Newly acquired Kawasaki UX150 with C-Controller

    • New

    Hello again,

    I'm trying to learn programming for the robot and today I wanted to run my first program; a simple 3 points cycle via block teaching.

    However I ran into an issue, once I recorded the steps and tried to run my program (tp teach mode off, controller switch on repeat, status repeat 10%, repeat once, step cont then motor power, cycle start, and Switch on run) the robot doesn't move. I then tried repeat continuous and the inter-bus error pops and doesn't clear.

    I also wanted to reset the data on the robot since I had a save file and had found the initialize function in the list. I had to exit the program and PC kill then was able to initialize but now the inter-bus error doesn't clear at all, even in teach mode.

    I'm also not able to connect to the robot via Kide via rs232, despite it appearing on device manager. Although ethernet still works with both Kide and KCwinTCP.

    Is there a way to get rid of the inter-bus error ? Should I reset the robot from my computer, I was hoping to be able to connect via rs232 but it's not working and you had mentioned I'd lose the ethernet connection if I did so...

    Have a good evening 😀

    • New

    Hello,

    Slight update; yesterday I also ended un trying re-uploading all variables, strings, and pc programs using Kide (eth mode ofc). I restarted the the robot noticed I now had PC programs running again however if I remember properly the PC program that used to be displayed was "*autostart" I think. However it now displays "autostart". Not sure this is valuable information but at least it's here.

    I had understood yesterday that the inter-bus error was handled by the PC programs and this morning I took a deeper look at my save file. I did find a "MASTER INTERBUS ERROR HANDLER" that is part of "autostart3.pc" if I'm not mistaken, I'm still far from proficient at understanding AS :headball:

    My understanding of the handler, based on my previous interactions with the robot is; this handler allows the robot to run it teach mode despite the interbus error, but not in auto mode. This would conciliate my previous experience with this error handler.

    My guess now is that there was no change when I uploaded the PC programs because they call on programs I did not upload? I'll dig deeper...

    I think what I'll try now is to reupload my complete save file, with the interbus error handler modified (see attached txt file) in such a way that the signals and errors are handled in auto mode as they were in teach mode, hopefully allowing me to run the robot despite the interbus error.

    I wanted to return to robot to a "factory setting" fast so I could start from a blank page. I now understand this might not be the simplest option as the robot controller itself is equipped with boards that require PC programs to handle them.

    I'll keep you updated as usual about the results.

    Have a good day

    • New

    The error(s) you are getting are because the interbus board is complaining of no network to talk to.
    You don't need to remove the board.
    You can just remove the allocation in Aux 118 - 2 Assigned Physical IO Interface and set master/slave to 0. and reboot and that should disable the communication check to the interbus board.

    You also want to stop your PC tasks and remove them (if you are not using them).

    • New

    You have other alternatives available but all depends on what you want to do with the robot and what you have available, or need to obtain.

    Ex jaguar systems like yours were supplied and used to communicate with line controllers and weld timer units using interbus fieldbus IO (interbus board) and not digital IO.
    Robot was master to communicate with weld timer and robot was slave to communicate with the line controllers.
    Your controller will not contain a digital IO board (1HW).

    So effectively, you have no IO capability unless:
    - You locate, learn, configure and install some interbus IO devices.
    - You locate a 1HW board (32 inputs/32 outputs) and install and configure it.

    Either scenario will require some form of modification in software, not necessarily just in program code alone.

    So you have 2 routes really:
    - Stripping bits out (hardware and/or software) leaving some legacy stuff behind.
    - Emptying the controller of everything and rebuilding it with a minimum configuration.

    Either option really requires Kawasaki knowledge and patience.
    If you can obtain a full file save and describe what your requirements are, then it's possible for me to modify your file save, return it to you to load in and set it up that way.

    • New

    Not entirely sure what you meant, I tried going to functions -> aux 118 signal allocation set, set everything to "loc" and 0, re initialized after stopping all PC programs, restarted the controller but the error is still there and not clearing. I guess that's not what you meant since it didn't work...

    • New

    In the meantime I tried uploading my modified handler, it did get rid of the error in auto mode, I can now put get motor power and cycle start on. But when I toggle the switch to run the robot still doesn't move. I'll attach a picture of the tp screen. I guess the robot is expecting an external signal it doesn't get from the interbus to allow it to move...

    Still a little improvement in my opinion :uglyhammer2:

    What I'm trying to do now is make a basic program (block teaching) and test is on the robot.

    In the future my aim is to re-equip the robot with a welder so I'll definitely have to follow one of those routes to get some I/O.

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