FS 03N - a new toy

    Got myself a new toy robot - FS03N.
    Just to experiment with my G code convertion things, without a need to go run and turn on 460v generator for my ZX130L.


    I now might have a robot addiction, can't refuse getting it at the price offered. :grinning_squinting_face:
    (Shipping was 3x robot price)

    Now the questions I have:

    Is there a manual for 1NQ-31 board?
    It is not supplying power to the main PSU.
    So I suspect some lock-out/e-stop circuit is not connected.
    I did check both fuses on the board, and they are ok.

    With my limited English, I can't fully describe how dirty this thing was!
    (mostly machining oil, turned into grease)


    UPDATE: I see 1KP is not connected to anything. But would that affect no power to the main PSU? Because I thought it still needs 24vdc present to read the states.

    UPDATE: Yes, it actually requires those jumper wires present before main power runs thru 1NQ.
    The controller boots fine, errors on motor enable, with Jt1 Jt2 power module error.

    I would make a dump first and than try to see what is the problem, if it is on the surface.

    Nice buy.......Love these little bots.

    I have the same only on a C controller though (earlier generation C70).

    If you ever remove the rear cover on the back of JT3, you will see a rat's nest inside and there should be a single dual solenoid mounted to the inside of the cover for the EOAT.
    Plus there is likely to be a gasket which may tear if you remove that cover too.
    Nothing major from grease leaking as that is where the minor axes are.

    I see you've been troubleshooting the problem whilst simultaneously posting.....Nice.

    Yes, 1KP jumpers to get her alive and also the pins for the module error(s).

    1NQ is the D70 equivalent of your Dxx controller MC Unit.
    If you have the D controller troubleshooting manual, the 1NQ is explained in detail there for future reference.

    Dirty pin(s) in the main connector, seen that before except they weren't dirty, the connector retaining clasps were not fully engaged during use and what happened was that the pins and sockets were arcing and caused deformation with pins and sockets so they had to be replaced.

    Have a closer inspection on the pins and sockets to make sure it is just ingress otherwise error(s) may return over time.

    Enjoy your new toy and the new family member.......yes the EOAT looks like it is designed to pick up piping perhaps......

    So there is a built in solenoid valve for the EOAT? Interesting.
    Is it the case for ZX130L too? (I would imagine it can be in the base, if anywhere)

    Where from the TP menus "UP-LIM" and "LO-LIM" can be set?
    It looks like J1 was limited to +50, probably not to go over the robot-cell wall. (Found)


    According to the AS file this robot was picking up parts and placing them into a grinder machine, than dust-blow-off area, and on a conveyor after that. Alternatively droppping bad parts into a trash bin.

    Quote from ArcadeMachinist

    So there is a built in solenoid valve for the EOAT? Interesting.
    Is it the case for ZX130L too? (I would imagine it can be in the base, if anywhere)

    Only as default for the FS02 and FS03 Series arms, not any other arms unfortunately until the RS Series was released (which cannot work on D controllers).

    Regarding limits, you need to be aware there are 2 types:
    - Mechanical (these are not adjustable from standard TP menu's).
    - Software (these are adjustable from Aux Func 0507 within the preset mechanical limits).

    You can also view and change the software limits using AS commands directly in the editor:
    - ULIMIT and LLIMIT
    These commands can also be used in programs to set joint limits and use them for monitoring against if required for posture assurances.

    Those little babies can bite by the way, my wall in my back room has many dings in it due to me not putting JT1 limits on it.

    Enjoy.............:top:

    I feel like solenoid valves were removed, as both air tubes seem to go directly to the gripper (via tool mount adapter). I can control the gripper just by pumping air in either of the tubes.

    Are the valves "normally closed"? Or they are open when no power applied?

    From the AS I can see it uses OPENI / CLOSEI for the gripper
    But can't figure out where it is mapped to (presumably) internal solenoid valves or external outputs.

    Took me some time to figure out the "BREAK" stuff, but here is it saying "Hi":

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    This gripper is perfect for standard marker pens.
    Probably can easily draw/write in different colors, automatically changing pens.

    Very good......:top:

    Can't comment on how your gripper control is functioning without knowing if the internal solenoid is installed, piped up and electrically connected.

    You can check by looking at signal allocation in Aux Func 0605 clamp specifications and also try usig the SIGNAL commands to test if any of the outputs have been tied to the arm EOAT.

    Attached is the installation manual for your references.

