[Solved] Kawasaki error: End point for Jt5 beyond motion range

14051192 · December 20, 2017, 2:06pm

Working on a kawasaki program. Used the same program as before. But now the robot moves a couple of mm and then stops. Then he gives me the error.
Im running the move() prgram.

Here is my code:

.PROGRAM coordinates()
POINT test.1 = TRANS(-206.2, -308.3, 268.4, -126.2, 2.1, 35.3)
POINT test.2 = TRANS(-206.2, -291.9, 268.4, -126.2, 2.1, 35.3)
POINT start = TRANS(-206.2, -194.4, 268.4, -126.2, 2.1, 35.3)
POINT test.4 = TRANS(-218.5, -157.1, 389.3, -91.8, 90.1, 0.1)
POINT test.5 = TRANS(-218.5, -236.5, 389.3, -91.8, 90.1, 0.1)
POINT test.6 = TRANS(-218.5, -236.5, 391.0, -91.8, 90.1, 0.1)
POINT test.7 = TRANS(-218.5, -236.5, 345.0, -91.8, 90.1, 0.1)
POINT test.8 = TRANS(-242.6, 297.4, 353.2, 90.6, 77.1, -91.6)
POINT test.10 = TRANS(-240.2, -11.8, 407.3, -1, 64.3, -91)
.END

.PROGRAM move()
CALL coordinates
SIG -16
JMOVE start
JAPPRO test.10, 30
JMOVE test.10
TWAIT 0.3
SIG 16
TWAIT 0.8
JMOVE start
JMOVE test.1
JMOVE test.2
TWAIT 0.3
SIG -16
TWAIT 0.8
JMOVE test.1
JMOVE start
JMOVE test.4
JMOVE test.5
JMOVE test.6
TWAIT 0.3
SIG 16
TWAIT 0.8
JMOVE test.7
JMOVE test.8
TWAIT 3.0
SIG -16
TWAIT 0.8
JMOVE test.7
JMOVE start
.END

Martijn | Viscon Group |

thijs · December 20, 2017, 2:53pm

Hi Martijn, always insert a JMOVE to a joint position at the start of your program. Make sure that this position has JT5 somewhere in the middle of its motion range.

Background: When moving to a cartesian position, the robot joint pose can differ depending on the location your robot is starting the movement from. This may for example occur when jogging the robot manually or interrupting the program and restarting it from an uncommon position.

Mathijs · February 9, 2018, 12:14am

The robot usually doesn’t care in what position it is in when using cartesian position. Whatever is faster.

The following pictures give you an idea about the problem. End result is the same, the pose is different.

See chapter 6.4 CONFIGURATION INSTRUCTIONS
Kawasaki AS programming language reference.pdf

@thijs You can actually manipulate the position of the robot when using cartesian coordinates with the following commands: