KAWASAKI ROBOT

C Series CONTROLLER

Speed Control
for Sealing Applications
(Outspeed)

KAWASAKI ROBOTICS (UK), LTD.

Page 1 of 12
 TABLE OF CONTENTS
Speed Output.............................................................................................3

Speed Output Function Set Up................................................................6

Using Speed Output Control within a Program ....................................9

Example Program ...................................................................................11

Page 2 of 12
 Speed Output

Speed Output is a method for allowing the programmer to relate the Tool
Tip Speed to the analogue voltage reaching the Sealing device. A Digital
to Analogue Converter within the controller is used to produce this output
voltage. Any change in the robot speed will cause the analogue voltage,
to the sealing device to change also.
Consider below:

Example (a).

Gun 1 = Max Speed ______ mm/sec. Max Volt ___ V. Min Volt___ V.

Gun 2 = Max Speed ______ mm/sec. Max Volt ___ V. Min Volt___ V.

Assume Positive Logic.

Number of bits = 8. Repeat Speed__________%

Using the settings given above, complete the table shown below:

Tool Tip Speed Gun 1 D to A Gun 2 D to A

(mm/sec) Volts – Out Value Volts – Out Value

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Example (b).

Gun 1 = Max Speed _____ mm/sec. Max Volt ___ V. Min Volt___ V.

Gun 2 = Max Speed _____ mm/sec. Max Volt ___ V. Min Volt___ V.

Assume Positive Logic.

Number of bits = 8. Repeat Speed__________%

Using the settings given above, complete the table shown below:

Tool Tip Speed Gun 1 D to A Gun 2 D to A

(mm/sec) Volts – Out Value Volts – Out Value

Example (c).

Gun 1 = Max Speed _____ mm/sec. Max Volt ____ V. Min Volt___ V.

Gun 2 = Max Speed _____ mm/sec. Max Volt ____ V. Min Volt___ V.

Assume Positive Logic.

Number of bits = 8. Repeat Speed__________%

Using the settings given above, complete the table shown below:

Tool Tip Speed Gun 1 D to A Gun 2 D to A

(mm/sec) Volts – Out Value Volts – Out Value

Page 4 of 12
Example (d).

Gun 1 = Max Speed _____ mm/sec. Max Volt ____ V. Min Volt___ V.

Gun 2 = Max Speed _____ mm/sec. Max Volt ____ V. Min Volt___ V.

Assume Negative Logic.

Number of bits = 8. Repeat Speed__________%

Using the settings given above, complete the table shown below:

Tool Tip Speed Gun 1 D to A Gun 2 D to A

(mm/sec) Volts – Out Value Volts – Out Value

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 Speed Output Function Set Up

To allow the programmer to use the speed output function, software

switches must be set and information entered into the auxiliary functions.
They are as follows.
1. Auxiliary Function 75 FLOWRATE = OFF
AUX 75 SYSTEM SWITCH
ERRSTART.PC OFF
DISPIO_01 OFF
HOLD_STEP OFF
WS_COMP OFF ON
WS.ZERO OFF
PLC.CHECK OFF
FLOWRATE OFF

F1 F2 F3 F4

PREV.DATA NEXT PG ON/OFF

Comments:
___________________________________________________________

___________________________________________________________

2. Auxiliary Function 73 SPRAY = ACCEPT

AUX 73 SPRAY INHIBIT

SPRAY ACCEPT

F1 F2 F3 F4

PREV DATA

Comments:
___________________________________________________________

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3. Auxiliary Function 64 FLOWGAIN = 100%

AUX 64 FLOWRATE CONTROL

FLOWGAIN COMMAND 100%

F1 F2 F3 F4

PREV DATA

Comments:
___________________________________________________________

___________________________________________________________

4. Auxiliary Function 65 Choose SPEED OUTPUT

AUX
64 FLOWRATE CONTROL
65 SPEED OUTPUT
70 MEMORY AVAILABLE
71 RECORD DATA (PRG CHG) INHIBIT
75 SYSTEM SWITCH
76 HOME POSITION
77 WORK SPACE OUTPUT
78 CLEAR CHECK SUM ERROR
80 XYZ SHIFT
81 JOINT SHIFT

F1 F2 F3 F4

PREV.DATA NEXT PG

Comments:
___________________________________________________________

___________________________________________________________

Then choose 2. ENVIRONMENT SET

AUX 65 SPEED OUTPUT

1 LINEARIZATION TABLE
2 ENVIRONMENT SET

F1 F2 F3 F4

Comments:
___________________________________________________________

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 Then Choose 1. GUN 1
AUX 65 SPEED OUTPUT
2 LINEARIZATION SET
1 GUN 1

