Kawasaki MPPCCONTO11E-2 Reference Manual

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Kawasaki Robotics (USA), Inc.

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C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

MPPCCONTO11E-2

a K

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This publication contains proprietary information of Kawasaki Robotics (USA), Inc. and is furnished solely for customer use only. No other uses are authorized or permitted without the express written permission of Kawasaki Robotics (USA), Inc. The contents of this manual cannot be reproduced, nor transmitted by any means, e.g., mechanical, electrical, photocopy, facsimile, or electronic data media, without the express written permission of Kawasaki Robotics (USA), Inc.

Wixom, Michigan 48393

The descriptions and specifications in this manual were in effect when it was submitted for publishing. Kawasaki Robotics (USA), Inc. reserves the right to change or discontinue specific robot models and associated hardware and software, designs, descriptions, specifications, or perfor mance parameters at any time and without notice, without incurring any obligation whatsoever.

This manual presents information specific to the robot model listed on the title page of this document. Before performing maintenance, operation, or programming procedures, all personnel are recommended to attend an approved Kawasaki Robotics (USA), Inc. training course.

KAWASAKI ROBOTICS (USA), INC. TRAINING

Training courses covering operation, programming, electr ical maintenance, and mechanical maintenance are available from Kawasaki Robotics (USA), Inc. These courses are conducted at our training facility in Wixom, Michigan, or on-site at the customer’s location.

For additional information contact: Kawasaki Robotics (USA), Inc.

Training and Documentation Dept. 28059 Center Oaks Court Wixom, Michigan 48393

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REVISION HISTORY

AS LANGUAGE REFERENCE MANUAL

Revision

Number

-0 6/ 7/99 In itial PD F r e l ea se B F

-1 9/22/00 Revisio n 1 , bas ed on revi s i on 1 o f print copy CB

-2 1/15/01 Revision 2, based on revision 2 of print copy CB

Release

Date

D escription of Change Init ial s

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I.0 INTRODUCTION..................................................................................................... I-2

I.1 Robot Controller Design Specifications................................................................... I-3

INTRODUCTION

AS LANGUAGE REFERENCE MANUAL

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I.0 INTRODUCTION

The

AS Language Reference Manual

responsibility includes programming and operating Kawasaki industrial robots on a daily basis. AS Language is a computer control language designed specifically for use with Kawasaki robot controllers. This text provides information on creating programs, running programs, and editing programs using AS Language commands. AS Language is relatively easy to learn with many keywords, syntax sequences, and interface commands being intuitive.

AS Language provides the programmer with the ability to precisely define the task a robot is to perform. Programming the robot with a computer control language (AS) also provides the ability to integrate peripheral components into the program. Typical component interfacing with AS Language programs includes: programmable logic controllers (PLCs), lasers, weld controllers, gray scale vision, and remote sensing systems.

INTRODUCTION

is designed to assist the user whose primary

AS LANGUAGE REFERENCE MANUAL

AS Language programs provide outstanding perfor mance in terms of robot trajectory control. Program location points can be stored and played back as either joint angles representing the manipulator configuration (precision points) or geometrically defined locations in the work envelope (transformations). Transformation locations can also be defined based on their relative position to one another (compound transformations). These capabilities allow program locations to be shifted and moved based on parameters and variables identified in the AS Language program.

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I.1 ROBOT CONTROLLER DESIGN SPECIFICATIONS Control System: 32 bit RISC main CPU

Number of Axes: 6 standard; 7th optional Motion Control: Teach mode - Joint

INTRODUCTION

32 bit RISC CPU for multi function panel unit 32 bit RISC servo CPU controller (one per 3 axes) Software controlled AC servo drive system using pulse width modulation (PWM) circuitry

Base Tool

Repeat mode - Joint move Linear move Circular move (optional) FLIN move (optional)

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AS LANGUAGE REFERENCE MANUAL

Memory: CMOS RAM Memory Capacity: Standard - 1024 KB (approximately 4,000 steps)

Optional - 4096 KB (approximately 34,000 steps)

Accuracy: Adjustable in increments of 0.0001 mm within the ranges

below: F-series

Adjustable between 0.1 mm - 5,000 mm UX/UT-series

Adjustable between 0.5 mm - 5,000 mm UZ-series

Adjustable between 0.3 mm - 5,000 mm Z-series

Adjustable between 0.3 mm - 5,000 mm

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Speed: Proportional speed - percentage of maximum joint or TCP

Data Editing: Step insertion and deletion, and rewriting of auxiliary and

Software Features: Continuous path motion control - CP ON/OFF

INTRODUCTION

speed. Adjustable in increments of 0.0001 up to 100% (rounding occurs as necessary).

Absolute speed - speed of TCP in mm/s. Adjustable in increments of 0.0001 mm/s up to maximum robot TCP speed (rounding occurs as necessary).

positional data.

Time delays Coordinate modification Process control programs (3) Peripheral equipment control Interrupt signal control Error interrupt control Input of real, string, and integer variables Local variables Subroutine calls with arguments (maximum stack = 20) Program weld schedules Servo shutdown timer Auto start function

AS LANGUAGE REFERENCE MANUAL

I/O Signals: 1GW I/O board 32 inputs/32 outputs (256 maximum)

(including dedicated signals) 1FS RI/O board (optional) Robot I/O 256 I/O (including dedicated signals) Robot internal 256 Relay circuit 32 I/O A-B PLC 64 I/O Weld controller 32 I/O Non-retentive 128 I/O Retentive 16 I/0 Timers 16 I/0 Counters 16 I/0 Message display 64 I/0 Slogic status 16 I/0

Control Net (option)

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Dedicated Signals: Outputs - Motor power ON

Dedicated Signals: Inputs - Ext. motor power ON,

INTRODUCTION

Error occurrence Automatic CYCLE_START Teach mode HOME1 HOME2 Power ON RGSO Ext. program select (RPS) enabled

Ext. error reset Ext. cycle start Ext. program Select start (JUMP) JUMP_ON JUMP_OFF JUMP_ST Ext. program select start (RPS) RPS_ON RPS_ST Number of RPS code signal First signal number of RPS code Program reset Ext. hold (EXT_IT) Ext. condition wait (EXT_WAIT) Ext. slow repeat mode

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Error Messages: Error code messages, self-diagnosis, error logging, operation

logging

Special Features: Program check mode

Adjustable restriction of JT1 Terminal box on robot arm (optional) Robot application interface panel (optional) Overtravel limit switch - JT1 (JT2, JT3 optional) Power lockout Ethernet (optional)