    Autobot main.mp4

    KROSET Fixed Tool Autobot small.mp4

    I do not want to open up JT3 to check for solenoid valves, but I'm almost confident there are none.

    1. They are Option, not something Base model would have.
    2. Aux 0610 "Built-in Valve Output" is turned off.
    3. Both air ports are directly "wired" to the gripper open/close ports.
    4. Clamp1 specs set to use Signal 1 / Signal 2 for OPEN/CLOSE commands.

    At this point I would think it had 2 external valves hooked to signals 1 and 2.
    So I would install that (via transistors, as average valve solenoids are 0.2-0.3A @24v, while GW/HW boards can safely do 0.1A max)

    Your very thorough my friend.......very nice to see indeed.

    I suspect the arm mounted unit may have some services running into JT3 as where it is mounted, there are access holes underneath it, maybe worth checking this if you're interested in finding out just how it is interfaced.

    I have a self made EOAT control unit mounted to mine too which utilizes the internal interface harness so that there is no external service going from EOAT all the way back to the controller separately.

    So what signals are being used to actuate your EOAT?

    Signal 1 and Signal 2 are grip valve outputs. (according to AS dump of original programming)

    1013 and 1014 are used for grip sensors.
    And they do work.

    My question is - how these sensors are wired?
    What makes them to occupy 1013 and 1014? (and not some other inputs for example)
    There is no ArmID board, but somehow they are wired?

    Installation manual talks a lot about air pipes, but nothing about wiring.

    Yes indeed sounds like all is standard interfacing for D7x and FS03 right out of the box.


    As mentioned, you may wish to remove the cover/your interface box and locate the harness coming out from the arm to it.

    Have a look at the attached manual and also cross reference this with the troubleshooting manual (FS03 machine harness section) and that should fill in the other side of 'equals' sign for you...:top:

    It think you have the full compliment of manuals now to service your toy's.

    Great reading.

    Now I'm confident there are no internal solenoid valves.
    As if they are installed they would be configurable to occupy signals 9-12.
    According to the AS dump signals 9 and 10 were used for external "status lamps" (blue/white)


    Also this controller has 1Mb of Program Memory.
    I see from the other posts it is expandable +3Mb with 1KK (50999-2323)
    And I also see there is a +7Mb board (50999-2324)
    In theory - does 2324 work with D+?

    I guess, the circled daugher-board is the memory expansion?


    Anyone has better quality pictures? Preferabely both sides :smiling_face:

    Quote from ArcadeMachinist

    And I also see there is a +7Mb board (50999-2324)

    Not sure where you are getting these details from as Kawasaki never produced any 1KA or 1RA CPU boards with 8Mb available.



    Yes, your circle is memory expansion board.

    The smaller board to the left of your circle mounted to all 1KA/1RA boards called 1KJ or 1QJ and this is flash memory which has 8Mb (1KJ) and 16Mb/32Mb (1QJ) options available.

    Well I say available, D (1KA) and D+ (1RA) boards are obsolete items now as well as other D and D+ components AFAIK.

    Quote from kwakisaki

    Not sure where you are getting these details from as Kawasaki never produced any 1KA or 1RA CPU boards with 8Mb available.

    I meant 1KK board

    Quote from kwakisaki

    Well I say available, D (1KA) and D+ (1RA) boards are obsolete items now as well as other D and D+ components AFAIK.

    It should be pretty easy to reproduce. (1KK, I mean)
    And I'm sure at this point it would not piss off KHI.

    p.s. I have a stupid general question, tried search, but can't find an answer, may be asking it wrong.
    Let's imagine a robot does a simple handling sequence on external start signal, then it is known there is a long (like 10 minutes) idle time, before next cycle. How to turn off servos, while robot is in known idle state?

    Even an empty program with just TWAIT engages motors/break release.

    That's a new one for me.
    Never knew they supplied 1KK's greater than 3Mb.
    Thanks for sharing.....:top:

    I wonder if specific AS firmware is required for the increased memory size though.
    - Something to consider if you use one, hopefully it is just plug, play, recognised and addressable.

    Quote from ArcadeMachinist

    p.s. I have a stupid general question

    No such thing.....the stupid part is not to ask.

    Goto Aux 0808 - System - Environment data.
    - Auto servo off time is for this purpose - max 9999 secs = approx 166 mins.
    - This value turns off servos after time elapsed.

    So in your code when finished (wait for start signal again etc), servos will turn off and brakes engaged after auto servo time value has elapsed.

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