Posts by kwakisaki

    In my opinion, nothing on the market that exposes manufacturing processes to ethernet/network/internet routing will ever be 100% secure.

    But it does create a whole other industry for industrial cyber security police.


    The thing is the cyber police release some details.

    - Now what do you think hackers are going to be doing after reading it.

    - I think sometimes companies like that are risking themselves from potential court action.


    Back in the day, you never had this problem.


    Pretty soon, technology will literally stop the earth from rotating.


    Thanks for sharing massula :top:

    I am cannot 1005 remember, but when you have loaded in GSDXML file.

    This file contains the individual addressing slot options and you drag and drop what you need into the slot to allocate addresses.


    All I have is screen shot from Simatic Manager (Previous to TIA) showing this below:



    This should be very similar in TIA operation if I remember correctly.

    Use the built in 'Help' function on the Teach Pendant.

    (Most people are unaware of this feature if they never have had product training).


    Make sure you have a program currently selected and a step highlighted.

    Press the KI button to open the KI options.

    Then Press and hold A and then press help/teach speed button.

    This will display a list of KI functions.


    You can use this method for other 'help' topics too.

    They are indeed 'macro's' that are associated with IO conditions.


    Below are screen shots of the process using the built in help function.



    Also they are a bit crancky and they are reluctant to believe the brakes are the problem so i will ask someone else's help doing that.


    probably will have it tested tomorrow anyways and will let you know of any result i get...

    for now we are also testing the battery as they asked me to once this problems showed up after the robot being off for a while.

    In that case, I am out of ideas...............except for a couple of options:


    1. Get them to pay for troubleshooting and mechanical training so you can diagnose and service the equipment you intend to supply your customers.


    2. Pay for a Kawasaki engineer to come out and diagnose the problem directly.

    What about JT1 and JT6.....you can do that also on brake release and test.

    Which leaves JT2 and JT3 with question marks.........


    Any juddering occurring will be reflected on the encoder, and if this value goes outside of it's following error, then you will usually receive speed or positional deviation errors as the robot always looks at current position


    Get JT2 and JT3 down to the floor (to minimise) gravity acting on them.....but do it safely.

    Then use a long bar, and during brake release, try and move joint using bar but with no too much pressure applied and see if there is resistance.

    JT1, JT4,JT5 and JT6 should be no problem for some one to move on their own.

    But you do require someone to assist with the manual brake release switches.


    If no-one is available to help, it would be foolish of me to advise further regarding manual brake release functions.


    It may not be your brake release that is causing the issue, but considering the age of the robot arm, the symptoms I hear are the sounds I have heard in previous instances when a brake is failing to release.

    Alternatively it could be a gear box issue.


    You could try isolating the problem by using Joint Mode in Teach.

    - Jog each individual joint and see if you receive any errors during each joint test.

    - As gravity is acting on a joint (not currently being jogged), if there is a problem, then an error may occur.


    ie

    say you just jog JT1, whilst jogging JT1, you get an error relating to JT2 or JT3.


    Then try as you can jogging that joint to a different posture instead where gravity is not acting on it.

    Then repeat the test.

    This will isolate your error possibly and prove which joint is the problem.

    Then you can ascertain if brake is not being released or possible gearbox problem.

    It seems like you are intent on measuring things so:


    1. Measure the incoming supply.

    - Are all 3 phases present.

    - Are all 3 phases balanced.


    2. How are you measuring the output F4 with respect to.

    - It is usual for brake AC to be approx 26VAC, so it could be a little low.

    - Depending on the incoming supply, if low, then the brake AC supply maybe low.

    - This AC is converted to DC inside the MC Unit to provide ALL motors the same DC brake voltage.

    - But if motor brake is mechanical failure (ie not releasing), then this can cause motor deviation issues.

    - To fully check, you must use manual brake release and see if each joint can moved during release.

    - For this, you should have someone else to assist safely and/or way to arrest joint fall during test.

    - if ALL motors not releasing, then problem is supply or MC Unit issue.

    - If only 1 motor is not releasing, then problem is on that motor or harness issue.

    - If ALL motors are releasing then issue is more likely gear box with specific joint.

    Doesn't sound healthy at all, could be bad gear or physical brake not releasing.


    1.

    You should try and locate where this sound is resonating from by using screwdriver or metal bar resting on cast and 'listening' at the end of the screwdriver/metal bar (old school method).


    2.

    Try and get robot in a different posture, by testing using manual brake release.

    - Remember safety first as with manual brake release each joint will react to gravity direction for freefall.

    - It could be physical brake(s) is not releasing.

    What you are looking at is a typical BLOCK step.

    For reference of BLOCK, locate the Operation Manual and it explains how to BLOCK program using the teach pendant and offers explanations in detail of BLOCK steps.

