Posts by buontempone

The extension cord was for the motor harness and the signal harness (the single big connector on the back of the robot), and it was made specifically for moving applications by the supplier of the robots, the official dealer for our country; at the moment the cable has not been removed and tested so we still do not know what happened, but to be honest I'm leaning forward to a mix of mechanical failure in passing the cable and the excessive rigidity of the cable itself.

After the cable will be removed, we will bring it directly to the supplier and they will test it in their lab; I will keep you posted on the results.

Hello kwakisaki, thank you as usual for your help.

Fortunately we were able to solve the problem: we were using an officially licensed "extension cord" to connect the controller to the robot; we don't know how, when or in which way, but it has been damaged and so we were getting the error.

Switching back to the original cable, the problem was no more. In some ways we were lucky, it would have been 100 times worse if it had happened after we installed everything at the client place

Hello everyone, I'm using an F60 controller with an RS07N; I've been working with it for over 20 days and suddenly today it stopped working, giving us this error.
The robot was not working at the time, it only had power and the external motor on.

Hope you can help me, thank you.

Quote from kwakisaki

Does this load in all the variables associated with the program and also subroutines and their associated variables too, or does this just load in the program code?

Just the program code for the selected program, no subroutines or variables values; to load the variables values you have to load everything using the first option in the menu.

If you are using the NotePad++ plugin (which you can find in this topic as an attachment AS plugin for notepad++, you can load directly the single programs from the same .as file by just right clicking on them and selecting the appropriate option.

Edit: I made a screenshot

I have just received confirmation: both Cubic-S and ProfiNet can be used on the same controller, but obviously cannot interact with one another (ProfiNet is not safe,after all).

So the final implementation will be probably like this:

- First barrier: the PLC will trigger the Ext. Slow Repeat via ProfiNet, and after *ToBeDetermined* milliseconds will trigger the Cubic-S speed monitoring via ProfiSafe.

- Second barrier: the PLC will trigger the Cubic-S Protective Stop Type 2 via ProfiSafe.

- Third barrier: the PLC will trigger the Cubic-S Emergency Stop via ProfiSafe.

Thank you very much, everyone!

Quote from kawa

It is tricky, but it is possible.
Try to use "slow repeat mode" - this is the only method known to me to change the speed during movement (since D-CON).

Firstly in AUX / advanced setting / set slow repaet speed expressed in % (unfortunately it can't be in mm/s unit).
Then use the dedicated signal "Ext. slow repeat mode".

Of course, you should immediately activate Cubic-S speed monitoring on the two-channel input when the signal "Ext. slow repeat mode" is turned on (actually off because this one signal is in negative notation).

I almost can't believe it, it works flawlessly ( or at least on the simulator it does)!! Thank you, kawa!

But I have to say, the manuals really try to hide this functionality, from the explanations it looks like it would work only when you start moving the robot again.

kwakisaki: I'm still waiting for an answer from the supplier regarding the possibility of working with both Cubic-S and Profinet, as soon I have something I will post it.

Quote from kwakisaki

So, unless I have missed something, then the only way of 'talking' to the Controller is by way of the safety IO of Cubic-S or/and the IO of the safety peripheral in use such as a light curtain to connect to the standard IO of the Controller.
Then by using a background task, or even main motion routine, react to either:
- Safety IO of Cubic-S (which I don't think is possible directly for the Controller to monitor for - This I am not sure about).
- Use the dual channel outputs of Cubic-S and directly drive standard IO logic of the Controller and monitor for these states.
- Use the safety peripheral output directly to drive the standard IO logic of the Controller and monitor for these states.

If the above is the only way, then it's a case of configuring Cubic-S/Safety peripheral to send the specific Output at the time you want to initiate a 'speed change' in the Controller.

Display More

Is it not possible to use the Cubic-S in conjunction with Profinet (using the adapter) and a PLC? That's how the customer planned this, and from what I know they consulted with their Kawasaki supplier before deciding to go ahead.

If it is a you say, it's going to be a problem for sure; I'll add this to questions for the supplier and keep you posted.

Quote from kwakisaki

So how are going to get Cubic-S to send a new AS Command?
- This bit I am really interested in....

I have no idea and I don't think it is possible, it will be my first time working with a cubic-s , that's why I was asking. All the informations that I have about it came from the manuals for now.

Maybe I've not explained it well (sorry, english is not my first language ), but I've not been involved in the planning of this project; I've been only asked to work on it after everything was already decided.

The first barrier would not be used to give a safe signal (slow down only), only the second (protective stop category2) and the third (emergency stop) would. I cannot give you more information on the project for confidentiality reasons, but to the people that planned the project, it made sense.

Edit: Sorry kwakisaki, I totally did not see your first reply to my post, I must be blind . I will try to ask our supplier what you suggested, hopefully I will get some useful information to share!

Quote from e-ray

I think that, if you want to use this for some SAFETY reason you must have Cubic-S unit and use Protective stop function

Yes, I will be using a Cubic-S and the Protective Stop function, but as the name implies that will still stop the robot.

The system (not my project or idea) will have 3 layer of laser barriers, the idea was that the first layer would trigger a slower velocity, the second layer would trigger the Protective Stop and the third would trigger the emergency stop; if the speed cannot be reduce mid-movement without stopping, the first layer is largely redundant.

And that's why I'm asking if it is possible

Quote from Motouser

I don't know if you can or know but you can simply change the REP. SPD in the TP?

Just click on it and apper a submenu where you can increase or decrease speed by step of 10% of the max and you can do it on the fly.

Using the the command MC SPEED *number* in a PC program is the same as using the command SPEED in the console or changing the speed on the teach pendant like you suggested (or at least it looks like it, as the change of speed is instantly reflected on the teach pendant)

The problem is that the new speed is not applied untile the robot has completed his current movement: if the robot is moving back and forth between point A and point B, and it receives a new speed while going from A to B, that speed won't be applied until it starts moving from B to A.

The program that I wrote in my opening post "solves" this by stopping the robot with the command HOLD, applying the new speed and resuming the movement (thus creating a new movement to which the speed is applied).

I wanted to know if there's a way to do it on the fly, without stopping the robot and without waiting for it to complete is current movement.

Hello everyone,
I'm a longtime lurker and, as of today, first time poster.

I started working with Kawasaki robots 2 years ago and this board has been a trove of lifesaving information a lot of times, so first of all THANK YOU!

Secondly, my problem: I've been asked to implement a solution to change the speed of the robot ( an RS007n with F controller) mid-movement without stopping; from my experience I don't think it is possible, but I thought it was worth asking here.

My current solution looks like this, I tested it on the simulator and it seems to be working:

.PROGRAM autostart.pc() #0
10 TWAIT 0.2
IF SIG(1) THEN ;signal to trigger the hold and speed change
CASE TASK(1) OF ;returns the status of the main program (values considered: 1 running, 2 held)
VALUE 1: ;if the program is running, it holds the robot and changes the speed
MC HOLD
MC SPEED 6
VALUE 2: ;if the program is held, the program resumes and the signal get reset
IF (TASK(1)==2) THEN
MC CONTINUE
SIGNAL -1
END
TWAIT 0.2
END
END
GOTO 10
.END

Obviously in a real robot implementation I will get the request to change the speed and the speed value from the PLC, so the program will be a bit different.

Any suggestions are welcome.