Posts by kwakisaki
-
-
It doesn't look like LOAD is a valid macro command (from the help section),
I was going to say as I have been using this method for 15 years.
KRTerm may be quite prehistoric, but the macro function and the buttons available is very powerful and flexible in order to create mixtures of functions.
The attached video example show a simple introduction and usage of allocating and programming a save all data function as you have discovered the SendIn command has many iterations available.
Good luck with it as I am sure you will be able to create a specific function(s) arrangement for your requirements.
-
In addition you could use AS commands to create the JOINT angles from your cartesians by using the POINT command and then copy the results into the programs (long winded but works well).
You also have the ability of using motion segments with raw values for example:
For joint angles:
JMOVE #PPOINT(x,x,x,x,x,x,x,x)
LMOVE #PPOINT(x,x,x,x,x,x,x,x)
For transformation values:
LMOVE TRANS(x,x,x,x,x,x,x,x)
JMOVE TRANS(x,x,x,x,x,x,x,x)
-
Is it possible to upload programs in batches through KRTerm? Ie. for every file in a folder with an as extension, upload it to the robot.
That's what you call FTP and no is the answer through KRTerm as it is a command line interface and the LOAD command either loads everything in or you can use the /q switch to select through the various sections you wish to load.
You could always create a macro and button to this in KRTerm.
You could also save and load from a different drive if that helps:
- SAVE d:\test_folder\filename
- LOAD d:\test_folder\filename
I have 10 programs that I update fairly frequently and it is a pain to upload each individually.
So save them all in one file and then load the file in.
However, I would stick with your method then you have control of exactly what you load in and have a traceable route back in case you have issues.
I don't know why people need to make things faster nowadays just because things are a pain.
I never have had any issues with only loading in what I want to load, test and verify it before moving on.
I'd also love to know if there's any way to delete all the programs on the controller without having to delete each individually.
SYSINIT/U will do just that - ALL user data is deleted programs/locations/reals/strings/integers.
(I accept no liability if you use this).
-
Ah Ah!.......Great news indeed.
I've just looked in the Ext IO manual and yes, just one 'small bubble referencing this'.
Only signals/clamps 1-7 are usable and #8 is the ground or negative reference.
Hmmm.......Just checking the D42 1KP arrangement and there are 8 relays: RY7<==>RY14.
RY7 is used to switch the 24V+ to either side of the contacts of RY8 - RY14 and also is available at the arm side too as an output according to my references below SIG08.
So yes, only 7 outputs available for internal clamp.
I think from memory the aux 0610 enables RY7.
Attached are somethings that may help.
This information is from EU Spec D42, D32 and D22 controllers and ZX arms may be different.
- Pinout from 1KP<==>1KX<===>XOSL<===>X5 on the controller side should be the same.
- X5A pinout to internal arm harnessing may be different with your arm and reference information.
So verify this against your references for X5A and internal harnessing.
Hope this also helps......
-
Welding specification robots have real time speed adjustment built in (not sure about programmatically though without further options) and I have heard there is a particular option that may be available to standard generic robots.
This is why I mentioned about contacting your local distributor as they would be best to advise further.
-
Sometimes I use KRoset just to produce the exact data I intend to side load.
Sometimes use the IDE within KRoset, but mostly just bash it out through notepad, load into KRoset to check the syntax, test and verify it and then copy it over to KRTerm and transfer to the robot.
Couldn't be any easier.
No need to debug then as I have already done that in KRoset.
I also use just KRTerm standalone as I have setup many macro's which manage the majority of functions I use when programming or modifying existing data on client sites.
KIDE is an enhancement of KRTerm (as this was developed >20 years ago) but does not have the reach study, cell building or graphical environment that KRoset has.
Each to their own though, it's what you get used to first that usually becomes a preference.
-
Welcome to the forum..........
Don't reference a similar issue on some random post back in 2019 without providing any visual evidence.
We are not privvy to this information unless you reference it directly for us.
Please describe the error in full including exactly what you see on the screen and or a screenshot of it?.
In some cases it may not be TP firmware related.
-
PC Task adjustment will only update the next motion segment, not the current motion segment under execution.
You could use ext slow repeat mode if you are intending to slow the robot down using an input.
