Posts by brian.b

    I made a BG job to turn off step mode when the TP is off and the system is in auto by using variable $SSR.$SINGLESTEP. I tested it and I can see that the variable changes from 1 to 0. However, when I do this, the step mode indication on the TP (upper LH corner) does not turn off and remains yellow. Does anyone know if those indicators are tied to a variable or what I can do to get that to turn off when it is supposed to?

    To clear it, I have to turn the TP on, put it in step, and then back out of step in order to get rid of the step mode indication.

    I'm trying to change a CPC zone from restricted diagonal to restricted lines.

    I've disabled the CPC currently being used and created and enabled a new one that performs the same function, the only difference is I changed my zone from restricted diagonal to restricted lines. When I go to apply the new changes, I get the following error on the screen that displays: "Too many zone or models? (1089)

    Anyone have an idea what this means? I know my info is vague so if you guys need more info, please let me know and I'll add more.



    Modified integration of T1 and T2 with Fence Circuit

    If the robot is in Teach and the Fence Circuit is closed, T2 is active, if the robot is in Teach and the Fence Circuit is open, T1 is active. Allows a person to safely operate the robot at full speed from the teach pendant if and only if the cell is closed and in a safe production state. Otherwise, speed is limited. We have entirely switched to two mode switches to prevent any risk of injury caused by T2 speeds, this would be a big improvement for us.

    We use DCS to control what I believe you're requesting. Is this what you're looking for?


    If you already know the other robot models, i think it is easy to learn the Kawasaki language. You can take a look over the programming and I/O manuals.

    What do you want to know? Give some examples and we can discuss.

    I pretty much need to know how to config IO to an AB PLC, teach a path to a material handling robot with a "Robot 7th axis," and pretty much make it run in auto.

    If it's cut and dry, I'd like to get my hands on some manuals. Is it similar to Fanuc and you're a certified integrator, you have easy access to their manuals, otherwise, not so much? In other words, if I were to contact Kawasaki, with they give me the manuals I need or do they control that much like Fanuc?

    Plain and simple...

    If I can get my hands on some "how to" material, can I teach myself how to program Kawasaki robots? Mostly path programming, IO config, etc. If this is the route to go, how easily can I get training/operating material? I know Fanuc fairly well and I'm good with Motoman too, so if it's easy, I could potentially figure it out.


    Should I sign up for one of their classes?

    Is Kawasaki comparable to Fanuc or Motoman?

    I received this alarm twice over a period of 20 hours (no other major alarms occurred) while running through our dry run verification. I had to cycle power to clear the alarm and resume normal operation. This is a duplicate cell and the first cell had no issues like this when we integrated that cell.

    Any thoughts?

    ARC Mate 100iC/12
    3 Arm/Ferris Wheel/Mig Welding Cell

    R30iB Plus

    Question #1: I have a tri arm mig welding cell that each arm runs the same amount of welds on an identical part. I want to have the same exact procedures and schedules (to a certain extent) on each equipment. My questions is, can I transfer parameters from a weld procedure off of equipment #1 to a new weld procedure on equipment #2 and so on?

    Question #2: I have duplicate cells that run the same parts on each arm. Is there a file that I can transfer from one cell to another that will transfer all weld procedures and schedules?

    Thanks in advance!

    Take a weld tip that you will be using in the cell and fit a dowel pin into it by drilling the hole out of the tip and pressing the dowel pin into it. Drill and tap a hole for a set screw on the side wall of the tip to keep the dowel pin in a fixed position. If you wanted to, then grind down the tip of the dowel pin to a fine point.

    Reason that I'd like to disable it is to have one less step in touching points up. What I'm programming isn't too complicated and I'm not worried about having an oops here and there. And for whatever reason, I know it doesn't prompt me on all points, seams like it's only on points associated with a circular move. Anyone have an answer to that btw?

    And as long as I'm not trying to rush, I can get away with not having the prompt ask me and there's always the undo feature if I catch my mistake right away.

    Check your wire feeder and the rollers. You might have wire feeding issues causing arc starts. Also blow out the whip with air and/or change the liner that the wire feeds through.

    I took a look at all programs and only found that two karel programs (named comset.vr) are using that variable and I couldn't tell you if that is what is causing it (doubt it though). So far to date, this issue has happened 6 times across 5 cells out of 15 cells that we are currently integrating. I have no experience with karel so I don't know what I can do with that. Also, it has only occurred immediately after startup and not during normal operations.

    Worse case I can run a BG program to continuously set that variable to 0 but that only band-aids the problem. Any other thoughts?

    R30iB+ controller, Mig welders with no use of the hand broken feature(no clutches, shock sensors, etc.)...

    Hello All,

    -I have had an issue with the hand broken feature on at least 3 mig welding cells that I am integrating at this time out of numerous cells.
    -On two of the cells, they were dual arm and on the third cell, it had three arms.
    -I had been working on these cells for at least 3-4 weeks going through the integration phase, path programming, and weld validation with no issues.

