Posts by kwakisaki

    I woke up one morning and decided to do it, no real thinking time, no prior experience of setting up, running and maintaining a business, I just did it on the fly.

    Looking back, would I have done things differently, absolutely.....RESEARCH + PREPARATION

    Depends on your circumstances, family, finances, location etc what is involved, but below is a summary of areas to consider:

    1. Current finances and family lifestyle.

    - How this will impact on those dearest to you.

    - Do you have their support, financially, and the reality of the emotional pressure impact.

    - Are you prepared to work more hours (admin of a business takes up huge chunks of time).

    - Can you manage to work from home, a room you can setup as an office.

    - Have you the finances to support a start-up period of suddenly receiving no income.

    2. Do you require an accountant and book keeping.

    - Currently you may not be aware of the inner activities of the company you work for.

    - If you do require one, shop around.

    - One that specializes in small companies and is prepared to educate you along the way.

    - If you have a friend whom is an accountant, that could be very beneficial.

    3. What start-up costs are involved.

    - Initial setting up the business (do you need to register the business etc).

    - Insurances and Public liability associated with your intended business.

    - Do you need to upskill, many tasks undertaken by the company you work for, you will need to do.

    - Business website and email, are you looking at having these, designing and creating yourself, hosting.

    - You may have current access to Printer/Photocopier, PC, Tools, Vehicles, Cell phone, insurances etc.

    - Your business will need to supply those above that you do not personally own at the moment.

    4. Regular monthly costs.

    - What minimum costs are required to establish and maintain the business.

    - Can you cover these minimum costs even with no work/income coming in and for how long.

    - Running month to month is difficult due to payment terms not providing payment upon completion.

    5. What type of business do you want to create and what does it involve.

    - Are the services you are intending to supply, regularly required, in demand.

    - Are you starting the business to make oodles of cash, or just out of satisfaction/enjoyment.

    - How much are going to charge for your services.

    - Are there similar businesses operating and what do they charge, can you be competitive.

    - Can this generate a minimum revenue inline with your lifestyle.

    - Try and establish some firm orders (officially) before hand.

    - Consider doing some 'moonlighting' on the side of your current role to establish this (risky).

    - Consider approaching your current employer and ask the question of sub contracting(risky).

    - Sometimes a company may look at the benefit of losing someone full time and use as a subby.

    - Promises from others do not always come to fruition when you ask them to stand up to the plate.

    The above are not in any particular priority order, just some bullet points to consider.

    The grass may appear greener on the other side of the fence, it's not until you step over the fence, you begin to realise that the green grass requires a lot more to keep growing and to remain green.

    Not having a guaranteed paycheque at the end of the month is a real wake up call.

    Doing the job you currently do is a no brainer, can you make it work as business by supporting the business in the areas that are currently being provided and undertaken by others inline with your current personal circumstances - That is the question?

    Good luck with whatever direction you decide to take........... :top:

    No problem.

    There is a misconception regarding RPS functionality that it is often overlooked.

    It's function by design is for use with BLOCK programming tied to program naming conventions PGx.

    Tied into J (JUMP) and E (END) settings on the relative taught step as required, allows for simple program change or interrupting from the current program and of course resetting of programs too.

    This feature is only available when RPS function is enabled either by RPS system switch (changeable through aux func or code in any controller state) or by function button (available on the teach pendant only in Repeat Mode).

    With AS Language you have specific commands like PRIME, EXECUTE and BITS, IF/END, CASE/OF/END which programmatically are the 'code' replacement for RPS, so when using AS Language as the core programming element, RPS becomes redundant.

    However: -

    As RPS Function is tied to PGx naming conventions, when RPS function is enabled, even if no signals are allocated for program no's in dedicated inputs, then it will always read the selected program no. as 0 (pg0).

    So If you are using AS, then RPS could be used in the way you have explained.

    You can use pg0 as your 'Main' program or 'another program' and utilize the external program reset input to carry out the following with a pulse of the external program reset dedicated input:

    - hold the robot.

    - clear the current program from the stack.

    - prime pg0 from step 1.

    But pg0 must exist, or else an error will occur if RPS Function is enabled.

    I've seen instances where a programmer has set pg0 specifically as an auto recover program that then calls a main program, which works very well too.

    BUT if RPS is not enabled, then the external program reset will just reset the current program to step 1 instead, so RPS system switch has to be carefully managed when using it this way.

    This is very common for Kawasaki veterans whom have had previous experience with BLOCK programming, but somewhat of a 'black box' for newcomers as the manual explanations (only true explanations are in the external IO manual) are specifically directed to BLOCK programming as per design.

    In addition to this, I am pretty sure you cannot enable RPS Function when no dedicated signals are set relative to RPS first.

    On a clean controller either enabling RPS via the system switch, code or function button will remain off until at least one of the dedicated signals is dedicated and allocated, such as external program reset.

    Read that document again, you are reading it incorrectly.

    That does not enable RPS function, it merely allows switching to another program WHEN RPS FUNCTION IS ENABLED.......I cannot say it any other way......RPS-ON is not enabling RPS Functionality.

    All I'm trying to do is to reset pg0 to step 0 when plc cycle starts

    Then set RPS ON permanently and allocate the external program reset to an EIP signal from the PLC.

    By using RPS ON, pg0 then external program reset will empty the program stack of the current program and prime pg0 from step 1 (not step 0).

    In my previous post (attachment), I am showing you how RPS function works as per the manual.

    Attached is a small video clip showing a very basic RPS functionality.

    You can only accomplish this using RPS when programming in BLOCK as the function is tied into BLOCK J/E settings relative to the dedicated signals setup for RPS functionality.

