Hello Forum,
Attempting to wake up 2 robots that have been dormant for many years (~10). Formerly they were used at a community college but little is known about their origin. I have done my best to review similar posts and instructions but haven't found a situation where no backup files are available. Robot information is in the below table, attached are the robot.as, alldata.as files which I pulled down using KRterm and RS232 (I have ordered a 32mb PCMCIA card - wouldn't read 256mb).
What I have done thus far:
- Replaced batteries on KA/1RA board and at base of robot
- Booted robot which hung up at "Simple Friendly" screen
- Switched dip switches 1 & 8 on and rebooted
- Chose reinitialize
- Pendant progresses to main screen with numerous errors:
UASR2E1040Z
2008/10/14 14:05
<D2023>Failed to load arm data.
<E1009> No 1 I/O board is not installed.
No = 1 Robot name: NOT SETTING Num of axes 6 Serial No.1
>Cleared Error State
<D1017> Download error of servo data.
<D1016> The servo data file does not include available servo data.
<E0903> Check sum error of system data
Current Setup:
Right now, one robot is setup for spot welding and the other with a gripper (though has hardware for welding gun). I have only powered up the robot with the spot welding attachment. My goal is to use them as basic material handling units, using I/Os to trigger simple things like solenoid valves. I imagine this may take some unravelling of the controller.
I can not get motor power on - so I'm unsure of the status of the bots. They appear to have been well taken care of (clean, labelled, no visible damage), so i am hopeful they had light usage at the school for training purposes.
This is my first experience with Kawasaki robots (Kuka and Fanuc I have experience with). Any assistance/advice would be most appreciated. I have attached photos of the inside of the cabinet - some notes on the door and pendant. Is there an integration manual?
Not sure why I can only upload a single attachment so I zipped them - thanks and apologies for newb mistakes
Robot | 1 | 2 |
Model | ZZX200S B | ZZX200S B |
Serial Number | ZZX201614 | ZZX202219 |
Number of Axes | 7 | 6 |
Mfd. In | Apr-07 | Mar-08 |
Controller | D+ | D+ |
Model | D32 G A001 | D32 F D001 |
Robot | ZZX200S B | ZZX200S B |
Serial Number | ZX201614 | ZZX202219 |
Mfd. In | Apr-07 | Mar-08 |
Dwg No | 91004-1168 | 91004-1168 |