Posts by dohlfhauldhagen

Thanks guys. I'll look into these suggestions when I get a chance.

OK, well I see you edited your post after the fact, so to answer the rest of your questions, my check speeds are the default:

1: 1mm/s

2: 10mm/s

3: 80mm/s

4: 150mm/s

5: 250mm/s

It runs fine in repeat mode at 100%. When I am in teach mode it will throw the fault regardless if I'm on check line, check continuous, or check once. It happens more often when the robot starts rotating and re-orienting.

The robot is on a rail, so it is changing distances to the fixed tool throughout the program. We have 4 different fixed tools, as the fixed tools do not follow the robot when it moves on the rail and there are four different rail positions we are dispensing at. This fault is not occurring when the robot is moving on the rail switching between tools. Here is an example of one of the fixed tool coordinates:

X: 2393.1

Y: -2605.5

Z: 1482.2

OAT all at 0.

The TCP is the same for each rail position, except the Y value is different to compensate for the robot moving on the rail. At all positions the robot can accurately rotate around the fixed tip if the correct tool is selected.

Quote from kwakisaki

It's not an error code, it is a warning.

What makes you say that?
What are the joint angles before, during and after?

What makes me say it is I've been programming robots over 10 years and I'm very familiar with what singularity looks like. This is happening all throughout the 150 line program at where the robot is in many different poses not anywhere near singularity. But just to humor you, my joint values at one of the positions this occurs is:

J1: 112.3°

J2: -6.4°

J3: -10.6

J4: -179.2°

J5: 78.3°

J6: 109.3°

I'm also attaching a picture of the robot at this pose, and you can see for yourself that it is not anywhere near singularity.

If it is just a warning, then why is it stopping my robot and turning my motors off?

What exactly do you mean by joint values before during and after? If I'm at this pose and I tell it to continue the program at check speed 3-5, it will throw the warning up and stop the robot the moment it even barely starts to move, and when I say barely, I mean I can hardly even see the robot moving it's going so slow. It essentially doesn't move, so I guess the values are the same before, during, and after.

If I got to a part of the program with a normal JOINT move instead of a FLIN or FJOINT, the robot will travel and rotate the tool MUCH faster than what I'm seeing when it throws up this warning in a FLIN move. And I will not see the warning on said JOINT move.

"(W1084) Over limit speed in check. Set low speed" is the error code. I can verify that this is not happening near singularity. I just checked to see if I had tool shape enabled for any of my tools and fixed tools, and alas it is disabled for all of them. Does the error code W1084 indicate anything to you? Thank you!

I'm having an issue with an MX350 robot on an E controller. I have a fixed tool that I am teaching a dispense path on. Anytime I run through the program at a check speed higher than 2, the robot will continually stop and throw a message: "Over limit speed in check. Set low speed." It is not a cubic-s error. We have 4 other robots on this line doing the same task and they do not have this issue. My check speed settings are all set to the default. I have the payload set correctly and have verified it is using the correct one via the weight command. My fixed TCP is also accurate. It only seems to do this on FLIN move commands. This is making teaching this robot take an extraordinary long time, as the robot has to be run at a snails pace to not continually error out.

I cannot find anything about this error online or in any manuals. Does anyone have any ideas on what could be causing this error? Thank you in advance.

Kwakisaki you saved my ass again. The option under aux function 2002 for linear axis cooperation was not set. After I got that set up the rail showed up in cubic-s and is tracking properly. Thank you to both of you!

Hello. My team and I are currently working on a cell with multiple MX350 robots with E controllers. Some of these robots are on a rail unit and interact within multiple operator load zones that need safety integrated via light curtains and monitored areas. What we're finding though is that there's no way to track the robot's position on the rail unit (currently set up as J7) in Cubic-S. So for example if we create a select monitor area in front of the robot and then slide the robot down the rail three meters, Cubic-S still thinks the robot is in front of the operator load zone.

