Kawasaki DuAro KRTerm connection help

    • New

    I will take a look and see how it matches with your video.

    I was going through the K-Roset video you sent earlier but when I went to the settings tab to update the robot it was de-highlighted so I couldn't update. I have K-Roset Lite but the video representation of the robot moved just like your's did so that was nice to see. I will get ahold of Kawasaki for the full license to use the App.


    I do have a large format 3D printer so I will generate a model and print them, they don't look that large.

    • New

    Yes, that is the Lite mode restriction you have there.

    You can practice a lot of things with Lite mode though, and in my video I only use those available settings as part of the demo to quickly reset the model position back to home.
    On a live controller it is done very differently.

    If you are looking at self training and development away from a live robot, then I recommend a licensed version and included in the documents are project manuals which also include duAro.

    I have done the duAro projects as demonstrations in my youtube channel showing the full manual using either AS programming direct, or via the tablet.

    • New
    Quote from kwakisaki

    Nope.......
    Zeroing from RobotTeacher2 only allows for JT3 and JT4 on later application versions (Setting 4).
    Earlier versions did have individual axis/collective axis zeroing, but for the life of me they removed it in later application versions........:hmmm:

    You need to reference the inspection and maintenance manual for V4 section 9 (attached).
    You will see how it compares with my video.
    Zeroing is carried out via KRTerm like I said in my earlier post.

    Time for a 3D printer then and save some bucks............

    There is my problem, in the maint. & insp. manual you sent it shows tabs for 4 settings( setting 1 thru 4 tabs) but my version of robot teacher only has 3 tabs plus a tab for safety settings once I installed Cubic-S on my tablet.

    Have I not installed everything?

    I have

    Tablet interface panel 3.0

    Get Terminal info

    Cubic-S safe setting

    Software update

    Robot Teacher2

    • New

    I can go through all the joints and input values shown in the Maint. & Insp. manual and then write it to Cubic-S, the App will then ask to reboot the controller which I do and on power up it will power up without having to push the EMG reset to get it to boot all the way up where the encoders just have the spinning lines( don't know what else to call them).

    • New

    Read the following carefully AND if you don't understand any of it for any reason then ask.

    ********************************************************************************

    Your system is made up of 2 main components:
    1. Big unit that houses duAro circuit boards - To be referred to from now on as Controller.
    2. 2x Cubic-S units (one for lower arm and one for upper arm).

    Encoder zeroing values from the encoders:
    1. Controller requires these values to create zeroing data to know where arms, joints are.
    2. Cubic-S units require zeroing data to know where arms, joints are.

    Re-zeroing is in 2 main parts:
    1. Controller.
    2. Cubic-S..
    Part 1 + Part 2 = Correct and matched zeroing for system to operate.

    You are in maintenance situation as batteries being exhausted causing zeroing data loss.

    Controller zeroing:
    - JT1 and JT2 cannot have zeroing via ANY tablet application, unless early version (yours is not).
    - JT3 and JT4 can have zeroing via tablet application - RobotTeacher2, zeroing settings.
    - This is stipulated in the maintenance manual on the first few lines of section 9 Zeroing.
    - For maintenance, Controller zeroing must be done using KRTerm and PC......period.

    Cubic-S units zeroing:
    - ALL joints can be set via tablet using safety setting application.
    - These values can be sent direct to Cubic-S units via tablet using safety setting application.

    System will not run until same zeroing is used in Controller and Cubic-S units:
    - You cannot re-zero Controller from Tablet.
    - You need to re-zero Controller using KRTerm.

    At present you have:
    - No re-zeroing for Controller.
    - Re-zeroing for Cubic-S (this will need to be redone later).

    ********************************************************************************

    Carry out the following EXACTLY as described and in the order EXACTLY as described
    I am writing this in a very long winded fashion which requires several repeated operations
    Please try this and let me know how you get on.
    (Some mistakes may be included which I have overlooked, so point them out if you find any)

    ********************************************************************************


    Preparation:
    - Connect PC to Controller and open KRTerm and establish connection with Controller.
    - Connect Tablet and have access to Safety settings, zeroing settings screen.

    Part 1: Re-zeroing of lower arm.

    Lower Arm Re-zeroing for Controller:
    1. Move lower arm JT1 and JT2 to position in video (this is mechanical zero degrees).
    2. Using KRTerm (not tablet).
    3. Type in ZZERO 1:100 and press enter.
    4. Press 1 and enter to execute and should display setting complete.
    5. Type in ZZERO 1:0 and press enter
    6. Press 1 and enter to set and should display setting complete.
    7. Type in ZZERO 1:3 and press enter.
    8. Enter value of 150 and press enter.
    9. Press 1 and enter to set the current value.
    10. Press enter and then setting complete is displayed.

