K-ROSET

Online Function Manual

90210-1438DEB

Kawasaki Heavy Industries, Ltd.

Summary 1

Safety Instruction 2

1 OutLine 3
License 3

System requirements 3

System configuration 5

Available feature for online 5

2 How to connect to real robot 7

Connection arrangement 7

Connection 11

3 Features 13
Online connection view 13

Monitor command in terminal 14

Monitoring feature 15

Upload and download data between K-ROSET and real robot 18

4 FAQ and Troubleshooting 21

FAQ and troubleshooting about startup and connection 21

FAQ and troubleshooting about operation 22

FAQ and troubleshooting about operation 23

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Summary
This manual describes operating instructions for the K-ROSET . This manual should be read with careful review of
the related manuals listed below. Once the contents of all the manuals are thoroughly read and understood, the robot
can be used.
 Safety manual
 Robot Instruction manual
 Installation and connection manual for robot arm
 Installation and connection manual for controller
 External I/O manual (connecting with external equipment)
 Maintenance manual
 AS language reference Manual

The contents of this manual are described on condition that installation and connection of the robot are done in
accordance with the above listed manuals.

This manual provides as much detailed information as possible on the standard operating methods for the Kawasaki
robot. However, not every possible operation, condition or situation that should be avoided can be described in full.
Therefore, should any unexplained questions or problems arise during robot operation, please contact Kawasaki
Robot Refer to the contact information listed on the rear cover of this manual for the nearest Kawasaki Robot
office.

The explanations in this manual include information on optional functions, but depending on the specification of each
unit, not every optional function detailed here may be included with the robot. Also, note that figures given here
may differ partially from actual screens.

1 This manual does not constitute a guarantee of the systems in which the robot is utilized.
Accordingly, Kawasaki is not responsible for any accidents, damage, and/or problems
relating to industrial property rights as a result of using the system.
2 It is recommended that all personnel assigned for activation of operation, teaching,
maintenance or inspection of the robot attend the necessary education/training course(s)
prepared by Kawasaki, before assuming their responsibilities.
3 Kawasaki reserves the right to change, revise, or update this manual without prior notice.
4 This manual may not, in whole or in part, be reprinted or copied without the prior written
consent of Kawasaki.
5 Store this manual with care and keep it available for use at any time. If the robot is
reinstalled or moved to a different side or sold off to a different use, attach this manual to the
robot without fail. In the event the manual is lost or damaged severely, contact Kawasaki.
Copyright © 2021 Kawasaki Heavy Industries Ltd. All rights reserved.

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Safety Instruction
The items that require special attention in this manual are designated with the following symbols.

Ensure proper and safe operation of the robot and prevent physical injury or property damage by complying with the
safety matters given in the boxes with these symbols.

[NOTE]

Denotes precautions regarding K-ROSET specification, handling,

teaching, operation and maintenance.

WARNING

1. The accuracy and effectiveness of the diagrams, procedures, and detail explanations
given in this manual cannot be confirmed with absolute certainty. Should any
unexplained questions or problems arise, please contact Kawasaki Machine Systems.
2. Safety related contents described in this manual apply to each individual work and not
to all robot work. In order to perform every work in safety, read and fully
understand the safety manual, all pertinent laws, regulations and related materials as
well as all the safety explanations described in each chapter, and prepare safety
measures suitable for actual work.

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1 OutLine
This manual describes usage and precautions of K-ROSET real robot connection feature.
Please refer to the robot operation manual for features of robot itself.

1.1 License
Special license is required to open K-ROSET when real robot connection feature is enabled. Not only the regular
license to open K-ROSET but also additional license key is required. Please contact Kawasaki for additional license
if necessary.

1.2 System requirements

K-ROSET
Please make sure that your computer satisfies the system requirements for K-ROSET. For further information, refer
to the “K-ROSET Instruction Manual”.

 In addition to the system requirements described in the K-ROSET Instruction Manual, wired LAN
port is required. K-ROSET Instruction Manual

Computer models which are confirmed of system operation capabilities.

Manufacturer Model OS
HP EliteBook8540w Windows7（32bit）

Network
ETHERNET straight cable with RJ45 connector is needed.
Confirmed of system operation capabilities
Manufacturer Model
Sanwa SUPPLY KB-STP-02LN
Sanwa SUPPLY KB-STP-05LN
Sanwa SUPPLY KB-T7-02NV
Sanwa SUPPLY KB-T7-05NV
Network Hub is needed when ETHERNET straight cable uses.
Confirmed of system operation capabilities
Manufacturer Model
BUFFALO LSW4-GT-5NS

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Real robot

Controller
Robot controller which is confirmed of system operation capabilities
Item Description
Controller E controller F controller（Ver.1.8.0）
Type E20 F60
Language Japanese, English, Germany and Chinese Japanese, English
Handling, Painting/ Sealing, Handling
Applicable work
Arc welding and Servo welding gun
Arm
Robot arm which is confirmed of system operation capabilities
Series Model
R series RS020N-A001
Medical & Pharmaceutical MC004N-B001

Caution

1. Do not connect to more than one robot.

2. Please note that the models which are not tested may not run in the system.

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1.3 System configuration
This section describes system configuration for online connection (connect to real robot).

