Arm ID IO signals

[zanealtenkirch]

Hi

Does anybody know how to map the input signals on the arm ID board. I need to get an input back from the gun over temp signal. I do not want to run an extra cable all the way back to the general IO in the controller. The manual says it can be done but I cant seem to get any inputs back from the board any help would be greatly appreciated

Thanks

[magruedus]

Hi
What controller & what robot do you have?

[zanealtenkirch]

Hi

Its a D+ controller and a ZX200 robot

[magruedus]

There is an auxiliary function which allows you to specify the start and number of arms inputs and outputs mapped.

Typically the arm io board has 24 inputs and 8 outputs, although there are some around with 16/16.

If your controller is fitted with 32/32 io, then the arm mapping can start at 1033 (WX33) for inputs and 33 (OX33) for outputs.

from memory there are actually two hard wired output lines to the IO also, so from memory you may find the outputs start at 35 on the arm even though you set 33 in the settings.

so to map all 24/8 arm I/O you would have:

ARM_OX_TOP           33
ARM_OX_NUM            8
ARM_WX_TOP         1033
ARM_WX_NUM           24


These are the parameter settings in the AS file.... they may allow you to change them by typing them at the keyboard.... I kind of remember a command called ARMIOSET or something like that. Otherwise navigate to the auxiliary functions via the teach pedant menu key - the arm io settings are under a menu called "input/output signals" or something like that.

[zanealtenkirch]

Hi Magruedus

Thanks for the response but I still can not see the inputs

I am unable to set the number of signals in the screen where I set the mapping I can set the start point but the robot says I have 0 - 0 signals.

Do you know if there is a system switch that has to be activated for the ArmID board to become active I have check the jumpers on the KB1 board they seem to be right.

The arm id board is a PV1 board.

Cheers

[magruedus]

Can you confirm if the Arm IO board is actually fitted? The Arm I/O board is either a 1JD or 1JE (depending on sourcing or sinking) and it piggy-backs off the Arm ID board in the black box near JT3 on the robot.

There may be a switch to turn it on... if I was near a robot I could have a look.... but my experience is that if the robot is fitted with the Arm IO board it is shipped turned on.

How many IO boards do you have? Perhaps go to the keyboard screen and type ZSIG. It will return the number of inputs, outputs and internals allocated and let you change the setting. For example if it returns 32,32,256, you will not have enough I/O allocated for the arm I/O, so increase it to say 64,64,256.

[zanealtenkirch]

Hi Magruedus

Attached please find the information we sent to Kawasaki Japan. Their reply was that we need to enable the seventh axis/servo gun this made no difference and we can still not view the inputs from the board, we should be able to view 2 input according to Kawasaki. Do you know if it is possible to get inputs back from the arm id card without the use of a daughter IO board. If I increase the IO allocation of the general IO above 32 the robot say the 2nd IO card is not installed.

Below is the response we got from Kawasaki Japan

------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

There are 2 possible cause that we have came up. Please see below. I would like you to try # 1. If did not work #1 please proceed with #2.

1,
Connection:
The connection have to be done as per attached. Please recheck if hardware are correctly set.

2,
Default setting.
There are possibility that robot is set on 6th axis setting. For our QA purpose, the robot is set at 6th instead of 7th.

Please proceed as follow.
1, Power off/ restart
2, Type "Z9"then press return.
3, Select "1"
4, Type Command "zextconnect 7 " and  press return.
----------------------------------------------------------------------------------------------------------------------------------------------------------------

Thank you for your help so far hopefully we can get this problem sorted out.

Cheers

[magruedus]

In your attachment you say that there are no daughter boards.... i.e. there is no 1JD or 1JE boards with CN2 and CN3 present... This means that you do not have the actual Arm I/O board fitted and therefore all that is available to you are the two hardwired inputs that run up the robot arm to the Arm ID board.

As I have never used these on a ZX (we have always had a 1JD or 1JE fitted), I am not quite sure how to set them up. I am wondering if they are like the other robots where you need to move jumpers on the controller I/O Board (1HW or 1GW). If you pull out the controller I/O board, you will see these jumpers. There are two sets, one for inputs and one for outputs. They select between CN2 and CN3 and CN4 and CN3 plugs on the I/O board. The CN3 plug is a legacy from the C Controller as the loom going up the arm used to connect there. Now the arm loom connects to the card cage backplane. Move the jumpers to link CN4 stuff to CN3 for the lowest two inputs (WX11 and WX12 from memory or something near these numbers) and see if the inputs on the arm will work. Not 100% sure that this will help though.