Posts by xerim

Hello,

I have two RS050N robots running on a single E Series controller with a linear RTU for my part. Whenever I try use POS MOD to touch up a point, I get an error that states "Illegal Argument of Function (P0116)"

I have been searching through the manuals but have only been able to find a single description of the error, which has the same message displayed on the pendant, "Illegal Argument of Function." This applies to all move types. Any ideas? I appreciate all of your help and support with this issue.

Hello,

I noticed the manual describing several sets of coordinate systems here

What is the difference between the World Coordinate System and the Machine Coordinate System? Are they the same? My understanding would be that an untaught userframe would coincide with the robot world and the cartesian values would be the same as if you were referencing the robot world coordinate system.

Is the Machine Coordinate System the same as the World Coordinate System?

Quote from kwakisaki

Sadly not.

Unless I am paid for my work and my discretion (I operate my own business) , I only provide example code publicly as functionality for training, liability and plagiarising prevention purposes.

The 2nd example from my youtube channel is attached though.

Thank you!

Any chance I can get a text version of the files? Thanks!

Quote from kwakisaki

Check out the Arc Weld AS Language Manual, there is an example in there which is very complexed and searches by touch sense and frames to generate a weld path.

I have put this into a KRoset video example here on my youtube channel:

KRoset (Licensed Version) - Arc touch sense example from Arc AS manual - YouTube

I have a more basic version too for X/Y adjustment which displays some basic touch sense code:

KRoset (Licensed Version) - Basic AS Touch Sensing for XY directional offset - YouTube

Good luck with it as the Kawasaki touch sense command invokes several parameters in a single instruction.

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Hey kwakisaki,

This is great info, I actually have the manual and it has been very useful, but I need to see an entire program for reference to ensure I am not missing anything. Do you have a program you could share?

Hey everyone,

I am working on a post-processor for Kawasaki robots and would love to see an example of a touch sensing program in the .AS format if anyone can provide one. Thank you in advance for your help with this!

This is where I am stuck

Yes, none of the buttons seem to work at all, either on my keyboard or by pressing the buttons on the virtual TP.

Did you ever resolve this? What was the solution? I am experiencing the same exact problem as we speak.

Hello,

I've been searching for awhile, but have been unable to locate any documentation about RTCP for ABB robots. Does anyone have a manual that describes the setup procedure for this? Thanks in advance for your help.

I think OCTOPUZ would be a great solution for this

From the Technical Reference Manual - Rapid Instructions, Funcitons and Data types

Quote from Nortech

In the PROC rDropHandoffStand() which I assume is the one you're referring to, you use WObj:=wobjHandOffStand. I'd be taking a close look at this WObj to ensure it hasn't moved of been re-taught.

Next time you look at the robot running this routine with no issues, take note of the 'ABB' logo on axis 4, Is it normal or upside down?

Then, when you see it go out of position in this routine, check the ABB logo on axis 4 again and you may see that it is the opposite of what you observed previously.

I can't explain why this happens and perhaps some of the many experts on this site can provide an explanation but I've seen in the past where if ConfJ and ConfL are turned off, the robot can go to a position with axis 4 flipped over 180 degrees from the thought position which caused the position to be out by approx. 20mm which sounds a lot like what you're experiencing.

I can see that in parts of the program, you turn ConfJ and ConfL off.

If you think its worth trying, simple add these two lines to the start of the rDropHandoffStand() routine.

ConfJ\On;

ConfL\On;

I'm no expert but I've seen this exact problem happen a few times in the past. Hope this helps!

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ConfJ and ConfL are used to specifiy whether or not the robot's configuration is to be controlled during joint movement or linear movement. If it is turned \Off the robot will search for a solution with the same axis configuration as the current one, but it will move to the closest wrist configuration for axes 4 and 6 (which is why you witnessed axis 4 flipping). With it turned \On the robot moves to the programmed position and orientation, if this is not possible the program execution stops.

Check out the sections on weavedata and welddata in the Application Manual - Arc and Arc Sensor. Application Manual_Arc_and_Arc_Sensor.pdf

Yes it is called RobotStudio

Whenever you execute a move instruction there are several arguments that must be passed into the instruction in order for the movement to be executed. For example:

MoveJ p1, v20, z30, tool2;

This instruction tells the robot to move to robtarget p1 at a velocity of 20mm/s with the zone radius of 30mm with reference to the TCP of tool2.

Here is a visual description of zonedata:

All of this information is very well documented in the Technical Reference Manual - Rapid Instructions, Functions and Data types

What is the size of your zone?

Quote from Egaleskay

program not running as per its taught position

How far off is it? 1mm? 100mm? 100 km?

Quote from Egaleskay

Robtarget position gets shifted suddenly

How far is it being shifted? Is it consistently the same distance or is it a uniquely incorrect position every time?

Quote from SomeTekk

Have you examined the event log for hardware errors?

There MAY be a problem with the internal cable harness.

No hardware errors, always resolver values lost and SMB communication errors