The only thing we can think of trying is monitoring the joint value of the rail and then disabling the monitor areas once the robot is at a certain point of the rail, but this is not ideal as those zones will technically become "unsafe", and there are multiple positions on the rail the robot can reach into the zone, so we would need to make that zone larger than needed to account for that. The cleanest solution would would be to have the ability of Cubic S to track the robot's rail position.

We've had a couple of use reading through the manuals trying to find anything, and so far we're stumped. Does anyone here have any experience with this? Thank you.

Quote from kwakisaki

Why would you be changing tool numbers between motion segments when you are using a single fixed dispensing fixed tool?

This robot has an ATI tool changer and is handling multiple processes. It can drop off the material handler tool and pick up one of two different self piercing rivet guns. The customer is requiring us to use TOOL1 and TOOL2 for the rivet guns, each has their own defined payload. The material handler uses TOOL3 again with a separate payload. So when we are moving the part around we are using TOOL3, but when we present the part to the fixed dispense tip, we begin teaching with the fixed TCP, which is defined as TOOL1 under the fixed tool setup. Yeah, it's a mess... but it's the way the customer wants us to do it.

So I tried out your suggestion, and it seems to work with a twist. On one hand it works like you predicted. If I have a JOINT move using TOOL1 and then that is followed by an FJOINT move, the FJOINT move will execute with the payload settings of whatever it was on the last normal JOINT or LINEAR instruction before it. So in this case if I had an FJOINT move with TOOL2 after a JOINT move using TOOL1, it will use the payload for TOOL1 in that FJOINT move.

I'm seeing a different story though if I jump the program pointer directly to the FJOINT instruction and skip over the JOINT instruction in manual mode. In this instance, the payload setting will take the TOOL defined in the FJOINT instruction and use the payload associated with that non-fixed tool number. So in the same example if I skip the JOINT TOOL1 move and go directly to the FJOINT TOOL2 move, the FJOINT instruction will use the payload settings for TOOL2 instead of TOOL1.

Thanks again for your help. This cleared up a lot.

Thank you, I'm still confused though. My robots are carrying tools and parts that are over 200kg, and they presenting the part to a remote dispense tip, so I will need a way to define a load for that tool. Take a look at this line of code here for example:

FLIN 200. ACCU2 TIMER0 TOOL1 WORK0 CLAMP1 (OFF, 0, 0, O) OX= WX= CL1 = 0.000, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 #[-36.292, 51.933, -27.804, 16.303, 75.671, 114.41, -1200]

In this instruction, will the robot derive the load data from tool 1 under the "Tool Coordinates" menu on the robot? Or since it is an FLIN instruction, will it be looking at tool 1 in the "Fixed Tool Coordinates" menu, which doesn't have any load data defined?

If it is the former, then I'm all set and good to go. If it's the latter, than how do I define the load for a fixed tool move?

Thank you again.

Hello. I have a question that I can't seem to find an answer to in the manuals. When programming in block, the manual says that the load of the tool is defined in the tool coordinate screen, and I can find that pretty easily. What I see no mention of is how the load is defined when using a fixed tool. My robot still is carrying a tool that needs a defined payload when using the FLIN and FJOINT instructions, yet there is nowhere in the fixed tool coordinate screen to set that like there is on the normal tool coordinate screen. If the robot is using tool1 with an FLIN/FJOINT instruction, does it just derive that load data from the normal non-fixed tool1, or from somewhere else? Thank you!

Thank you very much for this information. It really is as simple as you say. I've been told by multiple other people working with us on this job that Kawaski doesn't have that functionality, and I couldn't believe it. I must have missed that section of the manual when I was perusing them... there are after all thousands of pages of manuals. Cheers!

dm.bogachev I have the latest beta version 1.1.4.9 and this is still an issue on my machine.

Hi all, I'm a new Kawasaki user and we have a cell with some MX350 robots on E controllers. I'm used to Fanuc and ABB where I can assign names, comments, or aliases to my signals/IO. So far I'm not seeing any way to to do this in AS language. Is there any way to assign a name to a signal on these robots? Or do I have to have my programs full of a bunch of signal numbers that I have to cross reference to an external document to know what their function is and pray to god that whoever works on these robots comments correctly? Thank you in advance.

