Controlling 1KX Board Solenoid Outputs

    D Series Controller

    ZX Robot

    I enabled the Aux0610 built in valve output.

    My robot is not equipped with a built in valve, but I would like to use the 1KX solenoid outputs to control a double acting valve.

    From reviewing the troubleshooting manual it looks like the 1KX solenoid outputs go to the x111 connector on the robot.

    Are the clamps 1-8 the 8 signals from the 1KX board?

    If so I'm struggling to understand how the HSETCLAMP works to allocate control signals when there is only 1 wire per clamp.

    Does your arm not include an integrated arm id and external io board usually located in a black box mounted on the rear of JT3.

    This would be the easiest route as that is what the intention of that unit is for.

    Also are you sure you are referring to 1KX correctly and not meaning the small signal relays which are mounted to the 1KP power sequence board?

    I am asking this as those relays on the 1KP board should be available at the arm side on connectors:

    - X108

    - X109

    - X113

    To use those you need to ensure that the voltage is available either externally supplied to terminals 10 and 12 or via the internal 24V supply by linking terminal 9 to 10 and 11 to 12 on the X9 connector on the 1KP power sequence board.

    In addition to this you also need to allocate the CLAMP signals in Aux 0605:

    1. Application field.

    - Here you set the application requirement for each signal.

    20. Handling clamp signal definition.

    - Here you allocate the signal numbers used for single/dual solenoids respectively.

    If you have arm id and external io available, then there should be an area aux 0607 where you can allocate the signals for the external io which can be used inline with aux 06051 and aux 060520 settings.

    Thanks for the reply!!

    I was referring to the 1KX board and X208 (XSOL).

    I do have an arm ID board, just not an additional IO board.

    How are the built-in air solenoids normally controlled? I would like to utilize the built in outputs at the robot to avoid having to run new IO from the robot controller.

    I am struggling to find any specific documentation on how these built-in outputs are controlled vs allocating output signals.

    I will read up on the 1KP board, as I'm not familiar with its operation. It looks like it functions like the TB2 on a C series controller.

    Quote from Lantz

    I was referring to the 1KX board and X208 (XSOL).

    This is what I was referring to when mentioning the 1KP board.

    The built in small signal relays connect via X208 to XSOL which are passed through to the arm via X5 and X5A on the arm side to:

    - X108

    - X109

    - X113

    I am pretty sure from memory they start at signal 9.

    So in aux 0605 you would set the relative clamp no to handling (2).

    Then in aux 060520 set the relative signals to that clamp ie clamp 1 set to 9 and 10 for dual action solenoid.

    Quote from Lantz

    I do have an arm ID board, just not an additional IO board

    Shame you haven't got the extended io board installed as this would be the easiest method to use.

    Thank You!! kwakisaki

    Page A-16 in the D Series External IO manual has been the best reference info I found eluding to how the internal clamp signals work.

    On the D series controller with a ZX robot. There are 8 channels (detailed in the troubleshooting manual) SIGO-1 through 8 on X5a that eventually terminate on connector X111 in what I believe is referred to as the solenoid island?

    Only signals/clamps 1-7 are usable and #8 is the ground or negative reference.

    Ah Ah!.......Great news indeed.

    I've just looked in the Ext IO manual and yes, just one 'small bubble referencing this'.

    Quote from Lantz

    Only signals/clamps 1-7 are usable and #8 is the ground or negative reference.

    Hmmm.......Just checking the D42 1KP arrangement and there are 8 relays: RY7<==>RY14.

    RY7 is used to switch the 24V+ to either side of the contacts of RY8 - RY14 and also is available at the arm side too as an output according to my references below SIG08.

    So yes, only 7 outputs available for internal clamp.

    I think from memory the aux 0610 enables RY7.

    Attached are somethings that may help.

    This information is from EU Spec D42, D32 and D22 controllers and ZX arms may be different.

    - Pinout from 1KP<==>1KX<===>XOSL<===>X5 on the controller side should be the same.

    - X5A pinout to internal arm harnessing may be different with your arm and reference information.

    So verify this against your references for X5A and internal harnessing.

    Hope this also helps...... :top:

    Interesting and very helpful. I'm curious as to where you found the first schematic?

    So, relay #7 is what "enables" the internal solenoid signals?

    What's the point of grounding the NC contacts?

    The final destination for the SIGO signals at least on my arm is the X111 connector.

    Its a male JST connector with female pins. I believe it takes a YLR-08V or YLR-08VF female connector with male pins (SYM-41T-P0.5A)

    I'll confirm that when I get things terminated.

    Quote from Lantz

    Interesting and very helpful. I'm curious as to where you found the first schematic?

    This is not end user documented information.

    Quote from Lantz

    So, relay #7 is what "enables" the internal solenoid signals?

    Upon further investigation, I think #7 relay is tied to a ZSWITCH ZVALVE_COMMON option to allow switching the common voltage used for EOAT configurations for PNP or NPN. connectivity.

    Quote from Lantz

    What's the point of grounding the NC contacts?

    You can see (depending on the state of #7) either 24V or 0V can be switched from the relay(s) state to the arm side - PNP (24V), NPN (0V) - which I think is tied to the above ZSWITCH

    Quote from Lantz

    The final destination for the SIGO signals at least on my arm is the X111 connector.


    Its a male JST connector with female pins. I believe it takes a YLR-08V or YLR-08VF female connector with male pins (SYM-41T-P0.5A)

    From my troubleshooting manual for D42 and ZX combination, this is the arrangement.

    Other ZX series may be different this is why I posted the information.

    You should be able to test (using DVM) where the switched relay output signals are before connecting.

    I am pretty sure the 1KP relays configuration was available prior to the release of Arm ID extended IO option - ie intended more for smaller/earlier arms without Arm ID and extended IO fitted like F Series.

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