    Lower Arm Re-zeroing for Cubic-S:
    1. Leave lower arm in current position.
    2. Using tablet with safety settings and zeroing settings.
    3. Press display to obtain current coordinate position.
    4. Select Master Arm/Lower Arm (ensure this is always set during each joint re-zero).
    5. Select axis JT1.
    6. Set 0 for axis value.
    7. Press zeroing to set value.
    8. Press Write to Cubic-S.
    9. Select axis JT2.
    10. Set 0 for axis value.
    11. Press zeroing to set value.
    12. Press Write to Cubic-S.
    13. Select axis JT3.
    14. Set 150 for axis value.
    15. Press zeroing to set value.
    16. Press Write to Cubic-S.
    17. Select JT4.
    18. Set 0 for axis value.
    19. Press zeroing to set value.
    20. Press Write to Cubic-S.
    21. Reboot the Controller - You will lose KRTerm connection and Tablet connection.

    Part 2: Re-zeroing of upper arm.

    Upper Arm Re-zeroing for Controller:
    1. Move Upper arm JT1 and JT2 to position in video (this is mechanical zero degrees).
    2. Using KRTerm (not tablet).
    3. Type in ZZERO 2:100 and press enter.
    4. Press 1 and enter to execute and should display setting complete.
    5. Type in ZZERO 2:0 and press enter
    6. Press 1 and enter to set and should display setting complete.
    7. Type in ZZERO 2:3 and press enter.
    8. Enter value of 150 and press enter.
    9. Press 1 and enter to set the current value.
    10. Press enter and then setting complete is displayed.

    Upper Arm Re-zeroing for Cubic-S:
    1. Leave upper arm in current position.
    2. Using tablet with safety settings and zeroing settings.
    3. Press display to obtain current coordinate position.
    4. Select Slave Arm/Upper Arm (ensure this is always set during each joint re-zero).
    5. Select axis JT1.
    6. Set 0 for axis value.
    7. Press zeroing to set value.
    8. Press Write to Cubic-S.
    9. Select axis JT2.
    10. Set 0 for axis value.
    11. Press zeroing to set value.
    12. Press Press Write to Cubic-S.
    13. Select axis JT3.
    14. Set 150 for axis value.
    15. Press zeroing to set value.
    16. Press Press Write to Cubic-S.
    17. Select JT4.
    18. Set 0 for axis value.
    19. Press zeroing to set value.
    20. Press Write to Cubic-S.
    21. Reboot the Controller - You will lose KRTerm connection and Tablet connection.

    ********************************************************************************

    At this point, the Controller and Cubic-S units should be synchronized and contain the same zeroing information and you should be able to jog the lower and upper arms freely.
    You should only be able to JT3 in the negative direction.

    So to finalize that, all you should need after the above is move JT3 on both arms to the lowest point (0mm) set the position of JT4 on both arms and then connect your tablet and use:

    Controller zeroing from the tablet:
    - RobotTeacher2 zeroing settings to re-zero JT3 and JT4 for lower and upper arms at 0.

    Cubic-S zeroing from the tablet:
    - RobotTeacher2 safety settings, zeroing settings to re-zero JT3 and JT4 for lower and upper arms to 0.
    - Write to Cubic-S units.
    - Reboot the controller.

    Have a crack at it and let me know if you encounter any issues.

    • New

    Thanks for the detailed instructions, I will get after it on Saturday when I have the whole day to devote to it.

    Kawasaki NA got a hold of me and said they found zeroing jigs and they would be about $1400 US dollars. That doesn't seem very cheap to me but it seems everything involved with robots is quite expensive. LOL


    One final question is about the end of the lower arm zeroing, in the video you hit the "HOME" button to get it out of the way so you could zero the upper arm, will I move it out of the way by hand or will I be able to hit "HOME" from the Tablet?

    Also What side of the cart will I home the arms too, the side with the control panel and EMG button or the side where power is connected to the robot?

    Edited once, last by ribbonman (January 16, 2025 at 4:52 PM).

    • New
    Quote from ribbonman

    Kawasaki NA got a hold of me and said they found zeroing jigs and they would be about $1400 US dollars. That doesn't seem very cheap to me but it seems everything involved with robots is quite expensive. LOL

    WOW........:icon_eek:
    I'd get that 3D printer to work with your models.
    Nothing like pricing yourself out of the game and not making any sale out of it.
    For that price, I would like to think they would include a service visit too.

    Quote from ribbonman

    One final question is about the end of the lower arm zeroing, in the video you hit the "HOME" button to get it out of the way so you could zero the upper arm, will I move it out of the way by hand or will I be able to hit "HOME" from the Tablet?

    No, KRoset was being used as a platform to provide the KRTerm instructions only.
    The home position would have been set previously to specific joint angles by the other user.
    This position can only be reached AFTER zeroing has been carried out, so not until zeroing is OK.

