Hey guys,
My first time posting here after looking through 27 pages of Kawasaki threads here on this forum.
We've bought a robot/controller set from eBay, which was used in a Semicon fab. It should be functioning as is, but I can't be sure about that.
Since it's a OEM/Proprietary product, there's not much information to be found and it's not likely Kawasaki is gonna give it to me. However, i've just asked Kawasaki Germany if they can help so we'll see.
The controller type is 30C61C-B010 and the robot type is 3NS410B-A704 (AA Robot).
What I want to achieve is to simply be able to turn on the motor power, if that works i should be able to find my way out of this mess.
After quite some searching, I was able to clear all errors and read the encoder values.
I've tried several ways of powering the motors: Using K-IDE does not work -> After pressing power on, motors do not power on and the status command still says the motor power is OFF.
After that I tried using commands: ZPOWER 1:ON also didn't work, but after this the status command does say the motor power is ON.
When I position the robot arms by hand, I can feel the induction of the coils which gives me the impression that the wiring is fine; This is the same with Yaskawa robots.
The first issue I have is the fact i'm NOT in possession of the Operation Panel and Teach Pendant. Documentation I have does state that there should be an Operation Panel connected to the controller, the Teach Pendant is connected to the Panel. I have no idea what type of panel/pendant this should be.
By googling i found a panel that has the same D Sub connector, but that's all I can tell: https://www.layla-ec.com/pd/Robot/Robot…1093&0190-10710
The controller is fitted with a Dummy Connector to bridge certain pins on the Panel connector. I've copied the connector so that I can jumper each pin pair (see picture). With this trick, I'm able to switch between TEACH/REPEAT modes. On this connector I can also jumper one of the 2 Magnetic Contact lines; The other MC is found on the EXT-EMG connector.
Can somebody tell me if the Panel/Pendant are essential for driving the robot or should I be able to do it using AS commands and such?
The second issue is that these robots are normally integrated into a chip manufacturing tool. The software on the controller is written to work in this environment and uses a HOST serial port to communicate with the tool. I'm not sure if it needs an enable signal from the tool in order to power the motors, but I wouldn't know what kind it has to be. Now it only responds with a Not Acknowlegded word: <000,Nak,Fmt>29.
This controller is also configured for use with a Pre-aligner, which I don't possess. It's used to align the wafers prior to robot handling. The controller gave errors since the aligner wasn't connected, though I have been able to remove it from the code (ZSYSTEM cmd was one of the ways i think) and remove the errors.
I would be willing to completely reprogram the controller for use as a stand-alone set, but I would need help to do so (If it is possible at all).
The third issue is that although there's a lot of information on this forum, a lot of it does not exactly match my situation. For example, the names of the different boards do not coincide with what i see here. The logic is the same, but the names are simply different from the names that I can find here. Because of this I'm not sure which board to swap.
I would be willing to make pictures of all the boards, so please let me know!
Hope somebody can help me get in the right direction!
Thanks in advance,
Sam