Well, I have AS/SV/TP European versions which are compatible for 1GA which are:
AS: 200L2KIJ
SV: B0NYG33
TP: T00L0KAJ
But these are intended for C42 (Europe) and not C32 (N.Am).
Liability of using these is down to yourself though.
Well, I have AS/SV/TP European versions which are compatible for 1GA which are:
AS: 200L2KIJ
SV: B0NYG33
TP: T00L0KAJ
But these are intended for C42 (Europe) and not C32 (N.Am).
Liability of using these is down to yourself though.
Welcome to the forum...........
I would recommend to attend a Kawasaki Distributors AS Programming Course.
This forum is no substitute for official training.
Members are free to provide pre-written code to assist others, but beware code provided is not necessarily a global template that can be simply copied.
AS Programming has many commands available.....'best way' is very subjective as what is best for one person, is not necessarily best for others.
If the program works in the exact way you intend and require, then it is valid.....irrespective of what anyone tells you.
Therefore a program simply copied from an internet forum, may not necessarily work for you.
Exploring the AS Manual commands and trying various iterations is a necessity in learning and also to become a more efficient and effective programmer.
Have a look at the AS Programming Manual for the following (there are more, but I'm not writing them all down):
Controlling a signal is relatively easy and there are various commands available, a couple are below:
- SIGNAL
- PULSE
- DLYSIG
You then have the conditional argument/expression evaluation commands:
- IF/GOTO label
- IF/END
- IF/ELSE/END
You then have condition argument control commands such as:
- FOR/END
- WHILE/DO/END
- DO/UNTIL
- CASE/OF/VALUE/ANY/END
You then have the PC (Process Control) area where you can create asynchronous programs and using control commands to use them:
- PCEXECUTE
- PCABORT
- PCSCAN
Put these together in various iterations and you can easily construct simple/complex code and test them using PC Commands
A simple 1sec signal on/off could be written as below, but this may not be the best way for the intended application, but works as it's intended.
.PROGRAM heartbeat.pc()
1 PCSCAN 1
2 IF SIG(2256) THEN
3 SIGNAL -2256
4 ELSE
5 SIGNAL 2256
6 END
.END
Hope this helps........
There are 2 different versions of firmware for 1GA or 1HA board, it is possible you are using 1HA instead.
I attach zip folder with 1GA version for you to try.
Ah right C32 are N.America Spec......Strange these would be in Spain....
You would need to contact KRI (Kawasaki Robotics Incorporated - USA) for the correct firmware, I'm sure they could provide you the exact versions.
Not sure about all the differences between N Am and Europe, usually it is inclusion/exclusion of Ford US standard, so not sure if pushing European Spec firmware will work or not.
I only have European Spec firmware.
SV firmware is standard which I have, but the AS and TP I don't, but I do have some 1GA European versions.
I would try KRI first and if not, I could send you a European version to try.
It would surprise me if anyone has actually taken the time to measure the individual cells when removed upon activation of an alarm.
However, it is just an alarm, then in theory you could hook a DC supply to it with no risk and trigger it.
At a guess I would say around 3.3-3.6VDC........................but that is a guess.
Welcome to the forum...........
I haven't come across those particular versions before.
- What version C Controller is it Cxx?
- Do you know what Model Robot Arm is fitted?
- Can you post the header off a full file save?
- Do you know if it is 1GA or 1HA CPU board?
Stop it.........that's like a lingerie shop without a front window to me now......
The table and shelf would allow a more all in one/secured unit then.....cos you know if things are exposed, they tend to grow legs in industry.
All AB route then......I suppose this is what you have sitewide then - be good to implement the fieldbus side then - Devicenet and Ethernet/IP.
Kinco are another good comparison to Weintek HMI's, cheap and cheerful and packed with the usual features.
Yes, I think a vision system would set that off quite nicely indeed, maybe a portable pneumatic generator for simple gripper operations too.
Very interested in watching this develop indeed......
Nice job.......Thanks for sharing the resolution.....
Looking good.....
That's quite a substantial cell indeed, plenty of area for test gear, storage and accessibility.
Will you be adding a small pedestal for the Robot at all - you will get a little more freedom of motion.
I don't know about your overall design, and do not really want to intrude by saying, 'you could have this' or 'you could have that'.....but I have to...
Something that I was going to implement in mine is:
1. Sliding shelf for the Controller and other equipment using
- https://accuride.metrol.com/light-duty-ran…ByABEgIVXfD_BwE
2. Top hinged side table with lockable joints covering the sliding shelf area.
- Folds out to provide a work table for PC, Monitor, Laptops etc and include a lock, so when folded down, locked to secure the storage area.
So much potential there my friend, I find myself clawing at the screen in envy.....
Many thanks for sharing and looking forward to see the further developments......
Hmmm.....wonder whether there is 'bug' then in the DB processing perhaps with the current version you're running.
That's the only thing that comes to mind, as your code is relatively standard code.
