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    Kawasaki Robot Controller D Series AS Language Reference Manual Kawasaki Heavy Industries, Ltd. 90209-1017DEB

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    Kawasaki Robot Controller D Series AS Language Reference Manual Kind of Manual □ Standard Manual □Option Manual □Manual for Specific User □Detailed Manual 24 December, 2002 Optical ROBOT DIVISION File Recognition Recognition ExaminationChecked Produce ...

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    D Series Controller Kawasaki Robot AS language Reference Manual PREFACE This manual describes the AS* language used in the Kawasaki Robot Controller D series. The objective for this manual is to provide detailed information on the outline of the AS system, basic usages, data types, robot traj...

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    D Series Controller Kawasaki Robot AS language Reference Manual SYMBOLS The items that require special attention in this manual are designated with the following symbols. Ensure proper and safe operation of the robot and prevent physical injury or property damage by complying with the safety ...

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    D Series Controller Kawasaki Robot AS Language Reference Manual CONTENTS Preface ·········································································································...

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    D Series Controller Kawasaki Robot AS Language Reference Manual 5.3 Program and Data Storage Commands ······················································ 5-27 5.4 Program Control Commands ························...

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    D Series Controller Kawasaki Robot AS Language Reference Manual 11.2 Palletizing ······························································································· 11-3 11.3 External Inter...

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    D Series Controller Kawasaki Robot AS Language Reference Manual vi

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    D Series Controller 1. Overview of the AS System Kawasaki Robot AS Language Reference Manual 1.0 OVERVIEW OF AS The Kawasaki robots are controlled by a software-based system called AS. This chapter describes the overall view of the AS system. 1.1 System Overvie...

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    D Series Controller 1. Overview of the AS System Kawasaki Robot AS Language Reference Manual 1.1 OVERVIEW OF THE AS SYSTEM In the AS system, you can place commands or execute programs using AS language. The AS system is written in the nonvolatile memory in the ro...

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    D Series Controller 1. Overview of the AS System Kawasaki Robot AS Language Reference Manual 1.2 CHARACTERISTICS OF THE AS SYSTEM In the AS system, the robots are controlled and operated based on a program that describes the necessary tasks and which is made prior...

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    D Series Controller 1. Overview of the AS System Kawasaki Robot AS Language Reference Manual 1.3 AS SYSTEM CONFIGURATION Kawasaki Robot controller D series is composed of the following components: Teach pendant D series Controller Peripheral ControllerPersonal Co...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.0 AS SYSTEM This chapter describes the AS system status, AS system switches and the system setup. 2.1 AS System Status 2.2 AS System Switches 2.3 AS System Setup 2.4 Input and Ou...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.1 AS SYSTEM STATUS The AS system consists of the following three modes: 1. Monitor Mode This is the basic mode in the AS system. Monitor commands are executed in this mode. Edi...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.2 AS SYSTEM SWITCHES The following system switches can be set in the AS System using the monitor command SWITCH. The status and the conditions set for each switch can be checked o...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 9. RPS (Random Program Selection) Enables or disables the selection of programs based on the binary status of external signals. 10. SCREEN Enables or disables the scrolling of the s...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.3 AS SYSTEM SETUP The following system settings can be changed depending on the need, using the monitor commands. 1. Zeroing (ZZERO command) ZZERO command is used to set the encod...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.4 INPUT/OUTPUT CONTROL 2.4.1 TERMINAL CONTROL Data and commands input at a terminal are first received by the system buffer. Then they are read by the monitor or program and echoed...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.4.2 EXTERNAL MEMORY DEVICES The commands below are used to save programs, variables and pose information in the robot memory, PC card, floppy disk, or computer hard disk. 1. Initi...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.5 INSTALLING TERMINAL SOFTWARE The robot can be controlled from a personal computer using the AS language. To do so, load KCwin32 or KRterm terminal software on to a PC and conne...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.6 OPERATIONS FROM PERSONAL COMPUTER 2.6.1 SYSTEM STARTUP 2.6.1.1 CONNECTING TO RS-232C PORT 1. Connect the personal computer with the controller using the RS-232C cable. Make ...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 5. Turn ON the CONTROL POWER on the controller. (See “Operation Manual” 3.1 Power ON Procedure). 6. The initial screen of KRterm followed by a prompt “>” will ap...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.6.1.2 CONNECTING ROBOTS USING THE ETHERNET 1. Connecting the cables. Connect the ETHERNET connector on your personal computer and the connector on optional 1 KN daughter board on 1...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual (2) Enter the IP address and name of the robot you want to connect to the network, and click <ADD>. 4. To connect with the robot, follow the procedures below. (1) The robot ...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual (3) Choose from the menu bar [Communication(C)] → [Select Connect(E)] if the desired robot does not appear in the above ways.. Choose the desired robot and click <CONNECT>. ...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.6.3 SYSTEM SHUTDOWN 1. When the robot is connected, choose from the menu bar [Communication(C)] → [Disconnect(D)] to disconnect the robot. 2. Turn off the robot controller. ...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2-15

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.6.4 USEFUL FUNCTIONS OF KRTERM 2.6.4.1 CREATING LOGFILES The contents displayed on the KRterm screen can be saved as a log file. This is useful when making printout of the robot ...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2. End log Once logging starts, all the contents on the KRterm display will be recorded until the log file is closed. To close the log file and end log, choose from the menu bar [FIL...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual 2.6.4.2 MACRO FUNCTIONS Macro functions are provided in the KRterm and KCwin32 system. If a task needs to be executed repeatedly, recording the series of instructions/commands for t...

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    D Series Controller 2. AS System Kawasaki Robot AS Language Reference Manual MEMO 2-19

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.0 INFORMATION EXPRESSIONS IN AS LANGUAGE This chapter describes the types of information and variables used in AS language. 3.1 Notation and Conventions 3.2 Pos...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.1 NOTATION AND CONVENTIONS 1. Uppercase and lowercase letters For easier understanding, the following rules apply to the usage of upper and the lowercase letters...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual expressions can be used to designate these values as arguments. However, note that acceptable values are restricted. The following rules show how the values are inte...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.2 POSE INFORMATION, NUMERIC INFORMATION, CHARACTER INFORMATION There are three types of information in the AS system: pose* information, numeric information, and c...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual posture by Euler’s OAT angles*. Some of the commonly used transformation values are: the tool transformation value, describing the pose of the tool coordinates rela...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual The joint displacement values and the transformation values have advantages and disadvantages. Use them to suit your need. 1. Unlike at a pose defined by joint dis...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.2.2 NUMERIC INFORMATION In the AS system, numeric values and expressions can be used as numeric information. A numeric expression is a value expressed by using num...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual Example ^B101 (5 in decimal) ^HC1 (193 in decimal ) −^B1000 (−8 in decimal) −^H1000 (−4096 in decimal) 2. Logical values Logica...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.2.3 CHARACTER INFORMATION Character information referred to in the AS system is indicated as a string of ASCII characters enclosed in quotation marks (“”). Sin...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.3 VARIABLES In the AS system, names can be assigned to pose information, numeric information, and character information. These names are called variables, and the ...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 1. Local variables cannot be defined using monitor commands. 2. Since local variables are not saved in the memory, the value of a local variable .pose cannot be disp...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.4 VARIABLE NAMES Variable names must start with an alphabetic character and can contain only letters, numbers, periods, and underscores. The letters can be entered...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.5 DEFINING POSE VARIABLES Variables that describe pose information are called pose variables. A pose variable is defined only when a value is assigned to it. It r...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 2. POINT command is used to define a pose using another defined pose variable or, to define it by the data entered from the terminal. Example 1 Using joint displaceme...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 2. POINT instruction substitutes a pose variable with the values from a previously defined pose. POINT pose_1=pose_2 Values of “pose _1” are substitu...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual The compound transformation values can be defined using any command or instruction used to define pose variables. (It is easiest to use the HERE command.) First, use...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual [ NOTE ]1. Do not change the order in which the relative transformation is expressed. For example, if the transformation variable “b” is defined rel...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual For robots with 7 joints, note the following: 1. When using POINT command, note the value of JT7. For example, in POINT p=p1+p2 The value of JT7 assign...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.6 DEFINING REAL VARIABLES Real variables are defined by using the assignment instruction (=). The format for assigning a real variable is: Real_variable_ name =...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.7 DEFINING CHARACTER STRING VARIABLES Character string variables are defined by using the assignment instruction (=). The format for assigning a character variable...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.8 NUMERIC EXPRESSIONS Numeric expressions may consist of numerals, variables, specific functions or other numeric expressions combined together with operators. All...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual [ NOTE ]1. Relational operator “==”is a operator to check if the two values are equal, and different from the assignment indicator “=“. 2. ...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.8.3 LOGICAL EXPRESSIONS Logical expressions result in logical value TRUE or FALSE. A logical expression can be used in a program as a condition to determine the ne...

