Posts by Gus_akira

THANK YOU VERY MUCH, IT'S SOLVED!
The problem was that as the robot programmer and the PLC programmer, I didn't align the logic properly with the left and right conveyors.

Quote from kwakisaki

So it completes the pallet then?

The robot only runs for one pallet; after that, it gets stuck in a loop.

Oh, sorry! I misunderstood your question.

So, if the master program starts from 0, the robot keeps running until the pallet is finished. But after that, the new pallet doesn’t start again, and it just loops between the master program and PG 14.

If I want to start palletizing again, I need to switch the key to ‘Teach’ and move to 0 in the master program. Then, I switch the key back to ‘Playback’ and press ‘Start’ for the robot to move again.”

It actually goes back to the master program.

The flow is like this:

After VALUE 1, for example, the program goes back to the master program.

CALL PG 14

END

BREAK

END

After that, it returns to PG 14 to continue with the next bag.

Yes, I tried to place it, but I still can't find the problem. If I don't add a pause, it will loop like in the last video.

Here is a copy of the PG 14 program.

So I edited the program as you suggested, but the result is the same as shown in the video. The program starts at the first pickup position, places the bag, moves to the safe position, and then the cycle stops. I have to manually press cycle start again to continue.

;#################################################
;
bag_no_r = 0
bag_no_l = 0
10; Label
BASE NULL
TOOL NULL
HOME; Home Position
SIGNAL -21,-22; Job complete reset
OPENI
BREAK
;
20; Label
;
; JOB LOGIC
WAIT ((SIG(1001)==TRUE) AND (SIG(1005)==TRUE)) OR ((SIG(1002)==TRUE) AND (SIG(1006)==TRUE)) OR (SIG(1008)==TRUE) OR (SIG(1009)==TRUE)
; Work Ready Right C/V or Left C/V or Bag Change Right C/V or Left C/V
;
;Last Bag Change Logic
; Last Bag R C/V
IF (SIG(1009)==TRUE) THEN; Last Bag R C/V
SIGNAL (22); Job Complete R ==> Forced pallet exit
bag_no_r = 0
GOTO 10
END
; Last Bag L C/V
IF (SIG(1008)==TRUE) THEN; Last Bag L C/V
SIGNAL (21); Job Complete L ==> Forced pallet exit
bag_no_l = 0
GOTO 10
END
; Right C/V Ready Work
IF ((SIG(1002)==TRUE) AND (SIG(1006)==TRUE)) THEN; Work Ready Right C/V
; Work type check ==> call pg
IF ((SIG(1012)==TRUE) AND (SIG(1013)==FALSE)) THEN; Bag line right 50KG
CALL pg21
END
IF ((SIG(1012)==FALSE) AND (SIG(1013)==TRUE)) THEN; Bag line right 40KG
CALL pg22
END
BREAK
END
IF (SIG(22)==TRUE) THEN; Job complete R
bag_no_r = 0
GOTO 10
END
;
;Left C/V Ready Work
IF ((SIG(1001)==TRUE) AND (SIG(1005)==TRUE)) THEN; Work ready Left C/V
; Work type check ==> call pg
IF ((SIG(1010)==TRUE) AND (SIG(1011)==FALSE)) THEN; Bag Bag line left 50KG
CALL pg11
END
IF ((SIG(1010)==FALSE) AND (SIG(1011)==TRUE)) THEN; Bag Bag line left 40KG
CALL pg13
END
BREAK
END
IF (SIG(21)==TRUE) THEN; Job completed L
bag_no_l = 0
GOTO 10
END
;
GOTO 20
;
.END


So I edited the signal program like this and used DISP.EXESTEP, but after one pallet is finished and another pallet is ready, the program loops between the master and the palletizing program, and I see the counter keeps counting.

Quote from kwakisaki

1. Is this a system that has been running for sometime (mature) and this issue has just occurred?
2. Is this system under development and testing of robot IO exchanges?

Are the correct signals showing for the correct operation request?

The system is new, and I am currently testing the I/O with the PLC to ensure it runs correctly. However, the problem is that it won't run continuously after finishing one pallet. The I/O configuration in both the robot and the PLC is correct and matches.

1001 is product ready for pickup
1005 is pallet ready
1011 is the product type right now

Quote from Gus_akira

10; Label
BASE NULL
TOOL NULL
HOME; Home Position
SIGNAL -21,-22; Job complete reset
OPENI
BREAK
;

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After finishing one pallet, the robot returns to the master program and stays at the home position. Before that, the 'pallet ready' and 'product type' signals are ON, but 'product ready' is OFF because the product has not yet reached the pick station. At this point, a wait signal is displayed. However, once the product reaches the pick station and all signals are ON for picking the product again, the robot remains in the master program, and the wait signal turns OFF. To restart the robot, I need to manually go to step 0 in the master program and cycle start again.