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Multi Function Panel: Deadman safety switches (optional) 7.2 inch color LCD

Teac h Pendant: Deadman safety switches (optional) Teach-lock function

Supplemental Data Storage: PC flash RAM memory card 8 MB, PCMCIA 2.1 slot

INTRODUCTION

Touch panel Teach-lock function Emergency stop switch Pen for touch panel PC card insertion section

Emergency stop switch Membrane switch keypad Alphanumeric LCD

Floppy disk drive (optional) Personal computer (optional)

AS LANGUAGE REFERENCE MANUAL

Power Requirements: Standard Spec.: 3-phase 200/220 VAC

North Am Spec.: 3-phase 400/440/460/480/515/575 VAC European Spec.: 3-phase 380/400/415/440/460/480 VAC Tolerance: +/- 10% Frequency: 50/60 Hz Rated Load: 10.5 kVA Ground: less than 100 ohm ground line separated

from welder power ground

Dimensions: Standard Spec.: W x D x H, 460.8mm x 430mm x

1240mm

(inches) (18.1 x 16.9 x 48.8) North Am. Spec.: W x D x H, 550mm x 500mm x 1150mm

(inches) (21.7 x 19.7 x 45.3) European Spec.: W x D x H, 550mm x 500mm x 1150mm

(inches) (21.7 x 19.7 x 45.3)

Weight: Standard Spec.: approx. 80 kg (176 lbs)

North Am. Spec.: 250 kg (550 lbs) European Spec.: 250 kg (550 lbs)

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1.0 SYSTEM OVERVIEW ........................................................................................1-2

1.1 AS System Status .............................................................................................. 1-2

1.2 Notations and Conventions ................................................................................ 1-6

1.3 Displaying with the Ter minal ............................................................................... 1-7

1.4 Location Information........................................................................................... 1-8

1.4.1 Precision Location.............................................................................................. 1-8

1.4.2 Transformation Location ..................................................................................... 1-8

1.4.3 Compound Transformation Location (Relative Transformation)........................ 1-10

1.5 Numeric Information......................................................................................... 1-12

1.5.1 Integers ............................................................................................................ 1-12

1.5.2 Real Numbers .................................................................................................. 1-12

1.5.3 Logical V alues.................................................................................................. 1-12

1.5.4 ASCII V alues.................................................................................................... 1-13

1.6 Var iable Names................................................................................................ 1-13

1.6.1 Location V ariab les............................................................................................ 1-14

1.6.2 Real Variables .................................................................................................. 1-14

1.6.3 Character String Variables ............................................................................... 1-15

1.7 Numerical Expression ...................................................................................... 1-17

1.7.1 Operators ......................................................................................................... 1-17

1.8 Monitor Commands.......................................................................................... 1-20

1.8.1 Program Instructions ........................................................................................ 1-21

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

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1.0 SYSTEM OVERVIEW

AS Language for the C controller is a software based control system and high-level language used to interface with the robot controller and control robot motion. The AS software is permanently stored in the robot controller’s memory and is activated as soon as controller power is turned on. It continuously generates robot control commands and can simultaneously interact with a programmer, permitting on-line program generation and modification. The multi function panel and/or a personal computer is used to access AS Language.

1.1 AS SYSTEM STATUS

The AS system consists of the monitor mode, the editor mode, and the playback mode.

• Monitor Mode: This is the basic mode in the AS system. Monitor commands are executed in this mode. The editor or playback modes are accessed from this mode.

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

• Editor Mode: This mode enables the user to create a new program or modify an existing program. Only editor commands are accepted by the system in this mode.

• Playback Mode: The system is in the playback mode during program execution. Computations for robot motion control are performed and commands entered from the terminal are processed during unoccupied CPU time. Some monitor commands cannot be executed in playback mode. Refer to unit 4, Monitor and Editor Commands for details.

The

system is controlled by the following system switches:

• CHECK.HOLD This switch is used with the AS Language commands EXECUTE, DO, STEP,

MSTEP and CONTINUE. When the CHECK.HOLD switch is ON these commands are available only if the HOLD/RUN switch is in the HOLD position. The controller accepts these commands with the HOLD/RUN switch in the HOLD position but robot motion is not initiated until the switch is manually placed in the RUN position. Default setting is OFF.

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• CP The CP switch is used to enable or disable the continuous path function. When the

switch is ON, the robot makes smooth transitions between motion segments within the accuracy ranges set. When the switch is OFF, the robot decelerates and stops at the end of each motion segment regardless of accuracy. Default setting is ON

SYSTEM OVERVIEW

Robot Path Switch Setting

AS LANGUAGE REFERENCE MANUAL

OFF

Accuracy Range

Figure 1-1 CP Switch

• CYCLE.STOP This switch is used in conjunction with an external input signal to stop the motion of

the robot. With the switch ON, when the input signal is received the robot stops and the cycle start light turns OFF. When the program is started again it starts at the beginning. If the program is called from another program, the program restarts at the beginning of the main program. With the switch OFF, when the input signal is received the robot stops and the cycle start light remains ON. The robot is in a hold condition and when the program is started again, it continues at the point in the cycle where it was stopped. Default setting is OFF.

• OX.PREOUT This switch affects the timing of output signal generation in block step programs.

When the switch is ON, an output programmed for a given point is turned ON when the robot begins motion to the point. With the O X. PREOUT switch OFF, an output programmed for a given point is not turned ON until the robot reaches the accuracy range of the point. Figure 1-2 shows the effects the OX.PREOUT switch on signal timing. Default setting is ON.

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SYSTEM OVERVIEW

Figure 1-2 OX.PREOUT Switch

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• PREFETCH.SIGINS This switch is used in conjunction with AS Language instructions and has the same

effect on signal timing as the OX.PREOUT switch has with blockstep instructions. Default setting ON. The AS Language instructions affected are; SWAIT, TWAIT, SIGNAL, PULSE, DLYSIG, RUNMASK, RESET and BITS.

• QTOOL This switch allows the user to identify tools to use in block step or AS Language

programming. When the QTOOL switch is ON, nine tools are available for programming and jogging. The tool dimensions are recorded and assigned a tool number using auxiliary function 48. When the QTOOL switch is ON, the selected tool dimensions are in effect for jogging and linear playback of block step programs. When the QTOOL switch is OFF, the tool identified with AS Language instructions is used. Default setting is ON.

• REP_ONCE (Repeat Once) When this switch is ON, programs run one time. With the switch OFF, the program

runs continuously. Default setting is OFF.

