KRTerm you will find from this link:
Posts by Alexandru
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Hi,
I am using this gsdml for the robot with input/output module 32 bytes and it is working fine for me.
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You need to be on LVL 3 and from Aux functions --> 21. Motion Setting --> Motion option. There you have Motion Type 2 setting and other many.
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Nu folosesc acea functie, m-am uitat in manualul de operare si spune ca aceasta functie este doar pentru block programming. Ce fel de program ai in acel program?
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Doar pentru o singura pozitie, de asemenea poti sa folosesti functiile DECOMPONSE si TRANS.
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You can find on the kawasaki website:
ZX130S | Industrial Robots by Kawasaki RoboticsRobot Information by Kawasaki Heavy Industries | ZX130Skawasakirobotics.com -
You can also do other safety stuff to avoid the collision:
1. You can set some operations only available on level 3, therefore the operator will not have access.
2. A background program that is monitoring in real time the actual position. For example if the robot is moved in manual mode and the operator will start the robot again, it can not be started.
3. A watchdog for essential part in the robot programming. For example if you have multiple CALL function, at the beginning of the program it will check if the robot itself jumped into the program or not.
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SYSDATA(MSTEP) returns the step number of the motion step in the program in execution. You might need to check if the robot is at a certain step and then the output signal is on.
stepnr = SYSDATA(MSTEP)
IF stepnr > 100 THEN
SIGNAL 10
ELSE
SIGNAL -10
END
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Hi,
The robot needs a fieldbus board mounted in the controller and the OP_FIELDBUS function must be activated. Some details about the board configuration can be found in the General_Fieldbus_IO_Usage_Manual appendix G. I suppose that you are using a PLC.
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On the External IO Manual there is an example with how to switch the programs having an AS program, page 42, appendix 2.1 also @kwsakisaki wrote on post #19. You can not use the RPS function with the AS programs, it is only for BLOCK programs.
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Did you activate the RPS switch from Aux 0502 System switch?
If you can not manage with the RPS function, on the External IO Manual there is an example with how to switch the programs having an as program, page 42, appendix 2.1
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Usually i am using a laptop and connect to the robot via Ethernet cable. In the terminal you have save the points with the function HERE point_name (transformation values) or HERE #point_name (precious values).
If you need to shift more points, then you need to create a position point for each point.
POINT x = SHIFT(taught_point BY X_shift, Y_shift, Z_shift)
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The function SHIFT applies only for one point. Also you can take a look over the DECOMPOSE and TRANS function.
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What kind of laser tracking sensor it is? Give me the model number. What is the purpose of it?
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The PLC will transfer the coordinate from the laser controller to robot. The robot should have a fieldbus board for communication but it is not mandatory.
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I think that the robot has Conveyor synchronous option enable. Please check if in Aux function there is 11. Handling/Palletizing.
From the robot backup, check if those options are OFF:
OP_CVF OFF -3668
CVF_TRACK OFF -3998
if there are ON, put it OFF. Create a .as file with
.ROBOTDATA1
OP_CVF OFF -3668
CVF_TRACK OFF -3998
.END
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Maybe this help you:
1. Set the level 3 for operation level
2. Select auxiliary function 2002 external axis setting and on Page 4/4 you should have linear cooperation.
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To which coordinate you want JT7 cooperative? X, Y, or Z ?
For X offset:
POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,X_offset)
Y offset:
POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,Y_offset)
Z offset:
POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,Z_offset)
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Either you need another button on HMI for JT7 or you need to put the same value from X or Y or Z to JT7.
If you want to shift on X,Y,Z what shifted value you want for JT7?
