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.
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?
Well it's clearly an electronics issue within the MFP and all I can say is what's left is just the graphics driver and GPU within the MFP.
I don't want to keep throwing - try this and try that at this stage......but clearly the communication part of the MFP is working as you have successfully transferred data from PCMCIA to CPU, just no graphics representation.
Tap up cguenther again........I am sure there is something that can be done.
I am in the UK and have a working C controller and MFP and I'd be willing to take a look over them, but I couldn't offer any assurances of a resolution as my electronics days are well behind me and may take sometime to track down anything.......just an option if time is not critical.
Another ex Jaguar C controller then....I bet it has several connectors on the left hand side of the controller and an led to indicate 24v power is available including X15?
So the digital IO boards come in 2 different flavours:
- 1GW = NPN
- 1HW = PNP
Both standard types have 32 inputs and 32 outputs available and no firmware is needed.
You need to ensure whatever flavour you buy, you connect it up accordingly or possible permanent damage to the board can be caused.
There is a procedure to add this, but I would remove the existing interbus board if you are not using it and disabling it in software too.
Send me a conversation request and we can discuss the addition and removal process there.
I wouldn't even consider the PLC route via RS232 or Ethernet as the amount of coding required just for the purpose of turning on outputs and reading inputs would be impractical IMHO.
You could purchase an IO module for Interbus and strap it to the existing interbus card you have, but that would mean some 'interbus' knowledge and assuming the interbus card is working.
So all you would be doing is something like:
ACCURACY 1 ALWAYS
JAPPRO start_weld, 100
LMOVE start_weld
SIGNAL weld_on
LMOVE finish weld
SIGNAL -weld_on
So just how are you going to ensure:
- Wire feed speed is correct during the weld.
- Arc current flowing signal exchange handling.
- Error handling when no current is flowing to disable the 'relay' for the weld start.
This is precisely what dedicated firmware provides and Kawasaki did not develop mig welding firmware >20 years ago to operate on a 120Kg payload robot.
You may hash something together but you will never achieve the relative performance akin to a dedicated mig weld system.
Maybe you can ask this member as they are asking the same questions too:
I was referring to the 1KX board and X208 (XSOL).
This is what I was referring to when mentioning the 1KP board.
The built in small signal relays connect via X208 to XSOL which are passed through to the arm via X5 and X5A on the arm side to:
- X108
- X109
- X113
I am pretty sure from memory they start at signal 9.
So in aux 0605 you would set the relative clamp no to handling (2).
Then in aux 060520 set the relative signals to that clamp ie clamp 1 set to 9 and 10 for dual action solenoid.
I do have an arm ID board, just not an additional IO board
Shame you haven't got the extended io board installed as this would be the easiest method to use.
In the troubleshooting manual for F controller (which is common for RS007 arms).
You can obtain all the necessary manuals from the Kawasaki download centre, you just need to sign up:
Does your arm not include an integrated arm id and external io board usually located in a black box mounted on the rear of JT3.
This would be the easiest route as that is what the intention of that unit is for.
Also are you sure you are referring to 1KX correctly and not meaning the small signal relays which are mounted to the 1KP power sequence board?
I am asking this as those relays on the 1KP board should be available at the arm side on connectors:
- X108
- X109
- X113
To use those you need to ensure that the voltage is available either externally supplied to terminals 10 and 12 or via the internal 24V supply by linking terminal 9 to 10 and 11 to 12 on the X9 connector on the 1KP power sequence board.
In addition to this you also need to allocate the CLAMP signals in Aux 0605:
1. Application field.
- Here you set the application requirement for each signal.
20. Handling clamp signal definition.
- Here you allocate the signal numbers used for single/dual solenoids respectively.
If you have arm id and external io available, then there should be an area aux 0607 where you can allocate the signals for the external io which can be used inline with aux 06051 and aux 060520 settings.
Look into using the naming convention of PGx.
By using this format and the RPS function, you can use an external program reset to return to PGx from any program without the need of background tasking.
This is another alternative available without needing to create (and make sure your background task is running) and is under utilized in the Kawasaki world, but is sooo simple; I use and recommend it often.
