Follow these steps each time you add new Tool Center Points (TCPs) or Payloads to the Kawasaki robot in ForgeOS.
Find your Type A-to-B USB 2.0 cable.
Connect the USB B-side of the cable to the Cubic-S port on the front of the Kawasaki controller.
Connect the USB A-side of the a Windows PC. On the Windows PC, open CS-Configurator.
In the Operation Menu, click Read Cubic-S Parameters. This reads safety information on the Cubic-S unit.
When you see "Reading for Cubic-S is done," click OK.
If you see an error that reads "Connect USB," check your USB connection to the Cubic-S port. If this is your first time connecting to the Kawasaki controller, you need to install the Kawasaki USB driver. Follow Kawasaki Cubic-S instructions for installing the USB communication driver.
In the Operation Menu, click Read Robot Parameters. This reads robot information from the robot controller. It may take up to 30 seconds.
When you see "Reading from robot is done," click OK.
In the Operation Menu, click Read Tool Data. This reads tool information from the robot controller.
When you see "Reading of tool data is done," click OK.
In the Parameter Tree View, expand Monitoring Common Settings. Click Tool ID/ No. Table.
- If you are using a ForgeOS version prior to 5.3, map the Tool No.'s 1-32.
- If you are using ForgeOS 5.3 or later, map the Tool No.'s to what's listed in the image (with Tool0 = 10, Tool1 = 11, Tool2 = 12, ... Tool7 = 17, Tool8 = 10, Tool9 = 11, ... Tool15 = 17, Tool16 = 10, ... Tool23 = 17, Tool24 = 10, ... Tool31 = 17).
Then click Update.
These tool assignments are different in ForgeOS 5.3 and later in order to support Tool Shapes.
In the Operation Menu, click Write Parameters to Cubic-S. This saves the safety information to the Cubic-S unit.
CS-Configurator asks you to enter your password. Enter the password (the default password is "khi"). Wait for the writing to finish.
When you see "Writing to Cubic-S is done," wait for at least 5 seconds, then power off the robot controller.
Wait for at least 5 seconds, then power on the robot controller.
Clear errors on the READY pendant.
Tap the DEVICE STATUS button in the Toolbar to expand the Device Status Panel.
Check for robot errors. Tap RESET to try to recover from the error(s).
If you can't RESET the error(s):
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Tap MORE to get more details and instructions.
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Try disabling and re-enabling the device in Device Configuration.