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• STP_ONCE (Step Once) When this switch is ON, the repeat condition function of progressing through a

program one step at a time is active. The step forward key is used to step through a program. When the switch is OFF, programs run continuously. Default setting is OFF.

• AFTER.WAIT.TIMER When this switch is ON, timers begin timing for a specified step when all wait condi-

tions are satisfied. With the switch OFF, timers begin timing when the robot reaches coincidence of the taught point. Default setting is OFF.

• AUTOSTART.PC

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

The AUTOSTART.PC, AUTOSTART2.PC, and AUTOSTART3.PC switches automatically start the associated PC program when controller power is turned on. Default setting is OFF.

• ERRSTART.PC When this switch is ON and specified errors (assigned dedicated signals) occur, a

PC program is run as soon as the error is detected. Default setting is OFF.

• MESSAGES Enables or disables message output (PRINT or TYPE) to the keyboard screen.

Default setting is ON

• RPS (Random Program Selection) This switch enables or disables the random selection of programs based on binary

status of dedicated inputs. Default setting is OFF

• SCREEN This switch enables or disables scrolling of the screen when information is too large

to fit on one screen. Default setting is ON

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• DISPIO_01 This switch allows the user to select the type of display for viewing the status of

inputs and outputs. If the switch is ON, 1s and 0s are displayed to identify the signal state of individual signals. A 1 represents an ON signal, while a 0 represents an OFF signal. If the switch is off, an ON signal is represented by an O, while an X represents a OFF signal. Dedicated signals are represented by uppercase Xs and Os. Default setting is OFF.

1.2 NOTATIONS AND CONVENTIONS

A mixture of uppercase and lowercase words is used throughout this manual, all key words are shown in uppercase and all elements freely specified by the user are shown in lowercase.

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

Abbreviated notations are used as well. For example, the EXECUTE command can be abbreviated as EX.

At least one space (blank) or tab is necessary as a delimiter between the instruction (or command) name and its arguments. The excess spaces or tabs are ignored by the system.

Monitor commands and program instructions are processed by pressing the ENTER key.

Many instructions or commands have arguments which can be omitted. If there is a comma following the optional argument, the comma should be retained even if the argument is omitted. If all successive arguments are omitted, commas may also be omitted.

In this manual, values are expressed in decimal notations, unless noted otherwise. Some instructions and commands require several types of arguments. Mathematical expressions can be used to designate the value as arguments. The acceptable value may be restricted. The following r ules show how the values are interpreted in various cases.

• The AS Code for Infor mation Interchange (ASCII). An ASCII character is specified by prefixing a character with an apostrophe (‘). For example, ddd = ‘A assigns 65 to ddd.

• All numerical expressions evaluated by the system result in a real value.

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Language follows the conventions established by the American Standard

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• DISTANCE is used to define the position to which the robot moves. The unit for distance is millimeters, although units are not required to be entered with values. Values entered for distances can be positive or negative, with their magnitudes limited by a number representing the maximum reach of the robot. For example,

> DO DRAW 50,100,-50 moves the robot 50 mm in X, 100 mm in Y, and 50 mm in the Z Cartesian direction.

• ANGLES in degrees are entered to define and modify orientations the robot as- sumes at named locations, and to describe angular positions of robot joints. The values can be positive or negative, with their magnitudes limited by 180 degrees or 360 degrees depending on the context. For example,

> DO DRIVE 2,45,75 moves joint 2 of the robot 45° at 75% of the repeat speed.

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AS LANGUAGE REFERENCE MANUAL

• JOINT NUMBER is an integer value from one to the number of joints available on the robot, including a servo-controlled external axes.

• SIGNAL NUMBER is used to identify binary (on/off) signals. The value is an integer in the range of 1-256 (output signals), 1001-1256 (input signals) depending on the number of I/O signals available in the controller. Negative signal numbers indicate an OFF state.

• Whenever an existing program is saved, or renamed, the new name is entered first, followed by the old name. The above also holds true for the POINT command. For example:

Command New Name = Old Name SAVE Right_Side = Fender3 RENAME test = test.tmp

1.3 DISPLAYING WITH THE TERMINAL

The operator can display various types of information in the monitor mode or playback mode. Directories and listings of programs, locations, variable data, and weld conditions are displayed by entering specific monitor commands. For additional information, refer to section 4.2, Program and Data Control Commands.

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1.4 LOCATION INFORMATION

Locations recorded in the controller’s memory are comprised of values which designate destinations for robot motion. The values recorded in memory are either Cartesian coordinates or robot joint angles. A Car tesian coordinate represents a point in the robot workspace with a tool center point orientation at that point. A location recorded with joint angles specifies a robot arm configuration at that point. When the robot is directed to move to a Cartesian location, two actions occur simultaneously: the robot is moved so the tool center point moves to the specified point, and the tool is rotated to the prescribed orientation. When the robot is directed to move to a location recorded with joint angles, the processor calculates a motion path based on the encoder values of the recorded point, then moves the arm until all encoder values match those of the recorded point. There are two types of location information, transformation locations (Cartesian coordinates) and precision locations (joint angles).

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

1.4.1 PRECISION LOCATION

A precision location’s value is represented by the exact position of the individual robot joints in degrees. There are several characteristics of precision locations that should be considered. These characteristics result from joint angles being recorded.

Advantages of precision locations: Playback precision is achieved and there is no ambiguity about robot configuration at a location.

Disadvantages of precision locations: The values recorded can be used by any model of robot, however the tool center point location is different when used by a robot of different physical size. Precision locations cannot be easily modified to compensate for location changes in the robot workspace, because a change requires complete knowledge of the relationship between the positions of all robot joints and the locations in the robot workspace.

1.4.2 TRANSFORMATION LOCATION

A transformation location is represented by defining the location in terms of a Cartesian (XYZ) reference frame fixed to the base of the robot. The position of the tool center point is defined with X, Y, and Z coordinates, and the tool orientation is defined by three angles measured from the coordinate axes.

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Advantages of transfor mation locations: A value defined for use with one robot can be used with a different robot having a similar work envelope because the value is defined in terms of workspace coordinates. Transformations are easily modified to change a location within the robot workspace. A powerful feature of transformation locations is the ability to define locations as combinations of values. This is called compound or relative transfor mation. Such values are used to define the location of a part relative to its fixturing.

Disadvantages of transfor mation locations: Since a transformation location defines the location of the tool center point in terms of coordinates in the workspace, no information is provided about the specific robot configuration at the location. Whenever a transformation is used to define the destination of a robot motion, the AS the transformation location into an equivalent precision location so it knows how to move the individual joints. This conversion can introduce small location errors. Despite these disadvantages, transformation locations are generally much more convenient than precision locations.

