If we would like to compare most similar arms, BX165L and BX200L main difference is different reduces ( to be more precise reduction raio). This causes diffrent allowable moment of inertia at wrist section and max torque wrist can generate.
Also max rotational speed of each axis is diffrent.
Ceratainly those parameters must be taken into concideration in robot firmware but I guess none ordinary user have acces to those parmeters
As I have checked in K-Roset it is avaliable form the very beggining of E-controller.
It is also avaliable in F-series controllers.
I have never meet documetation regarding this function.
Hi
As a default behaviour Kawasaki Robots treats TOOL comand as break in CP motion.
But there is a solution for your issue .
There is a system switch named No break by TOOL instruction
21 Motion settings --> 1. Motion Option --> No break by TOOL instruction
Make it enable and this is it.
As kwakisaki mentioned external axis parameters may be crucial.
I assume that this part of setup might be different between currently working 3 robots and one You are implementing now. ( Assuming all stations have the same mechanical setup) . Make sure to comapre other external axis parameters too.
This screenshot is taken from exernal axis manual and Your desired setup may differ
Do You Get "W1001 Over maximum joint sprrd in check. Set low speed " warning ?
Or it is another error code ?
Two things comes to my mind :
1. You are near singular point thus joints try to accelerate rapidly.
2. You have toolshape set and enabled and when You are rotating Your tool, one of toolshape points exceeds safe speed of 250 mm/s
If You have your tool set in 0304 MENU You canacahec if tooshape is set and enabled aso in 0304 menu in toolshape tab
There is an option of cooperative motion for arc welding. I am not sure if it will work when two robots are facing eachother but it is worth to take a look . For sure robots can share external axis while welding.
Manual full name is " Arc Welding Cooperative Motion Control via Communication Function Manual"
Hi
Due to the fact that CP series have just 4 axis it can not perform full calculation of mass and center of gravity.
I did Auto Load Measurement on CP180L robot once and as far as I remember it only moved 3rd axis during measurements
Backward compatibility of AS program is still maintained.
Nice features worth mentioning are:
- New TP that have USB port, more colors and greater resolution. It is communicating with controler via Ethernet and not RS422 as D and E controller
- New TP also have its firmware ( as in C controllers)
- Tehere are two views/schemes on TP, Classic and new in wich You can visualise robot and Cubic-S areas
- Controller have now 1Gb/s ethernet ports
-There will be an option for installing power regenerative unit in F02 Controllers ( simillar solution as in E03 controllers)
- Motion Option for handliing and dealing with dense CAD/CAM generated points ( Ultra-short pitch constant speed motion option)
- Digital Outputs are now protected against shortcircuits.
- In most cases there will be reduced amount of Robot<-> Controller cables. There will be 2 instead of 3 for example
That are most important new features that comes to my mind in no particular order
If last window You have attatched is from Balluff software config You have IP adress misspeled and it is out of robot's subnet.
Other tahna that ples provide eds. file or at lest Balluff IO module name os it is possible to check configuration manual for that product.
In eds file check for connection type as setting it to multicast where point2point is expeced or vice versa leads to connection trubles.
You can also checconnection ststus and error code via monitor menu -> Software EthernetIP status
There You will have link status and error cod if devices can see each other but some settings are incorrect.
If You @westysaki would like to change those program on the fly You can check K-ASload software.
You can find usecase video below
I have seen a lot of Kawasaki robots but never heard of this construction. I guess it might have never been sold to general industry by robot distributors.
If I am right this type of kinematics is called poly-crank. First time I see it on real picture not as an academic book illustration.
You can find pictures of unwrapped arm here Unwrapped robot
Do not confuse this robot with standard 6 axis RS030N robot.
I had this error once but simple restart of controller resolved issue.
My approach to such error will be:
- Checking Wiring of XCS1 , XCS21, X507 as communication is transmited through those connectors ( one I had lose pin in one fo Cubic-S harness)
- Writing default data to Cubic-S module - Check if any of Your parameters is not messing up configuration
If it didn't worked I would ask distributor for Cubic-S module replacement.
@BA006LR Do not connect Robot output to Cubic-S safety input.
Safety intputs check continuity of input channels. They dont need external power source. Check Cubic-S connection manual.
Area monitoring function is enabled at low state (check Chapter 10 and 11 of manual for further informations) . So If You want to check if Select monitoring Area 1 is working, just alocate it to safety input. When nothing is connected to an input ( input at low state) monitoring will be enabled and You will not be able to entry protected area.
I guess this is the easiest way to test area monitoring function.
Chris Booth - I have noticed You found my video of two CP robots in cooperation. this was part of the training I did for system integrator to implement robots in this application
Paletizing steel profile with 2 Kawasaki robots
I have some real life experience in cooperative motion so feel free to ask if any help is needed.
I have meet this issue one. It was caused by profinet name.
Don't use any scecial signs in name like undescore (_) etc. just letters and numbers.
In my case robot has held profinet name with an underscore once stet, but after reboot it was loosing it just like at your case.
Hi
Set weight of Your gripper and boxes by WEIGHT function (AS Language manual) if You are programing Your robot in as language.
If You use block teaching set weight of Your tool in 0304 (tool cordinates) Menu
Load on arm is used to inform robot that some heavy equipment (e.g. wire feeder, paint equipment, valve manifold) has ben installed on its arm. Due to this information robot controller can optimize accel/decel so for example arm vibration is reduced .
To chceck maximum allowable load on arm check Instalation and connection manual for Your robot arm.