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    D Series Controller 3. Information Expressions in AS Language Kawasaki Robot AS Language Reference Manual 3.9 STRING EXPRESSIONS String expressions consist of character strings, string variables, specific functions or other string expressions combined together with operat...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.0 AS PROGRAM This chapter explains about AS programs. It explains how to create and execute programs, and about the robot motions. For better understanding, actually ...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.1 TYPES OF AS PROGRAM A program is a series of instructions telling the robot how to move, output signals, do calculations etc. per a set process. A program name consi...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.1.3 AUTOSTART A PC program can be set to start automatically when the control power is turned on. 1. Turn ON the system switch AUTOSTART.PC (or AUTOSTART2.PC – AUTOS...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.2 CREATING AND EDITING PROGRAMS In this section, a simple program is made to instruct the robot to perform a task. A program is a list of procedures that the robot wil...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual EDIT program name, step Starts editor mode. Program instructions Replaces the current steps with a new instruction. ENTER key( ) Goes to the next step without changing...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.2.3 PROGRAMMING PROCEDURE Programming is done as shown in the following steps: Preparing for programming: Plan/confirm the robot operation steps, confirm mode and swi...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 8. Open the hand and release the part. 9. Move back up to a position 180mm above the box. The variables #part, #box which express position and posture are called pose (lo...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual > EDIT demo .PROGRAM demo 1 ? OPENI 2 ? JAPPRO #part, 50 ↵ 3 ? Enter the rest of the program in the same manner. Correct any mistakes when entering...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.3 PROGRAM EXECUTION The robot control programs and the PC programs are executed in different ways. 4.3.1 EXECUTING ROBOT CONTROL PROGRAMS To execute a program, turn t...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 2. Running program via PRIME command Set the monitor speed in the same way as with the EXECUTE command, and execute PRIME command. >PRIME demo ↵ Robot is now ...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 1. When the robot was stopped with the EMERGENCY STOP button, release the lock of the EMERGENCY STOP, and press the MOTOR POWER to turn ON the motor power. Robot starts ...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.4 PROGRAM EXECUTION FLOW The program instructions are regularly executed in order from top to bottom of the program. This consecutive flow is changed when there is an ...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual Example 1 The value of real number variable “c” is the sum of input data “a” and “b”. main() 1 a=1 2 b=2 3 CALL calc(a,b,c) 4 TYPE c calc(.aa,.bb,.cc...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.5 ROBOT MOTION 4.5.1 TIMING OF ROBOT MOTION AND PROGRAM STEP EXECUTION In the AS system, the timing of program execution and of the robot motion can be changed by sett...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 1 JMOVE #b Signal 2 output 2 SIGNAL 1 #a#b3 a=2 Signal 1 output 4 LMOVE #c 5 SIGNAL 2 6 SPEED 50 7 LMOVE #d Signal 3 output #c Speed 50% after #c. 8 SIG...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.5.2 CONTINUOUS PATH (CP) MOTION This example shows the execution of one motion instruction. Current pose ・pick JMOVE pick Speed STOP Time When executing a mo...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.5.3 BREAKS IN CP MOTIONS Some instructions can suspend the execution of a program until the robot actually reaches the destination pose. This is called the break in CP...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.5.4 RELATION BETWEEN CP SWITCH AND ACCURACY, ACCEL, AND DECEL INSTRUCTIONS ·ACCURACY instruction…Sets the robot’s positioning accuracy at the end of each motion s...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual these command values. The greater the range specified by ACCURACY, the earlier the superposing will begin. However, acceleration on next path does not begin bef...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual Even if the deceleration is decreased and the acceleration for the next path is increased, the compound speed will not exceed the specified maximum speed, since the superp...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual (2) Accuracy in linear and circular interpolated motion The motion trajectory of the robot corresponding to the accuracy setting is as shown in the figure below. In this...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual (2) Speed in linear and circular interpolated motion In Motion type 2, if the accuracy value is set larger and the configuration of the robot does not change between two d...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual 4.5.4.3 CP OFF When the CP switch is OFF, there is no superposing of motions. The acceleration for the second path starts after the first motion segment is completed an...

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    D Series Controller 4. AS Program Kawasaki Robot AS Language Reference Manual The system enables the motions via a program loop that performs a series of continuous calculations of short-distance motions performed while motion instructions are execu...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual 5.0 MONITOR COMMANDS This chapter groups the monitor commands in the following categories, and describes each command in detail. A monitor command consists of a keyword expressing...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual 5.1 EDITOR COMMANDS EDIT Starts program editor. C Finishes editing current program and changes to another program (Change). S Selects program step to display (Step). P Displays spec...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual EDIT program name , step number Function Enters the editor mode that enables program creation and editing. Parameter 1. Program name Selects a program for editing. If a progra...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual C program name , step number Function Changes the program currently selected in editor mode. Parameter 1. Program name Selects the program to be edited. 2. Step number Selects ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual P step count Function Displays the number of steps specified starting with the current step. Parameter Step count Sets the number of steps to display. If the number of steps is ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual I Function Inserts lines before the current step. Explanation The steps after the inserted line are renumbered. To exit insert mode, press the Enter key. All lines written befor...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual D step count Function Deletes the specified number of steps including the current step. Parameter Step count Specifies number of steps to delete beginning with the current step. ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual M /existing characters/new characters Function Modifies the characters in the current step. Parameter 1. Existing characters Specifies which characters are overwritten in the cu...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual R character string Function Replaces existing characters in the current step with the specified characters. Parameter Character string Specifies the new characters that replace t...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual O Function Places the cursor on the current step for editing. (“O” for “oneline”, not zero). Example The pose variable abc is changed to def using the O command. The cur...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual XD step count Function Cuts the specified number of steps from a program and stores them in the paste buffer. Parameter Step count Specifies number of steps to cut and store in t...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual XP Function Inserts the contents of the paste buffer before the current step. Explanation Use the XD or XY command prior to this command to store the desired contents in the paste...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual XS Function Displays the contents of the paste buffer. Explanation Displays the current contents of the paste buffer. If the paste buffer is empty, nothing will be displayed. T ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual Without parameter 2 JAPPRO #a 3? T <Teach joint values using TP. Press Cancel to end> (2 steps are taught here) 3 JMOVE #[0,10,20,0,0,0] 4 JMOVE #[10,10,20,0,0,0] . ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide 5.2 PROGRAM AND DATA CONTROL COMMANDS CARD_FDIR*Lists names of the programs and variables in PC card. LISTDisplays all program steps and variable values. LIST/PDisplays all program st...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide CARD_FDIR FD_FDIR FunctionDisplays the name of programs or variables. CARD_ FDIR refers to data on the PC card, and FD_ FDIR refers to data on the floppy disk. ExplanationBy usin...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide LIST program name, .........LIST/P program name, .........LIST/L pose (location) variable, .........LIST/R real variable, .........LIST/S string variable, ......... FunctionDispl...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide DELETE program name, .........DELETE/P program name, .........DELETE/L pose variable, .........DELETE/R real variable [array elements] , .........DELETE/S string variable [array ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide CARD_FDEL file name, ......... FD_FDEL file name, ......... Function Deletes the specified data from the memory. Parameters File name Specifies the name of the file to delete. Ex...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide RENAME new program name=existing program name CARD_RENAME new program name=existing program name FD_RENAME new program name=existing program name Function Changes the name of...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide XFER destination program name, step number1 = source program name, step number2, step count Function Copies and transfers steps from one program to another program. Parameters 1. D...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide COPY new program name = source program name+source program name+ CARD_COPY new program name = source program name+source program name+ FD_COPY new program name = source p...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide TRACE stepper number: ON/OFF Option Function Logs and traces the actual contents of robot and PC programs that were executed. Paramet...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide SETTRACE step count Function Reserves the necessary memory to log the tracing data. Parameters 1. Step count Specifies the number of steps to log in the setting range 1 to 9999. ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide LSTRACE stepper number: logging number Function Displays the logging data of the specified robot program or PC program. Parameters 1. Stepper number Specifies the type of program t...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Guide entered previously with the F command are used. If the characters are not found in the data, nothing is displayed. E ↵ ends the display and returns to AS monitor mode. ↵ ent...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual 5.3 PROGRAM AND DATA STORAGE COMMANDS CARD_FORMAT Formats PC card. FD_FORMAT Formats floppy disk. SAVE/P * Saves programs. SAVE/L * Saves pose variables. SAVE/R * Saves real variable...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual CARD_FORMAT FD_FORMAT format type FunctionCARD_FORMAT command initializes the SRAMPC card. FD_FORMAT command initializes the floppy disk. ParametersFormat type Selects from below t...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual SAVE/SEL file name=program name, ……… CARD_SAVE/SEL file name=program name, ……… FD_SAVE/SEL file name=program name, ……… Function SAVE command stor...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual If the specified file name already exists in memory, then the existing file is automatically renamed with a “b” in front of the file extension. For example if “file1.as”alrea...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual SAVE/P/SEL file name=program name, ……… SAVE/L/SEL file name=program name, ……… SAVE/R/SEL file name=program name, ……… SAVE/S/SEL file name=program name, ...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual real variables .RV error log .EL string variables .ST auxiliary information .AU 2. Program name Selects the name of the program to save. If not specified, all the programs and ...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual 7. If /SEL is entered with /P,/L,/R,/S, only the main program and the variables used only in the main program are stored. The subroutines and the variables used in the subroutines are...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual LOAD/Q file name CARD_LOAD/Q file name FD_LOAD/Q file name Function LOAD command loads the files in the computer memory into the robot memory. (Use only when PC is connected to the...

