Posts by Amsterdam

You can use the AS command:

sysdata(tool.vel.cmd)

set it to a variable in a PC program.

Take a look at the first 2 videos of this series:

Here is a series of Tutorial Videos for Kawasaki Robot Programming.

Each of the Youtube link is for a playlist that contains about 10 videos on each topic.

TOOLS

KRterm

KTools

KRoset LITE

BASICS

AS Programming Basics

Teach Pendant Operations

INTERMEDIATE

AS Programming Intermediate

IO and Communication

SPECIAL TOPICS

DuAro

Cubic-S Simulation Function

Thank you very much for this post. I know it is old, but I was in the same situation.
I bought a new RP1 cable from Fanuc and it did not have a jumper between pin 30 and 37. I had the same overtravel issue, but I got it solved in a few hours thanks to your post.

Thank you for your answer, sorry for taking so long to reply.
After reading your message, I tried to access that variable but was unable to do so. So I started looking for another solution. In case some people have the same problem in the future, this is what I did:

I actually have a HMI with GE Proficy View connected to the robot. I used the Proficy System Variable #CurrentTime in a script to set 6 registers on the robot (Year, month, day, hour, minutes, sec). It copies the time on the HMI to register and updates it every 200ms. This is what the (simple) script looks like:

R_41 := #CurrentTime.YR
R_42 := #CurrentTime.MO
R_43 := #CurrentTime.DAY
R_44 := #CurrentTime.HR
R_45 := #CurrentTime.MIN
R_46 := #CurrentTime.SEC

And then I created some background logic in the robot to reset the Shift counter and record the part count for the past 7 days as well. This si what the background logic code looks like.

2: IF (R[44:Hour]=23 AND R[45:Minute]=30 AND R[46:Second]=0),DO[170:SHIFT 1 RESET]=PULSE ;
3: ;
4: IF (DO[170:SHIFT 1 RESET]=ON) THEN ;
6: R[79]=R[78] ;
6: R[78]=R[77] ;
6: R[77]=R[76] ;
6: R[76]=R[75] ;
6: R[75]=R[74] ;
6: R[74]=R[73] ;
6: R[73]=R[72] ;
6: R[72]=R[71] ;
7: R[71]=0 ;
8: ENDIF ;
3: ;
3: ;
2: IF (R[44:Hour]=7 AND R[45:Minute]=30 AND R[46:Second]=0),DO[171]=PULSE ;
3: ;
4: IF (DO[171]=ON) THEN ;
6: R[89]=R[88] ;
6: R[88]=R[87] ;
6: R[87]=R[86] ;
6: R[86]=R[85] ;
6: R[85]=R[84] ;
6: R[84]=R[83] ;
6: R[83]=R[82] ;
6: R[82]=R[81] ;
7: R[81]=0 ;
8: ENDIF ;
3: ;
3: ;
2: IF (R[44:Hour]=15 AND R[45:Minute]=30 AND R[46:Second]=0),DO[172]=PULSE ;
3: ;
4: IF (DO[172]=ON) THEN ;
6: R[99]=R[98] ;
6: R[98]=R[97] ;
6: R[97]=R[96] ;
6: R[96]=R[95] ;
6: R[95]=R[94] ;
6: R[94]=R[93] ;
6: R[93]=R[92] ;
6: R[92]=R[91] ;
7: R[91]=0 ;
8: ENDIF ;

I am sure there are easier/better ways to do this, but it worked for me.
Thanks for your help anyways. Hopefully this can be useful to someone later on.

Good afternoon,

I am trying to get a production count for each shift. I have a stand alone R30iB with the PMC option.
I could use 3 different registers (1 for each shift) that would reset with a timer in the PMC. But then, I would have to start the timer exactly at the begining of a shift to get everything timed correctly. So I was wondering if there is a way to use the internal clock of the robot, in the PMC or elsewhere? So I could automatically reset my part count registers for each shift.
(Or there is a completely different way to do this, I am open to ideas/advices)

Thank you.

Gilles

TRBe... Hot Start was set to False. It works better now

Thank you and thanks for the other solutions as well, they might become handy on a future job.

TRBe, thanks for the fast answer. However,

I already have a HOME I/O program at the begining. But I need the DO to be ON even if I don't start running the program.
I already tried "Recover All" but it doesn't seem to do anything. All the DO are still reset to OFF when I cycle power. Any idea why this is happening?

Hello,

This is my first post on this forum but I have been reading (and finding solutions) on here for a month now. So thank you very much.

My question is:

There is a DO that I would like ON at all time until I turn it off at some times when I run my program. The problem is that when I turn the robot off and back on, all my DO reset to OFF (Except the ones that are linked to a sensor or in the PMC ladder).
How can I set the default value of a DO to ON at startup?

Thank you.

Gilles