This will require allocating a dedicated input for ext slow repeat and setting aux 0508 values accordingly.
This is not precise control of tcp speed, but percentage of max speed of the robot.
If you are looking at real time higher/lower speed dynamic adjustments then you are likely to need to discuss this with your Kawasaki distributor for available options.
-
If you get Hercules application too, you can test data exchange like in attached video examples.
-
No...............parentheses.
Remember an IF is an evaluation expression of condition(s).
Kawasaki does not care about spaces or tabs.
-
I need to be able to cancel the current task (eg. if a box is dropped)
So where is the location of the dropped box can you ensure the following:
- Does it interfere with further robot motion.
- Does it interfere with other cell peripheral operations.
- Does it prevent the next box in from getting to the picked position.
- Does it still remain in a position to be picked again.
Not everything is solved with automatic return to pick next box.
At some point, someone will need to clean up the mess of dropped boxes and ask questions.
- Why was the box dropped in the first place - can this be engineered out instead.
Consider creating not only a pick motion subroutine only, but also a gripper activation subroutine and gripper check subroutine with 'constant loop traps'.
This way you can create simple checks and trap inside gripper subroutines using TIMERS/UTIMERS and PAUSES.
Remember programming is about getting the operation working, not about elegance.
Interrupts should be carefully studied in the AS Manual as there are several flavours with differences.
An interrupt wants to return to the point of interruption.
Consider this in relation to signal states, but importantly for return robot paths and trajectories.
It is easy to implement an interrupt and also as easy to neglect the return path from the interrupt and wipe things out.
Of course, an interrupt does not have to include a motion segment, just a simple pause command will do and upon pressing cycle start again, it will return to where it was interrupted from which will be the same place and can be just as effective as 'constant loop trap routines'.
-
I need a way to go back to eg. line 10 of the main program before the main loop starts
Why?
-
OPEN and CLOSE are relative to CLAMPS.
In the automotive world, these are clamps used to clamp down assemblies before the robot commences work relative to them.
These are just outputs though, but Kawasaki develop these commands to have specific characteristics associated with them which are clearly written in the AS Manual.
Look up OPENI and CLOSEI and SIGNAL commands, you will read the differences between them.
Again, as for how you use them, it is upto you and your application.
I use OPENI and CLOSEI in some applications, I use OPEN and CLOSE in other applications and use SIGNAL in other applications because of how the commands operate.
-
Our company do not have the money to give me the proper training and we only had a 3 day custom course.
If your company is expecting you to support and get involved with Kawasaki, then they need to realise fundamental training should be considered.
Robot OEM products may stipulate they are manipulators, but they are all controlled differently.
Get them to contact me then and I can provide training.
Like I said, OEM's cannot provide documentation to provide everyone's expectations level of detail.
This is why you have OLP's such as KRoset to assist in practicing using and deploying commands referenced in the manuals to further enhance your knowledge base.
I merely point out a public forum is not a substitute for OEM training.
-
Code is full of syntax errors on all your IF statements.
Get KRoset and Hercules applications and you can test as much TCP/IP as you can eat.
-
AS Manual is not just a book of 'commands'.
They sit in classes of deployment and application:
- Monitor commands.
- Program instructions.
- AS system switches.
- Operators.
- Functions.
- Process Control Programs.
HOLD : Stops execution
PAUSE : Stops execution temporarily
Both will resume the program using CONTINUE, so what is the difference?Look closer in the AS Manual and you will see those commands sit in 2 different categories.
- HOLD is a monitor command.
- PAUSE is a program instruction.
PNL - means Panel - ie if you have an optional panel installed AFAIK.
RGSO is an indicator the servos are energised and running.
- The brakes are released.
- This RGSO is an optional lamp attached to the arm indicating it is live.
- If no lamp is ordered then you can use this output as an indicator of live status.
POWER and POWER2 relate to motor power for different robot numbers.
No OEM document will ever give a 100% explanation to 'everyone's' expectation, that is where OEM training or contacting the OEM comes in and not to just expect members on a public forum to do this research for you.....
-
OPENI and CLOSEI produce a break in CP motion, SIGNAL commands do not.
As to why you should choose one over the other, the answer is above, so you choose which suits your application requirements.
-
-
What does the AS manual say about some of these?