    Quote from ribbonman

    Also What side of the cart will I home the arms too, the side with the control panel and EMG button or the side where power is connected to the robot?

    Ignore HOME until zeroing has been carried out.
    I shall talk about HOME after zeroing.

    For zeroing, you need to move each arm to the area in the video in order re-zero them.
    Back of duAro (EMG button etc), so arms need to point away from back as in the video.
    You can only do one arm at a time as arms cannot populate mechanical zero at the same time.
    The step by step guide goes through this starting with lower arm first.
    When lower arm is done, you can move it out of the way by hand and then do upper arm.

    • New

    I had some time late today to print the zeroing jigs. The jigs for JT1 and JT4 are perfect but the JT2 jig is way to large to install with JT4 jig, I have measured the JT2 jig per the eng. drawing and all specs are correct but it is way too large so I will have to see if it is the correct jig for the DuAro.

    I will zero everything the way you show in the video for now for JT1 and JT2 and use the jigs for JT3 and JT4.

    • New

    That work perfectly, I have a robot that moves.

    I was going to do the JT3 and JT4 zeroing but I have no place to do that in Robot teacher2 as I don't have a fourth settings tab to choose from.

    Since I had JT3 already at it's lowest position per the manual for zeroing will that make it already good for zeroing and then I just need to focus on JT4? I can just use KRTerm to zero both of the Joints again the way you showed me and then just update Cubic_S and I should be good to go.

    Will I have to use the JT2 jig to zero it properly or will what I have done suffice for operation?

    • New
    Quote from ribbonman

    That work perfectly, I have a robot that moves.

    Nice work....:top:

    Quote from ribbonman

    I was going to do the JT3 and JT4 zeroing but I have no place to do that in Robot teacher2 as I don't have a fourth settings tab to choose from.

    Since I had JT3 already at it's lowest position per the manual for zeroing will that make it already good for zeroing and then I just need to focus on JT4? I can just use KRTerm to zero both of the Joints again the way you showed me and then just update Cubic_S and I should be good to go.

    You don't have any fields in RobotTeacher2 for zeroing JT3 or JT4, not even in setting 2 or 3?

    If that is the case, then yes you have pretty much nailed what you need to do next in terms of zeroing (KRTerm and then Cubic-S) then using the same process above again, but this time as follows:

    Drive JT3 on both arms to the lowest point and then using KRTerm.
    Lower Arm:
    1. Type in ZZERO 1:103 and press enter.
    2. Enter value of 0 and press enter.
    3. Press 1 and enter to execute and should display setting complete.
    4. Type in ZZERO 1:3 and press enter.
    5. Enter value of 0 and press enter.
    6. Press 1 and enter to set the current value.
    7. A small calculation is displayed, just press enter again then setting complete.

    Upper Arm:
    1. Type in ZZERO 2:103 and press enter.
    2. Enter value of 0 and press enter.
    3. Press 1 and enter to execute and should display setting complete.
    4. Type in ZZERO 2:3 and press enter.
    5. Enter value of 0 and press enter.
    6. Press 1 and enter to set the current value.
    7. A small calculation is displayed, just press enter again then setting complete.

    JT4 is not mechanically restricted in any way, so you can position that wherever you want.
    You can use the holes in the flange like a clock face and make both arms match.
    Lower Arm:
    1. Type in ZZERO 1:104 and press enter.
    2. Enter value of 0 and press enter.
    3. Press 1 and enter to execute and should display setting complete.
    4. Type in ZZERO 1:4 and press enter.
    5. Enter value of 0 and press enter.
    6. Press 1 and enter to set the current value.
    7. A small calculation is displayed, just press enter again then setting complete.

    Upper Arm:
    1. Type in ZZERO 2:104 and press enter.
    2. Enter value of 0 and press enter.
    3. Press 1 and enter to execute and should display setting complete.
    4. Type in ZZERO 2:4 and press enter.
    5. Enter value of 0 and press enter.
    6. Press 1 and enter to set the current value.
    7. A small calculation is displayed, just press enter again then setting complete.

    Cubic-S zeroing from the tablet:
    - RobotTeacher2 safety settings, zeroing settings to re-zero JT3 and JT4 for lower and upper arms to 0.
    - Write to Cubic-S units.
    - Reboot the controller.

    Quote from ribbonman

    Will I have to use the JT2 jig to zero it properly or will what I have done suffice for operation?

    It will probably suffice for now as you get into using it, but depends on just how accurate it is as to whether it is acceptable for your intended application, if it was perpendicular to JT1 (direct line) then it is probably ok.

    Once you have done that, you can use the HOME button on the tablet.
    HOME gives you the option of:
    - Lower Arm
    - Upper Arm
    - Both Arms.

