay, I have a PCMCIA adapter, the only thing I don't have is the Firmware file and I don't know where to get it from. I've seen that there is a firmware update procedure posted by you on the forum. I am gonna need help with this. Now I regret that I have don the initialization but not much I can do anymore, next time I will think twice. The guy also provided me with a floppy disk but I have no idea what is on it, I need to order a drive so I can plug it into my pc.

I forgot to mention, when I turned it on for the first time, all I was able to see was the Kawasaki logo, not changing even if I was waiting for very long, that's why I did the initialization.

No original data sheets unfortunately.

Hi, unfortunately I only have a file from after the initialization, it's attached below, the guy told me that the battery is empty, I also get the low battery error, I cannot tell for sure if it's completely empty or not. from what I understand it's bad...

from what I am noticing the version of the TP is different from what it says on the door cabinet. the other versions of software match, but I am not sure about this. I am attaching pictures for better understanding.

Quote from marianflow

Hello everyone, I need help and I know that this is probably the only place where I can find some useful information on this topic.

Few days ago I found an ,, opportunity,, someone wanted to get rid of them and I decided to try fixing it, First of all it's a kawasaki controller C40F-A021 that has connected to it a robot arm FA006E-B, when I bought them one of the harnesses were missing but I didn't consider that a big problem. The battery for memory was empty so I decided to initialize the 1GA board.

I started the procedure with the dip8 on, I followed the steps even though it's in Japanese I managed to translate and complete the initializing procedure. On the teach pendant screen it's showing a list of errors and when I press the MENU button I get the message : software does not match..., in Japanese, of course. If I type in any coman on the teach pendant keyboard it's responding as normal but it wouldn' go forward if I press menu. Can you please help me? I have attached a couple of pictures, with translation from Japanese to English. The cpu it's an 1GA board. I've seen another topic about installing firmware, is that also possible? Thank you

Hello, today I've purchased the the kawasaki robot I was talking about previously, ( ux200/ c42F) right now the Robot is in a different location while the c controller as well as the teach pendant are with me, the controller is powered with single phase straight into the AVR power supply. so I can get familiar and practice on it. I will try to learn the AS language and create my own program, I want to disable and remove the interbus card and use ethernet IP as the main communication with an AB plc. I don't know how to do that yet but hopefully you can help me with some information. Since I have a backup, I've performed an initialization of the controller using SYSINIT/U as Kwakisaki told me, I now only have the encoders error which is normal since the robot is missing. The question I have is: how do I disable the interbus card, how can I use the I/O of the controller as a slave for PLC, how to close the safety circuit so I can run it in manual until I have proper safety devices, etc. And what should I focus on in terms of programs before I connect to the actual robot as normal. I am also a bit confused about the inputs and outputs of the controller, for example are those outputs

N_OX1 "CLAMP 1"

N_OX2 "CLAMP 2"

...........

N_OX256 "SPARE"

where are they physically in my controller as well as the inputs? I did have a look in the manual it is saying something about 1GW/1HW but I am not sure if I actually have that in my controller.

🙂