Posts by Jonathan PAK

    I think i have also tested with them for the JT6 but i wasnt really sure about JT1.

    Also they are a bit crancky and they are reluctant to believe the brakes are the problem so i will ask someone else's help doing that.


    probably will have it tested tomorrow anyways and will let you know of any result i get...

    for now we are also testing the battery as they asked me to once this problems showed up after the robot being off for a while.


    thank you so much for everything i have tried so far.

    First, we just tried here releasing the brakes for JT4 and JT5 and we could actually rotate the robot tool on these joints.


    second and responding to your request: the video I made I was actually jogging the joint 1 and just now i tried it again and the problem always come on the joint 3 (which is actually joint more liekly to being affected by gravitational force at the moment).


    while trying to move the robot it is trembling quite a lot and even when static i can see the variation on the enconder for JT1 and JT3 (mainly).

    So, I have done the measurements you asked, I also tried and changed the socket i was using (just in case) and repeated them: i noticed one of the phases was 15~20V under the other which i dont think would do much difference, but anyway...


    I also saw in the troubleshooting manual Section 1.2.4 that 21VAC is actually the normal voltage the MC system would operate, which means that this just might be alright...


    I didnt try to release the brakes manually once i have no one to help me at the moment (at least for the JT1,2 and 3) but what should i do afterwards: will i be able to move them with my own strenght or can i operate it normally with the TP?

    I am asking because i was thinking that i could do it at least for the JT4 as it has no chance to move in Z from the position i have the robot.

    Yes i know, just mentioned it because I measured them as well to compare, didnt do anything besides it.


    just did the other steps you asked me to and yet no good news afterwards. Although the sound has decreased slightly, which doesnt make much difference as the problems still come up and the arms are still trembling when i try to move the robot in any direction.


    and here my doubt is still the same: do the breaks operate with 20V AC?

    okay, I a quite impressed: the MCB F4 is returning +/- 20V~ while F3 and F5 is returning e 220V~.


    unless this was expected, what the F4 MCB Connects? and where the power for it comes from?


    thanks for the help.


    Ps.: I didnt do everything you said, in fact i was doing something else and came to check on any answer and decided to do the easy thing and measure it.

    if you still want me to do so, i will do it once i have finished with the other stuff.

    It comes from the motor on the JT2 (apparently) which made me think: why would it cause an overcurrent on other joints as 3 and 4?


    Also, as I had this proble before, it was just a Lucky shot that it came back to normal with the things i have done?


    is it even possible that my board is somehow damaged and having some assynchrony between the hardwares (board, encoder) and the software? (this is just a thought).


    I have read a few about the break releasing before, and it is advised on the manual that I should have the robot arms held to avoid the to free fall, and also, wouldnt it affect in any way the configuration on the encoder or some other feature?


    Thank you!!

    Good Morning to all,


    Here I am again with another problem with my D Series:


    I have came accross this a few weeks back. I could solve with after a "System Inicialization" of it (from the operation manual Section 17.3) and a download from the back up I had done before.


    I noticed the problem was back yesterday noon after the robot being unplugged for almost a week.

    Going back to the first time I had the problem it also happened after sometime being off.


    In advance, the robot is something around 10 years old, it had been sitting in the previous company for almost a year also not being turned on and we have no confirmation that its battery has been changed (which was one of our first idea for a cause).


    Following I am uploading a video that show the problem as it is. In addition: when the problem first happened and also a few times yesterday, the error i was being returned on the screen was Amp Overcurrent (mainly on the Jt3 but it also happened in the others).


    thank you all for the help!!

    Files

    • Video1.mp4

      (5.06 MB, downloaded 17 times, last: )

    After understanding having told me about this he also helped me to save my current LSQ file through KCwin with the comand SAVE/P *name* = lsqpg (which will save the current LSQ file as *name*)


    after that he sent me these 2 files to test the comunication among Board, Kladder and AS, K2ASIn for testing board inputs all the way to the AS and K2ASOut for the board's outputs and the AS. (both in the attached file).


    Please note in the attached file:

    K2ASin:

    - reads input pins 5,6,7,8 on 1HW CN4 (inputs)

    - outputs them to the AS of the Controller as Inputs 5,6,7,8


    K2SA out:

    - reads AS of the Controller Outputs 5,6,7,8

    - outputs them to pins 5,6,7,8 on 1HW CN2 (outputs)


    After all, I could match the systems and could build a Kladder program based on the instructions given by Kwakisaki which i tested afterwards bringing the results i was looking for.


    I would like to thank him for all help, time and patience he had while helping me out on this problem.

    As promised:


    After a few testings Kwakisaki helped me finding a solution for my problem.

    I will try to expose as detailed as I can for future references:



    He expplained me that the interface between AS Program and external IO boards (1HW/1GW) is done with the software Kladder (or Klogic) operating like this:


    BOARD INPUT ---> [ KLADDER INPUT > KLADDER OUTPUT ] --->

    { [AS INPUT >(PROCESS)> AS OUTPUT ] } --->

    [KLADDER INPUT > KLADDER OUTPUT ] ---> BOARD OUTPUT


    Also was taught me that Kladder has already mapped its inputs and outputs in accordance to the boards and AS IO's which can be associated by Klogic manual attached, section 2.3


    But only if you are using KLOGIC PLC option.

    Standard Kawasaki without KLOGIC option enabled, has direct access to 1GW/1HW/1TW access.

    From now on i think would be best if you helped me with the conversation, as i believe i will be sharing a bit more specific things with maybe information of my company and its clients, as soon as we get some results i can come back here and post the steps that lead to the solution in order to help future users.


    what do you think?

