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
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
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)
The function SHIFT applies only for one point. Also you can take a look over the DECOMPOSE and TRANS function.
What kind of laser tracking sensor it is? Give me the model number. What is the purpose of it?
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.
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
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.
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)
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?
If you want that JT7 to be moving, you need to shift JT7.
You said that you are using shift to move the point, that will shift only X,Y,Z. To shift the JT7 you need:
POINT /7 shifted_point = TRANS (,,,,,,JT7_offset)
or
POINT shifted_point = TRANS (X_offset, Y_offset, Z_offset,,,,JT7_offset)
it seems that there is a problem with the encoding. Use ANSI in the notepad++. Try to use variables and then set the value for those variables.
SPEED spdvalue ALWAYS
and in the terminal
spdvalue = 100
Yes I have, but it will not help you. It depends on your robot layout. If you dont know how to use the functions, you can take a look in the manual, there are examples there and also SHIFT command it will help you. With the SHIFT command you can have x,y,z offset from the original point and if you want the different gripper orientation you have to use DECOMPOSE function.
First, lets try to pick and place only one box, ok? Lets see the motions and then place more boxes
This is a calculation for the placing the boxes, i used a CASE function
CASE box OF
VALUE 0:
POINT place = SHIFT(place3 BY 0,0,level*hbox)
POINT slide = place
VALUE 1:
POINT place = SHIFT(place3 BY 0,0,level*hbox)
POINT slide = SHIFT(place BY 80,0,80)
VALUE 2:
POINT place= SHIFT(place3 BY 0,0,level*hbox)
POINT slide = SHIFT(place BY 0,80,80)
VALUE 3:
POINT place = SHIFT(place3 BY 383,0,level*hbox)
POINT slide = SHIFT(place BY 80,80,80)
VALUE 4:
POINT place = SHIFT(place3 BY 766,0,level*hbox)
POINT slide= SHIFT(place BY 80,80,80)
ANY :
END
LAPPRO slide,100
SPEED 150 MM/S
ACCURACY 1 FINE
LMOVE place
LDEPART 300
box = box + 1
IF box == 4 THEN
level = level + 1
box = 0
END
Send a picture with the pallet pattern.
Hi,
Usually i am doing the palletizing with one teach point for pick and one teach point for place.
You can use DECOMPOSE, TRANS or #PPOINT function to modify the calculation points.
What is your pattern pallet?
you need a variable to record how long the process takes. For example:
var_time = TIMER(1)
instructions...
CALL program
instructions...
var_time = TIMER(1) - var_time ; this will give you the difference, therefore how long it took...
To save it in the historic you need to create an array variable, for example:
index = 1
time[index] = var_time
index = index + 1
IF index == 20 THEN
index = 1
END
How fast the 7th axis move? You can check if the 7th axis is not moving anymore in a WHILE loop using DISTANCE command.
1. You can find about the compound transformation values at section 3.5.3 or 8.5 from as language manual, do you have it?
2. If you have this point:
POINT aa = (10,20,30,40,50,60)
DECOMPOSE a[1] = aa
POINT aa = TRANS(-a[1], -a[2], -a[3], -a[4], -a[5], -a[6])
This is what are you looking for?
3. If the teashops is the reference point (taught point) and chocolate is the point is where the robot is, the difference might be: PO diff = chocolate - teashops
Usually i have a reference point and based from that position i calculate the points. If you want an offset in tool coordinates:
PO offset = refpoint + TRANS(x_offset, y_offset, z_offset)
or in base coordinates:
PO offset = TRANS(x_offset, y_offset, z_offset) + refpoint
The precision point is with # in front, for example: #applejoint. Once you have this position, in the terminal you can save the transformation point from the precision point:
POINT applejoint = #applejoint
That is your problem... TOOL1 and TOOL2 are used only using block programming.
You need to create the tool1 and tool2 points and put the QTOOL to OFF.
That code is not a Kawasaki code...
type in the terminal list /l tool1 and list /l tool2 and you should have tool1 and tool2 points.