Kawasaki UX200, C42F- A001 controller

    Hello everyone :smiling_face: , It's my first time on this forum, I've read a few topics about similar stories with people working with Kawasaki robots, from what I can see, there are people much more experienced than me on this forum. First of all, I just want to say that I don't have experience with robots, even though I have some palletisers at work I don't get involved too much in advanced settings. There is plenty of information and manuals on this forum and I want to thank you for that :smiling_face_with_sunglasses: I am interested in buying a Kawasaki UX200, C42F-A001 robot from someone that keeps it in a garage, from what he told me the robot is coming from Jaguar factory probably for welding, the person told me that it was tested for all joints in manual mode about 2 years ago but it hasn't been powered up since. The owner doesn't have any three phase supply available so I'm not able to do a backup. The only concern I have is the battery for the SRAM memory, I don't know if the configuration is still ok or not. From what I've read the battery should las about 2 years but is hard to tell if it's still alive. What I want to ask you is: In case the battery is empty and the memory lost, will I be able to make it run again ?

    Just want to mention that he is also selling me a second C controller which I want to have just in case I need it. Thanks :smiling_face:

  • Nation February 20, 2024 at 11:06 PM

    Approved the thread.

    Welcome to the forum......... :beerchug:

    Two battery assemblies exist:

    1. SRAM battery for programs and user data (located on the side of the card rack inside the controller).

    2. Inside the UX arm for encoder backup (located behind the black rear cover on the UX arm).

    Both battery assemblies are current spare parts and considering the situation of that controller, I would recommend they get replaced.

    You can power the logic without 3 phase supply.

    You can supply a single phase supply to the AVR (you just need to make a connector).

    If you do this, the logic will power up (you will get errors), but you can make a backup that way.

    Whether the configuration is valid or not, no problem in setting it up as long as the hardware is functioning.

    If you are in the UK, I can come and visit for a fee and get you going and provide some training if that's something you wish to discuss offline - send me a conversation request.

    Hello, today I've purchased the the kawasaki robot I was talking about previously, ( ux200/ c42F) right now the Robot is in a different location while the c controller as well as the teach pendant are with me, the controller is powered with single phase straight into the AVR power supply. so I can get familiar and practice on it. I will try to learn the AS language and create my own program, I want to disable and remove the interbus card and use ethernet IP as the main communication with an AB plc. I don't know how to do that yet but hopefully you can help me with some information. Since I have a backup, I've performed an initialization of the controller using SYSINIT/U as Kwakisaki told me, I now only have the encoders error which is normal since the robot is missing. The question I have is: how do I disable the interbus card, how can I use the I/O of the controller as a slave for PLC, how to close the safety circuit so I can run it in manual until I have proper safety devices, etc. And what should I focus on in terms of programs before I connect to the actual robot as normal. I am also a bit confused about the inputs and outputs of the controller, for example are those outputs

    N_OX1 "CLAMP 1"

    N_OX2 "CLAMP 2"

    ...........

    N_OX256 "SPARE"

    where are they physically in my controller as well as the inputs? I did have a look in the manual it is saying something about 1GW/1HW but I am not sure if I actually have that in my controller.

    :thinking_face: 🙂

    Edited 4 times, last by marianflow (March 3, 2024 at 8:58 AM).

    Jaguar spec controllers used Interbus instead of hard wired IO.

    This is why you don't have a 1HW digital IO board installed, just Interbus.

    So you will need to obtain a 1HW board should you require to use any hard wired IO.

    Regarding Ethernet IP - Not possible on those controllers as they were pre-ethernet IP and boards were not available for them - >25 years old AFAIK!

    Safety circuits etc are described in the respective External IO manual and reference TB2 (long grey terminal strip in the bottom of the controller.

    Manual is available here:

    Post

    Re: C-Series Documentation & Manuals

    Hi,

    attached are some more manuals. kudos in the direction of the very kind forum member who sent me the manuals. i think up'ping them here might help other guys to find the required informations.

    best regards
    c.
    cguenther
    January 11, 2016 at 4:53 PM

    Outputs are specified as OX and inputs are specified as WX

    You will see these in the teach pendant under 'monitoring'.

    Send me your backup and I'll disable the Interbus and send you the modified file back so that you can load it in.

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