Hercules is a no frills app that works great, I use it all the time for testing with KRoset.
Posts by kwakisaki
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do you know a program that receive instead of sending if i want to to use the UDP_SENDTO in the robot?
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Read the TCP/IP manual, it has examples in there.
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We bought it second-hand for a test project and we are not using it for paletizing. Is it possible to move the JT5 more than 10 deg?
I suppose it will be by expanding mechanical limits and then expanding software limits then re-zeroing correctly and playing around with singular settings as a bare minimum.
That's just theory, in practice I can assume there will be a whole host of other configuration settings on the front end and deeper configuration settings and possible firmware issues too.Is it possible to overwrite the pallet function so that i can move JT5 apart from JT3?
No idea.
What you are talking about is kinematically controlled as part of the current firmware and deeper configuration settings not available on the front end.Sounds like a world of pain to me.
You would be better asking Kawasaki directly and asking them if your intentions are actually possible with a 5 DOF Palletizing physical and software designed system.
(I can imagine their answer though, but worth asking the question at least). -
Welcome to the forum...........
Why do you need to move JT5, RD Arms are palletizing robots and JT5 is automatically controlled by design to maintain a parallel wrist configuration and is usually limited to +/- 10 deg limitation.
If you do need to move it, then press and hold 'A' button whilst pressing JT5 +/- joint button.
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Look in the AS Language Manual and use the search function for motor current.
You will find additional references to the WHERE 10 you refer to. -
I have a question.
I’d like to know—if I set the speed to 20 mm/s, but the rep speed is set to 30, will it not actually run at 20 mm/s?In that case, can I write it like this?
speed 100
speed 20 mm/sDoes it work?
This is mentioned in the AS language manual, along with the supporting information for ABS.SPEED that was mentioned by Alexandru
Do a search for SPEED and ABS.SPEED in the AS language manual and all be revealed.
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You should have the options to close the thread and/or mark it as resolved.
Any thread you create, you have ownership of anyway, even if you close, it can be re-opened so it's up to you really.So you've managed to sort out the fieldbus side then?
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There is something called ZAUTOCMD, but you would have to discuss this with Kawasaki and see if it's available on your controller and firmware.
This an auto saving function of specified data which can be triggered by events or signals and save to external USB device but not sure if this is what you are referring to.What are you trying to achieve specifically?
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You can use data storage function to create CSV files and trigger this from within programs.
If that is what you referring to. -
Hello everyone, i am working on a program and i was wondering if it's possible to create a file.txt from my program and write on it...
Ex: i want to write on "axes.txt" the value of the 6 axis every time i reach position Home (0,0,-90,0,0,0)
This makes no sense to me at all?
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Fieldbus option option is what you are missing.
On those models that option was a purchasable option.
As you have wiped it, you've lost the option.
That's what happens when you hardware initialize by mistake and have no means of restoring it.
Purchased options are lost amongst other things as mentioned.Use the conversation link and send me and I'll see what I can do (may take a couple of days):
- File save of the good controller (you say these are identical so should be fieldbus enabled).
- File save of the controller you're looking at adding the option too. -
Hello i had try it, and found your youtube video and i try it.
External Content www.youtube.comContent embedded from external sources will not be displayed without your consent.Through the activation of external content, you agree that personal data may be transferred to third party platforms. We have provided more information on this in our privacy policy.Thank you for watching it and I hope you found it useful?
You'll notice in the video, I do not change the BASE coordinate system at all.What you have written could be really bad (it all depends on what you are trying to achieve).
- You have 4 values that you are creating a coordinate position from.
- Those 4 values will be applied as XYZ and O.
- What about the A and T values?Please read AS Language manual for FRAME command usage.
FRAME creates a position using the first 3 values to define the frame (2D).
The 4th value is required to place the origin of those 3 values (frame) at a specific location.
Be very careful changing BASES, you can 'turn your world upside down' very easily and cause a variety of issues including unexpected motions and collisions.BASE NULL is the same as BASE TRANS (0,0,0,0,0,0)
BASE () is not valid.POINT monkey = NULL is the same as POINT monkey = TRANS (0,0,0,0,0,0).
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After testing and concluding that everything working great, I did the mistake to hard initialize (999 function with 8 in dipswith on) on the one of the two controllers.
No problem if you made a backup prior to hardware initializing it.
