Nobody is using interrupts in kawasaki robot ? hehe
Posts by DannyDJ
-
-
Hello! I would like to know how to do interrupt routine like in KUKA robot. In Kawasaki i done it with ONI CALL. When signal is off the robot stops, but when it resumes back from interrupt it does not continue with the current move but goes to next step(which in my case is the next robot motion). It never completes the current robot motion. In KUKA if you didn't use the RESUME at the end of interrupt it always complete the current robot motion.I found something about #DEST function which tells you where to the robot wanted to go but don't know how to properly use it.
8 ONI -1022 CALL chk_off_t1,1
9 JMOVE #p1
10 JMOVE #p2
11 JMOVE #p3
IGNORE 1022.PROGRAM chk_off_t1()
DO
UNTIL SIG(1022)
ONI -1022 CALL chk_off_t1,1
RETURN
.END -
Hello! I have a Kawasaki FS30L connected to C4x Series Controller. I cannot drive the robot because it is always in EMERGENCY STOP. i have revired the TB2 connections according to External IO manual and according to that manual i should be able to drive the robot but still it is in EMERGENY STOP. IF i disconnected for example: External hold i can see the changes. I'm using 24V+ internal supply on TB2 but when i measure the CH1 stop i don't have 24V+ on CH2 stop i have 24V+.
Can it be also that there is some digital input used also for EMERGENCY STOP that has to be set accordingly?
Any help would be appreciated
-
Hello! Is it possible to add more then 10 groups to CONFIGMON.INI file and more then 25 items per group? Is there some variable that can increase this limits?
-
I agree. With RSI you mean Robot Sensor Interface? Connect the force sensor on the tool with RSI. And what would be purpose for using Safe Operation? What about Force Control package?
-
Hello! I was wondering if this can be done or if anybody already tried to program KUKA robot with lead through like on this video: The easy way of programming ABB robots I was thinking with option with soft servo mode on all axes, but define the parameters curr_red so that axis 2 and 3 don't fall down.
Any opinions or solution are welcome