Also "MC Continue" reapplies Cycle Start if certain conditions are met!
Posts by selquist
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Thanks for the info selquist. The FS10 is a C controller and the RS010 is an F controller.
OK. The C-controller mfp have an extra column of buttons (compared to a D/E/F-type mfp), so you might need to rearrange a bit, if the mfp is filled. If both pages are in use on the mfp on the old one, you will need to make a few extra buttons for "next page" or "previous page" since there is not a dedicated button for this like on the C-type panel.
Also, I don’t think that the F-controller native have more than 16 In/out, unless it’s fitted with an extra optional IO-board. The C-controller have 0/32/64/96 etc. In/Out normally, depending on the number of IO-boards installed.
I can’t remember if the flange for the tool is different, so maybe you need a new adapter plate or a new mount for the old tool to fit.
I recommend that you get a decent connector-block for the I/O’s instead of trying to solder directly to the 4-layer connector/abomination that it comes with standard.
Something like a Phoenix EAN4046356796606 with the correct cable in between (Think Kawasaki calls them 10-200102L02/L05/L10 where the last two digits determines the length in meters).
Hope it helps.
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Is the FS10 a D-controller or a C-controller?
If D, its a lot easier. Btw you only need to re-teach all the positions that are i "joint" since they will be different. All the transformation values is the same... I would convert the "joint" position in the FS10 to transformation, before backing it up, and the convert them back to joint when they are in the RS10. Its a BIG help when re-teaching/fine tuning afterwards...
When changing from D to E, you can take a backup og the old one and delete everything in the file down till the MFP-data. Then you have a copy of MFP, pg's, vars, strings etc. without risking to screw up any robot data.
If the old MFP uses input/output fields with BITS-command, remember that those values is NOT transferred, so screenshot it before changing.
After that you need to check that IO configuration is the same (especially if the old one is with field bus, and not just digital I/O). Take pictures of the signal allocation, to help with this.
Check system switches in "advanced/system switches" and set the ones in the RS that differ from the old.
When going to E-controller, its a good idea to put a TWAIT (like TWAIT 0.02) in every loop: In the autostart's and in you main pg (if there is no job). This will make it A LOT more responsive.
Do it have a lot of PROMPT-menues in the code?
Hope it helps. If it a C-controller, let me know
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Also, if you are online in KrTerm you can write: opeinfo
This will give you the same information! Good if you are online via VPN and dont have access to the Teach Pendant.
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kwakisaki Yes, fantastic! You are correct! QTOOL is apparently ON in this robot. Though everything is programmed using AS-language, not block teaching. So according to the manual, I must switch it OFF.
We never use block teaching, and therefore have never had the need to work with QTOOL, maybe it has been OFF by default normally, and this robot tricked me by having it ON... Anyway, glad to learn something new today!
In my current application, the operator is allowed to POSMOD/rewrite a position (in TEACH-mode) if he/she is unsatisfied with the current position, but having the TOOL-values disappear randomly made the process unstable and troublesome.... Maybe the real bug is why they did not disappear consistently?
Thanks for the help -
I absolutely agree with you on both points. But in all cases I know of, it was done during some kind of rebuild/change to the existing machinery without having to exchange the robot/arm. Moving only upwards in weight, not reducing (which would increase speed). Again, remember, it’s the same robot regardless of the specs-label...
No, Kawasaki does not support this or uphold warranty, but it was Kawasaki that showed us how to do it
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Hi
Thanks for the many hints in all the other posts. What a friendly forum Hope you will help me too.
I have a RS20N that sometimes/randomly (can’t get any logical statistics) resets the WEIGHT and TOOL-values to null, when switching from REPEAT-mode to TEACH-mode. And for the love of everything holy, I cannot figure out why! When restarting the robot in REPEAT-mode, but without any TOOL-values, well.. You can imagine what’s going to happen
Been programming Kawasaki for the last 11 years not, so this feels almost personal, that I can’t solve it haha...
The controller is fitted with Cubic-S, but we have made no special settings there. The AS/SV versions is ASE_010300X5B/SVE_080000068 so it’s pretty much the latest version.
There are no code anywhere, like in an autostart, that should cause this.
Hope one of you have a good idea. Many Thanks
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Its not so strange. Some of the Kawasaki arms share the same mechanical components, where the only difference are the servo parameters.
We have done it a few times at my old company. Switching between ZX130 / ZX200 and RS30/RS50 etc..
Making a ZX130 run like a ZX200 severely changes the servo characteristics, giving it a slower gentler motion. Used when the engineer made the tool way to heavy for the original specs
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It is multiplied because it uses the position "start" as a basis every time it shifts row. Not the "put"-position. Se the figure on page "6-54" in the language reference manual.
To make a new layer, you can put everything in a IF THEN ELSE, adding 100mm to the z-valueexample
IF layer==0 then
;Calculate the pose for the part in the next row.
POINT put = SHIFT(put BY xs, 0, 0)
END
;
;Calculate the pose for the part in the next column.
POINT put = SHIFT(start BY 0, ys*row, 0)
END
ENDIF layer==1 THEN
;Calculate the pose for the part in the next row.
POINT put = SHIFT(put BY xs, 0, 100)
END
;
;Calculate the pose for the part in the next column.
POINT put = SHIFT(start BY 0, ys*row, 100)
END
END