    Then you should be set.........:top:

    • New

    I got the last 2 joints taken care of but when I hit the HOME button on the tablet it started moving and then the z axis caught a bracket I didn't get installed properly and stopped. I fixed the bracket and was able to verify by jogging the Z that it was no longer in the way but when I hit the HOME button again nothing happened.


    I re-installed the gripper tools that KHI installs at the factory and just need to add it so the Robot knows it has them as I don't see anywhere I can move them(I also have to plumb some air to the robot).


    One last question about when the robot is powered off, if the arms move will I have to zero them again?

    • New
    Quote from ribbonman

    I got the last 2 joints taken care of but when I hit the HOME button on the tablet it started moving and then the z axis caught a bracket I didn't get installed properly and stopped. I fixed the bracket and was able to verify by jogging the Z that it was no longer in the way but when I hit the HOME button again nothing happened.

    My bad, I assumed you have nothing on the end of JT4 and also robots moves to where you are asking it from it's current position and does not know if there is any obstruction in its way (can't see), so before home or any position request, you need to ensure the robot arms can get to home or that position without any interferences.

    If it stopped on the collision, then it will be in error and requires resetting before attempting another motion.

    Quote from ribbonman

    I re-installed the gripper tools that KHI installs at the factory and just need to add it so the Robot knows it has them as I don't see anywhere I can move them(I also have to plumb some air to the robot).

    Are those the tools from KHI, or custom tools from the previous owner?
    If they are the latter, you will need to adjust the applicable link and tool information.

    Personally if I was in your position, I would have nothing attached to JT4 at all to give you freedom to learn the fundamental of duAro motion and simple programming tasks.
    Then venture into adding a tool, link information and tool centre point values.
    That is up to you though.................

    Quote from ribbonman

    One last question about when the robot is powered off, if the arms move will I have to zero them again?

    No problem and no need to re-zero again.

    The batteries are powering the encoders when the controller is off (that is the reason of having them) and so when you power the robot up again, those values are compared with the values they were on when it was last powered off.

    All you should get is some sort joint abnormality error which can be reset if any joints have moved and If they haven't moved it will power up without error.

    This is why there are batteries for the encoder.
    So that when the controller is powered off, the positional encoder values are retained and also tracked in case of motion occurrences without power.
    Then upon power up, it compares current values with last values and can detect abnormalities.

    The batteries are not used when the controller is on, only when controller is off.
    The longer the controller is powered off, the quicker the batteries are used up.
    So it is important to periodically replace these batteries.
    I recommend replacement every 12 months or 18 months.
    But they can last longer obviously if the controller is powered on.
    Automotive for instance only power controllers off during shutdown or planned maintenance.
    They may replace theirs every 3 years due to this.

    • New

    I got everything worked out and it HOMES as I've seen in videos.

    The tools are the standard gripper(I thought Kawasaki called them hands?) you see in all the videos on the net.

    I had programming made up before I had the robot operating using the youtube video and then when the robot was up and running I posed the robot where I wanted it for each MOVE in the program and clicked get pose and saved it for each move. The moves are all single moves then run the next move and will explore having them move simultaneously as I ran out of time today.

    I do have the tools mounted for all of this as removing them would be more of a pain than leaving them on, I just don't have any knowledge of how to add them to the program.

    The only movement I would like to figure out is how to make an arm go in a circular motion.

    All in all I'm excited to see it move and can't tell you how much I appreciate you helping me get to this point, also I subscribed to your youtube channel and have been watching your uploaded videos.

    • New

    Remember the HOME pose is a programmable position and does not not have to be in the same positions as videos, you can make them bespoke to your application and each arm can it's own HOME pose, they do not have to mirrored.

    No idea about the tools your referring to.

    Quote from ribbonman

    I had programming made up before I had the robot operating using the youtube video and then when the robot was up and running I posed the robot where I wanted it for each MOVE in the program and clicked get pose and saved it for each move. The moves are all single moves then run the next move and will explore having them move simultaneously as I ran out of time today.

    That's good, it's all about learning about all the programming options and applying them around your given application.

    Quote from ribbonman

    I do have the tools mounted for all of this as removing them would be more of a pain than leaving them on, I just don't have any knowledge of how to add them to the program.

    Work with what you have then and see how it goes, if you plan on using something different, then obviously you would need to explore this further.

    Quote from ribbonman

    The only movement I would like to figure out is how to make an arm go in a circular motion.

    I don't believe there is direct circular motion option available for this (I may be wrong and something may have developed in later versions though).
    Below is what the AS language manual has for circular motion

    Quote from ribbonman

    All in all I'm excited to see it move and can't tell you how much I appreciate you helping me get to this point, also I subscribed to your youtube channel and have been watching your uploaded videos.

    You're welcome and thank you, very much appreciated for your comments.....:top:

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