Kawasaki DuAro KRTerm connection help

Welcome to the forum.........

DuAro primarily is connected, configured, programmed and operated from a tablet (usually Android based) using a Kawasaki app via wifi and very rarely requires any PC connectivity to use.
It is a dual arm scara that is not used/operated like a conventional Kawasaki Industrial robot.

So what research, documentation, training have you already done with the DuAro?
Did you get a tablet with the app installed and have you tried connecting with that?
Is the port connected from the front panel to the controller via a switch, or just a cable?
What type of cable are using to connect to the front panel?
What type of application are you intending to use it for?

I suggest you do some further research on DuAro and contact your local Kawasaki distributor for further information or whom it was purchased from.

You can also sign up to the Kawasaki Download Centre for all the relevant manuals here:
Kawasaki Robotics Download Centre - Manuals, Software and Tools for Kawasaki Robots - Robotforum - Support and discussion community for industrial robots and cobots

The forum is no substitution/fast track for learning, you should always carry out research on products as often to get started takes a lot of time and writing for others to go over fundamental things, like robot installations and initial start ups.

Please answer ALL questions.......

Can you post image(s) of the complete system including the controller inside?
Can you post an image of the actual rating plate mounted to the chassis?
Is there a wifi router included with the package?
Have you tried 192.168.11.2 instead?

Can you describe precisely:
- What manual you have used to try and install to the tablet.
- What software you are trying to install on the tablet - state R revision.
- How you are trying to install the software (step by step description).
- Can you post image(s) of tablet installation process/progress.

Thanks for the images and answers that helps a little.

Quote from ribbonman

There is a wifi router that was added by previous owner, it was laying loose in the cart as it had fallen off wherever it was stuck too by the foam tape that was on the bottom of it.

This would be my first port of call to see what details they can provide:
- IP Address
- Tablet and app version they were using etc.

So what we can see, it is the D61 controller with both arm encoder battery assemblies and serial no. is greater than 354 so will be version 3 or 4 so documentation and app all need to be referenced to the D61.

The installed switch (Misumi).

We can see 2x Cubic-S modules (programmable safety) for each arm and they are running - initial C0 displayed followed by rotating segments indicating Cubic-S is operating normally.

In addition we can see what I think is vision PC and light unit controller so you would need the documentation for those if you are to using them.

The main thing you have at present from what I can see is:
- No suitable tablet app and connectivity.
- No connectivity to the controller via a laptop/pc.
- Not knowing if the system is actually working or not (blinking usually means error).

So if this was me I would either:
- Contact the previous owner and ask about IP of router etc and ask about tablet and version.
- Ensure correct (cross over cable) if direct to controller, or connect via installed switch.
- Connect using RS232 and KRTerm and use AS command to locate IP address that way.
- Checking on tablet that all access permissions are set prior installing app.

Quote from ribbonman

The previous owner is out of business so that won't be any help there.

Bit of a bugger that one and keeping the tablet too......

Quote from ribbonman

I can connect to the router with my pc with no problem but I have looked at the Duaro installation manual on how to connect the router to the controller but it only shows how to power the router and then refers me to the power harness manual which again shows me how to power the router but no connections and then that manual refers me to the tablet operation manual but that manual doesn't have anything about installing a router.

Yes, the manual reflects the system as usually supplied from Kawasaki where the router will already be installed and setup usually 192.168.0.1 and the controller port 192.168.0.2, but it is possible the previous owner may have changed some configurations.

Ignoring the additional switch the standard hardware configuration is as below:

The controller has to be a static assignment, there is no DHCP available on the controller.
The only way of finding that out is either:
- IP sniffing apps.
- Use RS232 to go online and interrogate/changing the IP using AS commands.

Personally, I would go down the RS232 route first:
- Get a full file save as a priority.
- Using AS commands interrogate/change the IP address and confirm connectivity.

