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Posts by kwakisaki

    Kawasaki still have a long way to go in developing KROSET further (IMHO), but when you get to grips with the some of the basics (like with all applications really) then it can serve as a very powerful, training and development tool indeed.

    This is what I am using Roboguide for at present to get upto speed with Fanuc......So you can use KROSET in the same way.


    Many people I know do not use the full functionality of KROSET, only the terminal editor, virtual teach pendant and write/modify programs offline in a text editor like notepad/notepad++/ultraedit etc and then load them into KROSET for syntax checking prior to loading into a live controller.


    Any specific tips or issues you come up against, whether it's a live robot or KROSET, just holla...…….:top:

    Welcome to the forum...…………..:beerchug:

    Welcome to the world of Kawasaki Robotics, I hope you have a pleasant journey.


    Unfortunately, there are not many resources out there that people have done basically due to the 'popularity' level of Kawasaki out in the field, I can say this quite confidently.


    Resources, tips, best practices, suggestions could result in a very lengthy post, however some things to consider below:


    1. KRTerm is Kawasaki ONLINE editor interface between PC and Live Robot.

    - Uses either RS232 or Ethernet communication (cross over connections).

    - Access directly to memory to allow for control, editing and live viewing.

    - It is a Command Line Interface, no bells or whistles, windows etc...just plain and simple.

    - Look in the software section in this board for a quick hook up guide.

    Kawasaki Online Terminal Editors

    - Look in the AS Reference Manual for the 'Editor Commands' available.

    - You can link that in with KROSET by using 127.0.0.1 and Port 9105 and use it directly with KROSET.


    2. KROSET is short for: Kawasaki Robot Offline Enhanced Simulation Tool.

    - It has many features and functions directly equivalent to a live robot system.

    - The main areas are for simulation, reach studies and cell generation.

    - Additional features include a Terminal and Virtual Teach Pendant that replicate the live robot.

    - For this reason alone, can be used to train yourself when access to a live robot is limited.

    - Many different ways people use KROSET for (undocumented).

    - Look at KROSET documents and KROSET demo's to give you an idea of format and layouts.

    - Work through the Manual Handling Project document to get a grasp on the fundamentals of KROSET.

    - Explore BLOCK programming and AS Programming in KROSET and set yourself mini projects.

    - If you are stuck for some mini projects then let me know, I'll set you some...…...


    3. Live Robot.

    - Always mount and install correctly prior to carrying out work.

    - Check Installation and External IO Manuals for installation and safety circuit configurations.

    - Check and confirm zeroing is correct prior to programming and in the event of any collisions.

    - Configure your BASE and TOOL Coordinate systems to use and makes sure they are accurate.

    - D and E Controllers do not have exchangeable parts.

    - Teach Pendant layout is very similar.

    - All Kawasaki Controllers are generic in nature when it comes to programming (except paint/duaro).

    - Programs and User data can be transferred between all Kawasaki Controllers freely.

    - Specific functions and options available (like Fanuc but not as ridiculously restricted like Fanuc).

    - Different flavours of Controllers available (North American, Europe and Japan Spec).

    - Always refer to the relevant documentation of the Controller as there are many subtle differences.


    Tip No.1

    - Use KROSET to get upto speed with virtual teach pendant navigation and robot control.

    - Use KROSET online editor in conjunction with the AS Manual and through some test programs in there.

    - This will give you a firm grasp of the Kawasaki order of operations.

    - I am learning Fanuc at the moment, and Roboguide is a god send for this without access to a live robot.


    Tip No.2

    Check out the following thread, KRI produced these Webinars as an introduction to KROSET, you should find these useful indeed.

    K-Roset: A beginner’s journey

    The narrator speaks and continues at a nice pace.

    Dave Hudnutt for providing these.


    Tip No.3

    - Explore QTOOL and it's functionality using the Operation and AS Manuals and KROSET.

    - This seems to be a topic of confusion to most users.

    - QTOOL is turned on as a default on ALL Kawasaki Controllers and is specific for BLOCK Programming.


    Feel free to use Robot Forum as your journey resource

    There are various posts and video clips here relative to topics etc that may assist you.


    If you cannot locate the answers in the manuals or require any assistance, drop a post here, there are many members here with plenty of Kawasaki Product experience who will assist you (including myself).