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    D Series Controller 5. Monitor command Kawasaki Robot AS Language Reference Manual 2: Loads the data and the remaining data in the file without inquiry. 3: Does not load the data, and ends the LOAD command. If there is an unreadable or incorrect step in the program,...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual 5.4 PROGRAM CONTROL COMMANDS SPEED Sets the monitor speed. PRIME Prepares the program for execution. EXECUTE Executes the program. STEP Executes one step of the program. MSTEP Execute...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual SPEED monitor speed FunctionSets the monitor speed in percentage. ParameterMonitor speed Sets the speed in percentage. If this value is 100, then the speed will be 100% of the maxim...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual PRIME program name, execution cycles, step number Function Prepares the system so that a program can be executed using the CYCLE START switch. This command alone does not execute the...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual EXECUTE program name, execution cycles, step number Function Executes a robot program. Parameter 1. Program name Selects the program to execute. If not specified, the program last e...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual STEP program name, execution cycles, step number MSTEP program name, execution cycles, step number Function Executes one step of a robot program. Parameter 1. Program name Selects th...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual ABORT Function Stops execution of the robot program. Explanation Stops execution of the robot program after the current step is completed. If the robot is in motion, the execution s...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual CONTINUE NEXT Function Resumes execution of a program stopped by PAUSE instruction, ABORT or HOLD command, or as a result of an error. This command can also be used to start program...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual STPNEXT Function Executes the next step when the system switch STP_ONCE is ON. Explanation When the system switch STP_ONCE is ON, the program can be executed in one step increment. ...

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    D Series Controller 5. Monitor Command Kawasaki Robot AS Language Reference Manual DO program instruction Function Executes a single program instruction. (Some program instructions cannot be used with this command.) Parameter Program instruction Executes the specif...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual 5.5 POSE INFORMATION COMMANDS HERE Defines a pose variable as the current pose. POINT Defines a pose variable. POINT/X Sets the X value of a pose variable. POINT/Y Sets the Y value ...

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    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual HERE pose variable name FunctionDefines a pose (location) variable name as the current pose. The pose may be expressed in transformation values, joint displacement values or compo...

  • Page 126

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual POINT pose variable name=pose values, joint displacement values Function Assigns the pose information on the right of “=” to the pose variable on the left side of “=”. ...

  • Page 127

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual When value types on the right and the left side of ”=” differ, this command works as follows: 1. POINT transformation values=joint displacement values The joint displacement va...

  • Page 128

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual POINT/ X transformation variable name=transformation values POINT/ Y transformation variable name=transformation values POINT/ Z transformation variable name=transformation ...

  • Page 129

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual 5.6 SYSTEM CONTROL COMMANDS STATUSDisplays system status. WHEREDisplays the current pose data for the robot. IODisplays the status of the binary signals. FREEDisplays am...

  • Page 130

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ENCCHK_ PONSets the acceptable range for the difference in encoder value when the control power is turned ON versus the value when the power was turned OFF the last time...

  • Page 131

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual STATUS FunctionDisplays the status of the system and the current robot program. ExplanationThe system and the robot program status are displayed in the following format...

  • Page 132

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual 5. Program name The name of the program or step currently being executed or in wait condition. 5-53

  • Page 133

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual WHERE display mode Function Displays the current robot pose. Parameter Display mode Selects the mode in which the data is displayed. There are 16 modes as shown below...

  • Page 134

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual IO/E signal number Function Displays the current status of all the external and internal I/O signals. Parameter Signal number 1………Displays 1−32, 1001−1032, ...

  • Page 135

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual >IO/E ↵ 32 - 1 xxxx xxxx xxxx xxXX xxxx XXXX XXXO XXXO 1032 - 1001 xxxx xxxx xxxx xxXX xxxx XXXX XXXO XXXO 2032 - 2001 xxxx...

  • Page 136

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual TIME year – month - day hour: minute: second Function Sets and displays the current time and date. Parameter year – month –day hour: minute: secondSets the tim...

  • Page 137

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ULIMIT Joint displacement valuesLLIMIT Joint displacement values Function Sets and displays the upper/lower limits of the robot motion range. Parameter Joint displace...

  • Page 138

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual BASE transformation values Function Defines the base transformation values, which specifies the pose relation between the base coordinates and the null base coordinates...

  • Page 139

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual abc YXZYXZ ZdefdefZYY X Null base coordinate X Example >BASE ↵ Displays the current base transformation values. X[mm] Y[mm] Z[mm] O[d...

  • Page 140

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual TOOL transformation values Function Defines the tool transformation values, which specify the pose relation between the tool coordinates and the null tool coordinates. ...

  • Page 141

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual SETHOME accuracy, HERE SET2HOME accuracy, HERE Function Sets and displays the HOME position. Parameter 1. Accuracy Sets the accuracy range of the HOME position in m...

  • Page 142

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ERRLOG Function Displays the error log. Explanation Displays the last one hundred errors. When the display reaches the end of the screen, press the Spacebar to contin...

  • Page 143

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual SWITCH switch name, ……., switch name = ON SWITCH switch name, ……., switch name = OFF Function Displays and changes the system switches and their setting. ...

  • Page 144

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual switch name, ……. ON Function Turns ON the specified system switch. Parameter Switch name Turns ON the switch specified here. More than one switch name can be ent...

  • Page 145

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ZSIGSPEC Function Displays and changes the total number of external and internal I/O signals. Explanation The current setting and the message “Change?” are display...

  • Page 146

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual For single solenoid valve, define one signal. For double solenoid valve, define both. 'ON' out. signal (0:Not used, ENTER only:No change, CTRL+C:Exit) Change ? 1...

  • Page 147

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual DEFSIG INPUT DEFSIG OUTPUT Function Displays and changes the current setting of the software dedicated signals. Parameter INPUT, OUTPUT OUTPUT(or only O) display...

  • Page 148

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual 1. External program selection (1) When selecting JMP as a dedicated signal, signals JMP-ON, JMP-OFF, JMP-ST are also automatically set as dedicated. JMP-ST is an outpu...

  • Page 149

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual TEACH MODE = 28 HOME1 = 27 ↵ > The following example resets the selection of the software dedicated output signal MOTOR_ON, changes the signal number of AUTOMA...

  • Page 150

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ZZERO joint number Function Sets the encoder value to correspond to a robot’s known mechanical position. Also, the current amount of offset between the robot mechan...

  • Page 151

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual Example 1. The following command displays the zeroing data: >ZZERO ↵ JT1 JT2 JT3 JT4 JT5 JT6 Set data 268435456 268435456 268435456 268435456 268435456 26843...

  • Page 152

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual 4. The following command sets the zeroing data so that the current pose is 0°. >ZZERO 0 ↵ JT1 JT2 JT3 JT4 JT5 JT6 Se...

  • Page 153

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ERESET Function Resets the error condition. Identical to the ERROR RESET button on the operation panel. Explanation When the ERESET command is executed, the ERROR_RES...

  • Page 154

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual HELP alpha character HELP/ M alpha character HELP/ P alpha character HELP/ F alpha character HELP/ PPC alpha character HELP/ MC alpha character HELP/ DO alpha cha...

  • Page 155

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ID Function Displays the version information of the software installed in the robot controller. Explanation Displays the following information. Robot name: the name o...

  • Page 156

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual WEIGHT load mass,center of gravity location X, center of gravity location Y, center of gravity location Z, inertia moment ab. X axis, inertia moment ab. Y axis, iner...

  • Page 157

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual BATCHK Function Enables or disables the battery low voltage check. Explantion >batchk BATTERY ERROR CHECK(0:Ineffect,1:Effect) (Enter only: No change ^...

  • Page 158

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ENCCHK_ EMG Function Sets an acceptable deviation range when checking the robot’s pose at an emergency stop versus the pose when the robot is restarted. Explanation ...

  • Page 159

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual SLOW_ REPEAT Function Sets the repeat speed in slow repeat mode. Explanation >SLOW REPEAT SLOW REPEAT MODE Speed(1∼25%) (Enter only: No change ^C:Exit): Now...

  • Page 160

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual ENV_DATA Function Sets hardware environmental data. (Auto servo OFF timer and status of teach pendant installation) Explanation >ENV DATA ↵ AUTO SERVO OFF T...

  • Page 161

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual CHSUM Function Enables or disables the resetting of abnormal check sum error. Explanation >CHSUM CLEAR CHECK SUM ERROR(0:Ineffect, 1:Effect) (Enter only: No ch...

  • Page 162

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual PLCAOUT data number = real value Option Function Sets the given real number value to the specified data number. Parameter 1. Data number Specifies the output data num...

  • Page 163

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual IPEAKLOG Option Function Displays the peak current value for each joint. Explanation Displays the program name, step number, effective current value [Arms], and the rat...

  • Page 164

    D Series Controller 5.Monitor Commands Kawasaki Robot AS Language Reference Manual OPEINFO robot number: joint number Option Function Displays the operation information. Parameter 1. Robot number Specifies the robot if more than one robot is controll...

  • Page 165

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual 5.7 BINARY SIGNAL COMMANDS The D series robot controller uses two types of binary signals: external I/O signals between the robot and external devices, and internal I/O signals used ...

  • Page 166

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual RESET Function Turns OFF all the external output signals. Dedicated signals, clamp signals and antinomy signals multifunction OX/WX are not affected by this command. By using the ...

  • Page 167

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual SIGNAL signal number, …… Function Turns ON (or OFF) the specified external or internal I/O signal. Parameter Signal number Selects the number of an external output signal or an...

  • Page 168

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual PULSE signal number, time Function Turns ON the specified signal for the given period of time. Parameter 1. Signal number Selects the number of the external output signal or interna...

  • Page 169

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual BITS starting signal number, number of signals = value Function Arranges a group of external output signals or internal signals in a binary pattern. The signal states are set ON/OFF...

  • Page 170

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual Example >BITS 2001,3 Displays the values of internal signals 2001~2003. ↵ (3 bits starting from signal number 2001). >BITS 1,8=100 E...

  • Page 171

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual SCNT counter signal number = count up signal, count down signal, counter clear signal, counter value Function Outputs counter signal when the specified counter value is reached. Pa...

  • Page 172

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual SCNTRESET counter signal number Function Resets the internal counter value of the specified counter signal number to 0. Parameter Counter signal number Select the number of the cou...

  • Page 173

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual SFLP output signal = set signal expression, reset signal expression Function Turns ON/OFF an output signal using a set signal and a reset signal. Parameter 1. Output signal Speci...

  • Page 174

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual SOUT signal number=signal expression Function Outputs the specified signal when the specified condition is set. Parameter 1. Signal number Specifies the signal number of the sign...

  • Page 175

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual STIM timer signal=input signal number, time Function Turns ON the timer signal if the specified input signal is ON for the given time. Parameter 1. Timer signal Selects the signa...

  • Page 176

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Reference Manual SETPICK time1, time2, time3, time4, …, time8 SETPLACE time1, time2, time3, time4, …, time8 Function Sets the time to start clamp close control (SETPICK) or clamp open ...

  • Page 177

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Manual 5.8 MESSAGE DISPLAY COMMANDS PRINTDisplays data. TYPEDisplays data. IFPWPRINTDisplays specified character string in a display window. 5-98

  • Page 178

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Manual PRINT device number: print data, ……. TYPE device number: print data, ……. Function Displays on the terminal the print data specified in the parameter. Parameter 1. Device number ...

  • Page 179

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Manual Format Specification Codes /D Uses the default format. This is the same as specifying the format as /G15.8 except that zeros following numeric values and all spaces but one between numer...

  • Page 180

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Manual Example In this example the value of real variable “i” is 5, the fifth element of array variable “point” is 12.66666. >PRINT "point", i, "=" , /F5.2, point ...

  • Page 181

    D Series Controller 5. Monitor Commands Kawasaki Robot AS Language Manual IFPWPRINT window, row, column, background color, label color = “character string”, “character string”, …… Option Function Displays the specified character string in the strin...

  • Page 182

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6.0 PROGRAM INSTRUCTIONS 6.1 Motion Instructions 6.2 Speed and Accuracy Control Instructions 6.3 Clamp Control Instructions 6.4 Configuration Instructions 6.5 Program Control I...

  • Page 183

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6.1 MOTION INSTRUCTIONS JMOVEMoves robot in joint interpolated motion. LMOVEMoves robot in linear interpolated motion. DELAYStops robot motion for specified time. STABLEStops robo...

  • Page 184

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual JMOVE pose variable name, clamp numberLMOVE pose variable name, clamp number FunctionMoves the robot to the specified pose. JMOVE: Moves in joint interpolated motion. LMOVE: M...

  • Page 185

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual DELAY time FunctionStops the robot motion for the specified time. ParameterTime Specifies the time to stop the robot motion in seconds. ExplanationIn AS system, DELAY instruct...

  • Page 186

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual JAPPRO pose variable name, distanceLAPPRO pose variable name, distance FunctionMoves to tool Z direction to a specified distance from the taught pose. JAPPRO: Moves in joint in...

  • Page 187

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual JDEPART distance LDEPART distance FunctionMoves the robot to a pose at a specified distance away from the current pose along the Z axis of the tool coordinates. JDEPART : Move...

  • Page 188

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual HOME home position number FunctionMoves in joint interpolated motion to pose defined as HOME or HOME2. ParameterHome position number Specifies the home position number (1 or 2)...

  • Page 189

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual DRIVE joint number, displacement, speed FunctionMoves a single joint of the robot. Parameter1. Joint number Specifies the joint number to move. (In a six-joint robot, the joi...

  • Page 190

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual DRAW X translation, Y translation, Z translation X rotation, Y rotation, Z rotation, speed TDRAW X translation, Y translation, Z translation X rotation, Y rotation, Z ...

  • Page 191

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual ALIGN FunctionMoves the Z axis of the tool coordinates to be parallel with the closest axis of the base coordinates. ExplanationIf the reference motion direction is set along th...

  • Page 192

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual XMOVE mode pose variable name TILL signal number FunctionMoves the robot towards the specified pose in linear movement, stops motion when the specified signal condition is set e...

  • Page 193

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual . When monitoring the rising and trailing edge of the signal, the program branches only when there is a change in the signal status. Therefore, if the rising edge of signal is mo...

  • Page 194

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual C1MOVE pose variable name, clamp number C2MOVE pose variable name, clamp number Option Function Moves the robot to the specified pose following a circular path. Parameter 1. Po...

  • Page 195

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual The following motion instructions are needed before the C1MOVE instruction: ALIGN, C1MOVE, C2MOVE, DELAY, DRAW, TDRAW, DRIVE, HOME, JMOVE, JAPPRO, JDEPART, LMOVE, LAPPRO, LDEPART...

  • Page 196

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-15 6.2 SPEED AND ACCURACY CONTROL INSTRUCTIONS SPEED Sets the motion speed (program speed). ACCURACY Sets the accuracy range. ACCEL Sets the acceleration. DECEL Sets the deceleration. BR...

  • Page 197

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-16 SPEED speed, rotational speed, ALWAYS FunctionSpecifies the robot motion speed. Parameter1. Speed Specifies the program speed. Usually it is specified in percentages between 0.01 t...

  • Page 198

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-17 The absolute speed expressed in values with MM/ S and MM/MIN, and time specified speed expressed in values with S, describe the speed when the monitor speed is 100 %. If the monitor s...

  • Page 199

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-18 ACCURACY distance ALWAYS FunctionSets the accuracy when determining the robot pose. Parameter1. Distance Specifies the distance of accuracy range in millimeters. 2. ALWAYS If thi...

  • Page 200

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-19 ACCEL acceleration ALWAYS DECEL deceleration ALWAYS FunctionSets the acceleration (or deceleration) of the robot motion. Parameter1. Acceleration (ACCEL) / deceleration (DECEL) Speci...

  • Page 201

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-20 BREAK FunctionHolds execution of the next step in the program until the current robot motion is completed. ExplanationThis instruction has the following two effects: 1. Holds the ex...

  • Page 202

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-21 BSPEED speed Option FunctionSets the robots motion speed (block speed). The robot motion speed is calculated by monitor speed × program speed × block speed. ParameterSpeed Sets th...

  • Page 203

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Reference Manual 6-22 ExampleWrite the program as follows so that the speed is changed by 4 bits from an external signal. a=BITS(first signal for external speed selection,4) BSPEED block1[a] The following...

  • Page 204

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual 6.3 CLAMP CONTROL INSTRUCTIONS OPEN Output clamp open signal when next motion instruction begins. OPENI Output clamp open signal when current motion instruction is completed. CLOSE Output ...

  • Page 205

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual OPEN clamp number OPENI clamp number FunctionOpens robot clamps (outputs clamp open signal). ParameterClamp number Specifies the number of the clamp. If omitted, 1 is assumed. Explanat...

  • Page 206

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual CLOSE clamp number CLOSEI clamp number FunctionCloses robot clamps (outputs clamp close signal). ParameterClamp number Specifies the number of the clamp. If omitted, 1 is assumed. Exp...

  • Page 207

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual RELAX clamp number RELAXI clamp number FunctionTurns OFF the pneumatic solenoid valve for both OPEN and CLOSE (turns the clamp signal OFF. In double solenoid specification, both clamp ...

  • Page 208

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual OPENS clamp number CLOSES clamp number RELAXS clamp number Option FunctionTurns ON/OFF the open and close signals of the pneumatic solenoid valves. Clamp number Specifies the number of ...

  • Page 209

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual GUNON gun number , distance GUNOFF gun number , distance Option FunctionTurns ON/OFF the gun signal and controls the gun output timing by the specified distance. Parameter1. Gun numbe...

  • Page 210

    D Series Controller 6. Program Instruction Kawasaki Robot AS Language Manual GUNONTIMER gun number , time GUNOFFTIMER gun number , time Option FunctionAdjusts the timing of the gun output (timing at which gun is turned ON/OFF) by the specified time. Parameter1...

  • Page 211

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.4 CONFIGURATION INSTRUCTIONS RIGHTYChanges configuration so the robot arm resembles a person’s right arm. LEFTYChanges configuration so the robot arm resembles a person’s l...

  • Page 212

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual RIGHTY LEFTY FunctionForces a robot configuration change during the next motion so the robot arm is configured to resemble a person’s right (RIGHTY)or left (LEFTY) arm. T...

  • Page 213

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual UWRIST DWRIST FunctionForces a robot configuration change during the next motion so the angle of joint 5 (JT5) has a positive or negative value. The configuration may not be ch...

  • Page 214

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.5 PROGRAM CONTROL INSTRUCTIONS GOTO Jumps to specified label. IF Jumps to specified label when condition is set. CALL Branches to a subroutine. RETURN Returns to the program t...

  • Page 215

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual GOTO label IF condition FunctionJumps to the program step with the specified label. Parameter1. Label Specifies label of the program step to jump to. The label can be any w...

  • Page 216

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual IF condition GOTO label Function Jumps to the step with the specified label when the given condition is set. Parameter1. Condition Specifies the condition in expressions, e...

  • Page 217

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual CALL program name Function Holds execution of the current program and jumps to a new program (subroutine). When the execution of the subroutine is completed, the processing re...

  • Page 218

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual WAIT condition Function Makes program execution wait until the specified condition is set. Parameter Condition Specifies the stand-by condition. (real number expressions) Ex...

  • Page 219

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual TWAIT time Function Holds program execution until the specified time elapses. Parameter Time Specifies the time, in seconds, to hold the program execution. Explanation This ...

  • Page 220

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual MVWAIT value Function Holds program execution until the remaining distance (or time)of the current motion becomes shorter than the specified distance (or time). Parameter Valu...

  • Page 221

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual In the diagram below, the robot moves towards pose “pos”, and when the required time to reach “pos” becomes 0.2 seconds, signal 21 is turned ON. This is true only when P...

  • Page 222

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual LOCK priority Function Changes the priority of the robot program currently selected on the stack. Parameter Priority Specifies the priority in real numbers from 0 to 127. Exp...

  • Page 223

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual HALT Function Stops the program execution. The program cannot be resumed after this instruction is executed. Explanation Stops the program execution regardless of the remainin...

  • Page 224

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual SCALL string expression, variable Function Jumps to the subroutine with the name given by the string expression. Parameter 1. String expression Specifies the subroutine name i...

  • Page 225

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual ONE program name Function Calls the specified program when an error occurs. Explanation This instruction calls the specified program when an error occurs. PC programs can be ...

  • Page 226

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual CALLAUX auxiliary function number Option Function Displays the specified auxiliary function screen. Parameter Auxiliary function number Specifies the auxiliary function number,...

  • Page 227

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.6 PROGRAM STRUCTURE INSTRUCTIONS IF……THEN…ELSE……END WHILE……DO……END DO……UNTIL FOR……END CASE……OF……VALUE……ANY……END 6-46

  • Page 228

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual IF logical expression THEN program instructions(1) ELSE program instructions(2) END FunctionExecutes a group of program steps according to the result of a logical expression. ...

  • Page 229

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 21 IF n>5 THEN 22 sp=10 23 ELSE 24 sp=20 25 END 26 SPEED sp ALWAYS The program below first checks the value of variable “m”. If “m” is not 0, the program checks th...

  • Page 230

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual WHILE condition DO program instructions END Function While the specified condition is TRUE, the program instructions are executed. When the condition is FALSE, the WHILE stat...

  • Page 231

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 20 . 21 . 22 . 23 WHILE SIG(1001,1002) DO 24 CALL part1 25 CALL part2 26 END 27 . 28 . 29 . 30 . 6-50

  • Page 232

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual DO program instructions UNTIL logical expression Function Creates a DO loop. Parameter 1. Program instructions These instructions are repeated as long as the logical expressio...

  • Page 233

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual Example In the example below, the DO structure controls the following task: a part is picked up, and carried to the buffer. When the buffer becomes full, the binary input signal...

  • Page 234

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual FOR loop variable = start value TO end value STEP step value program instructions END Function Repeats program execution. Parameter 1. Loop variable Variable or real valu...

  • Page 235

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 4. Executes the program instructions after the FOR statement. 5. When the END statement is reached, the step value is added to the loop variable. 6. Returns to step 3. 7. Execute...

  • Page 236

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual CASE index variable OF VALUE case number 1,……: program instructions VALUE case number 2,……: program instructions : VALUE case number n,……: program instruct...

  • Page 237

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual ANY statement and its program instructions can be omitted. ANY statement can be used only once in the structure. The statement must be at the end of the structure as shown ...

  • Page 238

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.7 BINARY SIGNAL INSTRUCTIONS RESET Turns OFF all external output signals. SIGNAL Turns ON/OFF external I/O signals and internal signals. PULSE Turns ON output signa...

  • Page 239

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual RESET Function Turns OFF all the external output signals. This command does not have effect on signals used as dedicated signals, clamp signals and antinomy of multifu...

  • Page 240

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual PULSE signal number, time Function Turns ON the specified external output signal or internal signal for the given period of time. Parameter 1. Signal number Selects ...

  • Page 241

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual RUNMASK starting signal number, number of signals Function Allows signals to be ON only while the program is executing. The signals can be turned ON using the SIGNAL,...

  • Page 242

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual BITS starting signal number, number of signals = decimal value Function Arranges a group of external output signals or internal signals in a binary pattern. The signa...

  • Page 243

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual SWAIT signal number, …… Function Waits until the specified external I/O or internal signal meets the set condition. Parameter Signal number Specifies the number ...

  • Page 244

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual EXTCALL Function Calls the program selected by the external input signal. Explanation EXTCALL instruction is processed as shown in the following procedure: 1. Outpu...

  • Page 245

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual This instruction can be skipped by entering the CONTINUE NEXT command when waiting for JUMP_ON signal. This instruction is effective only when RPS mode is ON and the ...

  • Page 246

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual ON mode signal number CALL program name, priority ON mode signal number GOTO label, priority ONI mode signal number CALL program name, priority ONI mode s...

  • Page 247

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual entered as the destination. Explanation For ON…CALL instruction, if change is detected in the monitored signal, the program is interrupted and the specified subrouti...

  • Page 248

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual Example ONI -1001 CALL alarm Monitors external input signal 1001(WX1). As soon as this signal changes from ON to OFF(the signal number is negative so the trailing edge...

  • Page 249

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual IGNORE signal number Function Cancels the monitoring of signals set by ON or ONI instruction. Parameter Signal numbers Specifies the number of the signal to cancel mo...

  • Page 250

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual SCNT counter signal number = count up signal, count down signal, counter clear signal, counter value Function Outputs counter signal when the specified counter value ...

  • Page 251

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual SCNTRESET counter signal number Function Resets to 0 the internal counter value corresponding to a counter signal number. Parameter Counter signal number Selects the...

  • Page 252

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual SFLP output signal = set signal expression, reset signal expression Function Turns ON/OFF an output signal using a set signal and a reset signal. Parameter 1. Outpu...

  • Page 253

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual SOUT signal number=signal expression Function Outputs the specified signal when the specified condition is set. Parameter 1. Signal number Specifies the number of ...

  • Page 254

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual STIM timer signal=input signal number, time Function Turns ON the timer signal if the specified input signal is ON for the given time. Parameter 1. Timer signal Se...

  • Page 255

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual CLAMP clamp number 1, clamp number 2, clamp number 3, clamp number 4, ……, clamp number 8, Function Outputs clamp signal for opening/ closing the hand speci...

  • Page 256

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.8 MESSAGE CONTROL INSTRUCTIONS PRINT Displays message on terminal. TYPE Displays message on terminal. PROMPT Displays message on terminal and waits for input from the keyboa...

  • Page 257

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual PRINT device number: print data, ……. TYPE device number: print data, ……. Function Displays on the terminal the print data specified in the parameter. Parameter 1. ...

  • Page 258

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual PROMPT device number: character string, variables Function Displays the specified character strings on the terminal followed by the prompt ”>” and waits for input from...

  • Page 259

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual At the screen prompt, if only the ENTER key or CTRL + C is pressed, “0” is assigned to real variables, and in case of character string variable, a null string is assigned....

  • Page 260

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual IFPWPRINT window, row, column, background color, label color, = “character string”, “character string”, …… Option Function Displays the specified character stri...

  • Page 261

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.9 POSE INFORMATION INSTRUCTIONS HERE Defines a pose variable as the current pose. POINT Defines a pose variable. POINT/X Sets the X value of a pose variable. POINT/Y Sets the ...

  • Page 262

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual HERE pose variable name FunctionDefines a pose (location) variable name as the current pose. The pose may be expressed in transformation values, joint displacement values or c...

  • Page 263

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual POINT pose variable name 1 =pose variable name 2, joint displacement values FunctionAssigns the pose information on the right of “=” to the pose variable on the left side...

  • Page 264

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual POINT/ X transformation variable name1=transformation variable name 2 POINT/ Y transformation variable name1=transformation variable name 2 POINT/ Z transformation variable n...

  • Page 265

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual DECOMPOSE array variable name[element number]=pose variable name FunctionStores as elements of an array variable, each component of the values of the specified pose variable ...

  • Page 266

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual BASE transformation values FunctionDefines the base transformation values. ParameterTransformation values or compound transformation values Defines the new base coordinates. T...

  • Page 267

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual ULIMIT joint displacement values LLIMIT joint displacement values Function Sets and displays the upper/lower limit of the robot motion range. Parameter Joint displacement val...

  • Page 268

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual UTIMER @timer variable = timer value Function Sets the default value for the user timer. The user timer can be named freely using the timer variable. More than one user timer...

  • Page 269

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual NCHON NCHOFF Option Function Turns ON (or OFF) the notch filter in the motion steps following the specified step. NCHON enables the notch filter, NCHOFF disables it. Example 10...

  • Page 270

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual WEIGHT load mass,center of gravity location X, center of gravity location Y, center of gravity location Z, inertia moment ab. X axis, inertia moment ab. Y axis, inertia momen...

  • Page 271

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual MC monitor command Function Enables execution of monitor commands from PC programs. Monitor commands that can be used with this instruction are: ABORT, CONTINUE, ERESET, EXECU...

  • Page 272

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual TPLIGHT Function Turns on the teach pendant backlight. Explanation If the backlight of the teach pendant screen is OFF, then this command turns ON the light. If this command i...

  • Page 273

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual 6.10 PROGRAM AND DATA CONTROL INSTRUCTIONS DELETEDeletes programs and variables in robot memory. (Option) DELETE/PDeletes programs in robot memory. (Option) DELETE/LDeletes...

  • Page 274

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual DELETE program name, .........DELETE/P program name, .........DELETE/L pose variable, .........DELETE/R real variable [array elements] , .........DELETE/S string variable [arr...

  • Page 275

    D Series Controller 6. Program Instructions Kawasaki Robot AS Language Reference Manual TRACE stepper number:ON/OFF FunctionLogs and traces the actual data from the program execution. Parameters1. Stepper number Type of program specified using the fo...

  • Page 276

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual 7.0 SYSTEM SWITCHES This chapter describes the function of each system switch. For setting ON/OFF or checking the status of switches, refer to the SWITCH, ON and OFF monitor command...

  • Page 277

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual WS_COMPOFFChanges the output timing of WS signal. (Option) FLOWRATEChanges from flow rate control mode to speed output mode (and vice versa). (Option) WS.ZEROChanges the weld proces...

  • Page 278

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual CP FunctionEnables or disables continuous path (CP) function. ExplanationThis switch is used to turn ON (enable) or OFF (disable) the CP function. If this switch is changed in a pr...

  • Page 279

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual CYCLE. STOP FunctionDetermines whether or not to continue repeating execution cycle after an HOLD is applied. ExplanationIf this switch is OFF, the robot stops when the external HOL...

  • Page 280

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual OX. PREOUT FunctionDetermines the timing for turning ON/OFF OX signals in block step instruction. ExplanationWhen running programs taught by block step instructions and this switch...

  • Page 281

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual QTOOL FunctionEnables or disables tool transformation during block teaching. ExplanationIf this switch is ON, the following functions effect during teaching: 1. Automatic selection ...

  • Page 282

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual RPS FunctionEnables or disables the random selection of programs. ExplanationIf this switch is OFF, the EXTCALL instruction and auxiliary data JUMP/ END are ignored. Default settin...

  • Page 283

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual REP_ONCE FunctionDetermines whether the program is run one time or continuously. ExplanationIf this switch is ON, the program runs one time. If this switch is OFF, the program runs...

  • Page 284

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual AUTOSTART. PC AUTOSTART2. PC AUTOSTART3. PC AUTOSTART4. PC AUTOSTART5. PC Option FunctionDetermines if the selected PC program starts automatically when the control power is turned O...

  • Page 285

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual ERRSTART. PC Option FunctionDetermines if the selected PC program is executed when an error occurs. ExplanationIf this switch is ON, the PC program named ERRSTART.PC is automaticall...

  • Page 286

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual SWITCH (CS) FunctionDisplays if CYCLE START button is ON or OFF. This function does not turn ON/OFF the switch. Used with the SWITCH function, −1 is returned if the CYCLE START ...

  • Page 287

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual SWITCH (RGSO) FunctionDisplays if servo motor power is ON or OFF. This function does not turn ON/OFF the switch. Used with the SWITCH function, −1 is returned if the servo motor...

  • Page 288

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual SWITCH (ERROR) FunctionDisplays whether or not an error is currently occurring. This function does not turn ON/OFF the switch. Used with the SWITCH function, −1 is returned if e...

  • Page 289

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual SWITCH (RUN) FunctionDisplays if the RUN /HOLD switch on the control panel is in RUN position or in HOLD position. This function does not turn ON/OFF the switch. Used with the SWI...

  • Page 290

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual DISPIO_ 01 FunctionChanges how signals (external I/O and internal signals) are displayed with the IO command. ExplanationIf the system switch DISPIO_01 is OFF, “o” is displayed...

  • Page 291

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual HOLD. STEP FunctionSelects the step to display when the program execution is held. ExplanationIf this switch is ON and program execution is held during execution of a non-motion ...

  • Page 292

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual FLOWRATE Option Function Switches between flow rate control mode to speed output mode. Explanation If this switch is ON, the flow rate control mode is selected. If this switch is O...

  • Page 293

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual ABS.SPEED Function Enables or disables the use of absolute speed. This function enables execution of motion steps at a low, pre-defined speed setting, effective for the entire pro...

  • Page 294

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual SLOW_START Function Enables (ON) or disables (OFF) the low start function. If the slow start function is enabled, the first motion instruction is executed in slow repeat speed. Ex...

  • Page 295

    D Series Controller 7. System Switch Kawasaki Robot AS Language Reference Manual MEMO 7-20

  • Page 296

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8.0 OPERATORS This chapter describes how the operators function in AS language. These operators are used in conjunction with monitor commands and program instructions. 8.1 Arithmetic Operators...

  • Page 297

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8.1 ARITHMETIC OPERATORS Arithmetic operators are used to perform general mathematic calculations. Operator Function Example + Addition i = i+1 − Subtraction j= i−1 ∗ Multiplication i = i...

  • Page 298

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8.2 RELATIONAL OPERATORS Relational operators are used with instructions such as IF and WAIT to verify if a condition is set. Operator Function Example < TRUE (−1) when left side value is le...

  • Page 299

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8.3 LOGICAL OPERATORS Logical operators are used in Boolean operations such as 0+1=1, 1+1=1, 0+0=0 (logical OR), or 0×1=0, 1×1=1, 0×0=0 (logical AND). There are two types of logical operators ...

  • Page 300

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual The result is ON(TRUE) when both or either of the two values are ON(TRUE). i XOR j Evaluates the exclusive logical OR between i and j. i j Result 0 0 not 0 not 0 0 not 0 0 not 0 0 (OFF) −1 (ON...

  • Page 301

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8.4 BINARY OPERATORS Binary logical operators perform logical operations for each respective bit of two numeric values. For example, if a number is composed of 4 bits, the values that will be calc...

  • Page 302

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 1… 1010 ⇒ −6 8.5 TRANSFORMATION VALUE OPERATORS In the AS system, operators + and − are used to determine the compound transformation values (the XYZOAT values). However note that unlike...

  • Page 303

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual Transformation operator “−” used with a single value (e.g. −pos.b) signifies the inverse value of pos.b. For example, when the transformation value pos.b defines the pose of object B rel...

  • Page 304

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8-9

  • Page 305

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual 8.6 STRING OPERATORS Operator Function Example + Combines two strings $a = $b + $c Example $a=$b+$c Combines $b+$c and assigns that string to $a. When $b=“abc”, $c=“123” then $a is “a...

  • Page 306

    D Series Controller 8. Operators Kawasaki Robot AS Language Reference Manual MEMO 8-11

  • Page 307

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual 9.0 FUNCTIONS This chapter describes the functions used in AS system. Functions are generally used in combination with monitor commands and program instructions. They are expresse...

  • Page 308

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual 9.1 REAL VALUE FUNCTIONS SIG Returns the logical AND of the specified signal. BITS Returns the value corresponding to the bit pattern of the signal. TIMER Returns the current value ...

  • Page 309

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual SIG(signal number,……) FunctionReturns the logical AND of the specified binary signal status. Parameter Signal Number Specifies the number of the external or internal I/O ...

  • Page 310

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual BITS (starting signal number,number of signals) Function Reads consecutive binary signals and returns the decimal value corresponding to the bit patterns of the specified bin...

  • Page 311

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual TIMER (timer number) Function Returns the value of the specified timer in seconds. Expresses timer value of the moment this TIMER function was executed. Parameter Timer number Spe...

  • Page 312

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual DISTANCE (transformation value, transformation value) Function Calculates the distance between two poses that are expressed in transformation values. Parameter Transformation value...

  • Page 313

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual DX (transformation value) DY (transformation value) DZ (transformation value) Function Returns the transformation values (X, Y, Z) of the specified pose. Parameter Transformation v...

  • Page 314

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual DEXT (pose variable name, element number) Option Function Returns the specified element of the specified pose. Parameter 1. Pose variable name Specifies the pose in joint displaceme...

  • Page 315

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual ASC (string, character number) Function Returns the ASCII value of the specified character in a string expression. Parameter 1. String Specifies the string that contains the charac...

  • Page 316

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual ...TRUE... ...ON... Function Returns the logical value for TRUE (−1). Explanation This function is convenient when it is necessary to specify the logical ...

  • Page 317

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual VAL (string, code) Function Returns the real value in the specified string. Parameter String Specifies character string, character string variable, or string expression. Code Expr...

  • Page 318

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual INSTR (starting point, string 1, string 2) Function Returns the place (in real value) where the specified string starts in the given string. Parameter 1. Starting point Specifies f...

  • Page 319

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual MAXVAL (real value 1, real value 2, ……) Function Compares the given real values and returns the largest among them. Parameter Real value 1, real value 2, …… Specifies the r...

  • Page 320

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual INT (numeric expression) Function Returns the integer of the specified numeric expression. Parameter Numeric expression Explanation Returns the integer on left side of the decimal...

  • Page 321

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual TASK (task number) Function Returns the execution status of the program specified by the task number. Parameter Task number 1: Robot 1 2: Robot 2 1001: PC program 1 1004: PC...

  • Page 322

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual PLCAIN (data number) Option Function Returns the value of the specified data number in whole numbers. Parameter 1. Data number Specifies the number of input data in whole number. ...

  • Page 323

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual UTIMER (@ timer variable name) Function Returns the current value of the @timer variable set by UTIMER instruction. Parameter @timer variable name Specifies the timer variable nam...

  • Page 324

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual INRANGE (pose variable, joint displacement values) Option Function Checks if a pose is within the robot’s motion range and returns a value depending on the result of this check (se...

  • Page 325

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual SYSDATA (keyword, opt1, opt2) Option Function Returns specified parameters in the AS system according to the given keyword. Parameter Keyword, opt1, opt2 M.SPEED Returns monitor s...

  • Page 326

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual 9.2 POSE VALUE FUNCTIONS DEST Returns the destination pose as transformation values. #DEST Returns the destination pose as joint displacement values. FRAME Returns the transforma...

  • Page 327

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual DEST #DEST FunctionDEST: Returns the transformation values of the destination of current robot motion. #DEST: Returns the joint displacement values of the destination of current...

  • Page 328

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual FRAME(transformation values 1,transformation values 2, transformation values 3,transformation values 4) Function Returns the transformation values of the frame (relativ...

  • Page 329

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual If the poses in the frame coordinates are taught as F1+A, then only F1 needs reteaching if the coordinates change, as when the parts station is moved. (See 11.6 Relative Pose Usi...

  • Page 330

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual The three points a1, a2, a3 defines the position of the tool coordinates origin. When redefining the frame coordinates, the tool transformation must be the same as when a1, a2, a...

  • Page 331

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual NULL Function Returns the null transformation values. Explanation Returns the transformation values in which both the translational components and the rotational components ar...

  • Page 332

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual HERE #HERE Function HERE : Returns the transformation values which describe the current pose of the tool coordinates. #HERE : Returns the joint displacement values which des...

  • Page 333

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual TRANS (X component, Y component, Z component, O component, A component, T component) Function Returns the transformation value that has the specified translational and rotationa...

  • Page 334

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual RX (angle) RY (angle) RZ (angle) Function Returns the transformation value that represent the rotation around the specified axis. Parameter Angle Specifies the value of the rota...

  • Page 335

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual #PPOINT (jt1, jt2, jt3, jt4, jt5, jt6) Function Returns the specified joint displacement values. Parameter jt1 jt2 Specifies the value of each angle (in degrees for r...

  • Page 336

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual SHIFT(transformation values BY X shift, Y shift, Z shift) Function Returns the transformation values of the pose shifted by the distance specified for each base axis (X,Y,Z...

  • Page 337

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual AVE_ TRANS(transformation values 1, transformation values 2) Function Returns the average values of the two transformation values. Parameter Transformation values 1, t...

  • Page 338

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual BASE Function Returns the current base transformation values. Example point a = BASE Assigns to variable “a” the current base transformation values. TOOL ...

  • Page 339

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual TRADD(transformation values) Option Function Returns the sum of the traverse axis value and the X component of the transformation values. Parameter Transformation values Spec...

  • Page 340

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual #HOME (home position number) Option Function Returns the currently set home position. Parameter Home position number Specifies the home position number. 1: Specifies home positi...

  • Page 341

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual CCENTER(transformation values 1,transformation values 2, transformation values 3,configuration transformation values) Option Function Returns the center of the arc creat...

  • Page 342

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manuals 9.3 MATHEMATICAL FUNCTIONS ABS Returns the absolute value of a numerical expression. SQRT Returns the square root of a numerical expression. PI Returns the constant π. SIN Returns ...

  • Page 343

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manuals ABS(real value) SQRT(real value) PI SIN(real value) COS(real value) ATAN2(real value1, real value 2) RANDOM 9-37

  • Page 344

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manuals KeywordFunctionExampleABS Returns the absolute value of a numerical expression. ABS(value) SQRT Returns the square root of a numerical expression. SQRT(value) PI Returns the constant...

  • Page 345

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual 9.4 STRING FUNCTIONS $CHR Returns the ASCII characters of the specified values. $SPACE Returns the specified number of blanks. $LEFT Returns the leftmost characters in the string. $R...

  • Page 346

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $CHR (real value) FunctionReturns the ASCII character string corresponding to the specified ASCII value. ParameterReal value (or numeric expression) Specifies the value to change ...

  • Page 347

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $LEFT (string, number of characters) FunctionReturns the specified number of characters starting from the leftmost character of the specified string. Parameter1. String Character s...

  • Page 348

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $MID (string, real value, number of characters) FunctionReturns the specified number of characters from the specified string. Parameter1. String Character string, string variable, o...

  • Page 349

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $DECODE (string variable, separator character, mode) Function Returns the string separated by “separator characters”. Parameter 1. String variable Specifies the string from whe...

  • Page 350

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual Example In the instructions below, the numbers separated by commas or blanks are removed from the string “$input”. The first instruction in the DO structure removes the first set...

  • Page 351

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $ENCODE (print data, print data, ……) Function Returns the string created from the print data specified in the parameters. The string is created in the same way as when using TY...

  • Page 352

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual /In Expresses the values as a decimal number in the “n” digit field. The following parameters are used to insert certain characters between character strings. /Cn Inserts lin...

  • Page 353

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $ERRORS (error code) Function Returns the error message for the specified error code. The error code is returned as a character string with the error message. Parameter Error code...

  • Page 354

    D Series Controller 9. Functions Kawasaki Robot AS Language Reference Manual $DATE (date form) Function Returns the system date in the specified string format. Parameter Date form Specifies by numbers 1 - 3, the date format to be output. Explanation The t...

  • Page 355

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual 10.0 PROCESS CONTROL PROGRAMS This chapter describes the monitor commands and program instructions used with the Process Control (PC) programs. In parentheses on the right, M indic...

  • Page 356

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCSTATUS PC program number: FunctionDisplays the status of PC programs. (M) ParameterPC program number Selects the PC program number to display. Acceptable range: 1 to 5. If no...

  • Page 357

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCEXECUTE PC program number : program name, execution cycle, step number FunctionExecutes PC programs. (M, P) Parameter1. PC Program number Selects the number of the PC pro...

  • Page 358

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCABORT PC program number: FunctionStops the execution of the currently running program. (M, P) ParameterPC program number Selects the number of the PC program to be stopped. Ac...

  • Page 359

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCEND PC program number: task number Function Ends execution of the PC program currently running upon execution of the next STOP instruction in that program. (M, P) Parameter 1. ...