The program stays at this step that I mentioned.

Also Can you help me send a counter from the teach pendant using variable data display to the PLC? I'm using a Siemens S7-1200 PLC with Profinet communication.

Hello, I'm working on a palletizing system using a Kawasaki CP180L, and I have a problem with the robot's continuous cycle. The condition is that if the pallet is complete and taken by a forklift, a new pallet will arrive, and the palletizing will start again. However, the current condition is different. After the finished pallet is taken by a forklift and the new pallet is ready, the robot does not start moving again. In the teach pendant, all the signals required for the robot to move again are ON, such as pallet ready, product ready, and the type currently running. However, even with all the conditions met, the robot remains at the home position in the master program.

Here is the master program in AS Language
;#################################################
;
bag_no_r = 0
bag_no_l = 0
10; Label
BASE NULL
TOOL NULL
HOME; Home Position
SIGNAL -21,-22; Job complete reset
OPENI
BREAK
;
20; Label
;
; JOB LOGIC
WAIT SIG(1001,1005) OR SIG(1002,1006) OR SIG(1008) OR SIG(1009)
; Work Reay Right C/V or Left C/V or Bag Change Right C/V or Left C/V
;
;Last Bag Change Logic
; Last Bag R C/V
IF SIG(1009) THEN; Last Bag R C/V
SIGNAL (22); Job Complete R ==> Forced pallet exit
bag_no_r = 0
GOTO 10
END
; Last Bag L C/V
IF SIG(1008) THEN; Last Bag L C/V
SIGNAL (21); Job Complete L ==> Forced pallet exit
bag_no_l = 0
GOTO 10
END
; Right C/V Ready Work
IF SIG(1002,1006) THEN; Work Ready Right C/V
; Work type check ==> call pg
IF SIG(1012,-1013) THEN; Bag line right 50KG
CALL pg21
END
IF SIG(-1012,1013) THEN; Bag line right 40KG
CALL pg22
END
BREAK
END
IF SIG(22) THEN; Job complete R
bag_no_r = 0
GOTO 10
END
;
;Left C/V Ready Work
IF SIG(1001,1005) THEN; Work ready Left C/V
; Work type check ==> call pg
IF SIG(1010,-1011) THEN; Bag Bag line left 50KG
CALL pg11
END
IF SIG(-1010,1011) THEN; Bag Bag line left 40KG
CALL pg13
END
BREAK
END
IF SIG(21) THEN; Job completed L
bag_no_l = 0
GOTO 10
END
TWAIT 0.1
;
GOTO 20
;
.END

Also, do you happen to know why, when I power off the PLC and turn it on again, the PROFINET slave module always needs to be assigned a name? This happens every time I restart the PLC—not just with the PROFINET module on the Kawasaki robot, but also with my remote I/O, which requires assigning a name each time I restart the PLC. As you already know, when configuring the robot, it needs to be powered off and on, which causes it to disconnect from the PROFINET network on the PLC. If you know the solution to this problem, please explain it to me. Thank you.

Quote from kwakisaki

Check out the dedicated output signals in Aux 0602.
That is where dedicated signals are allocated for dedicated output assignment.
Disable or re-allocate them accordingly to your IO scheduling.
If being used on your fieldbus, ensure they are allocated within the scope of your fieldbus.

When allocating, you need to ensure:
1 - 960 address values are used for outputs in slices of 16 (word).
1001 - 1960 address values are used for inputs in slices of 16 (word).

Also, be mindful of bytes ordering (byte swapping) that may need to be adjusted in Aux 060803.
I am sure with Siemens you will need to change to big endian (unless you swap on the PLC).

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Hello, thank you for answering me. Sorry for the late reply.
Here is a photo of my actual problem. As you can see, the input does not start at 1001 but at 1. I've read every manual from Kawasaki about I/O, and none of them mention my issue.

Right now, I'm using a Siemens S7-1200 PLC.


With the problem I'm facing right now, I can't assign any input signals because, in the I/O settings, it requires me to start at 1001.

I am currently using a Kawasaki CP-180L robot with an E Controller.

How do I configure the Profinet I/O addresses so that the main I/O of the robot is not interrupted? For example, if Output 1 is used for turning on a motor, but I want Output 1 to be the starting address for Profinet communication, how can I set this up?

I am communicating with the PLC, and it works, but when the robot tries to send Output 1 to the PLC, it is already being used for turning on the motor. I have already allocated the signal for the slave, and the table shows that it starts from 1001, but in actual monitoring, it still shows as 1. Why is this happening, and how can I fix it?

Thank you for your responses and help!

hello i have Kawasaki CP 180 with E controller and i want to change my I/O Communication From hardwiring to profinet with PLC Siemens S7-1200 i already have the profinet bus card but i dont know the function to unlock profinet communication
thank you.