Posts by knowledgesharing

can you please tell X9 in the safemove pro controller box is connected or empty.If connected from X9 to where?. Because in mine X9 is not connected?

Just to know whether its because of this.

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

software sync is showing in green light

also did braketest after downloading.

Thanks for your reply.

I have added a signal in TPO as you mentioned and tied it to stop configration also .

Unfortunately still the problem is not solved.

Dont know where is the mistake...

Attached the screen shot of stop.

But stop config has nothing to do with tool supervision...

Stop config is only for stopping through ext. signal.

if am wrong plz correct it.

What is wired for me is : I have configured the stop in Tool pos supervision. But only a message is coming for violation and its not stoppting.

attached screen shot from tp

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?

Hi,

I am having a Econtroller it has two ports.

port1= it's written data port

port2=

For FTP autosave backup. Should I have to connect my FTP server to port1 or port2?

Thanks in Advance

Hi,

We are planning for a project with Fanuc delta robot.

I like to know?

1. Is the programming delta robot is same as normal 6axis robot or ...?

2. What are points I need to take care in programming when compared to normal 6axis robot?

Thanks in advance.

During the power on can the software sync done automatically. Because in other rob its done automatically after power sync.