Posts by saberlars

ah... can you try

0. Copy and create current program

1. copy line 14 position and paste below line number 14

2. jog robot and record copied position.

3. Teach(CONT on) or Repeat mode motion test

Happen again that problem (when stop or delay motion).....

try ASLanguage type.

Quote from kwakisaki

WAIT (SIG(1003)==TRUE AND SIG(1004)==FALSE) OR (TIMER(1)>5)

Indeed.

your reply is correct basic rule.

one sensor on is meaning opposition sensor must to be off status.

the gripper handling part name is "Cam carrier"

this part assembly on the Cylinder block's head.

it isn't fixture part handling process

part on the mold tray and that tray has tolerance over 10mm

so, robot use vision align.

part top surface had hole. this hole for gripper location pin insert.

approach part top surface, picture trigger, RS232C comm, TDRAW offset, XMOVE descent, clamp. that's all.

however .. rarely? External Vision align value a little bit (I think below 2mm) not fitting.

so, gripper guide pin not into part's hole.

occur clamp problem.

Vision engineer try many times narrow align value's tolerance or miscalculated value.

not enough time, too tight schedule, end user's pressure... so unwillingly...

I'm change idea, focus gripper operate or not operate.

guess... it possible when pickup from mold tray then naturally part fit clamp by jaw.

so I use unusual condition.

everything is working fine.

return main topic...

I want... prevent running sequence stop until next MOVE (also alike DELAY) instruction.

Improve ... CONT mode more separation similar other robots.

any idea always welcome.

Thank you for allocating a lot of time to my rude questions.

and sorry.

I must have to consider more carefully choose words.

I'm apologize my English.
I didn't meaning offensive words.

Quote from kwakisaki

So I suggest you stick with ABB and leave Kawasaki projects to those who like them.

We try always avoid use KWSK robot to new FA process.

but, trading company already has KWSK robot and request order to us for robot teaching.

end user(Major company) purchase robot -> supply robot to coop mech vender -> Mech vender request robot teaching to us.

so... we hadn't robot maker select permissions.

Quote from kwakisaki

Why?......you are increasing cycle time that way.

You have CP, ACCURACY, FINE, WAIT, TWAIT, MWAIT, STABLE, BREAK, BRAKE, OPENI, CLOSEI, REALXI, GUNON, GUNOFF, OX.PREOUT, PREFETCH.SIGINS and many other commands which will assist with synchronizing non motion with motion instructions.

ah, that "DELAY" instruction when a TEACH mode for self verification.

make some condition and check program stack sequence? flow? when I intended way.

after all verification done, remove DELAY instruction.

Sorry less describe to verification.

We can't use OPENI, CLOSEI instruction.

Solenoid valve control for Gripper Clamp and Unclamp.

this OX, WX Signal direct connect to Controller's (CN2 Connector)

almost proximity sensor installed each end bracket for detection witch unit operated clamp or unclamp.

less air pressure, something jam inside cylinder, teaching point not fitting, sensor broken... we don't know until actually look that situation.

Quote

.PROGRAM wkgrip_clamp()#1860; Cam Gripper Clamp

; Work Gripper Clamp Operation

BREAK

TIMER 1 = 0

;

begin:

TWAIT 0.5

SIGNAL 3; Work Grip Clamp

SIGNAL -4; Grip Open

;

IF SIG(1003) OR SIG(-1004) GOTO quit

;

IF TIMER(1)>5 THEN

PRINT 2: " _ "

PRINT 2: " PROGRAM wkgrip_clamp "

PRINT 2: " Work Gripper Clamp has Failed !"

BITS 123,6 = 3; Work Grip Clamp Error

PULSE 121,2; Operation Error

PAUSE

GOTO begin

ELSE

GOTO begin

END

;

quit:

TWAIT 1

RETURN

.END

Display More

Robot must given error signal to Master PLC when until 5/sec sensor condition not satisfy,

and, here my recent project program.

Quote from kwakisaki

- All manufacturers have different methods and you are dealing with dangerous equipment, so you must be suitably product trained in order to use it.