Backup, backup, backup before doing anything.I tried doing an all data backup from the first controller so I can then load it on the other one that doesn't show the robot data anymore but it keeps getting errors and after the file load complete I reboot and the robot data doesn't show up.
Should never be done unless you are conversant with what you are transferring and then selectively transfer the right data, not all the data.
It can be done though no problem, but as you experienced, many errorsThe two controller configurations are completely identical, even the AS, Tp, ARM, UIP etc versions are all the same.
No they are not and never will be identical in the sense of comparing 2 file saves, there will be differences and the trick is to understand what those differences are and whether they are important or whether they can ignored.
followed the same procedure that E-Controller has as kwakisaki mentioned on another thread.
Be very careful using procedures from other variant controllers.
D and E Controllers are different in terms of initialization procedures, dip switch settings, boards that are used, firmware revisions.It says E1009 No 1 I/O board is not installed and I can't see the IO signals threw the menu.
This will come up if you have no of io set in outputs and inputs.
It looks for a DIO board, if it is not present, present and faulty or present and addressed incorrectly then the error is generated on power up and can be cleared.
It does not prevent motion (as you've discovered), but will keep returning until you either:
- Change the outputs and inputs to 0.
- Add a DIO board addressed correctly and matching the outputs and inputs set.
If you do get a DIO board, there is a jumper on the board that sets the range 1-32, 33-64 etc.
So if you only have 1 DIO card, you set it to 1-32, insert the board in any available OPT slot in the card rack (usually you would place in the next available OPT, but doesn't matter) and then goto Aux 0611 and then set outputs and inputs to 32, reboot and you'll have access to DIO controls.Adding a card information is in the troubleshooting manual under the topic replacing the IO board if memory serves correctly.
You're at a stage, even though the robot moves, the configuration has been reset to a default configuration and will need to be further configured to align with your intended application.
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System switches via Aux 0502 on the teach pendant.
It may have been on arc weld spec systems I have seen it.
They will be firmware dependent for sure.You are 100% correct here - when I opened up the TP to switch cables the E-Stop got depressed - I was so focused on the buttons - I didn't notice the red E-STOP on the right-hand side - so I am not completely stuck..
Heehee...
I've done that on clients sites before now and caused a commotion that resembles a group of 'crazy frogs' scratching there dangling tackle in confusion.
If they can assist you that would good, especially if they can locate a replacement etc. -
Lol......no not sensitive points just expressing myself in an assertive manner.
If you're interested in my sensitive points then reach out and tickle me behind my left ear and listen to me purr......Fast answers do not necessarily mean they are correct.
Answers from an OEM whom made it, may take some time and also may not be the answer you want, but they advise you about alternative proven methods.If I require tech support, I never approach a forum before approaching the OEM, makes no sense to me at all, but that's me.......
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Personally, I don't give a monkey's.
Whilst I agree with you in today's day and age.
BITS32 cannot be used directly in the manner you are requesting.I tell you what why not contact Kawasaki instead (they built the dam things in the first place).
They would be better placed to deal with your feedback and question.
Who knows, they may even have something that does exactly what you require. -
Thanks,the example is beatiful and is the proof tha BIT32 is complete useless command.
LOL........It may be useless in the way you intend to try and use it, but it is a valid command and useful in other circumstances.
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The TP has the left (A) key stuck down and constantly activated. So that’s not gonna be useful.
A stuck down button........never come across that before.
I thought the teach pendant buttons were actually physical buttons as opposed to membrane style ones and could be replaced if failed to activate.AFAIK there is a system switch available for the A button functionality and I think there is an option to disable/prohibit the left A button.
As there are 2 buttons available, then if you can disable it permanently this may be a work around.My back-up plan with the spare cable -I replaced the faulty cable and I can do almost everything on the old TP-except for power the motors.
If motors cannot be turned on, then it may be the emergency stop or deadmans that are faulty.Have you opened the teach pendant to see if everything is connected correctly?
Hopefully the supplier will take them all back- but I guess I have lost out on the import duties and shipping and the two weeks in between.
If the supplier was selling these as working, then I would expect them to expect returns, but who knows nowadays, some people can be real arses and just interested in shifting stuff and buggering off with the money.
Hope you get it resolved.
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Welcome to the forum...............
Please check out the following thread:
using BITS32 to send joint positions over EtherCAT fieldbus - Kawasaki Robot Forum - Robotforum - Support and discussion community for industrial robots and cobotsMake sure to show gratitude for the supply of the code example as otherwise you would have to program it all yourself.