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.
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.
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.
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.
A little update I have been able to get the errors to clear up by turning off the RI/O check and changing the ZSIGSPEC to 32.
But... I'm not sure if this is somehow related to the original mapping of the 1FS boards, a factory setting, or just aging hardware. It seems like on all three of my controllers I have issues with IO not working.
Eg. The most recent controller I set up Outputs 1-8 dont work. I'm using 20-35. And the Inputs the only ones that work are 25-32. I've had similar results on the other two robots but with different IO numbers.
Never done it, but the result of the A/D conversion result can be defined as a variable.
That variable can then be used in conjunction with your speed command(s).
If I am understanding this correctly. I can run the A/D conversion, assign that to a integer variable. Then reference that variable at the specific steps in place of the normal integer value (0-100).
I am working on an application where I would like to be able to set the speed of a specific program step based on an external input (not requiring re-programming or access to the teach pendant).
I am working with a D series controller.
The best solution I have been able to come up with is adding a 1FH board to the 1KA board for analog input. Then I can use an analog to digital conversion command in AS language to set the speed of the specific step.
So...
1. Any better solutions that I'm not thinking of.
2. Anyone have experience adding the 1FH board to an existing controller (not factory equipped)?
3. I have limited experience with AS language, can I set the speed using the analog to digital conversion?
Thanks!!
Thank you!
That confirms what I was looking into as how to utilize the fieldbus. The only part I have is the 1JF boards with the slaves.
I'm going to track down a couple 1GW boards to replace the 1JF boards.
Thanks for the screen shots with the aux info.
I have two D series controllers that are equipped with 1JF boards and what I believe are Devicenet slaves.
I need basic IO, are there any good cost effective solutions to utilize these boards?
Or should I purchase two 1GW boards and swap them for the 1JF boards.
What does swapping the 1JF boards for the 1GW boards entail? (I'm assuming there are configuration settings that would need to be changed.)
I have 3 C Series robots that were originally equipped with 1FS boards in slot one and 1GW boards in slot 2. The robots have been in operation without the 1FS boards. Currently slot one is empty and 1GW on slot 2. Every-time I power on the robots I get the error 565 (RI/O board is not installed), I clear the error and everything is happy. How do I configure the robots without the 1FS board so it doesn't look for it on startup? I tried moving the 1GW board to slot one but that did not solve the problem. Seems like there should be a dip switch or configuration setting but I cant find any info on it.
Kind of a bad design with the remote grease fitting and the plastic connectors. I'm sure the grease caused the plastic to fail. If anyone ever changes the grease in the J1 gearbox I would put the grease fitting directly in the gearbox or use some SS line and fittings to connect it.
Thanks for your help! After looking at the parts manual Monday afternoon I was suspect/hoping that the oil line was the failure point so I didn't have to disassemble the robot. I appreciate the info for the disassembly, thankfully I didn't need it this time around.
I was able to remove the lower guards yesterday and discovered that the fitting that connects the line to the grease fitting on the bottom of the gear box had broken off. Simple fix, I removed the broken fitting and screwed the grease fitting directly into the gearbox. I filled it back up with grease and its good to go.
I've sent you something via conversation, may help ascertaining where the leak is coming from and also if you require to strip it down.
So to disassemble the base:
1. Everything running back to the base of the robot has to be disconnected.
Is there anything attaching the top half to the base of the robot?
Can I just pick the top half off with a forklift once the wires and pneumatic lines are disconnected?
Thank you, that is exactly what I was looking for.
Anyone ever encountered an oil/grease leak on the motor/gear reducer unit on joint number one? Looks like the maintenance manual specs Multitemp FZ grease which looks like it might be a 00 grease? If anyone has any info on repairing this issue it would be greatly appreciated.
It looks like there are different "revisions" if the 1FG board. 5099-1547R(XX) (00,01,02) Any major differences between them that would prevent me from swapping them out?
I swapped CN5 and CN6 (joint 5 and joint 6) at the 1FG board, same joint 6 encoder errors. So I disconnected X3 and X3A and was cleaning them when I noticed a piece of aluminum flashing in the pins at X3A. Cleaned it out, and no more joint 6 encoder errors.
Also, the new 1GB board was good, I was able to finally jog the robot. 
Thanks for the help! 
I haven't got to test my 1GB board yet, I'm running into an encoder error on joint 6. Error 1553 and 1517. I have 5v supply at the encoder, I'm going to do some more troubleshooting on it Monday so see if the signal lines are OK or if its the encoder giving me fits. Any tips on troubleshooting encoders?
