Posts by kwakisaki

Joint angles will never take the shortest route as there is ONLY ONE possible route due to the joint angle start and joint angle finish = Joint displacement.

You will need to use transformation values instead.

Quote from rvc-llc

I found a difference with 'WORK1' data in the provided programs, deleted it from the provided program as a test, and the program will run.

It looks like the Work Instruction option has been disabled on this robot( presumably through the setup files that were loaded), which makes sense as to the 'Option not set' Error.

I'll contact the customer and determine which is true: Should I have WORK instruction data in the programs, or should this option remain disabled.

Check if Aux 0306 is available then, I suspect what you have:

- Aux 0306 does not exist - Which means it's not enabled.

- Your program that you have loaded in contains a WK parameter value.

So you need to check if this option is enabled on the other systems.

If so, then that option needs enabling to resolve.

Quote from rvc-llc

I agree with this wholeheartedly, but the customer has had these setups developed from Kawasaki directly and do have many examples of them working in the field currently.

So Kawasaki would of also provided the support of these and documentation referencing the hardware, software, installation and commissioning.

I would get yourself on some resistance welding training including installing and commissioning a weld gun as I suspect your setup whether it be hardware or software is out of balance.

But like I said, if you are just looking at verifying motion, then do it in AS to confirm and it will be golden.

Quote from rvc-llc

Thank you for your help! I also realize this is absolutely backwards from a learning perspective but I'm trying to play hand I was dealt.

If you want to, I can have a look over some data for if you send me via conversation:

- A backup of the known working system.

- A backup of the system your trying to configure.

Quote from rvc-llc

A customer's setup file has been loaded to this controller

Well that can cause a whole host of issues depending on just what data has been copied over without specific Kawasaki product knowledge.

Copy and pasting and then attempting to troubleshoot a system that may not be identical in hardware and software is a pointless direction to take and can take you ages locating issues if you haven't the product knowledge.

Also coupled with the fact your in level 3 mode (for some reason) and you are mentioning external axis option is disabled and talking about model, system setting and motion option and not mentioning what type of Weld gun you are using (Servo or Clamp) suggests the equipment may not have been installed/commissioned correctly.

BLOCK programming contains several parameters including parameters to control the weld gun.

If the actual hardware is not installed and commissioned correctly then this can produce errors exactly in line with what you are seeing.

If you are just doing a simple motion test, then write it in AS as this will not require any parameters including for the clamp controls and will operate successfully.

Could be anything, without knowing your setup just lots of speculation.

- Check gun setup, clamp settings and allocation.

Check robot has not activated over travel switches if fitted - will need to use override button on 1TR.

Check X7 connections on 1TR board.

Check X8 connections on 1TR board.

Check Safe Cir monitor screens - displays a ladder diagram of safety circuit flow for motor power.

Check emergency stop buttons.

Provide a screen dump of the teach pendant display.

Welcome to the forum..........

You should receive the manuals from Kawasaki when ordering external axis peripherals.

- Have you asked your supplier for these manuals?

- Have you contacted Kawasaki directly for these manuals, Kawasaki will supply these with no charge.

- Have you signed up to the download centre, as these manuals will be available there.

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

If after a couple of days you cannot find these, then come back and I'll see what I can source.

Attached is a simple re-zero procedure that will assist you.

Follow both parts and you should be all set.

If they are going to be replaced within a year and are working, then I'd expect they would see the year out without requiring any maintenance.

However, nothing like being prepared.

Give it a couple of days, if you hear nothing post back.....

Quote from Sungmin Kim

I was tying to follow external axis maunal but I can't find resolution values of this motor.

You will not find these values as they need to be calculated yourself, see the post below for 2 examples:

Post

Re: External axis settings

[…]


- Knowing the difference between the 2 types is quite a fundamental importance as the resolution mantissa is either related to deg/bit or mm/bit.
- I'm pretty sure degrees and millimetres are totally different units of measurement last time I looked.
- Is the intended motor mechanically coupled to a rotary table, or a linear slide mechanism or is it stand alone with no coupling/gearbox?

Regarding calculation, it's relatively straight forward, just involves a little number crunching.

Determining…

kwakisaki

Nov 28th 2018

Simple tuning is better option for simple setup, full spec tuning usually requires advance knowledge of parameters.

In most circumstances, simple tuning will be acceptable to use.

Welcome to the forum..........

You should have received those manuals with your equipment.

Have you contacted your supplier or local Kawasaki distributor for these manuals as they are readily available?

Failing that, you can sign up to the download centre and have access to as many manuals as you can eat:

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

If the above avenues fail, come back and I'll see what I can dig out for you.....

Encoder battery assembly is located behind the rear black panel on the Robot arm (where the harnesses connect to).

The reason you can only move some joints in one direction is they lie outside of their limits due to encoder battery being too low and the zeroing values now being incorrect and reporting excessive angle values.

You can see the joint angles on the main status screen, and some of the joints are likely to show incorrect joint angle values - this is a clear indication of zeroing being lost.