You must use a NULL Modem cable for RS232 though or just a poor mans lead consisting of 3 pins which crossover the Tx and Rx, GND is always to GND as below.
3 ====> 2
2 ====> 3
5 ====> 5

This will allow you direct access to the controller that way and interrogate what IP has been set and also change it using AS language, you could obtain a full fill save before changing anything.

Commands for the ethernet port settings are input in the terminal editor when online:
- NETCONF and press enter if you are allocating port1.
- NETCONF2 and press enter if you are allocating port2.
Then enter the relevant details for each selection of your scope.

Once you have that and a connection confirmed via ethernet, then a wifi router can be connected in between and in the configuration settings, you can setup DHCP for any other joining devices (tablet) and statically reserve the controller IP and then all you would need is arrange the tablet side of things with the relevant app for the version of controller and confirm operation and then finally the vision stuff (if you are using it).

Yes that's a good start.............

Emergency stop buttons should be out for normal use, and pushed in to set emergency stop conditions.
- Push to activate (place in emergency stop).
- Twist and release (pop out) to deactivate for normal use.

However, you will also need to check your manuals for the external emergency circuits, as I suspect the previous owner will have disconnected/removed EXT-EMG signals so you will need to check this and I would set EXT-EMG connector back to defaults from the manual as below and this should clear the errors assuming the connector jumpers are correct, and the emergency stop button is functioning/wired correctly.

Regarding the W3800 warning, these codes can be found in the troubleshooting manual with some nice explanations, possible causes and resolutions........

Carry out the above checks for both encoder battery assemblies, but I would assume that these are probably exhausted and just require replacing, so you would need to resolve that permanently prior to actual usage, this state will not affect connectivity though, so I would get a pair of these on order just the same.

With RS232, after the bootup, just keep pressing your return key a couple of times, you should see a command prompt > followed by a flashing cursor, this will confirm connectivity is good and you can then enter AS commands directly.
So firstly I would use SAVE and save the controller data by typing at the command prompt and then pressing return:
SAVE file01

You should see on KRTerm the progress of the save, may take time due to RS232 baudrate.
Once you have that, the system could be restored to that state if required, main thing is you have a file save available to investigate/use if required.

Quote from ribbonman

I started a save when I made the first post and it took a while to save what was on the controller.

Yes, that will always be the case with RS232, but at least you have a basic form of connection available for now.

Quote from ribbonman

the IP was 192.168.0.2 so I did have that right when trying to connect through ethernet cable.

Did you use a crossover cable to try to connect, or a patch lead?
If you connect direct, then a crossover lead is required, can you try this again with the correct crossover cable?

It's clear it is not in a default state, so doesn't look like the previous owner has wiped anything crucial.

DuAro is very different when compared to a standard industrial robot as there are MANY programs already written and installed prior to delivery as DuAro requires these to be running in the background/foreground in order to work and allow operations and programming to be conducted via the tablet, instead of standard industrial robots teach pendants.
So it will be imperative to get a tablet connected to it.

Kawasaki also supply individual KRTerm applications that include macro/macro buttons for fast data save/load operations specifically for DuAro.
Are you using one of these or using a standard stock downloaded KRTerm application?

Quote from ribbonman

I haven't used a crossover cable

That may have been the issue.
Usually connection through router or switch the cable does not matter, but with direct connection between controller and PC, cross over cable is required.

Regarding KRTerm, Kawasaki provided a KRTerm version specific for duAro which also included macro buttons for fast upload/download action operations, this may also be useful (I have attached this and is just executable from within the folder after extraction).

Quote from ribbonman

I will work on the Tablet this weekend to see what I can do about it, when Kawasaki North America opens back up on Monday I will call the tech support guy and ask him about it since I have talked to him before I bought the Robot.

Ah so you have a Kawasaki contact, that's great, you should receive some good support from them regarding the tablet side.

Quote from ribbonman

As I wait for parts to come in I was able to get the router set back to Kawasaki factory specs and can use TCP/IP connection in KRTerm to connect to the controller, so much faster when saving and backups.

