Posts by knowledgesharing

    I sent safety config file to abb.


    They loaded in Virtual computer and they are saying it's stopping for them. which means there is no error in safety configuration. other possibility comes to my mind is wiring.


    In our cell, Safety is harware wired. when door is open robot will not got to auto. When Estop pressed robot will not move.


    My question:

    1. In the safemove pro.for cell violation. do we need to connect to Gs or AS or... through hard wired cable.


    we are not using profisafe.

    Thanks in advance

    Stupid question first: did you reboot the IRC5 after Writing the SafeMove config to the controller?


    YES(when I downloaded the safety config from robot studio to robot. The controller was restarted. Warm restart)


    Second question: what safety mode is the robot in?

    Safety supervision mode.

    Hi,

    1. Safe move pro
    2. Configured cell area using safe zone(allow inside).
    3. and used Tool position supervision and configured to stop catagory 0 with permentant active.
    4. screenshots attached


    When I jog the robot out of cell area. only the message is coming in TP that cell area is violoated and it not stopping.


    Can you anyone know the cause why its not stopping?


    Thanks in advance.

    Hey Kawasaki

    Once again am telling that am not focusing on the syntax. am focussing the transformations only.


    you have written all the transformation commands.


    My main point is

    1. Dynamics behind adding two points?

    2 Difference between two co-ordinates? Just subtracting two pos will not give you difference. That's 3d dynamics.

    3. transforming frames.

    Hi Kawasaki,

    My point of interest is not in syntax. My point of interest is in transformations. That's why for understanding I wrote frames and point without syntax.


    MoveL fruits+orange;; from current position it goes to z100+ in base co-ordinate

    DrawT fruits+orange;; from current position it goes to z100+ in tool co-ordinate

    MoveL fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in base co-ordinate

    DrawT fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in tool co-ordinate


    Can you please tell the dynamics of

    1. POINT test = test1+test2 ;;;(visually its adding of two pos) what is the dynamics?

    2. how to make a inverse of a position? inverse of chocolate? is it aa= -chocolate or ..?

    3. aa=-chocolate+teashops. will give the difference between the pos. correct or ?

    Let's Say

    Frame testframe (200,100,500,45,56,90)

    tool alpha (50,50,100, 10,0,0)

    point apple = Trans(100,0,0,0,0,0)

    point Orange = Trans(0,0,100,0,0,0)

    teashops (456,234,598,34,23,78);;;Teached pos

    chocolate(45,34,45,60,67,110);joint pos reached

    frame addframe(100,0,100,0,0,0)


    tool alpha

    MoveL testframe+teashops;; Move to teashops with respect to testframe. with the alpha TCP

    here testframe+fruits ; records the current position with respect to testframe and with alpha TCP


    MoveL fruits+orange;; from current position it goes to z100+ in base co-ordinate

    DrawT fruits+orange;; from current position it goes to z100+ in tool co-ordinate

    MoveL fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in base co-ordinate

    DrawT fruits+orange+apple;;;; from current position it goes to z100+ and x100+ in tool co-ordinate

    point chocolate=#chocolate,teashops;;Converts the chocolate joints to cartesian with teashops configuration.

    frame newframe=testframe+addframe ;; adding x100 and z100 to the testframe.

    MoveL newframe+chocolate; moves the TCP to chocolate with respect to newframe.


    1. Is the comments wrote behind the command are correct ? If not please correct me.

    2. How to find the difference between two position? is it aa=chocolate-teashops??

    3. how to make a inverse of a position? inverse of chocolate? is it aa= -chocolate or ..?


    Thank you.

    Thank you.


    As far us I understood


    for joint toCartesian

    point Pcartesion=#PJointvar


    For Cartesian to joint

    point #PJointvar=PCartesian


    1. am I correct?

    2. While converting from joint to cartesian. Does it gives the value with world frame and null tool OR ..?

    3. While converting from joint to cartesian. How to convert to cartesian with specific to certain tool and frame?

    4. In Kawasaki is there forward and inverse transformation function?


    Thanks in advance

    Hi,
    Can you please tell me in kawasaki how to calculate Cartesian from joint?
    eg.


    Applejoint=(45.5,23.3,98,89.9,45.1,110.3)
    Apple=(x,y,z,o,a,t)?


    how to calculate apple with reference to tool and a frame?


    Thank you

    Hi,

    Can you please tell me what is the syntax for user defined function?


    For Eg

    .DEF testfunction(.apple,.orange)

    .Result=.apple+.Orange

    Return .Result

    .END


    whatis=testfunction(3,2)


    so whatis will be 5. I made a syntax error in user defined function.


    Can you please tell me what is the function of the user defined function?

    Hi,

    Can you please tell me what is the software variable for collision detection? And the variable to set the collision detection?

    Note: am not talking about turning on through teach pendent

    for eg,

    If (colldectionvariable=off then

    colldetectionvariable=True

    col_j1=500

    col_j2=500

    col_j3=500

    col_j4=500

    ....


    Thanks in advance

    Hi,


    I need to pack different type if variables in one. For eg,


    In KUKA = it’s called STRUCT. STRUCT variable1 int v1, bool: v2,v2, Real :v4,v5


    In comau its called=Record.

    Record variable1

    Int v1,v2

    Bool v3,v4,

    Real v5,v6,

    END Record

    1. Can you please tell me how is it called in Kawasaki robot?

    Thanks in advance.

    Hi,


    Currently I am taking FTP autobackup through port1(data port) and working.


    But when i connect it to port2 then its not working.


    Can anyone tell how to change the autobackup from port 1 to port2? OR in kawasaki autobackup is only from port1?

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