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

system must convert

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1.4.3 COMPOUND TRANSFORMATION LOCATION (RELATIVE TRANSFORMATION)

Compound transformations are defined by a combination of transformation locations, used to create a location or locations that are relative to the first transfor mation value, in the compound transformation (Figure 1-3).

transformation_value+transformation_value....

The last component of the compound transformation value, defines the actual location. If the transformations are subtracted an inverse value results.

transformation - transformation

This is useful when several locations are defined relative to a reference location.

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

To change the location points defined relative to a reference location, only the transformation location of the reference must be updated. All locations defined relative to the reference point are automatically changed to reflect the change.

Unlike usual addition or subtraction, the commutative law does not hold true for the transformation operation. The compound expression “loc.a + loc.b” does not necessarily equal “loc.b + loc.a” because the turning angles O,A,T are taken into consideration. An example of this is shown below.

Assuming: a1 = (1000, 0, 0 , 0, 0, 0)

a2 = ( 0, 1000, 0, 60, 0, 0)

a1 + a2 = (1000, 1000, 0 , 60, 0, 0) a2 + a1 = ( 500, 1866, 0, 60, 0, 0)

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For example, “Plate” is the name of the transformation location representing the location of a base plate relative to the origin of the base coordinate system of the robot. “Object” is the relative transformation for the location of an object relative to the location of the plate. The compound transformation “Plate+Object” defines the location of the object relative to the origin of the base coordinate system of the robot. If the transformation location “Pickup” represents the final location relative to “Plate+Object”, the compound transformation “Plate+Object+Pickup” defines the location of pickup relative to the origin of the base coordinate system.

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AS LANGUAGE REFERENCE MANUAL

Figure 1-3 Compound Transformation

As indicated in the example above, the compound transformation is defined by a combination of several transformation values separated by “+”.

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1.5 NUMERIC INFORMATION

Numeric information is a combination of numerals, variables, operators, and functions which return numeric values. Numeric expressions are used not only for mathematical calculations, but also as arguments for monitor commands or program instructions. Numeric values used in the AS system are divided into the four types described below:

1.5.1 INTEGERS

Integers are values without fractional parts (whole numbers). Values with full precision ranges are from -16,777,216 to +16,777,216. Values that exceed this range are rounded to seven significant digits. Integer values are usually entered as decimal numbers, however, it may be more convenient to enter them in binary or hexadecimal notations.

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

1.5.2 REAL NUMBERS

Real numbers have both the integer part and a fractional part which can range from

-3.4E +38 ~ 3.4E +38. Like integers, real values are positive, zero or negative. They

can be represented in scientific notation. Real values are stored with an accuracy of approximately seven digits, but actual values may have less precision caused by a calculation error.

1.5.3 LOGICAL VALUES

Logical values have only two states, ON or OFF. These two states are also referred to as TRUE and FALSE respectively. A value of negative one (-1) is assigned for the TRUE or ON state and a value of zero (0) is assigned for the FALSE or OFF state.

NOTE

ON, OFF, TRUE, and FALSE are AS Language keywords.

> AA = ON Stores a value of -1 in variable AA > BB = FALSE Stores a value of 0 in variable BB > CC = -TRUE Stores a value of 1 in variable CC

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1.5.4 ASCII VALUES

An ASCII value is the numeric value of one ASCII character. An ASCII value is specified by prefixing the character with an apostrophe (‘).

> X = ‘A Stores a value of 65 in variable X > X = ‘a Stores a value of 97 in variable X

1.6 VARIABLE NAMES

Variable names must start with an alphabetic character and can contain only letters, numbers, periods, and underlines. The letters used in variable names can be entered either in lowercase or uppercase. The length of a name is limited to fifteen characters. AS Language variable names because they cause ambiguity with the AS system keywords, but their abbreviations can be used. For example, the following names cannot be used:

commands should not be used and in some cases cannot be used as

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

3P (first character is not alphabetic) part#2 (“#” prefix for precision location name) random (AS keyword)

Precision location names must be preceded by the symbol “#” to differentiate them from transformation location names. String variables must be preceded by the symbol “$” to differentiate them from real and transfor mation variables.

pick (transformation or real variable value) #pick (precision value) $count (string variable)

A transformation location and precision location may have the same name, however, the same name may not be used for transformation values and real values. A defined variable may be used by any program in the system.

Array variables can be used for any type of information. Arrays consist of several values under the same name and these values are distinguished from each other by their index value. In order to designate array elements, attach an element number (index) enclosed by brackets to the array name. For example, “part[7]” indicates the seventh element of the array “part”. Indexes should be integers within the range 0 to 9999.

Location, real, string, and array are four types of var iables within the AS system. These four variable types are explained on the following pages.

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1.6.1 LOCATION VARIABLES

A location variable (precision or transfor mation) is automatically defined when a value is assigned for the first time. Prior to this, the location name is undefined. If a program uses an undefined variable, an error occurs. The user defines location variables by using monitor commands or program instructions. The following are examples of location variable values:

Precision location value: name with joint angles

#weld 90.000° 145.056° -95.098° 90.000 °45.000° 0.000°

Transformation location value: name with joint angles and turning angles

SYSTEM OVERVIEW

JT1 JT2 JT3 JT4 JT5 JT6

AS LANGUAGE REFERENCE MANUAL

XYZOAT

weld 60.000 mm 145.050 mm -95.098 mm 90.000° 45.000° 0.000°

1.6.2 REAL VARIABLES

Real variables are defined using the assignment instruction (=). The format for assigning a real variable is:

Variable_name = numeric_value a = 6 b = 7 c = a + b

The variable on the left side may be either a scalar variable (i.e.,“count”) or an array element (i.e., “x [2]”). A variable is defined automatically the first time it is assigned a value. If a program uses an undefined variable, an error occurs. The numeric value on the right side may be a constant, a variable, or a numer ic expression. When an assignment instruction is processed, the value on the right side of the assignment instruction is first computed, then the value is assigned to the variable on the left side.

For example, the assigned value “x=3” assigns the value 3 to the variable “x”. If a vari- able on the left side has never been used it is defined automatically, and if it has already been assigned a value, its current value is replaced by a new assigned value. The above example is read as “assign 3 to x” and not “x is equal to 3”. The following ex- ample shows this difference: x = x + 1.

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If the example is a general equation, it is read as “x is equal to x plus 1”, which does not make sense mathematically. It must be read as “assign the value of x plus 1 to x”. In this case, the sum of the current value of “x” and 1 is calculated. In the next step, that value is assigned to “x” as a new value. Therefore, the result of the above assignment instruction is to increase the value of x by 1. In this example, the variable “x” should have been previously defined.

x = 3 x = x + 1

In the case above, the resulting value of “x” is 4.

1.6.3 CHARACTER STRING VARIABLES

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AS LANGUAGE REFERENCE MANUAL

The character information referred to in the AS characters enclosed by quotation marks (“). Since the quotation mar ks indicate the beginning and end of a character string, they cannot be included in the string. ASCII control characters (CTRL, CR, LF, etc.) also cannot be included in the string. For example, a command for printing (displaying on the screen) would be entered as:

PRINT “Kawasaki”

Character strings are defined by using the assignment instruction (=). The format for assigning a character variable is :

$string_variable = string_value (name of variable) (string expression)

The string variable on the left side may be either a scalar variable (ie., “$name”) or an array element (ie., “$line [2]”). A variable is defined automatically the first time it is assigned a value. If a program uses an undefined variable, an error occurs. The character string on the right side may be a constant, a string variable, or a string expression. When an assignment instruction is processed, the value on the right side is first computed, then the value is assigned to the variable on the left side. If the var iable on the left side has never been used, it is defined automatically, and if it has already been used, its current value is replaced by a new assigned value.

system is indicated as a string of ASCII

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The following is an example of string variable assignment:

In the above example, the string variable $Name is assigned the sum of $First, $Last, and the character string “Inc.”. The command PRINT or TYPE $Name returns the string value: Kawasaki Robotics Inc.

1.6.4 Arrays

An array is a group of values that share a single name. Location variables can be scalars or arrays. A location scalar is a single location value. Each value in an array is called an element of the array. An element of a location array is specified in exactly the same way as an element of a numeric array by appending an index enclosed in brackets to the array name. For example, “part[7]” refers to element 7 of the array “part.” Indexes must be integers in the range of 0 ~ 9999. Three examples of arrays are described below:

SYSTEM OVERVIEW

$First = “Kawasaki” $Last = “ Robotics” $Name = $First + $Last + “ Inc.”

AS LANGUAGE REFERENCE MANUAL

Example 1:

PROGRAM OUTPUT

HERE edge edge[1]=120.456 DECOMPOSE edge[1]=edge edge[2]=145.670 FOR i=1 to 6 edge[3]=-95.432 TYPE “edge[“I1,i,”]=“,/D,edge[i] edge[4]=90.456 END edge[5]=45.000 edge[6]=10.018

In the above example, the current location of the robot is defined as “edge”. The DECOMPOSE instruction extracts component values of edge (XYZOAT) consecutively (1 through 6). The program instructions between the FOR and END statements are executed repeatedly and the TYPE instruction displays the component values of edge individually.

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Example 2:

In the above example, the robot moves 100 mm in the X direction, a calculated amount (10 * i + 7) mm in the Y direction, and 50 mm in the Z direction, and define the location as weld[i].

The FOR statement, in this example increments the value of “i” in increments of two, for example:

SYSTEM OVERVIEW

FOR i = 2 to 6 STEP 2 DRAW 100, 10 * i + 7, 50 HERE weld[i] END

i = 2, i = 4, i = 6.

AS LANGUAGE REFERENCE MANUAL

Example 3:

PROGRAM SUBPROGRAM OUTPUT Main() Pg10() Corner 1

$POINT[1]=”Corner1” FOR i=1to3 edge $POINT[2]=”edge” JMOVE weld[i] Corner2 $POINT[3]=”Corner2” TYPE$POINT[i] CALL pg10 END

In the above example, the array is used as a string array. Each move of the robot displays the strings assigned in the main program.

1.7 NUMERICAL EXPRESSION

The numerical expression is a combination of numeric values and variables combined together with operators. The expressions are completed by the addition of functional modifiers to the numeric values and variables. All numerical expressions evaluated by the system result in a real value. The interpretation of the value depends on the context in which the expression appears. For example, an expression specified for an array index is interpreted as yielding an integer value.

1.7.1 OPERATORS

For describing expressions, ar ithmetic, logical, and binary, operators are provided. All of these operators combine two values to obtain a single resulting value, except three: the two operators (NOT and COM) operate on a single value and the operator (-) operates on one or two values. The operators are described on the following page.

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Arithmetic Operators: + addition

Relational Operator: < less than

SYSTEM OVERVIEW

- subtraction or negation * multiplication / division ^ power (if a

x=(-2)^2 results in an error x= -2^2 assigns -4 to x

MOD remainder

x=5 MOD 2 assigns the remainder of 5/2 (1 in this case) to x

<=, (=<) less than or equal to == equal to <> not equal to >=, (=>) greater than or equal to > greater than

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

, a<0 results in error)

Logical Operator: AND logical AND

NOT logical complement OR logical OR XOR exclusive logical OR

The logical operators are used in Boolean operations such as logical OR (0+1=1, 1+1=1, 0+0=0), logical AND (0x1=0, 1x1=1, 0x0=0), and logical XOR (0+1=1, 1+1=0, 0+0=0). The logical operators are not used for calculating numeric values, but for determining the logical state (TRUE or FALSE) of the conditional expression. If a numeric value is zero (0), it is considered to be FALSE (0). All nonzero values are considered to be TRUE(-1).

OPERATION RESULT

0 AND 0 0 (FALSE) 1 AND 1 -1 (TRUE) 1 OR 0 -1 (TRUE)

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Binary Operator: BAND Binary AND

The binary logical operators perform logical operations for each respective bit of two numeric values.

OPERATION RESULT

5 BOR 3 7 0101 BOR 0011 0111 5 BAND 9 1 0101 BAND 1001 0001

SYSTEM OVERVIEW

BOR Binary OR BXOR Binary XOR COM Binary Complement

AS LANGUAGE REFERENCE MANUAL

Expressions are evaluated according to a sequence of pr iorities. Parentheses can be used to group the components of an expression and to control the order in which the operations are performed. When expressions containing parentheses are evaluated, the expression within the innermost pair is evaluated first, then the system works toward the outermost pair. Within parentheses, expressions are evaluated in the following order:

1. Evaluate functions and arrays.

2. Process power operator “ ^ ”.

3. Process unary operators “ - ” (single component).

4. Process multiplication “ * ” and division “ / ” operators from left to right.

5. Calculate remainders (MOD operators) from left to right.

6. Process addition “ + ” and subtraction “ - ” operators from left to right.

7. Process relational operators from left to right.

8. Process COM operators from left to right.

9. Process BAND operators from left to right.

10. Process BOR operators from left to r ight.

11. Process BXOR operators from left to r ight.

12. Process NOT operators from left to right.

13. Process AND operators from left to r ight.

14. Process OR operators from left to r ight.

15. Process XOR operators from left to r ight.

The logical expressions result in a logical value TRUE or FALSE. A logical expression can be used as a condition in which the execution of a program or program steps is performed. When evaluating logical expressions, the value zero is considered FALSE and all nonzero values are considered TRUE. Therefore, all real values or real value expressions can be used as a logical value.