Computer Hub
E series Controller
(Please prepare on your side) (Please prepare on your side)

K-ROSET
・V1.7.1 and later
・ License which supports online
connection

Computer Hub Controller

 Crossover cable is required when not using hub.

1.4 Available feature for online

Following features are available by connecting K-ROSET with real controller.

 Monitors real robot pose and conveyor location by displaying them on K-ROSET.
 Monitors I/O signal condition.
 Monitors condition of the controller operation panel.
 Monitors the information of the running program.
 Terminal operating system like KRterm and KCwin32.
 Obtain data from real robot controller.
 Transfers data in K-ROSET (program and variable) directly to real robot controller.

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2 How to connect to real robot
This chapter describes how to connect to real robot to use the online feature.

2.1 Connection arrangement

2.1.1 Settings for robot controller

Go to “Aux.” - “System” - “Network settings” to check your IP address of controller.

Initial settings are as follows.
Port1:192.168.0.2
Port2:192.168.11.2

 Please refer to the robot controller operation manual for details.

2.1.2 Computer settings

Set local area network connection in computer.

 Explanation below is for the Windows7.

1 Go to “Start” – “Control panel” in Windows.

Displays control panel window.

2 Click on “Network and Internet”.

Displays network and internet window.

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3 Click on “Network and Sharing Center”.
Displays network and sharing center.

4 Click “Local Area Connection”.

Displays local area connection window.

5 Click on “Properties”.
Local area connection property appears.

6 Click “Internet protocol version 4 (TCP/IPv4)” then click “Properties”.

Opens internet protocol version 4 (TCP/IPv4) properties.

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7 Input different values into 4 items in the “IP address” and make sure that the entered values are
different from the IP address for robot before clicking on “OK”.
Set settings will be saved.

 If any other equipment is connected to K-ROSET, make sure that none of the IP addresses
duplicate.

8 Click on “Close” to exit local area connection window.

Set settings will be applied.

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 2.1.3 Cable connection

Connect computer and robot controller by LAN cable.

1 Connect one side of LAN cable to computer and the other to the controller.
Green lamp next to the port will light if computer has the lamp.

 Use a cross cable with RJ45 connector for ETHERNET cable.

Inside of controller

EHTERNET connector
on computer.

Controller front

1TA/1VA board.

This chapter is explained in the following example.

IP
PC 192.168.0.3
Controller 192.168.0.2

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 2.2 Connection
Start K-ROSET and connect to robot controller.

1 Start K-ROSET and add a robot as same model as the target model to connect with.
Robot will appear in the view.

 Refer to the K-ROSET Basic operation manual for how to add robot.

2 Click on “Connection settings”.

Connection settings window will be displayed.

3 Edit settings to be as shown below and click “Connect”.

Displays a confirmation dialog.

 This example is showing for the connection to the port 1:192.168.0.2.

4 Click on “Yes”.
Starts connecting and connection processing dialog will appear.

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  If the connection process does not complete, check IP address settings and cable connection and
retry.

Caution dialog will appear when the settings differs between K-ROSET and robot controller.

2.2.1 Connection settings

Functions to use need to be selected for online feature.

In the default settings, only monitor command in terminal is available.
When the function is enabled, connection needs to be reconnected again.

 Since the mode (teach/repeat) of the panel information is required when monitoring pose data,
check marking the pose data in the settings will automatically check mark in the monitor check
box in panel information.

Reconnect feature
When this feature is enabled, K-ROSET keeps searching for connection to the robot controller when disconnected by
unplugging LAN cable. Once LAN cable is plugged back in, it automatically starts connection process.

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3 Features
This chapter describes online feature.

3.1 Online connection view

K-ROSET display view changes when mode is toggled to online so that it is easy to tell that the mode is switched.

View
A message <Connecting to real robot> flashes on the upper left in the view.
Connected robot, destination IP address and destination port will also be displayed.

Layout
IP address and port of the online connected robot will be displayed in blue.

 Robot name of application appears in the program table and IO monitor also turns to blue.

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 3.2 Monitor command in terminal
Online feature allows robot to operate using monitor command just like Krterm and KCWin. All the command will
be displayed in blue while connecting to online.

 Terminal control character like “Ctrl+C” cannot be used.

Data backup
Backup the data. File name will be the date when data is backupped.

 Check the option settings for the number of backup data

3.2.1 How to backup

When a message to prompting the user to OFF and ON the control power appears in the pendant, please follow the
procedure below.

1 Click on data backup button.

A confirmation dialog will appear.

2 Click on “Yes”.
Dada will be saved in backup folder.

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3.3 Monitoring feature

3.3.1 Robot pose monitoring

This feature enables to display the robot arm in the K-ROSET screen view in the same pose as real robot arm.

 This feature is enabled only when check marked in the check box for “Monitor pose data” in the
connection settings.

Robot pose monitoring

3.3.2 Signal monitoring in I/O monitor

This feature allows to monitor output and input signals.

