Hello everyone, I have just started my adventure in industrial robotics and I have managed to get my hands on a MS005N with an E controller.I have been playing a bit with it and now I'm trying to get the hang of the simulation software that Kawasaki provides. The question is: can I manually 'force' inputs in K-Roset just like one can do with the outputs with the SIGNAL/BITS commands (e.g. SIGNAL 1100 obviously doesn't work)? Currently I have the Lite version of the simulator.Another thing, the MS005N is a 7dof robot, if I want to change the swivel angle in a program while keeping the TCP position, how can I do?For now I have been writing: LMOVE HERE+TRANS(,swivelanglevalue)Is there an other/smarter way?Lastly, can I have the BITS(start sig,n° of sigs) command return an hex value instead of a dec value?Thanks, sorry if they're dumb questions.
Hi, sorry to hear the golf is not going too well, the industrial robot should improve things for you for sure, may need to invest in a larger caddy to cart it around for you though.In KROSET you can force on inputs using the I/O Monitor Tab.just click on the X or O to toggle the state(s) of Outputs/Inputs/Internals. In KROSET you can force on inputs using the I/O Monitor Tab.just click on the X or O to toggle the state(s) of Outputs/Inputs/Internals.
Only if you have a licensed or trial version.With KROSET Lite, this is a limitation and the I/O Monitor Tab is available but non usable.The full license came in today and I managed to do it.There's still a problem though, I didn't setup the hardware for the IOs on the real robot, anyway the robot is connected as master with a slave schunk gripper, to control it I use 64 master output bits and the gripper answers with 128 slave input bits. I have the same issue on Version 1.7.0, I don't think it is a bug, I think it may have been implemented that way.With KROSET, there are no physical boards (just software), so I assume they have had to 'jiggle' things in software in order to allow functionality for the IO Monitor and to circumvent the errors that you would receive if no physical IO board was connected (like what you receive in real world). In real world, inputs cannot be forced on in the Controllers.I think there has had to be 'cap' introduced in order to provide basic functionality but I am only guessing at this.and have not found a way around it.OX limit = 512 (useable with IO Monitor)WX limit = 256 (useable with IO Monitor)INT limit = 512 (useable with IO Monitor)However, if you use the terminal, you can activate all 960 OX and INT signals no problem, just no way of forcing on inputs.If you allocate the 960, like you did before, then in the terminal window type in:SIGNAL 2960,960 and press enter. Here I am here again with another couple of noob questions- I have read the operation manual and also on the TP I see the Program Conversion aux function, what does it do exactly? After I have defined my points and programs offline, for example in K-Roset do I have to perform this step? Am I not already good to go and able to test and correct on the actual robot just by loading the programs/variables?- If I have to program the robot to follow a complex path not necessarily linear or circular, for example in an arc welding application, what's the best course of action in doing the teaching? Do I just teach lots of points on the path that I want to follow and interpolate them with linear/circular commands?
This seems rather tedious if I want high accuracy, I suppose cad programs can help with this? It's me again:oI have a, hopefully, simple question regarding custom tools in K-Roset.In my application I have a pair of custom gripper attached to my robot, these have to pick up and put different tools during operation which give 'additional' capabilities to the basic gripper (i.e. Suction cup, fork to lift and position some objects, a needle for filling operations).The question is: how do I proceed in the definition of a custom tool, and how should I treat the fact that during operation the robots picks tools with the default custom tool? For now I have tried to define custom tools by modifying a NullTool, adding my tools as obstacles, and then modifying the tool coordinates accordingly:Is this how it's done? You should really start a new thread, rather the have all questions contained within one thread, however I am not a moderator and don't wish to cause any insults by mentioning it.It benefits others using the forum, should they be searching for specific topics if you create a new thread with a new topic.Anyway, back to your question(s).you are asking more than one question.A. Do you know about QTOOL and BLOCK/AS Programming?B. Tool Changing for simulation requires a lot of extra code for dynamic changes of physical tool and TCP change in the Controller - that will not be used on a live robot.The official KROSET way of adding tools is: (only applicable if you have a licensed version)1.
Create new project and a controller/robot.2. Right click R01C01 and select Tool and Load.3. Locate the 'krprj' file of your Tool 'stl' and select it.4.
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For more details,please. Yahtzee RulesThe objective of YAHTZEE is to get as many points as possible by rolling five dice and getting certain combinations of dice.GameplayIn each turn a player may throw the dice up to three times.
Kawasaki Rs07l
A player doesn't have to roll all five dice on the second and third throw of a round, he may put as many dice as he wants to the side and only throw the ones that don't have the numbers he's trying to get. For example, a player throws and gets 1,3,3,4,6. He decides he want to try for the large straight, 1,2,3,4,5.
So, he puts 1,3,4 to the side and only throws 3 and 6 again, hoping to get 2 and 5.In this game you click on the dice you want to keep. They will be moved down and will not be thrown the next time you press the 'Roll Dice' button.
