Posts by adeyan

Hi,guys
The people always set the robot speed from teach peadant , I wanna set the robot speed from HMI,what should I do ? I'm a first kawasaki user.
Many thanks to you!

Dear TygerDawg , thank you very much ! I will change my program style

sir,I list my siting as program, please help me point it out my bad point:
.PROGRAM pinwheel()
wait rotate_num>0
count = 1
countb = 1
10 counta = 1
20 HOME
IF countb<=rotate_num THEN
i = 1
ELSE
i = 0
END
SIGNAL -9
WAIT SIG(1012)
JAPPRO #pick,350
WAIT SIG(1003)
LMOVE #pick
SIGNAL 9
WAIT SIG(1011)
WAIT SIG(1013)
LAPPRO #pick,350
PULSE 3,1
; WAIT SIG(1039)
JMOVE s1
; JMOVE s2
IF x<=864 THEN
m1 = 1/2*x-432
ELSE
m1 = (x-864)/2
END
POINT pw1 = SHIFT(put_o BY -1/2*y-1/2*sp+m1,-1/2*x-1/2*sp,(count-1)*z)
POINT pw2 = SHIFT(put_o BY -1/2*x-1/2*sp,-1/2*y-1/2*sp+m1,(count-1)*z)+RZ(-90)
CASE i OF
VALUE 1:
IF counta==1 GOTO 30
IF counta==2 GOTO 31
IF counta==3 GOTO 32
IF counta==4 GOTO 33
VALUE 0:
IF counta==1 GOTO 34
IF counta==2 GOTO 35
IF counta==3 GOTO 36
IF counta==4 GOTO 37
END
30 POINT put = SHIFT(pw1 BY 0,0,0)
GOTO 40
31 POINT put = SHIFT(pw2 BY x+sp,0,0)
GOTO 40
32 POINT put = SHIFT(pw2 BY 0,y+sp,0)
GOTO 40
33 POINT put = SHIFT(pw1 BY y+sp,x+sp,0)
GOTO 40
34 POINT put = SHIFT(pw2 BY 0,0,0)
GOTO 40
35 POINT put = SHIFT(pw1 BY y+sp,0,0)
GOTO 40
36 POINT put = SHIFT(pw1 BY 0,x+sp,0)
GOTO 40
37 POINT put = SHIFT(pw2 BY x+sp,y+sp,0)
40 LAPPRO put,450
SPEED 70 ALWAYS
LMOVE put
SIGNAL -9
TWAIT 0.5
WAIT SIG(1012)
; WAIT SIG(-1013)
SPEED 100 ALWAYS
LAPPRO put,450
; JMOVE s2
JMOVE s1
counta = counta+1
TYPE 2: counta,countb
IF counta>=5 GOTO 50
GOTO 20
50 count = count+1
IF countb<2*rotate_num THEN
countb = countb+1
ELSE
countb = 1
END
IF count>layer GOTO 60
GOTO 10
60 return
.END

many thanks to you !
I always using goto fuction, but I haven't encounter some bad things!
please tell me ,what's the fatal problem about goto , thanks to you !

hello,guys
I faced some questions,so please help me.
And the main program is this:
***********************************
.PROGRAM pg0()
(****main program*********)
1 HOME ;ready to pick
WAIT SIG(1038) ;start from plc
SPEED 100 ALWAYS ;
RESET ;reset
IF count>layer GOTO 1
if pg.no == 1 then
call two_box
end
if pg.no == 2 then
call three_box
end
if pg.no == 3 then
call pinwheel
end
if pg.no == 4 then
call five_box
end
if pg.no == 5 then
call six_box
end
goto 1
.end
************************************
.PROGRAM autostart.pc() #8
WAIT SWITCH(POWER )
WAIT SIG(2)
WAIT SIG(1)
WAIT SIG(1035)
MC execute pg0
.END
************************************
if I call two_box program(sub_program),and the robot has exists error,and it's stoped, how can I return my main program (pg0),now I using teach peadent return
my main program or switch off the main switch of robot, and reboot the robot system. I don't wanna using teach peadent, please help me

many thanks to you
maybe you misunderstand my view, so bits command is one by one from bit, and I wanna no using bits command,because teach pendant of adress is limited, it's have 8 words ,and 1 words it's a system spare. so I can use 7 words, the cc-link system exists two kinds of data type : bit and integer, so I diriectly using integer ,but I dont't know what's the adress about kawasaki robot, but the teach pendant has displayed the data: 1-16.

hallo,guys
if I have 4 points p1,p2,p3,p4 p1 pick point p2 pick high postion p3 put point p4 put high postion,and it's must be sequence from p1-p4,if p3 jump to p1, maybe put the machine broken, that's a diaster
So, I encounter this question ,and I wanna know how to solve it ?
I expected this :
I have 10 kinds of as program, so I must change this ,but sometimes must press the emergency button ,so robot's location it's uncertain.
So I must design a safe operation mode,and it must protect the people and machines ,and how to do it ?

Hello,guys
I'm a new kawasaki robot users,I faced some difficulty,I list this:

I can read the bits from the robot,just like BITS(1089,8),I use cc-link from plc,but bits numbers it's limited,I wanna read a integar from robot,but
I don't know what instructions I can use ?
I screened some picture,please help me
I input 1-16 numbers from HMI, and the teach pendant has displayed the number,but I dont't know what instructions I can use ?

Hallo,everyone
I'm a new kawasaki robot learner ,I don't know how to programming the palletlizing pattern?

please help me!
thanks a lot!

hi,I'm a new kawasaki learner,So I faced a problem,I list this
1 HOME
count = 1
10 JAPPRO #pick,200
WAIT SIG(1005)
LMOVE　#pick
CLOSEI
TWAIT　0.5
LAPPRO　#pick,200
PULSE 5,1
IF count >= 4 GOTO 20
POINT nige = SHIFT(put_o BY (200+50)*(count-1)+70,-70,70)
;WHY X SIDE +70,Y SIDE -70,Z 70

POINT put = SHIFT(put_o BY (200+50)*(count-1))
GOTO 30
20 POINT nige = SHIFT(put_o BY (200+50)*(count-4)+70,(200+50)+70,70)
;WHY X SIDE+70,Y SIDE +70, Z SIDE +70
POINT put = SHIFT(put_o BY (200+50)*(count-4),(200+50))
LAPPRO nige,200
30 LMOVE　nige
LMOVE put
OPEN 1
TWAIT 0.5
LAPPRO put,450
count = count + 1
IF count >= 7 GOTO 40
GOTO 10
PULSE 6,1
count = 1
GOTO 10
and LMOVE put - It's a final put action,So LMOVE nige what's for?