Unlike the off line mode, signal ON/OFF cannot be toggled by clicking.

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  This feature is enabled only when check marked in the check box for “Monitor I/O signal” in the
connection settings.

3.3.3 Conveyor value monitoring in the simulation dialog

This feature allows to monitor the conveyor value of online connected robot through monitor tab.

Basic settings
Disabled to select.

Monitor
Robot name will appear in blue. Conveyor value can be monitored.

 This feature is enabled only when check marked in the check box for “Monitor pose data” in the
connection settings.

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3.3.4 Panel condition monitoring on controller

This feature allows to monitor the condition of controller panel.

 This feature is enabled only when check marked in the check box for “Monitor panel data” in
connection settings.

Show
Synchron

Caution message will appear when tries to change the state of operation switch by clicking.

3.3.4.1 Program condition and axis value monitoring on arm monitor

This feature allows to monitor robot axis value and current status of program running condition in arm monitor
dialog.

 Monitoring the axis value is enabled only when check marked in the check box for “Monitor pose
data” in the connection settings.
 Monitoring the program step is enabled only when check marked in the check box for “Monitor
program info” in the connection settings.

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 3.4 Upload and download data between K-ROSET and real robot

This feature allows to transfer data in K-ROSET to robot controller and reversely download data in controller to
K-ROSET.

 Only downloading is available for synchronization of controller settings when it’s in online mode.

Controller settings specifies the category except for JOINTS,TRANS,REALS,STRINGS,PROGRAM.

Followings are the category examples of controller settings.
NETCONF ROBOTDATA OPE_INFO INTER_PANEL_COLOR_D
AUXDATA AWDATA ISTORAGE INTER_PANEL_TITLE
SYSDATA INTEGER SIG_COMMENT NTER_PANEL_D

3.4.1 Transformation

WARNING

Data may be lost. Make sure to backup before transforming data.

1 Click on “Synchronize” in the controller tab.

Displays the synchronize dialog.

2 Select necessary categories for synchronization and click on the program to transfer.
Selected item will be indicated by boldface.

 To check the edited settings, select target items in the Details section and click on “Comparison
data”.

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 Comparison data
Discrepancies in data will be indicated in red and green.

3 Click on “Synchronize”.
Confirmation dialog will appear.

 All the data which is not selected will be deleted when replace is selected.

4 Click on “Yes” in the confirmation dialog.

Data will be transferred to the real robot controller.

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4 FAQ and Troubleshooting

4.1 FAQ and troubleshooting about startup and connection

This section describes FAQ and troubleshooting about startup.

Q1.Online mode cannot be selected in connection settings.

A1.Special silence is required for online connection feature. Please contact support center for further information.

Q2.Caution message “Cannot connect Controller” appears when connected to online.

A2. Check network settings. Make sure that the IP address is set correctly and cable is plugged in properly then retry
to connect.

Q3.Is wireless available for online feature?

A3.Unconfirmed yet. Please note that we cannot guarantee until we confirm that it works without any problems.

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4.2 FAQ and troubleshooting about operation
This section describes FAQ and troubleshooting about operation.

Q1.Controller settings on K-ROSET side cannot synchronize with real robot controller.
A1.Please note that we bar the use of controller settings on offline as it could cause problems on start up or an error.

Q2.Robot does not move by operating with teach panel.

A2.When the settings is set to monitor the axis value, axis value will be automatically set to be the one for the
connected real robot controller once motor is ON and that disables teach panel.

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4.3 FAQ and troubleshooting about operation
- Restrictions on online feature.
Any features not described in this manual are not supported.

- Restrictions on robot
Please make sure to connect only one robot per project..

- Restrictions on handling simulation

Animation for holding workpiece by ON/OFF of the clamp signal under online mode is unavailable.

- Restrictions on arc simulation

Welding line cannot be drawn by turning ON the welding signal under online mode.

- Restrictions on painting simulation

Display or hide the “Pattern” model and drawing painting line by ON/OFF of the spray or gun
command under online mode is unavailable.

- Restrictions on servo welding simulation

When there is an obstacle model as a child model of motion axis of the tool with name of “tip”, track
line of motion axis at origin of “tip” can be drawn.

- Restriction on data communication speed

When communication condition is bad or having large task of real robot (such as main program, PC
program or Kladder processing), it causes delay in monitoring feature because data loading takes time.
For example, robot motion image is displayed by frame-by-frame playback or it takes long time to load
save data.

- Restrictions on drawing track line

Keep drawing the track line will store large data in project and decrease in performance. And that
causes delay in monitoring feature. Please not to draw track line for a long period of time use of the
monitoring feature.

- Restrictions on program transformation

Program cannot be transferred from program table.

- Restrictions on running program

Robot cannot be operated using simulation, program table or controller tab.

- Restrictions on operation history

Online mode is a communication between K-ROSET with robot controller using monitor command.
Therefore the monitor command sent from K-ROSET is also included in the operation history.

・Restrictions on connection
There’s a possibility that data may not be transferred properly depends on connection state when it’s
connected with a robot via remote access connection. It does not support a connection with a robot in a
distant location.

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