Kawasaki DuAro Second Hand Robot Assist

    You will find that setting tooling is very different when it comes to these style of robots.
    You have Z value plus H1 link length to add.

    I was incorrect regarding circular interpolation motion.
    The standard AS instruction is C1MOVE and C2MOVE which cannot be used, however I remember and have confirmed by the AS manual, the instruction to use instead are:
    L3C1MOVE and L3C2MOVE.

    AFAIK though, I don't think these are available from the tablet though and also I don't think this could be set cooperatively (both arms) either.

    Something I need to point out to you and may in fact be a little confusing to you as a newcomer to the duAro is that there are 2 mediums for programming.
    1. Tablet Programming.
    2. AS Programming using KRTerm.

    The entry level you are using is via the tablet.
    When it comes to advanced usage, then AS programming has more power and flexibility and would be something worth exploring on your journey.

    Attached is a video demonstration via KRoset using AS language (terminal editor - KRTerm).
    What I am typing in the terminal window is what you can type in KRTerm when your PC is connected to duAro.

    Something you could try, grab the AS manual too and in KRoset first just to get used to sending commands and programming and then connect your PC to duAro and use KRTerm to program it in the same way.

    Just be careful if you try it on your live robot as the reach of duAro is shite and I would advise to set the Z value higher so your physical tools don't collide with the cart again.

    I have been working on getting coordinated movement with using the tablet App and find it hard to do while watching the youtube videos as they are in a newer version of software than I have.

    I started to update the system software and came up with an error code " WDS****.as file not found", not sure where I went wrong as I followed the manual and my files look the same as the example.

    I got it figured out this morning, The WD*** file showed on the PC but didn't show on the tablet so I copied it from the R20.1 tablet package on the tablet to the correct file in the loadsave folder on the tablet and everything updated perfectly.

    Back to the youtube videos and more practice. LOL

    The instruction are fairly easy to follow once you get around all the jumping back and forth between PC and tablet. I don't see why you couldn't handle all the downloading from the Tablet but I didn't want to stray from the guide so I followed it.


    I did have one question after watching the video you uploaded for moving in a circular motion. The question actually involves reteaching points after battery replacement, would using a tool point like you did in the video and somehow keying all other points off of it make reteaching the robot easier?

    How do experienced operators reteach points when batteries are updated?

    If this is to complex to explain here don't worry about it.

    Quote from ribbonman

    The instruction are fairly easy to follow once you get around all the jumping back and forth between PC and tablet. I don't see why you couldn't handle all the downloading from the Tablet but I didn't want to stray from the guide so I followed it.

    You can accomplish this from the tablet as per the Tablet Operation Manual DuAro Package Update using the Robot Software Maintenance Tool application.

    Quote from ribbonman

    I did have one question after watching the video you uploaded for moving in a circular motion. The question actually involves reteaching points after battery replacement, would using a tool point like you did in the video and somehow keying all other points off of it make reteaching the robot easier?

    How do experienced operators reteach points when batteries are updated?

    If this is to complex to explain here don't worry about it.

    It's not complex, it is all down to product knowledge, requirements and simple common sense.
    KISS IT whenever possible, why over engineer a solution when it is not required.

    Quote from ribbonman

    The question actually involves reteaching points after battery replacement,

    I am under the impression there is an elephant in the room and you think any time encoder batteries are replaced, then positions will require reteaching. This is incorrect.
    If factors require re-zeroing to be carried out, if the re-zeroing operation is 100% accurately the same as when the original positions were taught, then positions never need reteaching period.

    Common sense is to either:
    1. use jigs to re-zero the robot arms before teaching any positions.
    2. install a fixed datum position to re-zero the robot arms before teaching any positions.

    Kawasaki provide jigs so that both robot arms re-zeroing are done at the same positions.
    In any event re-zeroing needs to be carried out, then by using the jigs in the same way before positions were taught, then after re-zeroing no positions require reteaching.

    Quote from ribbonman

    would using a tool point like you did in the video and somehow keying all other points off of it make reteaching the robot easier?

    Of course it would.
    Question to ask is why does it need to be easier, what reasoning qualifies in making it easier.
    The only person who can answer that my friend is you.

    Quote from ribbonman

    How do experienced operators reteach points when batteries are updated?

    If the batteries are replaced before they are exhausted and no zeroing data has been lost, then it is a 5 min job and no reteaching is necessary as I've already explained.

    If the batteries or any event creates an instance where re-zeroing is necessary and jigs or a fixed datum point were used to re-zero before positions were taught, then no reteaching is required.

    If the batteries or any event creates an instance where re-zeroing is necessary and nothing is available to replicate the same re-zeroing conditions before the original positions were taught, then it is appreciated 'touching up' of positions may be a result of re-zeroing.

    So it's impossible to answer as each application is likely to be designed, configured and programmed differently depending on the supplier of the cells.

    Thanks for the clarification on the batteries, I thought you would lose zeroing and encoder data when the batteries are unplugged but apparently not if they haven't died already.

    Glad I printed the jigs for future use just in case something happens.

    Quote from ribbonman

    I thought you would lose zeroing and encoder data when the batteries are unplugged

    I had a feeling this was the case from what I was reading, that's why I mentioned it.