Would be good to know the definitive change they made as if it is a bug, no doubt someone else is likely to encounter something similar and this thread could certainly help save time if the resolution is a software upgrade.
Wonder whether this could show it's face in Roboguide......maybe worth getting before/after data and bashing them into Roboguide and seeing if it shows up if you have that capability.
May also be worthwhile reviewing your accuracy settings too with your CNT value from R[42]
Regular usage and exacerbated with collisions can result in 'loosening of bolts, fixtures' and is always top of my list before diving into code.
By reducing the speed of the robot, if this was the case could result in the total displacement changing also.
But, it appears not to be the case in this instance.
Seems a little 'sledgehammer to crack a nut' in order to rectify it, as there doesn't seem to be an answer to the problem.....
What have Fanuc actually done, have they explained - ie version upgrade, software revision etc
Just my 2 cents worth..........
I think the advice offered in post #2 and #8 and what Skooter is advising, would be the logical approach of investigation.
Paint robots (as a general rule) are Atex rated, and therefore require intrinsic isolation between 'dry and wet' sides.
So having additional hardware (buffering/barrier modules) in between is expected to ensure intrinsic isolation.
If these buffering/barrier modules are not functioning then, no power will be made available to 'wet side'.
It is also probable the Robot requires to be pressurized before applying power to the 'wet' side, therefore purge equipment/purge jumper plugs maybe required in order to pressurize, until pressure is reached, this could also be attributable to the encoder/brake module being disabled.
Not knowing too much about Fanuc Paint robots, it would be worthwhile checking to see if this is the cause of the problem.
Any deviation of that scale, before investigating code, I would always check physical mountings.
Go around all physical mounting points and make sure they are all tight and secure.
- Robot mounting points
- EOAT mounting points
- External fixtures
Can you slow the 'repeat speed' down, if so does this effect the distance of shifting.
Maybe something is coming loose when the robot moves. You should check all the connections and make sure you understand how it is wired and plumbed.
Absolutely agree.
You have local control of the output which prove it's working in the current position.
Upon motion, this signal is being lost (not from the Fanuc side, the output status is clearly staying on).
So check the harness from RO[1] connection to the drill, check for 'cable flexing', 'stretching', 'compression' and 'dvm continuity'.
Also check the supply to the drill is not being lost instead, and it is still receiving the physical output from the Fanuc.
It could be the supply lines, common line or just the output signal line that is the problem or a combination of all 3 conductors being loose.
like a rats nest.
Sadly this situation is common place, especially if people have been troubleshooting previously and not returned the harness and connections to a neat condition, you may find just by 'disturbing' the rats nest suddenly cures it.
Also note, it could go the other way.......touching the rats nest can also introduce further problems.
In situations like this, I rip it all out and re-wire it (if there's not too much) and check each io line has enough flex on it to not get 'pulled', 'twisted'.
Check your conversation and try what I've suggested.
Yes, interesting results and it does appear to increase with speed to target.....this would be a normal occurrence IMHO.
Regarding your test, I would be tempted to:
- Change ACCURACY 0.5 FINE ; prior to executing the LMOVE target instruction
- Replace BRAKE with STABLE 0.1
Repeat the test and compare the results again.
Yes, I think you can monitor linear velocity but would need to an asynchronous program running in a PC Task and possibly some sealing options enabling to grab the values.
Not too sure about the accel/decel as the robot can dynamically adjust the specific units with weight/inertia settings.
These are normally held in specialised motion options (which could cause lots of problems if played around with).
It will be in software probably, but finding the documentation to say how to do it would be difficult.
Kawasaki used to charge for those options back in the day, but as they no longer support it, I doubt they would assist you.
Memory tells me it is part of option set 2 though.....but cannot be sure.
If you can post a full file save of BOTH controllers, I should be able to determine which one it is and how to enable it.
Welcome to the forum.............
1. With the low batt alarm, were the other joints affected?
2. How have you re-zero'd - Can you describe?
3. Home position should be joint angle position referencing the (scribe line = 0 degree).
4. What is JT6 angle at your home position?
You would get more response posting this on the correct board......MOVED.
Also, there are many posts regarding setting up fieldbus, try using the search function and seeing if a previous post can help get you started.
I suspect you would need to purchase the software option in the first instance.
Welcome to the forum............
Nice...........
I can never get over the longevity of Kawasaki AD Controllers and the fact they continue to appear on the 2nd user market and are still in usable condition.
It has been years since I actively worked on AD's, that's why I considered the controller was in an 'operational mode' as opposed to an error.
Absolutely agree with you regarding the manuals, Kawasaki manuals were not the best back in the day (basically down to translational issues), they are of course much improved upon nowadays.
Attached is explanation of the SW3 dipswitches, and if it was was no.8, then it appears it was stuck in the initialization condition.
Hopefully this will make a little more sense and good news that it appears to be in an operational state as far as the hardware and connections are concerned.
Welcome to the forum..........