Posts by nile

Thanks for your input.

Yes it does seem a little strange, however given that we have technically only borrowed the robot from our distributor for a project at my university I think I will just let it be, as we will have to return it at some point.

This could also be why the option is not activated, as we just received it on a pallet and it has not been installed as part of a finished product / cell.

The main project it is used for, does also not need the valve, it was just for a small side project and small demo, so I don't think I will use more energy and time on this matter, given the main project does not need it.

Quote from kwakisaki

So what about the 1TK board (Arm ID), this is mounted on top of 1XY, is this there?

Yes that is there too.

The Operating manual for the F series controller states:

Quote

Aux. 0610 Input/Output Signals in Robot Arm

Only for RS03 robot, this function specifies whether to enable user sensor input and built-in valve output functions. For more details, refer to “Internal I/O Signal for RS03” in the “External I/OManual”, a separate volume.For robots other than RS03 robot, set to [Disable].

I traced the cables and they are connected to the 1XY board, however Aux 0607 (Signal setting of ARM ID board) does not exist, and when I try to use the AS commands it says the option is not installed.

As far as I can see, the Aux 0610 is not used for the RS007L (only RS03).

I checked, and I do not seem to have the ARM ID option or Extended IO.

According to the manual, I should be able to address the valve in two ways:

1: If ARM ID option is installed, through this.

2: By dedicated signals if ARM ID is not present. (but they don't seem to appear in there).

So it is possible that I just do not have access to these (stupid when the valve is actually installed). For now, I will have to use an external valve instead (and external piping...)

Hey

I got a Kawasaki RS007L Robot with a F series controller. I can see that it has a built in (double) solenoid valve for the pneumatic (see pic.), but I cannot figure out how to activate it. It seems to be connect to the internal X106 signal cable and according to the Optional Harness manual it should be connect to signal 9 and 10 on the controller, but nothing happens when I set these signals high (or any of the other signals for that matter).

I'm I doing something wrong, or do I need some extra equipment to use these?

- Nile

Thanks so far.

We have send an email to our local distributor, and is awaiting their response.

I will give an update when I know more, hopefully with a solution.

While gives the same behavior as the For loop

Thank you for the answer.

I tried to change the SPEED setting to MM/S, unfortunately I see the same behavior, the same goes for Linear movement instead of Circular movements.

I tried to "expand" the For loop to include 4 motions (C1->C2->C1->C2) and doing so make the velocity decrease only appear for every fourth point instead of every second point, so the problem it definitely related to the FOR/END attributes.
I made a few other test to see if I could come around the problem, in which I discovered that it seems to be every program structure including an END statement that makes it happen (FOR, IF etc.), while commands such as PRINT is no problem.

According to the documentation (AS Language Reference Manual section 4.5.4 to 4.5.5) the problem happens because the program cannot "see" the next motion command (the next iteration of the for loop) and thus reduces the speed when approaching the point as see in the figure attached (from the section in the manual stated above).

It therefore seems that I have to write the program without FOR/IF statements, which I cannot really figure out a way to do, when it has to handle paths of variable lengths, or I will have to find a way to "notify" the program of the next motion command, such that the motion type 2 is selected.

I should probably have mentioned it, but the CP switch has already been set to ON before calling each of the programs.

Hello guys

I just recently recieved a Kawasaki RS007L with a F-controller, and I trying to write an interface on the controller, to send paths from my PC to the robot.

I have a PC program running on the controller, receving the data points and putting them into an array, along with speed settings etc.
I then start a robot program wit MC Execute to execute the path.
My problem is now regaring continious motion with motion type 1 and motion type 2
If I use a program like this:

.PROGRAM pg_cmovepathequal()
	SPEED speed ALWAYS
	ACCURACY accuracy ALWAYS
	IF EXISTTRANS($cartcheck) THEN
			sec = 0
			C2MOVE target_cart[sec+1]
			C1MOVE target_cart[sec+2]
			C2MOVE target_cart[sec+3]
			C1MOVE target_cart[sec+4]
	END
	BREAK
	PULSE Motion_complete
.END

I get a nice continious motion as I want (motion type 2 I believe it is called), but this only works for a fixed path length.

If a make it to use variable path length like this:

.PROGRAM pg_cmovepathequal()
	SPEED speed ALWAYS
	ACCURACY accuracy ALWAYS
	IF EXISTTRANS($cartcheck) THEN
		FOR sec=0 TO path_length-2 STEP 2
			C1MOVE target_cart[sec]
			C2MOVE target_cart[sec+1]
		END
	END
	BREAK
	PULSE Motion_complete
.END

The path is run as a continious motion, but the robot slows down between each iteration of the FOR loop. I far as I can see in the manuals, it is because the motion type is automatically set to type 1, when I use a FOR loop (because of the branch possibility)

So my question is now, is there any way to "force" a motion type 2, so the robot does not slow down between the points, when having a variable path length?

- Nile