Posts by finerdesign

I would suspect it needs to do internal calculations and checks for each move instruction therefore wont be able to move in real time?

Hi Rasmus
This thread on using the krcc.dll might be helpful
Question about Kawasaki TCP/IP Communication on C# - Kawasaki Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Error Still Occurred with correct TCP setup, however I've had luck with using the ABB robot post processor in Fusion360, then converting it to AS language. It seems to output only linear moves which gets around my problem.

Proof of concept pictured. Will put more effort into the setup now I know it works.

Cheers

I'll admit that my TCP isn't quite setup correctly, I think I've compensated with my base coordinate.

I'll attempt to recreate the program manually by simplifying it.
Once I know what works I'll attempt to write a program/script/fusion360 post processor to covert GCODE to AS logic.

As Always, Thanks for your help

Yes, when running another simulation I also got that error at the same point.

However the major error occurs on line 130. (only on the Real Robot)
If I create a new program with just the snippet of instructions listed in the first post, it still stops on that C2 Move instruction I've marked in Red. (which is the left triangle like shape on the path in your screenshot)

Sorry, I Think I've lost track on what has changed with my program, I know it completed a successful simulation once but I may have altered some Cam parameters and regenerated it since.

PC-Roset is the best for C-series simulation?
The Scene viewer on my one looks primitive in comparison.

Today I'll offset the base coordinates and rerun the snippet to ensure its not a cable fault at a certain arm position.

Photo of Error:

Hi Team,
I hate to ask for help but this one has had me stumped for the last week.
It isn't urgent in any way, but I'm keen to know your thoughts.

I'm Getting the following Error:

• Error:
  ERROR (-1407)Servo unit error
  ERROR (-1100)CPU error(Code=00008008)
  
  ================================================================
  Task(STP1)Stop SIG=00008008 [FAULT(PARALLEL )] PC=3016fdd8 ================================================================
• I'm Getting it only on some Arc instructions, it appears only when they are used consecutively.
  The program is autogenerated from GCODE so the conversion is probably a factor.
  
• If I cycle power and start cycle, the program carries on and eventually faults again on another C2Move instruction further on in the program.
• It appears to be repeatable. The following snippet shows the culprit area.
  LMOVE TRANS(190.225,81.728,-5.500)
  C1MOVE TRANS(192.399,81.070,-5.500)
  C2MOVE TRANS(193.843,79.316,-5.500)
  C1MOVE TRANS(195.287,77.562,-5.500)
  C2MOVE TRANS(197.461,76.904,-5.500)
  LMOVE TRANS(200.771,76.904,-5.500)
  LMOVE TRANS(200.944,77.182,-5.500)
  LMOVE TRANS(192.372,94.712,-5.500)
  LMOVE TRANS(188.160,103.518,-5.500)
  LMOVE TRANS(187.815,103.574,-5.500)
  C1MOVE TRANS(184.864,100.599,-5.500)
  C2MOVE TRANS(181.831,97.707,-5.500)
  C1MOVE TRANS(178.680,94.941,-5.500)
  C2MOVE TRANS(175.384,92.351,-5.500)  <-Program Stops Here
  C1MOVE TRANS(173.793,91.197,-5.500)
  C2MOVE TRANS(172.176,90.079,-5.500)
  C1MOVE TRANS(170.525,89.012,-5.500)
  C2MOVE TRANS(168.831,88.014,-5.500)
  C1MOVE TRANS(165.522,86.204,-5.500)
  C2MOVE TRANS(162.171,84.475,-5.500) <- If started again, program Stops Here
  C1MOVE TRANS(158.745,82.895,-5.500)
  C2MOVE TRANS(155.225,81.538,-5.500)
  C1MOVE TRANS(152.546,80.622,-5.500)
  C2MOVE TRANS(149.854,79.742,-5.500)
  C1MOVE TRANS(147.134,78.953,-5.500)
  C2MOVE TRANS(144.375,78.309,-5.500)
  LMOVE TRANS(142.523,77.911,-5.500)
  LMOVE TRANS(140.662,77.555,-5.500)
  LMOVE TRANS(139.078,77.325,-5.500)
  LMOVE TRANS(137.494,77.095,-5.500)

What I've Tried:

• Swapped robot over to a completely different Controller Unit. (Same Data file) Same Fault.
• Simulated program in PC-AS. No issues.
• Changing CAM settings to produce less unnecessary ARC movements.(work in progress)

What I've Read (my understanding):

• The servo error results from the 1GB Board telling the 1HA board that a servo error signal has occurred. The following is listed as the main cause:
  · The servo system error has occurred. (I believe this is the case.)
  · Disconnection or connect defect of the harness between the power sequence board (This is internal to the controller I believe, so I have eliminated by changing controller)
• The 1GB board 'Detects encoder hardware and communication errors,
  outputs a servo unit error signal (SVER) via the RS-485 interface to the 1HP board. The 1HP board then
  controls powering down the controller.'

My Thoughts:
The issue seems software related, It doesn't like something about these consecutive commands.
When I got the machine, the circular option wasn't on it and had to be enabled.
It is possible that the auto generated program is creating Arcs that can't be processed/executed properly.

Do the boards have firmware that can be flashed to the latest versions?

Its not the end of the world, but I'm curious why it's happening.
I'm interested if anyone has any insights on what could be going on?

Quote from ericwiz7923

Sounds like this unit is a personal one you have at home. If I don't see a video of you utilizing it to flip hamburgers then I will be deeply disappointed.

Most definitely a toy. A few more road blocks to overcome, then It'll be routing/hotwiring.
Still working on the Beer fetching/making dinner/playing catch part. Will be sure to show off when I have it doing something cool. In the mean time I think I'll just glue some googly eyes to it.

Thanks for putting me in the right direction.
I've been using KIDE, but might drop back to the older terminal style Programs & Notepad++.

I agree to leaving the baud alone, It sounds like a potential future headache.

Nothing left to do now but upskill and put the robot to use.
Thanks for your efforts, I'll be hanging around and hopefully be useful enough in the future to answer a few questions myself.

Thanks for the warm welcome!
I've been on the hunt for years since toying with a palletizing Kawasaki in a previous job.
This one came up dirt cheap and seems to work fine, although I Am still convincing the wife of the merits of my purchase...

I will double check in the morning (wouldn't fit in my garage) but I'm pretty certain Aux 189 doesn't exist. I've hunted though the menu a lot and nothing came remotely close to looking like IP settings.

No intellectual thoughts let alone property going on with me, have attached file.
Appreciate your time

Hi Team,
I'm a long time lurker who has acquired a ZX200S (because why not!) with a couple of C series controllers.
I'm slowing working everything out, but am stumped on ethernet communications.
When plugged into my laptop, it behaves as if nothing is plugged in.
I've tried Patch and Cross Over Ethernet leads.
I've found the IP address in the robot data, and set the PC to a similar IP on the same subnet.

Using info in this forum I've enable the Circular interpolation option, and am wondering if ethernet needs enabling as well?
as the manuals reference ethernet as an 'option'.

Or is it sounding like a bad 1HA board? Which case I'll swap it with the spare controller (Haven't Yet, as not sure of implications).
I'll be sure to try another laptop tomorrow just in case..

Any thoughts on the matter would be much appreciated.

Alternatively could I up the baud of serial?. I assume loading something like this:
(where 9600 is replaced with a faster speed)

.ROBOTDATA1

SETSIO 9600 2

.END

Cheers
-Dave