Posts by AutomationFeen

I am thinking software issue. I am going to see if we have any other robots with the same software version. This parameter is a way of monitoring if the robot is physically moving. The newer versions have another parameter $ROB_MOVE but the older versions you have to use the $FILTER_EMPT. Basically once all the axis stop moving the "filter" is empty so this parameter goes true.

Hello All,

I am not seeing why this is an invalid parameter name. I have used this parameter several times before without issues. What am I missing?

You don't have to use only block teaching on the kawasaki TP. You can program any AS on the TP as well so you don't have to have a PC to do it. It is a pain on the C controller but much easier on the D controller and the E controller as some good points and bad points but is alright once you get the hang of it.

I hope to one day do projects like these. I know I have a long way to go but I am determined to get there. I have learned a lot working with Kawasaki robots and next month get to start learning Fanuc. I have come a long way with not having any formal schooling. My hat is off to you guys and these awesome projects. I love robotics!!

I have extensive experience with the C controller, D controller, and E controller. To me the D series is by far the easiest to learn and get around. The C controller is way outdated. We have had some issues with the C controller and finding parts for it and the arm. Unfortunately I have not had any experience with Fanuc (but will very soon) so I can't say anything as to how they compare. I don't think there would be any problem for you to learn the AS Language of Kawasaki. It is pretty easy to understand and get the hang of in my opinion.

It may not be the pendant. It could be the board in the controller. By the way you described it with the fading/lines it is very possible that it is the board. What controller is it and do you have any more of the same controller you can try swapping the pendants with to make sure it is the pendant?

If all you are trying to do using the SHIFT command would be much easier. Usually the TRANS command is used with the DECOMPOSE command.

This should work to draw a straight line by 50 in the x direction:
POINT pose=SHIFT(start BY 50)
LMOVE start
LMOVE pose

This should work to draw a straight line by 50 in the y direction:
POINT pose=SHIFT(start BY 0,50)
LMOVE start
LMOVE pose

This should work to draw a straight line by 50 in the z direction:
POINT pose=SHIFT(start BY 0,0,50)
LMOVE start
LMOVE pose

Also what I meant by transformation values of "pose" is the the values stored into "pose". They would be the x,y,z,o,a,t values of pose. There are also joint displacement values they are the joint angles of jt1,jt2,jt3,jt4,jt5,jt6. These variables have a # in front of them an example would be "#pose".

The problem is probably with your LMOVE TRANS. What are you doing with this program? Can you post the transformation values of "pose"?

You need to go to the system switches at AUX 0502 page 2. There you turn on 1 of the 5 autostart.pc switches. This will make the autostart.pc program start automatically. You then make up a program called "autostart.pc" or "autostart2.pc" etc.... It must be called just this or the controller will not recognize it. You write your code in this program. It must not have any motion steps in it. You can also use the command PCEXECUTE autostart.pc (or whatever pc program number you used). You can use the PCEXECUTE autostart.pc -1 to make the program run all the time also.

Cubic S is a software that can be used to setup a "field" around the EOAT and the obstacles in the cell. The software is used to keep the tooling from coming in contact with the obstacles in the cell.

SA stands for "Soft Absorber". It allows the robot to receive external forces and move with those forces without hurting the robot motors/gears. Attached is a manual on it. I have also seen this used to allow gravity to "pull" the robot down.

The Kterm and earlier KCWin programs you can use to control the robot and do anything from a computer that you could do on the pendant. It uses the terminal in the software to communicate with the robot and all the syntax is like typing on the keyboard on the pendant. The software is free if you contact KRI.

It is a little more involed then that. You have to assign the number of signals like you did but you also have to define all the extra signals as well or it won't know what it is looking at. You would be best to contact KRI to get the General fieldbus IO manual or ask them to help. I know the manual has the procedure for setting up all the signals correctly.

Also in the actual program just put "LMOVE #p1" and it will use the (100,50,30,50,30,40) position from the original block step.

Yeah use a text editor and copy the block step joint position into the position variables for AS language. Example the Linear block position (100,50,30,50,30,40) into another variable name like "#p1 (100,50,30,50,30,40)". Minus the quotation marks and it should be under JOINTS section of the backup.

I am sure you will get the chance to see this again and find the answer. Breakers usually dont trip without a reason.

I have only seen this alarm once and it ended up being the MC Unit. After we ohmed all our wiring for shorts/continuity and replaced the KB board we put in a new MC unit and that finally fixed it.

I was wondering if anyone had a copy of ANSI/RIA R15.06-2012 I could get?

If you want pg2 to run then select it just like you would pg1 and put robot in repeat and cycle start it.

It depends on what exactly you are wanting to do. Are you running pg1 or pg2 constantly? Do you want someone to start the program manually or it to call and start pg1 or pg2 by some other equpiment automatically?