- Take training classes and understand what these methods are designed to do, and maybe you learn that it is how you apply it that makes it dangerous.

- If you don't like it, don't use it...……………..

7years ago, first time KWSK tranning (I'm be used FANUC and ABB before this tranning) ,feel something wrong.

ask to instructor. "Why this robot's TEACH mode hadn't command line GO function?"

he said, "We know. that is critical problem when use AS Language. but KWSK HQ didn't improvement. so we recommend carefully watch start line number and contain function instruction reading before next moving instruction"

yep, I'm not like KWSK.
Never recommend KWSK. Never.

ah, Motorcycle is good. ZXR Ninja is best.

KWSAK robot... South Korea Provider "Hyundai WIA" still insist purchase this robot to coop mechanic vender.

implicit pressure. oh jesus.

I can't stop this irrationality. no power.

Promote FANUC? stop kidding plz.

My best tier is ABB.
Should I have to better example maker name to ABB?

Warning and Caution. indeed.

I'm still report KWSK korea office engineer. problem and some improvements.

but, they are don't care market share.

Release stress? this problem makes stress. oops.

I think you are misunderstand AS Language.

Quote

I have 2 buttons.

Button No.1 -When I press it, something moves, when I release it, that something stops.

Button No.2 - When I press it, something moves, when I want to stop it, I then have to look for and press a different button.

Which button is more dangerous?

It is not a problem. Moving is not a problem.

Just release deadman switch (all maker common)

FANUC? Release SHIFT

ABB? Press STOP button

HHIR? Press STOP button

YSKW? Release RUN button

The key point is FUNCTION instruction.

call program, data transmission, assign TRANS cartesian, Program stack turning point, Condition judgement... etc.

All this instruction continuosly progress without user's volition.

I wanna verification my program and condition flow when "Manual mode".

BLOCK language DO NOT have to consider this problem.

just teach hard and make many points.

anyway, I'm still insert DELAY instruction for "break point (as like Visual basic F8 function)" effect.

FANUC robot, STEP function is only one Line FWD and Stop.

(All command type not distinction)

But... KWSK's STEP function is very very different

CONT is Single and Press GO button..

Signal Control, Value Calculation... continous run.

Program progress start and stop until next Motion or DELAY insrtuction.

Yep. Single GO function distinction in "AS Language"

It is very Dangerous.

But, when use BLOCK instruction, this Single GO function working fine. Alike other maker robots.

Why KAWASAKI robot not support "Command Line" GO mode?

I.. hope next year controller support Command Line GO function.

South korea...

Enforcement entry process as like other country.

You know, Check Body Temperature, Fill out location Live form...

Work schdule little bit delayed.

But, still continue.

Ah, Biztrip schdule all suspended.

Becuz South korea has failed prevent China Virus.

And ... we get international isolation.

Dumb president.... damn.

1: UFRAME_NUM=0 ;

2: UTOOL_NUM=1 ;

3: PR[1]=LPOS ;

4: UFRAME[4:UFrame4]=PR[1] ;

5:

6: UFRAME_NUM=4

7: UTOOL_NUM=1

watch Current XYZWPR value.

You can get all zero.

Quote from SAABoholic

30% of vMax is still plenty fast so I would personally use other methods

I'm use 2 Input signal.

One is Reduce override below 10%

Other one is Return normal Override (100%)

Connect 2 TRAP and Supervise each signal.

Now working fine.

thanks all.

I'm solved use TRAP routine.

ah, I'm recommend "SpeedRefresh" instruction.

Quote from SAABoholic

Personally I would probably just add SafeMove (ABB's DCS / Cubic-S) and force it to run at "safe" speeds (<250mm/s) during the startup phase.

Good solution. but we need without new Option software.

ah.. I'm not sure my english grammer (as alike verbs, object)... plz understand. sry.

Recently, in south korea, jam accident happend.

robot crash to operator.

reason is simple.

they are didn't keep FA safety rule.

so, we received request from customer.