F1 F2 F3 F4

Comments:
___________________________________________________________

___________________________________________________________

Now enter parameters for max speed, max voltage, LSB etc.
AUX 65 SPEED OUTPUT
ENVIRONMENT SET

SETOUTSPEED TIME 0.00s

MAX SPEED 200mm/s
MAX VOLT 10.0V
MIN VOLT 0.0V
SETOUTSIG LSB 3000
NUMBER OF BITS 8
LOGIC 1
ACCFLOW 0
DECFLOW 0
F1 F2 F3 F4

PREV.DATA NEXT PG

Comments:
___________________________________________________________

___________________________________________________________

Now choose NEXT PG

FLOWRATE = OFF
AUX 65 SPEED OUTPUT
ENVIRONMENT SET 1 GUN 1

FLOWRATE OFF

F1 F2 F3 F4

PREV DATA PREV PG

Comments:
___________________________________________________________

___________________________________________________________

Page 8 of 12
 Using Speed Output Control within a Program

See statement below:

Clamp1(ON,-45,1,F)
A B C D E

A is the clamp number, there are 4 clamps available, clamps 1 and 2 are
allocated to sealing guns 1 and 2 respectively. 3 and 4 can be used as
handling clamps.
See Functions: 114 – 1 Gun Application
114 – 20 Handling Clamp Definition
114 – 30 Painting/Sealing Gun Definition
Comments:
___________________________________________________________

___________________________________________________________

___________________________________________________________

___________________________________________________________

B decides if the sealing or handling process is to take place. Set to either

an ON or OFF. ON means the sealing or handling devices are turned on,
OFF equates to no sealing or handling.
Comments:
___________________________________________________________

___________________________________________________________

C is the Gun Schedule distance (in mm), a positive value (delay) will
cause the sealing gun, to switch on, after it has travelled the specified
distance, from the preceding point. A negative value anticipate will cause
the sealing gun, to switch off the specified distance, before it reaches the
approaching point.
Comments:
___________________________________________________________

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D is the clamp condition code number, the number specified in here will
activate the speed control software. There are up to 20 possibilities.
See Function 114 – 2 Clamp Condition
Comments:
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___________________________________________________________

E is not used.
Comments:
___________________________________________________________

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Page 10 of 12
 Example Program
Note: (a) Dark shading is where sealant is laid.
(b) The distance between Step 2 and start of bead is 180mm.
(c) The distance between end of bead and step 5 is 120mm.
Step 2 Step 3

Step 6

Step 1

Step 5
Step 4

This is the program listing for above.

PROGRAM demo( )
step 1
HOME
Comments:
___________________________________________________________

step 2
JOINT SPEED9 ACCU4 TIMER0 TOOL1 WORK0
CLAMP1 (OFF,0,0,F) 2 (OFF,0,0,F) 3 (OFF,0,0,F) 4 (OFF,0,0,F)
OX= WX=
#[72.3196,-12.628,19.882,-179.21,111.1297,-106.964] ;
Comments:
___________________________________________________________

___________________________________________________________

step 3
LINEAR 250 ACCU4 TIMER0 TOOL1 WORK0
CLAMP1 (ON,180,1,F) 2 (OFF,0,0,F) 3 (OFF,0,0,F) 4 (OFF,0,0,F)
OX= WX=
#[72.3196,-12.628,19.882,-179.21,111.1297,-106.964] ;
Comments:
___________________________________________________________

___________________________________________________________

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step 4
LINEAR 250 ACCU4 TIMER0 TOOL1 WORK0
CLAMP1 (ON,0,1,F) 2 (OFF,0,0,F) 3 (OFF,0,0,F) 4 (OFF,0,0,F)
OX= WX=
#[77.4888,-12.628,19.882,-179.21,111.1301,-106.964] ;
Comments:
___________________________________________________________

___________________________________________________________

step 5
LINEAR 250 ACCU4 TIMER0 TOOL1 WORK0
CLAMP1 (ON,0,1,F) 2 (OFF,0,0,F) 3 (OFF,0,0,F) 4 (OFF,0,0,F)
OX= WX=
#[77.4888,-12.628,19.882,-179.21,111.1301,-106.964] ;
Comments:
___________________________________________________________

___________________________________________________________

step 6
JOINT SPEED9 ACCU4 TIMER0 TOOL1 WORK0
CLAMP1 (OFF,-120,0,F) 2 (OFF,0,0,F) 3 (OFF,0,0,F) 4 (OFF,0,0,F)
OX= WX=
#[72.3196,-12.628,19.882,-179.21,111.1297,-106.964] ;
Comments:
___________________________________________________________

___________________________________________________________

step 7
HOME
Comments:
___________________________________________________________

Page 12 of 12