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For example, the following two statements have the same meaning, but the second statement is easier to understand.

IF x GOTO 10 (If the value of x is true, goto label 10 in the program) IF x <> 0 GOTO 10 (If the value of x is not equal to 0, goto label 10 in the program)

1.8 MONITOR COMMANDS

TEACH location variable name

The TEACH command is used in conjunction with the small teach pendant. With the small teach pendant connected, the TEACH command is entered at the monitor prompt.

The small teach pendant is used to jog the robot to the locations used in the specified program. When the RECORD key on the teach pendant is pressed, the location is placed into the system memory with the specified location variable name

0. Each time the RECORD key is pressed the number following the location variable name is increased by one.

SYSTEM OVERVIEW

AS LANGUAGE REFERENCE MANUAL

followed by a

For example, the command TEACH loc is entered at the monitor prompt, the first time the RECORD key on the small teach pendant is pressed, a location with the name loc0 is stored in the system memory. The next time the RECORD key of the small teach pendant is pressed, the location stored in system memory is loc1

The TEACH command allows the programmer to record transfor mation locations without having to exit the work cell for each new location.

The HERE command stores the current robot location in the specified precision or transformation variable.

HERE #pallet The POINT command defines the named location variable using an existing location

variable. Component values may also be entered from the keyboard. POINT a = b Assigns component values of location var iable b into location variable a. POINT #a

Displays the current component of location variable #a. If the location variable is not defined, zeros are displayed.

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1.8.1 PROGRAM INSTRUCTIONS

The commands HERE and POINT may also be used in a program as program instr uctions. For example,

JMOVE loc1 POINT loc2=loc1 DRAW 347.28, ,479.0 HERE loc3

In the above example, the robot moves to loc1. The POINT command then assigns component values of loc1 to loc2. The DRAW command moves the robot 347.28 mm in X, and 479 mm in the Z direction. Finally, loc3 is defined by the HERE command.

SYSTEM OVERVIEW

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2.0 SAFETY ........................................................................................................... 2-2

2.1 Introduction....................................................................................................... 2-2

2.2 Safety Conventions and Symbology................................................................. 2-3

2.2.1 Warning/Caution Symbols ................................................................................ 2-3

2.3 Safety Categories............................................................................................. 2-4

2.3.1 Personal Safety ................................................................................................ 2-4

2.3.2 Safety During Operation ................................................................................... 2-6

2.3.3 Safety During Programming ............................................................................. 2-7

2.3.4 Safety During Inspection and Maintenance...................................................... 2-8

2.4 Safety Features ................................................................................................ 2-9

2.5 Work Envelope Drawings ............................................................................... 2-10

2.5.1 FS02N/FS03N................................................................................................ 2-10

2.5.2 FS06L............................................................................................................. 2-11

2.5.3 FC06N/FS06N/FW06N/FS10C....................................................................... 2-12

2.5.4 FS10N ............................................................................................................ 2-13

2.5.5 FS10E ............................................................................................................ 2-14

2.5.6 FS10L............................................................................................................. 2-15

2.5.7 FS20C ............................................................................................................ 2-16

2.5.8 FS20N ............................................................................................................ 2-17

2.5.9 FS30L............................................................................................................. 2-18

2.5.10 FS30N/FS45C ................................................................................................ 2-19

2.5.11 FS45N ............................................................................................................ 2-20

2.5.12 UB150 ............................................................................................................ 2-21

2.5.13 UT100/150/200............................................................................................... 2-22

2.5.14 UX70 .............................................................................................................. 2-23

2.5.15 UX100/120/150 .............................................................................................. 2-24

2.5.16 UX200 ............................................................................................................ 2-25

2.5.17 UX300 ............................................................................................................ 2-26

2.5.18 UZ100/120/150............................................................................................... 2-27

2.5.19 ZD130............................................................................................................. 2-28

2.5.20 ZX130L........................................................................................................... 2-29

2.5.21 ZX130U .......................................................................................................... 2-30

2.5.22 ZX165U .......................................................................................................... 2-31

2.5.23 ZX200S .......................................................................................................... 2-32

2.5.24 ZX200U .......................................................................................................... 2-33

2.5.25 ZX300S .......................................................................................................... 2-34

SAFETY

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2.0 SAFETY

2.1 INTRODUCTION

Safety is an important consideration in the use of automated and robotic equipment in the industrial environment. All operators, maintenance personnel, and programmers must be aware of all automated equipment, peripheral and robotic equipment that occupies the work cell, and their associated operational and maintenance procedures. For this reason it is recommended that all personnel who operate, maintain, and program Kawasaki robots, attend a Kawasaki approved training course that would be pertinent to each employee’s specific job responsibilities.

The following safety sections in this text are designed to support and augment existing safety guidelines that may be in use in your plant, and/or are provided by municipal, state, or federal governments, but are NOT designed to supplant or supersede any existing rules, regulations, or guidelines that may be in use. Because safety is the primary responsibility of the user, owner, and/or employer, Kawasaki recommends that specific safety guidelines and recommendations be adopted from groups or individuals that are professionals in safety design and implementation.

SAFETY

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Two recommended sources for national and federal safety laws and regulations are:

1. OCCUPATIONAL SAFETY AND HEALTH STANDARDS, available from: U.S. Department of Labor Occupational Safety & Health Administration Office of Public Affairs - Room N3647 200 Constitution Avenue Washington, DC 20210

http://www.osha-slc.gov/SLTC/robotics/index.html

2. AMERICAN NATIONAL STANDARD FOR INDUSTRIAL ROBOTS AND ROBOT SYSTEMS-SAFETY REQUIREMENTS (ANSI/RIA R15.06-1992), available from: American National Standards Institute 11 West 42nd Street New York, NY 10036

http://www.ansi.org/

All safety related issues and descriptions, either presented in written or oral form from any representative of Kawasaki Robotics (USA), Inc., are intended to provide general safety precautions and procedures and, therefore, are not intended to provide all safety measures necessary for the protection of all personnel in the work environment.