1 When robot stop by Alarm (External Signal, Robot System etc..)

2 Restart robot's override must below 30%

3 after 5/sec, robot return normal condition override.

4 Realtime override control by PLC Signal.

any ideas? Always welcome.

I dunno what kinds of cutting unit for fabric.

2 years ago, we test simple system.

1. robot start from custom "Home Position".

2. PLC send each step's X, Y, Z value

3. one step moving and Stop. record current position. (ie - pos2)

4. PLC given X,Y,Z value to Robot

5. Robot "pos2" cartesian mix with PLC data.

6. repeat 3, 4, 5 ~

so.. we are consider where can apply this system.

less comfortable but, Laser cutting? or Air_Blowing? possible. maybe.

anyway, Need more robot's moving similar NC unit (continues move) ...
I think this AS Language possible assign each Location data.

.PROGRAM pos_quantity()
; Define Quantity of Position
; Copy each Position from Origin Target
; Max 255
;
WAIT BITS(1001,8)<>0;
.pos_count = BITS(1001,8)
PULSE 1,2; Pos Quantity Received
;
.count = 0
;
;
; Create Dummy Position
WHILE .count == .pos_count DO
.count = .count+1
POINT pos[.count] = origin
END
;
RETURN
;
.END

.PROGRAM get_value()
; Assign each Position value from PLC
;
.count = 0
;
WHILE .count == .pos_count DO
BREAK
DELAY 0.1
TWAIT 0.1
;
.count = .count+1
BITS (1001,8) = .count; Robot's Prepare Position
SIGNAL 9; XYZ Value Request
WAIT SIG(1033); Data Trans
;
.get_x = BITS(1009,8); X value from PLC
.get_y = BITS(1017,8); Y value from PLC
.get_z = BITS(1025,8); Z value from PLC
;
IF SIG(1041) THEN
.get_x = .get_x*(-1)
END
IF SIG(1042) THEN
.get_y = .get_y*(-1)
END
IF SIG(1043) THEN
.get_z = .get_z*(-1)
END
;
POINT/X pos[.count] = pos[.count]+.get_x
POINT/Y pos[.count] = pos[.count]+.get_y
POINT/Z pos[.count] = pos[.count]+.get_z
;
SIGNAL -9;
WAIT SIG(-1033);
END
;
RETURN
.END

.PROGRAM cut_start()
; Cut Process
;
SPEED 100
ACCURACY 100
JMOVE cut_ready
;
.count = 0
;
WHILE .count == .pos_count DO
BREAK
.count = .count+1
SPEED 30
ACCURACY 0
LMOVE pos[.count]
END
;
SPEED 100
ACCURACY 100
JMOVE cut_ready
;
RETURN
.END

Quote from zeronine

Good comments. But fanuc has a feature called soft float. However, this is an optional addition.

that's different.

Soft_Float function, standby release cartesian coordinate from other one's force.
Stop and Release Moving.

but, this post target for while place moving decrease collision detect.
see that replies.

I'm never seen customize collision detection variable by Parameter instruction.
very interesting.

Sorry. One thing missing.

8. This data sheet for Registration Robot Field_bus to PLC
- PLC must assign which device connected thru ehternet cable.
- this sheet describe Electronic Data. (EDS)

3. Setup EtherNet/IP Type, Enable, Status

(below explain only for Slot 1)

- Slot number is as same "I/O" config Slot

- Description : You can remark favorite name.

- TYP : Adapter

- Enable : False (after all setup done, must be change to TRUE)

- Status and Slot : Do not modify

- and, move cursor Slot 1 line and Press F2 [CONFIG]

4. Setup EtherNet/IP Data size

(when, adapter config("Read-Only") showing, you have to ENABLE's parameter set "FALSE" value. Read_Only unable to modify below In/Out words size.

- Description : as same before EtherNet/IP List

- Input size (words) : 8 words = 128bits (Di 001 ~ Di 128)

- Output size (words) : 8 words = 128bits (Do 001 ~ Do 128)

- Alarm Sevarity : Do not modify

- Scanner IP : after "ENABLE" parameter turn to "TRUE", that from will be showing Scanner (PLC) IP address.