If you decide after the second throw in a turn that you don't want to keep the same dice before the third throw then you can click them again and they will move back to the table and be thrown in the third throw.Upper section combinations. Ones: Get as many ones as possible. Twos: Get as many twos as possible.
Threes: Get as many threes as possible. Fours: Get as many fours as possible. Fives: Get as many fives as possible. Sixes: Get as many sixes as possible.For the six combinations above the score for each of them is the sum of dice of the right kind. If you get 1,3,3,3,5 and you choose Threes you will get 3.3 = 9 points.
The sum of all the above combinations is calculated and if it is 63 or more, the player will get a bonus of 35 points. On average a player needs three of each to reach 63, but it is not required to get three of each exactly, it is perfectly OK to have five sixes, and zero ones for example, as long as the sum is 63 or more the bonus will be awarded.Lower section combinations. Three of a kind: Get three dice with the same number.
Points are the sum all dice (not just the three of a kind). Four of a kind: Get four dice with the same number. Points are the sum all dice (not just the four of a kind). Full house: Get three of a kind and a pair, e.g. 1,1,3,3,3 or 3,3,3,6,6. Scores 25 points.
Small straight: Get four sequential dice, 1,2,3,4 or 2,3,4,5 or 3,4,5,6. Scores 30 points. Large straight: Get five sequential dice, 1,2,3,4,5 or 2,3,4,5,6.
Scores 40 points. Chance: You can put anything into chance, it's basically like a garbage can when you don't have anything else you can use the dice for. The score is simply the sum of the dice.
YAHTZEE: Five of a kind. Scores 50 points. You can optionally get multiple Yahtzees, see below for details.Multiple YahtzeesAfter months of requests from people about adding support for multiple Yahtzees I've finally added it. You can toggle multiple Yahtzees on and off via the Options menu.The rules around it are a bit complex, but I believe they are the right ones, at least according to. There are a couple of different cases:. You already have a Yahtzee: You get a 100 bonus points in the Yahtzee box, but you also have a joker, which means that you can choose another move for the Yahtzee you just got.
If the number you got yahtzees with has not been filled out in the upper section, then you must choose that. If you get an additional Yahtzee with 2's, and you haven't filled out the 2's in the upper section then you must choose that, and get 10 points for it. If the upper section box is already filled then you can choose any of the lower region boxes, and they will be scored as normal. Yahtzee is a superset of 3 of a kind, 4 of a kind, full house and chance, but you can also choose small or large straight and will get the normal 30 and 40 points for those.
You've already put 0 in the Yahtzee box: In this case you get no 100 point bonus, but you do get a joker, and can choose your move following the rules described above for jokers.MultiplayerAfter years of only playing against the computer, you can now start playing against other people from all over the world. Click the 'Multiplayer' button next to your avatar and choose a player name to connect.
Once connected, you can challenge or be challenged by other players.Note: To keep things simple and even as possible, all multiplayer games allow multiple Yahtzees. Strategy tipsTry to get the bonus. Focus on getting good throws with fives and sixes, then it won't matter if you put 0 in the ones or twos. You can always put in 0 for a combination if you don't have it, even if you have some other combination. If you had 2,3,4,5,6 and the only things you had left were Ones and Sixes, then it would be better to put 0 in Ones than to put only 6 in Sixes.Maximum scoreThe maximum possible score without multiple Yahtzees is 375, and you would get that by getting 5 ones (5), 5 twos (10), 5 threes (15), 5 fours (20), 5 fives (25), 5 sixes (30), get the bonus points (35), five sixes (30) for three of a kind, five sixes (30) for four of a kind, get a full house (25), get a small straight (30), get a large straight (40), five sixes for chance (30), get a YAHTZEE (50). 5 + 10 + 15 + 20 + 25 + 30 + 35 + 30 + 30 + 25 + 30 + 40 + 30 + 50 = 375!YAHTZEE vs.
YATZYIn Scandinavia this game is called YATZY and has different rules, scoring and combinations. If you're from Denmark, Sweden or Iceland and are playing this game and thinking there's something wrong with it, then no, there's nothing wrong, they are just different rules.
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Check for a detailed list of the differences between the two games.Anyway, I hope you enjoy the game. If you have any questions or comments, send them to. This online version of YAHTZEE was made by me.
My name is Einar Egilsson and over there on the left is my current Facebook profile picture! In the last couple of years I've made a number of simple online card games, including. After making seven card games and three solitaires I figured it was time to try something else, so I decided to make YAHTZEE (or YATZY as it's known here in Denmark, where the rules and scoring are also slightly different). It's been a fun game to make, and I'm looking forward to seeing how well Bill will play against human opponents:)The game is made using JavaScript, HTML and CSS, with jQuery and a couple of jQuery plugins used for animations.
Since I have no artistic talent whatsoever I used graphics that I found at, a great site with free graphics.Any questions, comments or requests about the game, please send them to. Hope you enjoy the game!This is version 2323 of Yahtzee.This website uses cookies to store your preferences, and for advertising purposes. Read more in our.