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Kawasaki robots are considered safe for use in industrial environments when all safety guidelines are adhered to. Adherence to the safety guidelines for safe robot operation and the protection of personnel and equipment is the responsibility of the end user.

2.2 SAFETY CONVENTIONS AND SYMBOLOGY

2.2.1 WARNING/CAUTION SYMBOLS

The following symbol is present in all Kawasaki Robotics (USA), Inc. documentation to signify to the user that proper guidelines, as set forth in the text, are designed to provide pertinent information for the protection of personnel:

SAFETY

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! WARNING

This warning symbology is used in all Kawasaki Robotics (USA), Inc. documentation to identify processes or procedures, that if not followed properly, may result in serious injury or death to personnel.

The following symbol is present in all Kawasaki Robotics (USA), Inc. documentation to signify to the user that proper guidelines as set forth, are designed to provide pertinent information for the protection of robotic related equipment:

! CAUTION

This caution symbology is used in all Kawasaki Robotics (USA), Inc. documentation to identify processes or procedures, that if not followed properly, may result in damage to robotic or peripheral equipment.

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2.3 SAFETY CATEGORIES

Personnel safety can be described in one of four categories:

• Personal safety

• Safety during operation

• Safety during programming

• Safety during inspection and maintenance

A description of each follows in this section.

2.3.1 PERSONAL SAFETY

SAFETY

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Safety procedures must be an integral part of operational procedures for the operator, programmer, and maintenance person. These procedures must be followed explicitly and on a regular basis. Safety procedures are followed on a daily basis, they should become a regular part of everyday operational procedures, which are designed to protect the user. Some guidelines are presented in brief in the following section:

• Before operating or maintaining the robot or robot controller, be sure you fully understand and comprehend ALL maintenance, operating, and programming procedures, and ensure that ALL safety related precautions are taken and complied with before these procedures are attempted.

• AVOID wearing loose clothing, scarves, wrist watches, rings, and jewelry when working on the controller and robot. It is also recommended that if ties must be worn in your shop environment that they be the clip-on var iety rather than tied ties.

• ALWAYS wear safety glasses or goggles and approved safety shoes for your shop conditions. Follow all applicable OSHA, NIOSHA, MSHA, local, state, federal, and plant safety specifications and procedures.

• Know the ENTIRE work cell or area that the robot occupies.

• Be aware of the ENTIRE work envelope of the robot and any peripheral devices.

• Locate ALL emergency stop buttons or switches.

• AVOID trap points in which personnel could become trapped between a moving

device and any stationary devices.

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• Personnel should NEVER enter the work envelope during automatic operations.

• Ensure that ALL personnel are clear of the work envelope before initiating any

motion commands for the robot.

• Before initiating any motion commands, KNOW beforehand how the robot will perform when that command is given.

• Be sure that the ENTIRE work area is free of any debris, tools, fixturing, lubricants, and cleaning equipment before operation of the robot is attempted.

• If any personnel observe unsafe working conditions, report them IMMEDIATELY to your supervisor or plant safety coordinator.

• ALL personnel should identify by name and function ALL switches, indicators, and control signals that could initiate robot motion.

SAFETY

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• NEVER defeat, render useless, jumper out, or bypass any safety related device, whether mechanical or electrical in design.

• ALL safety devices approved for use in your plant must be properly installed and maintained to ensure personnel safety.

• NEVER attempt to stop or brake the robot during operation with your body or person.

• ONLY utilize E-stops to stop robot motion in emergency situations.

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2.3.2 SAFETY DURING OPERATION

• During operation of the robot, identify the maximum reach of the robot in ALL directions, which is referred to as the work envelope.

• ALWAYS keep your work area clean and free of any debris which includes, but is not limited to, oil, water, tool, fixturing, electronic test equipment, etc.

• During operations that involve the teach pendant, the ONLY person allowed in the work envelope is the teacher, or the person operating the teach pendant. The teach pendant has provisions to protect the operator. These safety provisions include an E-stop, trigger switch, and deadman switch.

• NEVER block the operator’s path of retreat.

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• During the teach operation of the robot ALWAYS have a path of retreat planned.

• AVOID pinch points.

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2.3.3 SAFETY DURING PROGRAMMING

• During operation of the robot, be sure you are able to identify the maximum reach of the robot in ALL directions, which is referred to as the work envelope.

• During teach operations the ONLY person allowed in the work envelope is the teacher, or the person operating the teach pendant. The teach pendant has provisions to protect the operator including E-stop, trigger switch, and deadman switch.

• AVOID pinch points.

• During point-to-point playback operations, be aware that the robot is ONLY

cognizant of its present location and the next point it is requested to move to. It will execute this move with total disregard to what may lie in its path when the move is executed.

SAFETY

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• Playback accuracy and speed can affect the geometry of the path coordinates. Therefore, when changing accuracy or speed, ALWAYS test run the program at a slow speed or point-to-point mode before attempting the continuous path operation in the repeat mode.

• ALWAYS test run a new path program at a reduced speed or in point-to-point mode prior to attempting a high-speed playback operation in the repeat mode.

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2.3.4 SAFETY DURING INSPECTION AND MAINTENANCE

Before entering the work envelope to perform either inspection or maintenance procedures, turn off 3-phase power on the disconnect and tag and lockout the disconnect switch.

SAFETY

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! WARNING

The input side (top) of the controller disconnect may still be live when the controller disconnect is turned OFF. If work is to be performed at the controller disconnect switch, turn OFF the 3-phase power at the source, and tag and lockout the source disconnect.

• When removing an axis motor, be aware that the axis WILL fall if left unsupported. The brake assembly is in the servo drive motor, therefore, the axis of the robot will be unsupported if removed.

• When using the axis brake release switches in the controller, be aware that the axis MAY fall if left unsupported.

• Before working on pneumatic or high pressure water supplies, turn off supply pressure and purge ALL lines to remove any residual pressure.

• Assign ONLY qualified personnel to perform all maintenance procedures.

• Consult ALL available documentation before attempting any repair or service

procedures.

• Use ONLY replacement parts approved by Kawasaki Robotics (USA), Inc.

• BEFORE attempting to adjust or repair a device in the robot controller that may

have yellow interlock control circuit wires attached, locate the source of the power and remove it by disconnecting the appropriate disconnect at its source.

• During inspection and maintenance procedures, if your installation is equipped with safety fences and safety plugs, REMOVE and HOLD the safety plug while performing these operations. In addition, the safety procedures outlined above should be adhered to.

