Posts by kwakisaki

  • I can't move JT5 from RD80N

    Quote from 87886

    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.

    Quote from 87886

    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).

  • I can't move JT5 from RD80N

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

    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.

  • Robot Kawasaki

    Quote from Nutthapat_Ph_

    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/s

    Does 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.

  • Create a file.txt in AS language

    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?

  • Problem after initializing D Controller

    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.

  • Kawasaki Base Calibration

    Quote from irham

    Hello i had try it, and found your youtube video and i try it.

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    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).

  • Problem after initializing D Controller

    Quote from i.alexandris

    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.

    Quote from i.alexandris

    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 errors

    Quote from i.alexandris

    The 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.

    Quote from i.alexandris

    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.

    Quote from i.alexandris

    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.

  • Broken Teach Pendant's cable (E)

    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.

    Quote from greenman

    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.

  • READ 32BITS

    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.......:kissing:

  • READ 32BITS

    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.

  • Broken Teach Pendant's cable (E)

    Quote from greenman

    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.

    Quote from greenman

    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?

    Quote from greenman

    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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