Replace the encoder battery assembly in the arm and re-zero the robot joints using each mechanical scribe line and you'll be golden.

FYI:

The battery you referenced in your post is the SRAM backup battery for user data held on the CPU board.

Refer to the AS Manual about these commands, you will be surprised what they have to say regarding speeds, especially the top line for each command indicating additional parameters:

TDRAW

SPEED

Glad to hear you resolved it...........

Kawasaki controllers check for syntax and correct program, data and structure during the load process and will provide live feedback if errors occur during load.

I am not sure if Notepad provides feature to display this feedback during load as I do not use it.

For example your pasted code above.

I can spot 1 error straight away which will stop program data from loading in:

- i.PROGRAM a_prova03()

- This is incorrect and should be .PROGRAM a_prova03().

This error will stop your program data from loading, BUT allow TRANS data to load.

- Your code as pasted produces a successful load of only the TRANS data.......No asterisks.

- Program data will not load due incorrect syntax used creating 10 errors.

For best results, you should use official Kawasaki application to ensure best checking for data preparation and side loading if you are programming offline.

I know people out of preference use third party applications, but you need to appreciate these are not official applications and therefore may not be 100% compatible.

It is important to understand AS syntax, program and data structure if you intend to offline program and side load using none Kawasaki applications.

This is an English board, please translate your posts in future.

Quote from Danilo Brito

Hello friends, I have a problem, we have two identical robots and a torch cleaning program, some line has been edited or deleted.

I would like to know if I can make a copy from one to the other without making some type of backup, or with a cable or TP connection, could you help us?

1.

If using AS save the program, locations, reals, strings, integers to a local medium file - SAVE/P/L/R/S/INT

If using BLOCK save the program only

Save to local medium:

- PCMCIA (if older controller.

- USB Memory if newer controller.

Load back into other controller and modify to suit.

2.

Otherwise make identical program save from both controllers.

Use Txt comparison application like WinMerge and locate different data and make same.

Then load back into controller.

Quote from Danilo Brito

Error E1079

You are attempting to use dedicated signal address in your code, this cannot be done.

Check Aux 0601, Aux 0602, Aux 0603 - Usually this is due to dedicated output allocation.

Could be many things as ethernetip is very critical for correct values to be applied.

Do you have error code displayed when you see monitor screen on teach pendant for ethernetip?

I see you have 32 signals set for local use, are you using 1TW board or ArmID board for this?

I have configured 3x Balluff IO blocks for direct control from robot successfully without PLC attached.

(application did not have PLC installed).

So I can confirm these following modules work correctly direct control from robot as scanner setup:

- 3x Balluff BNIEIP 302-105-Z015 16in/16out.

Where are you intending Balluff IO Block to be allocated:

- What allocation range is set for PLC - Starting and Ending and number of bytes.

- What allocation range is set for BALLUFF - Starting and Ending and number of bytes.

Please check your producing and consuming values are not the wrong way round.

(This can only be confirmed with your .eds for your Balluff IO Blocks).

Please check 32 bytes shared memory offset........I question this value.

- But this depends on where Balluff allocation sits - is it before PLC or after PLC signal allocation?

You need to wrap your transformation values as follows if you wish to side load in:

.TRANS

initial.row -724.773926 898.881226 259.229523 -76.397987 163.608047 24.972513 -8.002661 0.000888

row1 -724.798828 898.831360 259.280762 -76.400955 163.607758 24.963600 -0.002825 14.282178

row2 -724.798828 898.831360 259.280762 -76.400955 163.607758 24.963600 -3.002825 64.45

.END

This could be a separate file as well to load in but requires a carriage return after the .END so cursor is flashing on next line before saving.

Quote from Lantz

Interesting and very helpful. I'm curious as to where you found the first schematic?

This is not end user documented information.

Quote from Lantz

So, relay #7 is what "enables" the internal solenoid signals?

Upon further investigation, I think #7 relay is tied to a ZSWITCH ZVALVE_COMMON option to allow switching the common voltage used for EOAT configurations for PNP or NPN. connectivity.

Quote from Lantz

What's the point of grounding the NC contacts?

You can see (depending on the state of #7) either 24V or 0V can be switched from the relay(s) state to the arm side - PNP (24V), NPN (0V) - which I think is tied to the above ZSWITCH

Quote from Lantz

The final destination for the SIGO signals at least on my arm is the X111 connector.

Its a male JST connector with female pins. I believe it takes a YLR-08V or YLR-08VF female connector with male pins (SYM-41T-P0.5A)

From my troubleshooting manual for D42 and ZX combination, this is the arrangement.

Other ZX series may be different this is why I posted the information.

You should be able to test (using DVM) where the switched relay output signals are before connecting.

I am pretty sure the 1KP relays configuration was available prior to the release of Arm ID extended IO option - ie intended more for smaller/earlier arms without Arm ID and extended IO fitted like F Series.

Quote from kwakisaki

Check your conversation.........

Check your conversation.........