    You may also need to review SPOT welding section relative for Clamp settings.


    However, I can offer you a brief explanation.

    A BLOCK step contains many elements associated with one step of execution.

    This means all of the elements will be applied during the execution of the step.


    JOINT - Joint Interpolation motion request.

    SPEED x - Speed x applied to the motion request (see aux func 0301 for set/adjustable value).

    ACCU x - Accuracy x applied to the motion request (see aux func 0302 for set/adjustable value).

    TIMER x - Timer x (delay) applied to the motion request (see aux func 0303 for set/adjustable value).

    TOOL x - Tool Coordinate System to use - (see aux func 0304 for set/adjustable value).

    WORK x - Work Compensation instruction if used (optional).

    CLAMP x - Set the Clamp signals (possible gripper signals) at the end of the motion execution.

    (OFF,0,1,1) - Parameters to use with Clamp control - Such as Weld Schedule, Clamp Conditions.

    OX x - Set the Output No's used.

    WX x - Wait for the Input No's used.

    CL1 = .........Force, voltage,current parameters demand for weld timer conditions.

    #xxx.xxx....... Joint Angle Target Positional values.


    You will find in most automotive spot welding applications using Kawasaki, a global use of BLOCK programming for the motion instructions and actual welding functions.

    This makes setup, programming and adjustments more simplified as all elements required for that specific step are contained on one step.

    Also, consider moving whilst closing the clamp.

    Same as you approaching a door with a handle to open, you blend the move with hand action.

    Same with spot welding - makes for more efficient and better cycle times.

    Otherwise you would have a very defined motion, then signal, then clamp, then clamp off, then signal off.


    Hope that helps, but would recommend the Operation Manual for more detailed explanation.

    Yes, it does appear PC spec/graphic capability/settings issue.

    The trouble with my specs (although old in todays comparison) and when I got it, I got it like this on the back of others success with KROSET specifically:

    - Dell Precision M6800 Laptop

    - i7-4910MQ CPU @ 2.90GHz 4 Core 8 Thread

    - NVIDIA Quadro K4100M (2Gb DDR5 or could be 4Gb) Graphics

    - 32Gb Installed RAM

    - Windows 10 Pro using 2x Samsung SSD's and Solid State Mini Card Storage


    Personally, if you are just requiring the tool for a simple model and tcp for the sole purpose of using in KROSET, then I would look at the stl and strip it down to the bear features you want to see in KROSET.

    This will then reduce the model complexity and also file size, and then may make it into a more usable model for your PC so you can at least begin using it perhaps?

    I add the custom model.

    What do you mean by this?

    I am attempting to attach the model I am attempting to use but the file is too large. Is file size a potential issue with adding it as a model?

    It could well be something like that, as KROSET is very resource hungry when it comes to the rendering in the 3D viewer.


    I use an i7 with dedicated graphics and sometimes the stl file size ramps up my cpu/ram usage to extreme values (luckily my laptop seems to cope), but lower spec systems could struggle for sure.


    Check your conversation out Capture.PNG and then send the file over using something like we transfer etc as opposed to posting to the forum......and I'll take a look at it.

    Also have a look at the attached video.

    I have made a servo gripper model and I go through the complete process by using editor, adding the stl, setting the tcp and creating the tool krprj file.

    Then using the tool krpj, use it and also include moving the arms for a complete tool setup.

    Attached in a zip file are the stl files I've used, so you could try an repeat what I've done and let me know your results.....

    Yes, this thread is quite old.


    That webinar is not 100% correct, the tcp has not been set.

    Maybe they set it in another webinar, but very strange they do not finalize the process.

    There are many unanswered questions in that webinar unfortunately.


    So what happens if you just have a robot selected (ie new project, add robot and no tool).

    Do you still get any errors?


    Yes, I could try your model for sure if you want o provide it.


    You could also try in Lite mode and have a look at one of videos here:

    KROSET Lite - Manuals, Software and Tools for Kawasaki Robots - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

    I get an error message shortly after adding the STL file. The tool model appears but if I move the 3D graphic window in anyway KRoset crashes and I get this error.

    Are you using Lite version or Licensed?

    Describe or post a video of exactly what you're doing?

    Do what I have suggested and let me know of the outcome.


    As far as serial baudrate is concerned, you can increase this, but I would recommend leaving it as default as it matches the default of windows and therefore if required is very simple to hook up without having to worry about settings when using KCwin32.


    Just remember the comms for RS232 requires a null modem cable, and ethernet is a crossover.

    I have placed various editors in the software section here:

    Kawasaki Online Terminal Editors - Manuals, Software and Tools for Kawasaki Robots - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)


    KCwin32, KCWinTCP and KRTerm are the original apps provided by Kawasaki for online editing back in the day and I've included a couple of quick connection guides.