    Singularities should always be considered/eliminated at the 'reach study stage' of any project such as (to name a couple):

    1. Robot pedestal height.

    2. Target object height.

    3. Transitional areas (Air Moves).


    kluk-kluk   rumblefish

    I have to agree totally, to just buy an option, enable it and expect it eliminate the problem and not have any adverse effects could be an expensive purchase without exploring other options first such as physical layout alteration and couple of additional via points, touchups.


    If you are in a position with Roboguide or can ask someone with Roboguide to put a quick simulation together and enable the option in software first and do some trial runs before blindly purchasing the option, you would have some 'simulation' results to bolster whether the option would be successful or not.

    Please post your question in a relevant board, this board is for Kawasaki Robots, not Camera settings.

    Robots receive data from the camera, the accuracy in these values is determined by the camera/software settings, not in the robot.

    KEE

    I think you should bring this matter to the attention of someone in your hierarchy at your workplace and direct them towards making enquiries with Fanuc or whomever integrated your systems and at least ask the question?

    Bypassing any safety circuit, whether intentional or not, carries some serious risks aswell as potential jail time and I wouldn't want to be 'that' person who could have prevented my colleague from harm by failing to escalate the question to the appropriate personnel.

    By this, I also mean with you actively interfering with it (for good reason), now places you in a possible situation too.


    'KEE'p safe and ask the question before acting alone?

    I would trace back the wires from EAS1/EAS11 and EAS2/EAS21 to the peripheral of the safety fence as the error is directly relating to the abnormality of the circuit.


    Even though the safety fence circuit is not monitored for T1 mode, it is feasible that electrically if there is a fault on the circuit (ie a short on 1 of the channels), then it could interrupt motion and maybe give the impression that the door needs to be closed for T1 mode.

    Is there any possibility once you have an Ethernet/IP device mapped to simulate the inputs/outputs at all in Roboguide?

    - When it's offline, there doesn't seem to be any option to simulate, can anybody clarify if this is possible or not?

    I just wanted you to point this out for other intended readers of the thread...………..:top:



    (For those that come across this thread).

    Kawasaki provide different specification of Controller within the same series, it is imperative you refer to the specific documentation relative to your type of Controller as often there are differences.


    For instance:

    America Spec Controllers use 2 Voltages for Teach (3 phase 60vac) and Repeat (3 phase 210vac).

    EU Spec use only (3 phase 210vac) for both Teach and Repeat Modes.


    So, even though some Kawasaki Controllers 'look' the same, never assume they are the same, especially when comparing America, EU and Japan Spec Controllers, you will find some subtle differences (especially in the power distribution area, hardware and software revisions).

    Not all parts can easily be swapped between different specs, so always refer to the correct documentation where applicable...……


    :top:  brad.ford

    Yep, I meant to say Molex......always getting them mixed up.

    Strange you did not get the correct cable set with it...………….


    Attached is the C Controller TS Manual.

    The 10E is not in there, just 10 and 10X...…however, I am sure the 10 and 10E electrically were identical

    Hope it helps you reference them...………..

    F Series Arms were first introduced for C Controllers.

    From memory I think the umbilicals for Controller and Arm were Harting connectors.

    When D Controller was released, the Controller side changed to ILME connectors instead and the arm remained the same.....(this is from memory).

    I am pretty sure the pinout was identical though.


    If you haven't got the correct umbilicals, I would suggest to obtain them, splicing an otherwise different cable together, carries some obvious risks.


    What is the part no. of the incorrect cable you have?

    Many thanks for the video.

    I can see what you mean now about asking about touch sensing as a target locator.

    It looks like a very basic solution (I don't mean that in a negative way), I am surprised to see RFA on the side of the robot.

    From my experience RFA provide a very solid solution to machine tending/palletizing and tend to provide good/solid integrated solutions too.

    This does not look in line with the RFA I know, have they just supplied you the Robot system then and you are integrating it yourself?


    Looking at the solution you have I can see:

    - Part Presentation (Pallet reference to the robot is not guaranteed), but I assume (cannot see clearly) the pallet is located into a 'fixed right angle'.

    - Crate Presentation on the pallet (Crate reference to the Pallet is not guaranteed).

    - Crate Presentation on the crates (Crate reference to Crate is not guaranteed).

