I already did it .
I have connected RoboDK with KAWASAKI real robot & K-Roset simulation software .
But i am sure that kwakisaki can help you better than me .
I already did it .
I have connected RoboDK with KAWASAKI real robot & K-Roset simulation software .
But i am sure that kwakisaki can help you better than me .
Hello guys ,
two questions please :
1- is "MIRROR" function which is accessible from the teach-pendant can be used as AS command in a program ?
if yes ; how to call it in AS program ?
2- Second question ; "JOINT SHIFT" in Aux. Functions in Teach-pendant ; what is the equivalent command for it in AS language ?
Bshift , Tshift , Tool Adjust ; all are equivalent commands in AS language to available functions in "Program Conversion" Aux. menu except "JOINT SHIFT" not found in the manual .
Thanks in advance .
Hello Guys ,
We are facing a strange changing in RA010L welding robot tool coordinates changing after running the robot for some time .
We have brand new RA010L robot , we have initialize it , calibrate & register the TCP then adding external axis with cooperation , everything went smooth , then we start programming using AS touch sensing , The robot was ruing perfectly ; After one week we found that all programs are shifted & the code is not running perfectly .
After checking the back up we found that Tool data changed without any intervention from programmer or operator .
We tried to return back the original tool data but the shifting still exists .
We initialize the robot again & load the latest working back up with us & still the problem exists .
Did any one faced such a problem ?
What could be the cause of changing the tool coordinates ?
Why the robot is not working after initializing it and uploading the back-up ?
Many thanks for your kind support & for the valuable recommendations .
Your video just solved it .
Thanks again my dear .
The other alternative is to try and seek KCONG, that is dedicated to Arc Welding OLP but is very expensive and my last try, they are very reluctant to supply this outside of Asia.
Yes ; We have tried to get KCONG to use it for welding & Milling & we got exactly what you said ; it is dedicated to Asian market only .
However, what I have tested in KROSET for touch sensing (not that KROSET is the easiest to simulate touch sensing), they are specifically directed towards BLOCK programming only and I wouldn't be surprised if that was their final answer.
Thanks for this result ; at least we know that those new commands are for BLOCK teaching & no need to keep trying them in AS.
I think KRG will already be aware of this fact and they will end up referring you to the XAC Command as this is the AS Command specifically dedicated to Arc Weld touch sensing.....not workpiece deviation.
Work piece deviation appears to be something you will need to code in yourself from an AS perspective.
We are trying to write a code for compensating the workpiece deviation by using XAC command.
Please check attached code .
I would like to get your kind recommendations to enhance this code & make it more reliable .
Many thanks for your kind feedback .
I do agree with you that Touch-Sensing patterns are applicable for BLOCK teaching and we have used it previously for small scale projects but as per new ARC WELDING manual ; we found new instruction & we tried them in reality but as you got from K-Roset , results are not logical at all .
I am in touch with KRG (Kawasaki Germany) for those new commands but they are also don't have any idea about those new commands .
I informed KRG that now a days most of welding paths are generated by using OLP softwares which means touch sending commands should be applicable for AS language commands ; otherwise no need for OLP software for Arc welding applications !
Unfortunately we don't have access to KHI in Japan to know exactly how to use those new commands for AS .
But i am sure that we can use touch sensing in AS since many OLP softwares are publishing that their solutions are supporting KAWASAKI touch sensing like Delfoi & Octopuz .
if you can support us by getting more details from KHI ; Will be highly appreciated .
Thanks again for your support all the time .
Hello KAWASAKI Guys ,
We are working on an ARC WELDING project using KAWASAKI BA006L robot with KEMPPI A7 Machine .
We are writing the overall program using AS language (Not by Teaching) .
Everything is fine except the touch sensing option .
We start using the XAC function & it is working fine as expected .
We are using touch Pattern 4 (3 Points) .
The issue is :
- At the time we are teaching the robot the welding path points ; How we can inform the robot that following touch points are the references for future welding ?
- Assuming that we have changed the work piece by new one & touch sensing performed by the robot ; How we can get the corrected points (Transnational or Joints) or the deviation values ?
- In the ARC welding Manual we found the instructions of RARCWMDP , #GET_ARC_WMDP & #ARC_WMCV but we don't know how to use them to save reference touch points and to get the deviation for every new workpeice .
It will be highly appreciated to get any suggestion or sample code about using touch sensing in AS language .
Thanks in advance .
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If you are interested, drop me a PM.
Hi ,
Any one used KAWASAKI life-Time calculation sheet?
We are trying to use it for RD-80N robot but we can't find RD-80N in the calculation sheet list .
Any suggestion ?