    If it is AS programming you are doing, you would simply use BITS command with respect to a CASE statement or a bunch of IF/END

    That doesn't seem to make much sense.

    Your title says 'RPS doesn't switch on', but your post says:

    EIP communication works fine and i can see the input turn on.

    You also need to turn on the system switch RPS in order for external RPS requests to be executed.

    This system switch is usually turned off as default.

    When using this function, it is common to control the system switch inside a background to task to ensure it never gets turned off.

    Well, I suggest you obtain a newer version, as I would not suggest to search in manuals otherwise.

    There are commands called IQARM, TRQNM, CURLIMM, CURLIMP

    Yes, I can be a little sarcastic but recently members are using this forum expecting other members to do the work for them and as you can appreciate, it is very tedious indeed.

    I can lead people to water, but cannot make them drink.

    m3chunga Welcome to the forum........ :beerchug:

    Kawasaki do not seem to publicize these documents and do not even make their manuals available on their recent portal they have setup for clients.

    You will see various Robotics distributors at the following link, I can only suggest to send an email to one of the nearest branches to your location.

    Global Network | Kawasaki Heavy Industries, Ltd.

    I do know that Kawasaki Germany do direct work with wafer robots, so it maybe worthwhile contacting them first.

    Hopefully another member maybe able to assist you if they come across your thread.

    1KA and 1KB (red tabs) are for D Controller.

    1RA and 1RB (yellow tabs) are for D+ Controller.

    You cannot mix them.

    1RA and 1KA are not the same boards.

    1RB and 1KB are not the same boards.

    So what:

    1. Controller is it.

    2. Boards (1KA/1KB or 1RA/1RB) are installed.

    3. Arm is it.

    4. What are your current switch settings - a close up image of the front of 1KB or 1RB would work.

    5. A list of ALL the error codes and explanations would also help - error log for instance.

    Give some more information:

    - AD Controller type.

    - What led's are showing at the point of error on all boards.

    - Screenshots.

    - Error logs.

    - How hot are the motors to touch.

    - Are fans all working and filters clean.

    - Have you disabled ALL external safety signals coming from the environment to eliminated security issues or are you assuming security is all good - like safety fence circuit?

    There are 3 temperature sensor areas (from memory):

    - JS6 and JS10 motor windings.

    - Regenerative resistor.

    - Each of the power blocks.

    Have you checked the AD Electrical troubleshooting manual and investigated anything suggested there?

    Sounds right to me.

    In order to get motor power in teach, you need to press deadmans first before motor power button.

    When deadmans is released, brakes apply and motor power turns off.

    In repeat mode procedure does not require deadmans first.

    This is explained in operations manual (from memory).

    I agree with you it appears you are narrowing it down further but you should be able to use the plugins available in K-Roset and not have to disable them to circumvent a problem, unless the PC used does not meet minimum requirements for instance or (perish the thought), just being incompatible.

    If your current project means this is a workaround and allows you to progress, then it's probably worth leaving the plugin disabled for now.

    It would be nice to find the resolution to this, not being a PC/Graphics card guru when it comes to all the options and settings available, the only thing I can suggest is to look further into the UEFI settings of your PC and Graphics card settings to ensure everything is pointing to your dedicated graphics as opposed to 'auto' settings.

    I've been adding them as STL directly onto the tool. I know of the possibility of creating KRPRJ files but it's been a while since i've looked into it. loading them directly as an STL is quick and convenient.

    Yes, it happens exactly when changing/rotating perspective and it also happens when zooming in and out.

    My theory is the rendering process required graphically to keep up with the screen perspective changes are overflowing some internal memory/process buffering within the engine and graphics card and crashing it.

    ie amount of facets/faces etc within the STL model itself or graphics incompatibility settings.

    Which really Kawasaki are the only ones whom could technically qualify this or not.

    Option 1:

    Do you use/have you heard of BLENDER?

    I use it all the time to reduce STL files when K-Roset has trouble with them and works really well.

    It was recommended to me by a Kawasaki applications engineer, specifically to reduce STL file sizes not to fix issues within K-Roset.

    That maybe worth a try to whilst using your existing method of adding the STL's to the Null Tool.

    If you can get hold of it, I can send you a quick guide on how I adjust STL's if your interested in trying it?

    Option 2:

    It may just be simply your PC specs need tweaking on the graphics usage side to be made more compatible with K-Roset.

    i have collision detection plugin is enabled but i'm not actively using it for this project.

    Collision detection in K-Roset (as you may have experienced) slows the graphical rendering down, due to increased overheads to monitor facets on the STL models with other STL models, which could have an impact on this error IMHO if you were using it, but you are not, so eliminates that side of things.

    That would be difficult without comprising IP. I can possibly send you one of the STL files for you to mount onto the robot to see if you can replicate the issue.


    Thankyou to Amsterdam for providing the links to the tutorials created and curtesy of Kawasaki Robotics Incorporated - KRI.

    This has been made a sticky, so can be used as a reference to point other members to.

    If you find these links useful don't forget to show your appreciation to Amsterdam by providing a reaction at the bottom of their post.

    Remember these tutorials are no substitute for OEM product training, but sure are helpful.


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    How are you adding the gripper models, are you adding them as STL's or creating KRPRJ files and then adding them?

    When this is crashing, are you in the process of changing perspective with the mouse?

    ie. rotating the view, zooming etc

    Are you using any of the K-Roset collision detection options?

    Can you explain what you mean by overlaying grippers?

    Any chance you can 'zip' the project and post it (via conversation - via a download link) without compromising any IP?

    It would be good to be able to replicate the errors.