    Yes you are right, sorry, I didn't see it there but just downloaded it.

    I also went and checked the program and it is blank and the message is that there is no Klogic program running.


    And about my company there is a small problem though: we are a small company which has only me as electrician/automation professional (although they still use the services of the former employee which i am replacing while i get some more experience), and on for each or even 2 responnsabilities.

    Anyway, what i meant to say is that I will be the one who will have to learn and decide what is best, my manager doesnt really care about the means as long as the results are achieved as he want. So for now I am just looking for the best way for me to get things done.


    And thank you, I will have a look in the afternoon when you have it done...

    meanwhile i will study these manuals and see if is there anything i can do on my own.

    I see, that explain then why I am not having any answer when trying it.


    Would you by any chance have manuals for KLOGIC and/or AS language which could help me creating these routines and the LSPQ (where is it created?) for me to prepare and try to get these things done?


    Another question is: Do you think it would be easier to try and use the internal Inputs and Outputs or would i have to go throught it all either way?


    thank you very much for your help!!

    Hello Kwakisaki,


    I am sorry for not replying before, I had to work in another project to keep things going for a while, but now i think I am back to the Kawasaki one for a few more days.


    So, answering your questions:


    1 - 50999-2146R112

    2 - I will be sending photos of the Board

    3 - i just connected the cables from CN2 and CN4 to some terminals which will be connected to the devices to be active and the ones which will give the input signals.

    4 - Yes, I followed the instructions from one of the Manuals you sent connecting the LVv to the right terminals (+24 and 0).

    5 - I checked it with a multimeter and tried to change the output signal throught TP but the output voltage wouldnt change, t was completely stationary.

    Good morning Kwakisaki,


    I couldn't work it yesterday but today i checked all the connections after studying the manual you sent which now brought me a new problem: after powering the board according to the pin assignment contained in the manual you sent, the board seems to keep the outputs on at all times, my first thought was that the board is not in good condition, or could it be some configuration/function it has?


    Mind you I am only interested in the output.

    Well, actually I the name i am using is my actual first name (but I am Brazilian) and the Second is my company's name. but you were right anyway.


    about my knowledge, I have worked a few years with some other equipments, mostly Allen Bradley and also Comau Robots, my company hired me for these attributes i have. But as I had some changes in life I was away of my field for more than 2 years which didnt do me any good for this matter.


    i was recently hired by them a year ago to and get familiar I have read a few manuals they had and took some time to play, i managed to understand a bit of its programming procedure but again i had to be away for another 7 months (waiting on my visa to be issued), came back a few months ago and now we have this project which i just started working at.


    So overall i do have some understandings but i dont really feel that closer nor confident with Kawasaki just yet, although I do believe i am a good learner and could learn reading some stuff as long as i find the right ones.


    And thank you, i forgot that i could touch the screen for getting more menus, and doing that i found the screen you told me about, i even could force these outputs but i have no cables conneced to the comms of CN2 which i will be doing tomorrow first thing in the morning to see how it works out.


    thank you for now, and if something else come up in mind i will let you know.


    In addition, if you do have anything, any manual that could be usefull for me to get going with my trainings i would be very grateful.

    Wow, I have to admit: this was quite impressive.


    You got it mostly right.


    We are an Irish company that builds machinary system for food industry (mostly) and so is this new robot which will be palletizing.


    we do work with Klogic (dont know how common is that but at first i assumed it was the only way to work with it)


    and thank you for the Manual, that was something i really was looking for.


    But for the operation of the signals, i couldnt get through it. the screen you described, i couldn't really see it.

    I might be wrong but it wouldnt appear anywhere and if you dont mind i am also attaching a few other images of the TP, from the main screen to the other features of it, starting from the System Version.


    Ps.: I am sorry, I didnt see before that but i am only allowed to upload 1 file at a time, so i zip them.

    Files

    • TP Photos.zip

      (2.63 MB, downloaded 6 times, last: )

    Hello, Kwakisaki...


    in fact i was hoping you would answer to my post as per i have been reading a few things you have reponded before and from whihc i have been collecting a few idea and manuals (such as D Troubleshooting Manual).


    Anyway I am using a FD050N Arm, and using a D series and I have a bunch of manuals of them but yet couldn't find exactly how to force the outputs.

    Good afternoon,


    I have a robot that we are working with (and as I just starting working with them and trying to absorb as much as I can in as little time as it is possible) and I have to figure out how work the outputs to see configure them to operate some valves.


    I have read some manuals but i couldn't find in any of them how to Manualy operate the outputs without having to write a whole program to do so (which i would have to give some more readings).


    Another thing i would like to have some help is about configuring the internal signals or even better to understand the cables that operates them.


    For the old system this robot was used we had this splitbox connected to the robot's cables already but as i couldnt get it to work nor try any of its internal signals (which i just assumed they were connected to) i decided to use the external connections (which from my point of view would be easier once i could see and understand it slightly better).



    See Attached the cabe and the connections i mentioned. is there anywhere, any manual that i would have a better explaination on it?


    Thank you all

    Good afternoon everyone


    I am quite new at programming robots and my company is building a palletizing system with a Nachi MC70. The problem I am facing is that I need the tool to keep static while moving, I mean it should lock at a certain angle so the products would not chage its level from the ground during the moves of the robot.


    I could do so operating it in manual by using the tool coordinate and recorded some steps, but even though I have a considerable nummbers of steps in between positions the tool would tilt a little bit.


    in my head it doesnt seems to be hard to do, but i just couldnt find where to change it yet and would really appreciate if someone could help me out with it.


    Thank you all in advance for your help and for your patience.


    Jonathan Alves