I got it. I double checked the produced and consumed tag values with the EDS again, and I guess I did have it backwards. I have communication now. Thank you again for the support!

Thanks for the replies guys. That last picture of the Balluff config is just from the manual, so that IP address is not reflective of what I'm actually using. All are on the same subnet and I can ping all devices from my PC. I do have the EDS as well and did verify that producing and consuming values were correct. Like I said, I'm extremely new to the Kawasaki system and right now I'm just using equipment we have around the shop to teach myself.

Unfortunately, I am on the road now for a different job and can't look into some of your suggestions right now. Hopefully I will be able to later this week and provide an update.

Hello all. I'm very new to Kawasaki after being used to ABB and Fanuc for most of my career. I have an MX350L robot on an E controller, and right now I'm just playing around trying to familiarize myself with the programming environment.

Right now I have a small test network setup with an Allen Bradley PLC, a Balluff input block, and the robot. I have the robot connected to my switch via port 2, and everything is assigned a 192.168.11.xxx address. I was able to establish comms between the PLC and robot as an adapter, however I am really struggling getting the robot to communicate with the IO block as a scanner.

Attached is a pic of my PLC config to talk to the robot, my network setup for the adapter, and my config settings for the scanner device. The pic also shows the assembly and input/output instance settings for the Balluff block from the manual. If I make the PLC the owner of the Balluff block with these settings, it works just fine. But I want the robot to have control over this device, not the PLC, and that's where I'm running into trouble. After I set this all up and run the TYPE EIPSTATUS(1) command in KRterm, I always get a 0 indicating that there are no communications between the robot and the Balluff block.

I should mention that I am referencing the General Fieldbus I/O Usage Manual. And I should also say that it is somewhat confusing for me. I don't really understand what the manual means when it talks about allocating signals as master or slave. I'm not used to seeing this terminology anywhere except for when I've worked with Devicent in the past. I also cannot seem to get the ZSIGSPEC command to work, as KRterm says the operation is not allowed. On top of that, I don't really even understand what this command does, as the manual does not do the best job spelling it out in layman's terms.

Any direction on this would be super appreciated, thank you.

So about half a year ago ABB updated RobotStudio and removed all colors from the interface. Normally I'm not one to complain about UI changes, but the fact that they removed all color has made it difficult to navigate and find what I'm looking for at a glance. I've messaged ABB and looked on their forums to similar threads where people have protested the change, and they seems completely uninterested in reverting this change or even giving an option to.

Does anyone know of a way I could restore the icons to the old style without downgrading my RobotStudio version? I tried digging around the program files for the program, but I was unsuccessful in finding any of the icons to replace. I'm guessing that they're embedded in some dll file that I cannot edit, unfortunately.

I know it's a long shot, but doesn't hurt to ask. Thanks.

I figured it out, for anyone else with this question, yes you do need some sort of external brake control in addition to DCS, at least that's what I'm gathering from my conversations with Fanuc. I did find one made by Fanuc already integrated into the controller with part number A05B-2605-C400.

I am designing a cell that has an R-30b Plus Controller. This contains a dial table with a trunnion on each side. I'd like to be able to disable one of the trunnions and the dial while the operator is loading one side of the table, and keep the other trunnion active that the robot is working on. Do I need to use a local stop to accomplish this? I was under the impression that DCS would be able to handle this, but I'm being told by my customer that I wont have individual brake control over each axis, and that I need to have a separate brake control unit to do this. I talked with Fanuc, and they weren't very helpful. They told me that the local stops are "out of the scope of the robot" and to contact my vendor about it, who I'm still waiting to hear back from. According to a doc shared with me, local stops are interfaced with the CRM97 connector on the 6-axis servo amplifier.

This just threw me in for a loop because I have worked on similar systems to this before, and I don't recall ever seeing an external brake control box on any of those cells. Does anyone here with experience on this have some input? Can I get by with this using just DCS? Or do I need DCS in conjunction with the local stop? Thank you.