    So my issue/concern is that one of the groups has its hand broken signal enabled without me physically changing it myself as I have no reason to. When this occurs, I cannot move my robot around due to the srvo-102 alarm. I can only clear the alarm when I go back into the CONFIG menu and disable it. I attempted to call Fanuc tech support and did not get much feedback other than them telling me that it is not possible that it can go from disabled to enabled without being switch by a person. The last time this issue occurred, the system was running as should be yesterday and I shut down the system at the end of the day. I started it back up this morning and the hand broken signal for one of the groups was enabled causing me issues.

    I have never had this issue before and this is the first time I worked with the 30iB+ controller. Could it be possible that something in a board or somewhere in the controller is triggering this signal or any other reason that the signal is being enabled without a person physically doing it? Any thoughts or comments would be appreciated!

    If anyone is curious, this is what I came up with to run in my BG Logic...

    1: IF (SO[7:TP enabled]=OFF) THEN
    2: $AWEPOR[1].$ARC_ENABLE=1
    3: ENDIF

    I can enable/disable my weld when the teach pendant is on. If my weld is disabled and I turn the teach pendant off, the weld will instantly turn the weld back on. The same can be applied to speed as well when using that variable too. This can be added too with a little tweaking to fit your personal setup.

    Something simple but it helps...

    I want to enable the weld when the teach pendant is turned off. I have operators turning the weld off to manually run through the program and then forget to turn it back on. What steps can I do to fix this issue.

    Thanks in advance!

    100ic Fanuc arm

    So is there not an option to change a parameter to allow the shock sensor to be reset in operate security mode?

    Also, is there an option that will allow me to weld while in teach under the operate security mode?

    Any chance that I can disable the inform list under the edit and/or operate security mode?

    If there are parameters that can change these options, anyone happen to know them?

    An issue I am having on two Motoman welding systems (DX100) is operators and group leaders are modifying programs when they shouldn't be. Granted, I can put it in operator security mode but that will prevent us from running welds manually and/or resetting shock sensor functions (which they're responsible for) when these instances occur. Our current setup prevents us from having individual passwords.

    My questions are...

    Is there any ability to limit functions during editing mode? ie. remove ability to use the inform list, modify arc schedules, etc.? It would be nice to be only available in management mode. The group leaders have some responsibilities in modifying programs but I want to prevent them from doing more than what they're supposed to. In short, I only want them to modify/reteach searches and weld points.

    Would there happen to be a parameter I can set to change anything?

    Is it possible to change the security mode where it will allow a the overrun-shock sensor to be reset?

    Can I disable the inform list button in a particular mode?

    In the end, I was hoping to have our system setup to only allow the ability to reset shock sensor alarms, perform minor touchups (excluding anything from the inform list), and to be able to weld with the teach pendant outside of being in the management mode.

    Any info would be greatly appreciated!!!

    I have a scenario for everyone...

    I had a collision on J1 axis, and long story short, I had to remaster the axis +0.567 to return my tool center point back to where it needed to be. The collision occurred, a robot operator managed to return the system back to normal operation, and continue the process of welding. We had all of our welds off and that's when I re-mastered the axis and got everything back in line.

    My question is...
    Is it possible to monitor collisions on J1 and J2 and create a system fault that can only be reset by logging into the teach pendant and a trained person investigate/reset the fault and return to normal operation? Much like a chain fault/channel 1 alarm???

    My intention is to allow a robot operator to reset a "weak" collision occurrence that may have been caused by a wire stick, arc fault or something that did not create a great amount of force on an axis. However, I do not want the operator to be able to reset an alarm if the collision occurred on the J1 and/or J2 axis or if it was severe enough to move the axis out of position. Could this also be applied to a positioner with a two axis table. I have had it happen in the past that a hoist grabbed the positioner with chain hooks and pull on J1 because the operator was not paying attention. I had to re-master it back 11 degrees.

    Any thoughts would be greatly appreciated!

    We run welding robots with less than a 7kg payload.

    From what I've gathered looking this up, the points of your program must match the axis's physical position within the system. Example, if you open up a door while the robot is moving, the brakes will engage and all motion will stop. While all of this is happening, the robot may "float" or "settle" and put you outside the measured tolerance of a specific position. And on your older cells, if there is "slop" in your brakes, your position may move and put you outside the measured tolerance. All of this happening will be miniscule to the point that you will not see any movement but the controller will, thus showing you the window.

    I'm not sure if this is correct or not. I plan on disabling the measured tolerance feature next week and see how that turns out.

    This occurrence is happening on all of our cells. They range from being installed in 2004 and all the way up to this summer. I found that if you disable the resume tolerance feature under MENU/SETUP/RESUME TOL will get rid of the popup window. I haven't done this yet but I was wondering if I disable this, I will run into any other issues???