Posts by kwakisaki
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So you are:
- Rezeroing the robot after battery exhaustion.
- Referring to UWRIST and DWRIST and there is no evidence of this in your program.
- No idea how to make a backup.
- Applying modifications without making any sort of backups.
I am scared indeed.............
1. teaching the robot is done by using HERE command, when i teach HOME its not Responding fo r that new Home.
This is not how you teach the HOME or HOME2 positions.
You should read the Operations Manual (Aux functions) and the AS Manual for the correct command.
Now I am very scared...........
I suggest you:
- Contact Kawasaki for a training course.
- Contact your integrator or Kawasaki to assist in resolving your problems.
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Well if Kawasaki installed the gun, commissioned and setup the parameters, they would probably have the servo gun datasheets for the parameters and therefore should assume that is all correct.
Diagnosing your problem remotely like this (especially as it occurs around one weld point) is not easy.
The deflection compensation (Aux 1027) mentioned in the earlier document is related to different postures of the gun when applying the weld (above, level, below percentages applied in the XYZ directions).
When force is applied during the weld, depending on the posture of the gun, depends in which direction deflection occurs and is therefore compensated.
The speed of JT7 before and after weld is controlled by the SPEED value, and the speed of JT7 for the weld is applied via the settings in Aux 1011.
Initially I would be tempted to:
- Reduce the SPEED value on the weld step.
- Change the posture (as much as could get away with) for the weld.
- Maybe change that to JOINT as opposed to LINEAR.
- Review Aux 1027 and possibly 'tweak' the percentages relating to your posture.
- Review Aux 1011 values and possibly 'tweak' these a little.
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What is your JT7 external axis Controlling?
It appears to me to be a servo gun?
Do you have any other code that is working fine?
Has this been correctly setup and commissioned as a servo gun regarding parameters and calibration?
I am questioning the positional values reported for JT7 being negative value in error (command pose).
Is there any other information you can provide, such as a complete backup (without compromising any company IP) and any information regarding how JT7 was setup and commissioned?
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one more issue is there my robot is not responding to the newly taught points.....
The only constructive comments I can make are:
1. How are you teaching them.
2. How is it not responding - errors....not moving......moving somewhere completely different.
3. Check your code to see if some code is preventing/setting the location data by other code.
4. Provide a backup and point to the problem area so we can see what the hell is going on.......
Being honest and without any backups/information you may have to re-zero JT4 at zero degrees again.
The reason I say this as I do not know how it was zero'd before and the fact you are saying JT4 was 180 degrees out is probably connected to the UWRIST and DWRIST configuration changes you are making in your code.
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Assuming your are referring to E1118 Command Value for JTxx Suddenly Changed.
This normally relates to what is called a singularity (alignment of the wrist axes).
A typical indicator when the robot is approaching a singularity is the robot will appear to slow down overall, but one of the axis suddenly starts increasing in velocity (commonly JT4 or JT6).
The most common way to resolve this is purely application dependent and I cannot say for sure whether it is an acceptable resolution or not but usual resolutions include:
- Use a JMOVE instead of an LMOVE to the position that causes the error.
- Use a JMOVE to a Precision Point/Displacement Value/Joint angle posture instead.
- Teach the position so that a singularity/close to singularity does not occur.
Further information to the error is below:
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I have one final procedure for you to try:
With power off:
1. Locate dipswitch under MFP flap called SW2 and set switches to: 1 = ON, 2 = OFF
2. Set Teach Lock to On
3. Push in E/Stop on MFP
4. Power on Controller and straight away press and hold down 4 corners of MFP screen.
5. Stay here until something appears on display....if nothing appears after 60s then power off and set dipswitches off in MFP.
Please post results?
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I do no have CPU information only AS/SV and TP firmware.
This usually is installed via the Controller when it is working using PCMCIA card inserted into MFP (32mb or 16Mb memory size).
What is the rating plate on your Controller?
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Sorry, I do not know much French.
Ok so you buy in Belgium and where are you based in Caribbean?
Can you double check connection to 1HP (4x Harness) by disconnecting, removing 1HP board.
You will see on board CNx writing for correct harness to reconnect and reconnecting as follows:
- TB2 = XHP-CN1
- Front Panel Buttons = XHP-CN2
- 1HY Relay Board = XHP-CN3
- MFP via X1 = XHP-CN4
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May I ask, where did you purchase robot from?
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Interbus board is fieldbus board for remote IO modules for weld timer unit and field IO and was standard IO for jaguar.
Unless you have Interbus Remote IO Modules, then not used, so may as well leave out whilst troubleshooting this problem.
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I Will try to reflash the cpu board with my cpu programming tool, but i need software backup
Cou you send me this ?
I am not sure this can be done as 1GA/1HA board boot loader controls software installation process.
Please try the following:
- Remove 1GA/1HA board and check SW3 switch settings (small dipswitch bank - 1 off, 2 on, 3 and 4 off)
- Put back in.
- Remove Interbus board.
- Set dipswitch 1,5,6 to ON and power up controller for 60s.
- Then power off and set dipswitch to 1 and 8 ON.
- Power up again and post result please?
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Yes, as you can read in first 3 lines, I give initial warning about doing at own risk.
Your initial problem you had, you should have asked here first before applying procedure, your problem now may have been prevented.
So what is status at the moment, is it still the same?
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should i re zero every joint??
When you let the encoder battery exhaust, then every joint needs re-zeroing.
When zeroing the wrist section, special attention must be made to JT4,JT5,JT6 as below.
If you cannot re-zero exactly the same as before, then expect to have to 'tickle' positions afterwards.
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No problem.
Welcome to the forum..............
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My JT5 and JT6 is also getting disturbed.
Is that the technical term I should be able to know?
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