Excellent, yes the benefit(s) of an ethernet connection is a no brainer.
Whilst you are waiting, why not try and establish a wifi connection to the router to and go online via KRTerm that way just as a test to confirm the wifi/router configuration works before you get the tablet?

Quote from ribbonman

I have a couple of questions to help understand better what I'm doing with the robot.

No problem, but I would seriously consider using your contact at Kawasaki to try and get a basic training course sorted or maybe a simple day session on the fundamentals of duAro as it is not easy without some exposure and there's only so much support I and the forum can offer without having to type oodles of information, but I can assist in several areas where I can.

I do have a small demonstration integrated with KRoset (Kawasaki Robotics PC Application). where I am mirroring my physical tablet screen as I program the duaRo in KRoset. which shows some basic stuff regarding programming etc but I am snapping to the robot positions as opposed to manually moving to the positions before teaching, maybe of some use to you:
KRoset (Licensed Version) - DuAro Project Manual Tablet Project Pt2

If I get sometime over the next few days, I may create another duaRo just showing a simple program setup using the tablet where I use the tablet to jog to positions, teach them, test them and transfer to controller and will let you know the link if I do it.

OK...........so a simple overview of duaRo out of the box:
- It is supplied as a 'working' controller intended to be customized and executed from a tablet.
- Default jumpers would normally be supplied installed to EXT-EMG so that it can be operated.
- Programs are already installed, for functionality and communication with a tablet.
- If ANY get deleted or accidently modified, then the system may fail to operate correctly.
- BE WARNED.

Basic operation methodology:
- Create a program in the tablet.
- Jog the arms (Upper and Lower) to positions using tablet.
- Interpolation options and jog speeds are set via the tablet including hand guide modes.
- Using the tablet you create/build the program(s), move/teach/set io and test.
- When tested and complete, you send the program(s) to the controller for auto execution.

Quote from ribbonman

1) The backup/save from the KRTerm window that I did is exactly what to the robot, is it a configuration file that has to be there so someone can then add a program for movement?

That is a save of everything in the duAro system settings and data relative to 2 robots (upper arm and lower arm), zeroing, configurations, parameters and programs dedicated for functionality and communication with the tablet.
Some settings and parameters can be changed locally via KRTerm of via the tablet but it is intended for tablet use only unless you are very conversant with AS Language and Kawasaki.

Quote from ribbonman

Does it have previously uploaded programs in it?

Of course, as mentioned above.
If you are talking about actual motion programs from the previous owner, probably but to actually invoke a test via KRTerm would need a good understanding of how ALL the programs inside operate and integrate with each other, so this would be soooo much easier and better for you to get a tablet setup and communicating as the manuals (not AS) specifically focus on using the tablet as the motion (jogging) and programming interface.

Quote from ribbonman

2) When the batteries come will unplugging them cause the controller to lose the configuration file that I saved previously?

Yes and no........Long read ahead.
- The encoders send values to the controller when the controller is turned on.
- When turned off, the battery powers the encoders in order to maintain these values.
- When the batteries become exhausted, these values from the encoder will change.
- The controller retains the last values upon power off.
- When powered on, encoder values and controller values should match.
- The zeroing data in the file save are data stored in the controller, FROM the encoders.

If the batteries become exhausted, the encoder values will change and the controller needs to use the NEW powered values (after re-zero) in order to operate again.
- You cannot re-zero using a previous file save if batteries or mechanical change occur.
- After a re-zero, you should make a file save and discard the previous file save.
- A file save is a get out of jail file BUT not a file you can load in to re-zero the robot.

As the batteries are exhausted, when you do replace them, you will need to re-zero each joint of each arm, you have this function in the tablet available.

Hope that helps so far, but as I mentioned, I would try your contact at Kawasaki for some basic fundamental training or exposure if you get a freebie from them......always worth asking....