Information for this can be found in the External IO manual.
RPS and pg0 searches will yield this information.
Attached is a very basic demonstration of this function using KRoset.
If you are using BLOCK programming, then the other attached video is exactly how this function is intended to be used.
Most of this can be found in the AS manual, but to address some specific points:
TOOL and BASE commands set your tool frames and base frames if using AS.
Kawasaki will retain the last coordinate system setting selected unless programmed to change.
Unlike Fanuc, Kawasaki does not have anything like a TF or UF at the start if any program, so you need to ensure (by command) that each program refers to the specific frame you want to use.
Kawasaki does not have anything like a reference to a user frame except for the use of FRAME command, which is Kawasaki way of creating a user frame.
However, this FRAME needs to be referenced in order to use it either by:
- Setting the BASE using the FRAME command.
- Using the FRAME variable name to reference to such as a compound command uf_!+pos1
Program call are just CALL and RETURN and you can call programs parameters:
- CALL pg1(1,2,test)
All are available in KRoset.
Jaguar spec controllers used Interbus instead of hard wired IO.
This is why you don't have a 1HW digital IO board installed, just Interbus.
So you will need to obtain a 1HW board should you require to use any hard wired IO.
Regarding Ethernet IP - Not possible on those controllers as they were pre-ethernet IP and boards were not available for them - >25 years old AFAIK!
Safety circuits etc are described in the respective External IO manual and reference TB2 (long grey terminal strip in the bottom of the controller.
Manual is available here:
Outputs are specified as OX and inputs are specified as WX
You will see these in the teach pendant under 'monitoring'.
Send me your backup and I'll disable the Interbus and send you the modified file back so that you can load it in.
This is why I asked about the posture of the robot wrist at the point of error as the RD Series is a 4 axis arm with 5 joints (where JT5 is controlled in software to maintain perpendicular orientation).
Since you write a lot but provide no values or evidence (like you sent to KRG), it would seem a valid assumption that joint 5 posture was incorrect and by carrying out an ALIGN which aligns the Z of the TCP to the nearest parallel axis of the BASE corrected this.
Glad you got it sorted though.............
FYI the SR reference is for 'Snake Robot'.
My mistake in my earlier post, I did not look closely enough......
This arm is made for Toyota exclusively and will require a Toyota S Controller or possibly T Controller and applicable application firmware.
Those controllers are not available outside of Toyota unless you can get hold of a 2nd user one.
Even then, the support and documentation will be very limited if not impossible to obtain.
I would not consider purchasing this.
Welcome to the forum....
What details are on the rating plate which is usually located around the base of the arm?
Welcome to the forum...........
It would help if you provide the same information you provided KRG:
- Backup
- Description of precisely what you are trying to achieve.
Your statement regarding 'accuracy of 5000' is 5000mm, so I very much doubt that would assist in anyway shape or form.
The information you say KRG provided regarding CV suggests you are using conveyor tracking perhaps?
Again......difficult to provide any further information until we have more details.
That error relates to the robot being held placed into hold) during the execution of a circular trajectory and when restarting, it lies outside of it's permissible limits to continue and complete the circular motion.
Does that describe your current situation?
Also what is the posture of the wrist when this error occurs? (joint angles and/or picture).
Being a beginner in this world means:
a. No such things as dumb questions.
b. Getting some form of fundamental training.
c. To learn how to and make backups before doing ANYTHING.
d. Not just carry out procedures without understanding what they do and why they should be used.
Some basic pointers to prevent you/your employer having a very bad and possibly an expensive day.
Fixing those issues requires advanced knowledge of the Kawasaki file save and maintenance functions.
Not for beginners as that issue is not the only issue you have introduced by re-initializing it.
If you load another backup from another controller, you will probably introduce further issues too unless they are 100% identical in firmware and zeroing and various other settings related to hardware and software.
Software initialization from the teach pendant, is the recommended way for end users as this does not affect robot and system data and will not render a controller inoperable.
Your controller can be resolved with advanced knowledge, but I will not publicly discuss this on a public forum.