API O =>T : Automatically showing value.

API T=>O : Automatically showing value.

5. Rs_Logix Assembly Instance

Input Assembly Instance : 101

output Assembly Instance : 151

This value needs for PLC parameter.

6. Robot Cold Start

7. EtherNet/IP Connection set "TRUE"

- Reference Chapter 3 "ENABLE"

I can Describe only "Adapter" Type.

Robot Controller : Adapter
Master PLC : Scanner

1. Setup I/O Range.

- Press I/O Button and Assign I/O Range.
- Out / In both need setup.

- RACK 89 is "EtherNet/IP" device meaning.

- SLOT 1 is Main_Board's RJ45 Port.

(Almost contain 2 ports. EtherNet/IP communication recommend Upper Port.)

- Include UOP Area, DO Range "START" from value 21.

- Include UOP Area, DI Range "START" from value 19.

- Without UOP Control by Master PLC, "START"from value 1. (when other field-bus control UOP Signal)

2. Setup Controller IP Address

- "IP Address" must given from Scanner (Ask PLC engineer)

- "Subnet Mask" is 255.255.255.0 default. do not modify.

- "Board Address" is showing MAC addres. do not modify.

Quote from Dalin

We bought a used robot and are trying to see everythin is righ...im used to kawasaki and is new to fanuc......when i start the robot and try to jog, it saays : 'bad io assgn ; rack 89 slot2;....." and doesnt move at all,.....can you help me figure this out please....

1. Press I/O

2. F1 [TYPE], 7 UOP

3. F2 [CONFIG]

4. Remove Rack, Slot, Start, Point value

5. F1 [TYPE], 3 DIGITAL

6. as same Step 4

5. Controller Warm or Cold Start

1. ASCII Upload

Quote from Nation

ASCII upload should be free. This used to be a free option in the RJ3iB days, but now Fanuc charges for it. Same with Karel.

hmm... if possible, I'd like program syntax check when upload.
like a .... Kawasaki Terminal.

or *.TP conversion *.PE or *.LS without fanuc TP environment.

need 3rd certified application or fanuc official program for upload ability.

R507! R507! R507!

2. Client Program

why FANUC didn't support like a "ROBOT_STUDIO(ABB)" application?
Roboguide has a power full function and good ability. but... not a free software.

they are looks like a Scrooge

I'm often make "Education manual" document for End_User.

create screen_shot with robotstudio Program

this app support virtual Teaching Pendant. and almost function support.

you hadn't roboGUIDE license? Insert USB and Select PRINT omg...

3. Union Ui, Uo signal length.

Ui 1~ 18, Uo 1~20 .. stop. stop.

just fix total 20bits each Ui , Uo please.

it is very uncomfortable arrange Ui, Uo, Di, Do with PLC Addres.

4. SHIFT makes increase fatigue.

J591! J591! J591!

Look out other maker robots.

they are needs when jogging only deadman switch.

why we have to mix SHIFT + JOG or SHIFT+FWD & BWD ??

too hurt wrist and finger.

5. RS232 communicate.

Why fanuc didn't open this serial port?

and, Basic instruction NOT SUPPORT control for RS_232C communicate.

.... they are try to sell iRVision System?

defense 3rd part vision company?

more important is, FANUC iRVision too expensive and not comfortable.

Maintenance team said too hard modify or setup.

yeah yeah, I know. me too.

with register value, we can control 3rd_part Vision Program.

Trigger, Receive Result, XYZWPR Value, etc...

Cannot receive X,Y,R value?
You have to purchase ethernet communicate option...

FANUC still occur wrist & finger fatigue.

I'd like a more open basic component similar ABB

! FANUC
R[1:Type] = GI[1:Model]

※ need Group Input Config. Rack, Slot, Start Number, Points.
RACK 92, Slot 1, Start 19, Point 4
Di 01~04 = 1, 2, 4, 8 BCD = You can get maximum 1~15 value.

! ABB
nType := GInput(Gi01_Model);

※ Group Input setup ... check my attachments.