    - Tolerance on gripper (when gripping and when releasing can introduce XY and orientation changes).


    These 4 variables alone require some sort of compensation adjustment at the robot side.

    Any type of conventional touch sensing, I doubt would yield repeatable results (however, I could be wrong).


    I know with my electronics knowledge you could use standard IO and 'emulate' touch sensing, but there are clear grounding issues.

    - The only effective solution here would be an output to send voltage, and current detection feedback to an input.

    - Alternatively you could utilize a laser or physical proxy switch.

    - However, as for the results, could this be made to work to detect XY and orientation change - Possible, but I think some further testing is required.


    Saying that, you would need to repeat the detection, not only on the 'pick up' of the crate', but after you have 'placed the crate'.

    - Due to the gripper tolerance and movement between transfer and put down.

    - This may impact on your cycle time.


    I am surprised to see on the crates, that there are no dowels/edges to 'square' them up.

    - This would be my first question, could the crates be modified for this.

    - This would result in you having a 'squared' stack on the empty and the completed sides.

    - Thus only leaving crate-pallet reference and gripper tolerance to solve.


    I think you may be best served by creating another thread in either the main Kawasaki board, or General Robotics Board, I think you would receive a more varied result of responses in effective solutions to this.

    Collision detection/Shock detection 'detects' force, where Soft absorber 'allows' force.

    Neither are accurate methods of product detection.

    Quote


    if there is a good easy and quick way to correct the misplacement that would save time and downtime.

    You would be better off using the XMOVE and standard object detection sensors for something like that or possibly employ a vision system above the pallet location to send the new location coordinates to the robot.

    The most effective and common technique would be to use actuated clamps to square the pallets in place.

    This would negate the extra cycle time required to 'search' for misplacement and probably be more cost effective.

    Quote

    this touchsensing does it work thru a current making a circuit activating a signal.

    Yep...……..:top:

    The current is provided by the weld power source in touch sensing, not the Robot.

    Robot sends request to weld power source to provide voltage (somewhat variable dependent on parameters), as there is voltage, current is available.

    If current flows, weld power source sends signal back to say there is current flow - Therefore touched.

    These are all built in functions within a weld robot and weld power source.


    How could you conduct electricity through a pallet, you're medium would need to be conductive.

    Therefore, Kawasaki has a command called XMOVE (also available in BLOCK), which includes a signal feedback function for this instance.

    - You would usually use infra red/ultrasonic/laser/proximity switch in handling applications.

    - I have sometimes used an 'old mouse click button' to do some testing by strapping it to the end of the gripper.

    Thanks guys for this thread, it's provided a nice facility now when testing configuration setups.

    This has been on my wish list (as I'm just starting out with Fanuc) and I wasn't actively looking into it at this time, but when I came across this thread, it catapulted it to a 'must do now'...…………….


    I have a Siemens ET200S EIP Module, and thanks to this thread, managed to use Roboguide V9 Rev H and Version 8.30 to effectively test configurations and understand more of how to configure, allocated and address it and learn how it's all configured from Fanuc's perspective.

    Gives me a good benchmark now to effectively test alternative vendors for IO extension options, without requiring an actual Robot.

    Very much appreciate the information provided...………..:beerchug:

    Quote

    if you have a login to the Fanuc CRC then you can get the auto-update software for free. You would want to download the latest version of version 8 software which is: V8.30P/52 AUTO Update.

    Unfortunately it's not as simple as that...…………..I'm in the UK and Fanuc's policy regarding software here is soooooo restricted indeed.

    No option of you doing any option install or software upgrade yourself, you have to provide an image to them and they do the work for you.

    And yes, everything you have to pay for, even for a software update from 8.20 to 8.30.

    To be honest, I'm really hacked off with their approach regarding software options and updates, I wish I was in the USA sometimes.

    I'm in the process of trying to source alternative solutions...…..do you know if Fanuc US will deal outside of their region?

    I'm going to find out I think anyway...………….

    I believe the DCS uses SFDI11 and SFDI21 as the dual channel input.

    That error suggests there is a problem with the SFDI21 half of the dual channel.

    I would check the integrity of the external circuit connected to this where it has been allocated to.

    - Emergency stop board.

    - Safety IO Mini Slot board.

    Failing that, it may well be a hardware issue.