  • Page 360

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCCONTINUE PC program number NEXT Function Resumes execution of a suspended PC program. Or, skips the WAIT instruction in the PC program. (M) Parameter 1. PC program number Sel...

  • Page 361

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCSTEP PC program number: program name,execution cycles, step number Function Executes a single step of a PC program. (M) Parameter 1. PC program number Selects the number of ...

  • Page 362

    D Series Controller 10. PC Program Kawasaki Robot AS Language Reference Manual PCSCAN time Option Function Sets the cycle time for executing the PC program. (P) Parameter Time Sets the how long the program repetition cycle takes. The time is specified in s...

  • Page 363

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual APPENDIX 1 ERROR CODES Code Former Code Error Message P0100 -350 Illegal input data. P0101 -351 Too many arguments. P0102 -353 Input data is too big. P0103 -361 Illegal ...

  • Page 364

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message P0140 -451 Step:XX Wrong END statement. P0141 -452 Step:XX Extra END statement. P0142 -453 Step:XX Cannot terminate DO with END. P0143 -454...

  • Page 365

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message P1019 -308 PC program is running. P1020 -320 Cannot operate because teach pendant on operation. P1021 -306 Cannot execute with DO command. ...

  • Page 366

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message P2019 -563 ADC function is in use by other process. P2020 -591 Illegal device number. P2021 -598 Cannot execute on this terminal. P2022 -65...

  • Page 367

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message P2061 -4269 File does not exist in floppy. P2062 -4270 [FDD/PCCARD]Failure in writing data by verify function. P2063 -4271 [FDD/PCCARD]Ille...

  • Page 368

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message W1015 -61 Needs inspection. possibility of failure. W1016 -60 Torque of motor is over limit. JT-XX W1017 Encoder battery low voltage.[Ext...

  • Page 369

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E0118 -840 Too many subroutine calls. E0119 -842 Nonexistent subroutine. E0900 -427 Block step instruction check sum error. E0901 -499 Step...

  • Page 370

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E1036 -1554 Encoder communication error.( jt -XX-M) E1037 -1555 Encoder data conversion error.( jt -XX-M) E1038 -1556 Encoder ABS-track er...

  • Page 371

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E1078 -829 Illegal signal number. E1079 -837 Cannot use dedicated signal. E1080 -838 Not RPS mode. E1081 -839 Cannot use negative value. E1...

  • Page 372

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E1121 -1031 Other robot is already in the interference area. E1122 -1308 Unexpected motor power off. E1123 -1503 Speed error jt -XX-M. E112...

  • Page 373

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E4005 -581 Communication process was stopped. E4006 -583 Receive no data after request. E4007 -584 Too long receive data(MAX=255 characters...

  • Page 374

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E4047 -3051 DN)node status. XX E4048 -3053 DEVNET)Node XX not in the scan list. E4049 -3054 DEVNET)not supported. E4050 -4206 No response f...

  • Page 375

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E5025 -619 Work stroke open signal has not been detected. E5026 -624 (Spot welding) RWC error. XX E5027 -630 Robot stopped in welding. E502...

  • Page 376

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E5532 -2774 (Vision) Work detection failure. E5533 -2797 (Vision) Initialization error. Code = XX E5534 -2799 (Vision) Vision system error....

  • Page 377

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E6507 -984 Illegal interpolation data. E6508 -949 No E/N ratio D/A board. E6509 -910 Work is not detected. E6510 -911 Sensing direction is ...

  • Page 378

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message E6549 -996 Hyper Arc torch calibration error. E6550 -997 Hyper Arc Z phase index error. E6551 -985 No Hyper Arc board. E6552 -986 Hyper Arc...

  • Page 379

    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message D1015 -4274 The servo data file does not exist. D1016 -4275 The servo data file does not include available servo data. D1017 -4276 Download...

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    D Series Controller Appendix 1 Error Codes Kawasaki Robot AS Language Reference Manual Code Former Code Error Message D2007 -1207 No response from the built-in sequence board. D2008 -1224 Group XX MC P-N voltage is stuck. D2009 -2170 Internal pressure senso...

  • Page 381

    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual APPENDIX 2 AS LANGUAGE LIST (ALPHABETICAL ORDER) The abbreviation for each AS language may be changed without prior notice. The alphabets after the function represent ...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageBOR BOR Binary OR O ... BOR ... 8-6 BRAKE BRA Stops robot motion immediately P BRAKE 6-20 BREAK BRE Causes a break in ...

  • Page 383

    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageCLOSES CLOSES Turns ON/OFF close clamp signal P CLOSES clamp number 6-27 COM COM Binary complement O ... COM ... 8-6 C...

  • Page 384

    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageDZ DZ Returns Z component F DZ (transformation value) 9-7 E E Exits from edit mode E E 5-10 EDIT ED Enters edit mode M...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageFRAME FRAME Returns the transformation values for frame coordinates F FRAME (x1, x2, y, origin) 9-22 FREE FR Displays ...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageIFPWPRINT IFPWPRINT Displays string in string window set by aux. function PIFWPRINT window, row, column, background co...

  • Page 387

    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageMESSAGES ME Enables or disables terminal output S ...MESSAGES... 7-4 $MID $MID Returns characters F$MID (string, real...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageP P Displays program steps E P step count 5-5 PAUSE PA Stops execution temporarily P PAUSE 6-41 PCABORT PCA Stops exec...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PagePOINT/O PO/O Assigns O component value PPOINT/O transformation variable name 1= transformation variable name2 6-83 POI...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageRANDOM RANDOM Returns random number from 0 to 1 F RANDOM 9-37 REC ACCEPT REC Enables/disables RECORD/PROGRAM CHANGE f...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageSCNT SCNT Outputs counter signal when counter value is reached PSCNT counter signal number = count up signal, count do...

  • Page 392

    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageSTABLE STA Holds robot motion for a given time P STABLE time 6-4 STATUS STA Displays system status M STATUS 5-52 STEP ...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) PageTRSUB TRSUB Returns the difference of traverse axis and transformation values F TRSUB (transformation values) 9-33 TWA...

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    D Series Controller Appendix 2 AS Language List Kawasaki Robot AS Language Reference Manual Name Abbreviation Function Format (Parameter) Page== == equal to O .... = ... 8-3 => => greater than or equal to O .... => ... 8-3 > > greater than O ......

  • Page 395

    D Series Controller Appendix 3 ASCII Codes Kawasaki Robot AS Language Reference Manual APPENDIX 3 ASCII CODES ASCII character Octal Decimal Hexa- decimal Description NULL SOH STX ETX EOT ENQ ACK BEL BS HT LF VT FF CR SO SI DLE DC1 DC2 DC3 DC4 NAK SYN ETB CAN EM SUB...

  • Page 396

    D Series Controller Appendix 3 ASCII Codes Kawasaki Robot AS Language Reference Manual ASCII character Octal Decimal Hexa- decimal ASCII character Octal Decimal Hexa- decimal ! ” # $ % & ’ ( ) * + ‘ − . / 040 041 042 043 044 045 046 047 050 051 052 053 ...

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    D Series Controller Appendix 3 ASCII Codes Kawasaki Robot AS Language Reference Manual ASCII character Octal Decimal Hexa- decimal ASCII character Octal Decimal Hexa- decimal @ A B C D E F G H I J K L M N O 100 101 102 103 104 105 106 107 110 111 112 113 114 115 11...

  • Page 398

    D Series Controller Appendix 4 Limitation of Signal Numbers Kawasaki Robot AS Language Reference Manual APPENDIX 4 LIMITATION OF SIGNAL NUMBERS No M, P, F* Output Signals Input Signals Internal Signals 1 BITS MP 1 to maxsig** ------ 2001 to 2256 2 BITS F 1 to maxsig** 1001 t...

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    D Series Controller Appendix 5 Euler’s OAT Angles Kawasaki RobotAS Language Reference Manual APPENDIX 5 EULER’S O,A,T ANGLES Y′ X y x Z z Y X′X″ A T O O A T The posture of a coordinate system Σ(x,y,z) with respect to the base coordinate syste...

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    D Series Controller Appendix 5 Euler’s OAT Angles Kawasaki RobotAS Language Reference Manual MEMO A-38

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    Kawasaki Robot Controller D Series AS LANGUAGE REFERENCE MANUAL August 2002 : 1st Edition December 2002 : 2nd Edition Publication : KAWASAKI HEAVY INDUSTRIES, LTD. 90209-1017DEB All rights reserved. Copyright © 2002 by KAWASAKI HEAVY INDUST...

  • Page 402

    Taiwan KawasakiKawasaki Machine Systems Korea Kawasaki Robotics GmbH Kawasaki Robotics San Jose Office Kawasaki Robotics (USA), Inc. Kawasaki Heavy Industries, LTD. Tokyo Head Office KkiR b iKawasaki Robotics (UK) Limited KAWASAKI HEAVY INDUSTRIES, LTD. ROBOT DIVISION Kawasaki Heavy 41...

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