    Quote from ribbonman

    Glad I printed the jigs for future use just in case something happens.

    Those will be your friend should you need to re-zero again.

    As long as you regularly replace the encoder batteries (I replace mine on my robot every 18 months) or you don't have to replace anything mechanical like gearbox or motor, then you should never have to re-zero again.

    I have been using different functions in the tablet app( mostly parallel motion) trying to get used to making arms move together and waiting for each other to get out of the way of the other and noticed that all I can do is the "individual move" from the tablet. The tablet never gets out of manual mode, I have no way of doing "Auto" from the tablet, is that the reason Kawasaki has you download the "tablet interface panel application" so you can get a license to unlock the Auto mode function?

    I have it installed and can launch it but it doesn't do anything and multiple emails to Kawasaki have gone un answered. I will call Kawasaki NA on Monday and see if I can get some answers and what the cost of a license is.

    I'm back again.

    Earlier in this thread you pointed out I had a ver.3 robot due to the model # and serial #. I was trying to add external devices (a solenoid) but when I used the below chart I got an error code about using a dedicated signal for the solenoid( I was using signal 21 on pin9 of DB25 connector). I then tried signal 25 on pin4 of connector which I didn't get an error but it also didn't activate the solenoid.

    I used the charts in the appendix for the pin and signal assignments but I'm not sure which of the 3 version of the ver.3 robot I should be using, I'm screwed if it is the 3rd version.

    I added the I/O using the robot2 app and I also went to the settings page and also tried adding the external output signal( 21 or 25) in the settings and it didn't make a difference.


    I was able to finally get a contact number of a system integrator that has a DuAro from a Kawasaki sales rep so I will see if they can provide assistance on Mandy.

    Difficult to answer as IO is configurable and also if extended IO is in use (fieldbus) then signals could be allocated to them so it depends on what previous owner has configured.

    Do you have a picture of controller area where all connectors are located?

    AFAIK, NPN versions have outputs available on DB25 and on PNP versions with Cubic-S, outputs are not available on DB25, your version appears to be PNP with Cubic-S version.
    You should verify this with your agent.........
    I would try adding an input (simple switch) in accordance with table to check if the input side works.

    Usually in setting 1, there is IO display which has padlock to allow manual control off outputs and display range of signals available and status of them.

    Can you wire your output into one of the Arm IO and see if this works?

    I was looking at the DB25 connector and noticed to the right of it there is a horizontal 37 pin connector that inside cart the cable gong to it is labeled DI02, I think it might be an I/O expansion board after reading the install manual for the expansion board.

    The question I have is can I use KRTerm to query the controller to find out if it's actually an I/O expansion board or is there another way to find out other than wiring an external device to find out if it works?

    duAro carts usually have 2 signal connectors installed as standard:

    DB37 (37 way) = EXT_EMG connector for dedicated safety signals.
    DB25 (25 way) = General purpose IO version specific.

    This is why I asked for picture of controller, so may be I could identify if you have expansion options installed......however.

    You are correct if you have additional DB37 way connector on the cart which has harness connected to D102 connector on the controller as identifying it as potential expansion board.

    You have the expansion board manual, so you should be able to identify if the installed board is:
    1WA - houses fieldbus cards (these are not general purpose).
    1QR - NPN 16 inputs, 8 outputs.
    1VR - PNP 16 inputs, 14 outputs.

    If you have 1QR or 1VR board installed, then (unless someone has changed anything) you should be able to just wire up according to version and have useable extended general purpose IO using the allocated signal numbers you previously used.

    If you have downloaded the KRTerm application for duAro, you should have a macro button available to set this IO expansion.

    I know Kawasaki made a couple of apps to use PC connected to controller for configuration of conveyor and IO, but I think was released for F controller, so do not know if this tool can be used on D61 controllers.

    Quote from ribbonman

    In the expansion manual they show using KRTerm to add expansion I/O board but will I have to run that since the board is already installed.

    It is up to you.
    Personally I would not use it and try it as it is because it is very likely the previous owner used the current configuration.

    Quote from ribbonman

    If I should run KRTerm I/O install will I need to do that each time I add a different external device?

    Install a different external device?????
    If you are referring to adding input or output devices then no, as the signals are already allocated.

    Yes, you're correct, never hurts asking the question though if you're unsure.
    We know where assumptions sometimes lead us.

    I personally follow a simple rule of thumb and that is try and use what I've got and try and apply it in the way manuals and training are presented.
    If then, things aren't going in a positive direction, then start to reach out for some advice.
    I very rarely start making changes before I am confident those changes are applicable and not just some hope that some of the mud I throw at the wall eventually sticks.
    That often can lead to making things worse.

    Reading through this thread though, it's quite clear you are one for putting the effort it as opposed to the fast track.......:respect:

    I tried to use the expansion board connections to actuate my solenoid but it didn't work.

    I connect 1 wire from my solenoid and connected it to pin12 on the D37 connector and took the other wire from the solenoid and connected it to pin35 which is a GND per the manual. I then went to the tablet and used signal 33( the signal for OUT0 on pin12 of connector) in the Hand and I/O direct access to turn it on and it didn't do anything.

    Have I wired it correctly?

    Here is a wiring diagram from the manual.

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