Posts by dohlfhauldhagen

    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.

    Hi, maybe i'm late to answer this question, but i just found out that by clicking the simulation button you can increase the Run-Time Refresh Rate.

    About six years late! Haha. I still have performance issues with this software. Unfortunately I'm not talking about what that slider does. All that does is change how often the sim updates the robot's position during simulation playback. What I'm talking about is raw performance while programming a simulation. When I add large CAD files to Roboguide, performance can get very choppy. I recently upgraded to a new computer with a 3080Ti that I had hoped would help fix the issue, but unfortunately, Roboguide is so old and terribly optimized that I don't think it's able to take advantage of newer hardware. Gotta love that we pay thousands of dollars for this crap.

    Hey all. I'm working with a Duaro 2 robot.

    I am trying to pass an argument to a program via a subroutine call from an AS program. The AS program I am calling looks like this:

    .PROGRAM PlaceWarmTray(.Arg1)

    <code here>


    I try to call it from my main program like this:

    CALL PlaceWarmTray(1)

    Every time I try to run the program, I get “Error Code 2018 Check the argument settings in macro pg” on the tablet. The confusing thing is, when I call the program from a tablet program and enter in an argument that way, it works just fine. It just doesn’t work when the program is called from an AS program. Has anyone run into this before?


    You are absolutely correct! I removed my license key and opened my program with the Duaro robot. It powered up and connected the controller just fine. I then tried re-adding the license file and the error came back. So it would appear that my trial license is limited. Hah!

    Thank you for the help. I will have to get in contact with Kawasaki to get a new trial key.

    Here is my version. It appears to be slightly newer, but I find it hard to believe Kawasaki would remove this functionality in such a minor revision update. I am in contact with the Kawasaki employee who gave me the software, so hopefully we can work through it.

    That is what I have been doing. Open robot file, navigate to that directory, add the robot. It loads the model in just fine but always gives me that error.

    I tried reinstalling the software today and on the install dialogue, I did a custom install and made sure that the handling(special) option was installed. It still isn't showing up under my add robot screen though.

    Duaro has been included as standard since version 1.7.2, and the fact it is present in the standard robots folder suggests it is there.

    Are you using the 'Lite' version or have you got a trial license or using a USB Key?

    Can you post some screenshots of your robot selection process you are attempting?

    I am using a trial version that I got directly from Kawasaki to run a simulation on a robot that they supplied to our customer. I definitely do not have that Handling(Special) category on my install. I'll attach a picture of what I do have for selection, and also the error I am getting when I manually open the robot file.

    Have you looked in the Kawasaki/Hisui/Documents folder for the Duaro Handling project manual?

    - This is normally installed as standard with KROSET.

    - It goes through the setup of this.

    - It normally resides in Handling(Special) in the application drop down window when you add a robot.

    Thank you for the reply. I do not have a Handling(Special) section in the drop down windows for adding a robot. I was able to find the robot file in the C:\Program Files (x86)\Kawasaki\K-ROSET\Hisui\KHIlibraries\Robots\Standard folder. However, whenever I load in any variation of a Duaro robot, it gives me a "cannot connect to controller" error, and all of my settings on the bottom of the screen in the controller tab are greyed out.

    the ndx file should already exist, you will find it in home/programs/segments.ndx

    Thank you for the reply. I do not have this directory, let alone the file in any of my backups (It is not in the !program directory either). The only directory that has any ndx files is the index directory. In there, there is no segments.ndx, and the closest thing I can find that might be related is a programs.ndx file.

    I've been on and off the phone with support on this, but I'm still trying to wrap my head around it. I've been told that on ABB paint robots you need to have an NDX file that lists all of your programs, and it also correlates each program to a number that can be received via a group input. Problem is, I have no idea where to create or how to create this NDX file, nor how to tie that file to a group input. I have an entire arsenal of manuals for the S4P+, but none of them seem to really mention an NDX file or any procedures in setting it up.

    Has anyone worked with these NDX files before? This is all pretty foreign to me, as I'm used to normal S4C+ or Robotware 5/6 robots that just get a motors on and start signal, and then the main program just gets the style from the PLC and calls a program from the main.

    Thank you in advance.

    Does anyone have any documentation or manuals relating to an S4P+ controller (NOT S4C+)? We're trying to figure out a way to integrate one of these controllers with an Allen Bradly Compact Logix PLC, and are having trouble finding any sort of info on these controllers.


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