Kawasaki Setup Instructions

This section introduces the process of loading the Standard Interface program onto a Kawasaki robot.

The process consists of 4 steps:

• Check Controller and Software Compatibility

• Setup the Network Connection

• Load the Program Files

• Test Robot Connection

Please have a flash drive ready at hand.

Note

A USB 2.0 flash drive is recommended. Otherwise, the robot controller may not recognize the flash drive.

Check Controller and Software Compatibility

• Controller: E and F series

• Controller system software version: no requirement

• Additional controller software options: not required

• Mech-Center: latest version recommended

Setup the Network Connection

Hardware Connection

Plug the Ethernet cable into:

• An Ethernet port on the IPC

• The Ethernet port inside the accessory panel on the front of the controller

IP Configuration

To allow communication between the IPC and the robot controller, both must have an IP address in the same subnet. This means that the first three numbers of the IP addresses should be the same. For example, 192.168.100.1 and 192.168.100.2 are in the same subnet.

1. Check the IP address of the IPC: please use the ipconfig command in Command Prompt or PowerShell to check the IP address.

2. On the teach pendant, press on Aux., and then select 8. System ‣ 12. Network Setting.

   

3. Set IP Address to one in the same subnet as that of the IPC.

4. Set Subnet Mask to 255.255.255.0.

   Note

   If the IP address is set to either 192.168.0.1 or 192.168.1.1, please set Subnet Mask to 255.255.0.0 instead.

5. If you are using a network gateway, the gateway address should also be set. Please consult your IT support for help.

   

6. Press the ENTER key to confirm, and then restart the controller.

Load the Program Files

Prepare the Files

The program files are stored in the installation directory of Mech-Center. The default directory is C:/Mech-Mind/Mech-Center.

Navigate to xxx/Mech-Center/mech_interface/kawasaki, and copy mm_module.as to your flash drive.

Note

Copy the file to the root directory of the flash drive. Do not put it in another folder or rename it.

Load the Files to the Robot

1. Insert the flash drive to the USB port inside the accessory panel on the controller.

2. Check the Program area to see if any robot control program is running. If so, backup and exit the program according to the following instructions.

   
   If there is a program in the Program area, please create backup first.

   Follow the steps below to back up all files except for system logs to the flash drive.

   1. Press on Aux., and select 2. Save/Load ‣ 1. Save.

      

   2. Press on Input File name to input a File Name for the backup file, and then press on SAVE.

      
   Cancel robot control program.

   1. Press on the Program area, and select Cancel register in the drop down menu.

      

3. Make sure that the robot is in teach mode, and make sure that the Program area has nothing listed.

   

   Note

   To switch the robot to teach mode, turn the Teach/Repeat switch on the controller to TEACH, and the teach lock switch on the teach pendant to ON.

4. Press on Aux., and select 2. Save/Load ‣ 2. Load.

   

5. Press on mm_module.as in the file list twice to select it, and then press on LOAD.

   

6. When loading completes, make sure no errors occurred during loading, and press on the R key to exit.

   

Test Robot Connection

Configure Mech-Interface in Mech-Center

1. Open Mech-Center and click on Deployment Settings.

2. Go to Mech-Interface, check Use Mech-Interface and select Standard Interface.

   

3. Set the following fields:

   • Interface Option: Set to TCP Server and ASCII.

   • Listed robot: Select the robot model you are using.

     Note

     If the robot you are using is not listed, select Custom robot instead. Make sure to set Euler angle order to rzyz.

   • Host Address: The default port number is 50000. If you need to change the port number, make sure it falls between 8192 and 65535.

4. Click on Save.

   

5. Click on Start Interface in the Toolbar.

Modify and Run Robot Program

1. On the teach pendant, press on the Program area, select Directory.

   

2. Select vision_sample _1 in the list, and then press the ENTER key to confirm.

   

3. Modify the IP address and port number in the program:

   • Press the J/E key, select Program Edit in the pop-up menu, and then press the ENTER key to confirm.

     

   • Select vision_sample_1 in the list, and then press the ENTER key to confirm.

     

   • Use the arrow keys on the teach pendant to move the cursor to Line 10, and then press the ENTER key to confirm.

     

   • Use the arrow keys and number keys to change:

     • 127,0,0,1 to the IPC’s actual IP address

     • 50000 to the port number set in Mech-Center

     

   • Press ENTER to save the changes, and then press R to exit.

   • In the pop-up windows, press Yes and Close, respectively.

     

4. Switch the robot to repeat mode, press on RPT. SPD to adjust the repeat speed to 10%. Press on the white button below Aux., and change the drop-down options to STEP CONT and REPEAT ONCE.

   

   Note

   To switch the robot to repeat mode, turn the Teach/Repeat switch on the controller to REPEAT, and the teach lock switch on the teach pendant to OFF.

5. If the program is run from STEP 1, the robot will return to HOME position first according to the command in Line 7. To avoid this when testing the robot’s connection with Mech-Center, press on the STEP area, press the number key 9, and then press ENTER to confirm.

   

6. Press on MOTOR while holding down the A key to power the motor.

7. Press on CYCLE while holding down the A key to run the program.

8. If RUN does not turn green, press the RUN/HOLD key while holding down the A key.

   

9. The robot is successfully connected if Mech-Center’s Log panel displays the following messages:

   • Mech-Center: client connected

   • A message showing the client address

   • Robot: server registered