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2.4 SAFETY FEATURES

To safeguard the user, the Kawasaki robot system is equipped with many safety features. These safety items include:

• All E-stops are hard-wired.

• The multi function panel, small teach pendant, and operation panel are equipped

with red mushroom-type detented E-stop push buttons. If an optional interface panel is installed, the E-stop from the operation panel is relocated to the optional interface panel.

• All robot axes are monitored by the robot controller for velocity and deviation errors.

• Robot velocities are constantly monitored by software. Should an over-velocity

condition be detected, the robot will fault in a velocity error condition.

SAFETY

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• Teach velocities and check mode velocities are limited to a maximum of 250 mm/sec (9.843 in/sec).

• All robot axes have software limits.

• JT1 is equipped with overtravel limit switches (JT2 and JT3 are optional).

• All F-series, U-series, and Z-series mechanical units have overtravel hardstops on

the JT1, JT2, JT3, and JT5 axes.

• All robot axes are equipped with 24 VDC electromechanical brakes. Should the robot lose line power, the robot arm will not drop because the brakes are engaged when power is OFF at the robot controller.

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2.5 WORK ENVELOPE DRAWINGS

2.5.1 FS02N/FS03N

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SAFETY

Figure 2-1 FS02N/FS03N Work Envelope

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Figure 2-2 FS06L Work Envelope

2.5.2 FS06L

K a

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2.5.3 FC06N/FS06N/FW06N/FS10C

Figure 2-3 FC06N/FS06N/FW06N/FS10C Work Envelope

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Figure 2-4 FS10N Wor k Envelope

2.5.4 FS10N

K a

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Figure 2-5 FS10E Wor k Envelope

2.5.5 FS10E

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Figure 2-6 FS10L Work Envelope

2.5.6 FS10L

K a

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Figure 2-7 FS20C Work Envelope

2.5.7 FS20C

K a

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Figure 2-8 FS20N Wor k Envelope

2.5.8 FS20N

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Figure 2-9 FS30L Work Envelope

2.5.9 FS30L

K a

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2.5.10 FS30N/FS45C

K a

Figure 2-10 FS30N/FS45C Work Envelope

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Figure 2-11 FS45N Work Envelope

2.5.11 FS45N

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2.5.12 UB150

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Figure 2-12 UB150 Work Envelope

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2.5.13 UT100/150/200

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Figure 2-13 UT100/120/150 Work Envelope

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Figure 2-14 UX70 Work Envelope

2.5.14 UX70

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2.5.15 UX100/120/150

K a

Figure 2-15 UX100/120/150 Work Envelope

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Figure 2-16 UX200 Work Envelope

2.5.16 UX200

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Figure 2-17 UX300 Work Envelope

2.5.17 UX300

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2.5.18 UZ100/120/150

K a

Figure 2-18 UZ100/120/150 Wor k Envelope

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Figure 2-19 ZD130 Work Envelope

2.5.19 ZD130

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Figure 2-20 ZX130L Work Envelope

2.5.20 ZX130L

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Figure 2-21 ZX130U Work Envelope

2.5.21 ZX130U

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Figure 2-22 ZX165U Work Envelope

2.5.22 ZX165U

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Figure 2-23 ZX200S Work Envelope

2.5.23 ZX200S

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Figure 2-24 ZX200U Work Envelope

2.5.24 ZX200U

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Figure 2-25 ZX300S Work Envelope

2.5.25 ZX300S

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3.0 POWER ON/OFF PROCEDURES ..................................................................... 3-2

3.1 Controller Power On/Off Procedures.................................................................. 3-2

3.1.1 Controller Power On Procedures ....................................................................... 3-2

3.1.2 Controller Power Off Procedures ....................................................................... 3-2

3.2 Servo Motor Power-On Procedures ................................................................... 3-7

3.2.1 Servo Motor Power-On in the Repeat Mode ...................................................... 3-7

3.2.2 Servo Motor Power-On in the Teach Mode......................................................... 3-7

3.3 Methods for Stopping the Robot ........................................................................ 3-8

3.3.1 Emergency Stop Switch..................................................................................... 3-8

3.3.2 HOLD/RUN Switch............................................................................................. 3-8

3.3.3 TEACH/REPEAT Switch .................................................................................... 3-8

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3.0 POWER ON/OFF PROCEDURES

This unit provides the power ON/OFF procedures for the robot controller and servo motors. Refer to figures 3-1 through 3-7 during these procedures.

3.1 CONTROLLER POWER ON/OFF PROCEDURES

3.1.1 CONTROLLER POWER ON PROCEDURES

1. Ensure all personal are clear of the work cell and all safety devices are in place and operational.

2. Turn the HOLD/RUN switch to the HOLD position.

3. Place the controller main disconnect switch in the ON position. At this time the CONTROL POWER indicator lamp illuminates.

POWER ON/OFF PROCEDURES

AS LANGUAGE REFERENCE MANUAL

3.1.2 CONTROLLER POWER OFF PROCEDURES

1. Turn the HOLD/RUN switch to the HOLD position; the robot decelerates to a stop and the MOTOR POWER lamp turns off.

2. Press the EMERGENCY STOP switch. At this time the CYCLE START lamp turns off.

3. Place the controller main disconnect switch in the OFF position.

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Control Power Indicator

POWER ON/OFF PROCEDURES

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

Main Disconnec Switch

November 20, 1998

Figure 3-1 Standard C Controller

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POWER ON/OFF PROCEDURES

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

3-4

Figure 3-2 North American C Controller

November 20, 1998

Page 69

POWER ON/OFF PROCEDURES

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

November 20, 1998

Figure 3-3 European C Controller

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POWER ON/OFF PROCEDURES

EMERGENCY STOP

MOTOR POWERERROR

CYCLE STARTERROR RESET

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

TEACH REPEAT

HOLD RUN

Figure 3-4 North American and European C Controller Switch Panel

CONTROL

POWER

HOUR METER

HOLD RUN

TEACH REPEAT

CYCLE STARTERROR RESET

MOTOR POWERERROR

Figure 3-5 Standard C Controller Switch Panel

EMERGENCY STOP

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3.2 SERVO MOTOR POWER-ON PROCEDURES

3.2.1 SERVO MOTOR POWER-ON IN THE REPEAT MODE

1. Place the TEACH LOCK switch on the multi function panel in the OFF position.

2. Place the TEACH/REPEAT switch in the REPEAT position.

3. Press the MOTOR POWER push button. The MOTOR POWER lamp illuminates.

4. Place the HOLD/RUN switch in the RUN position.

5. The robot is now ready to execute a program.

3.2.2 SERVO MOTOR POWER-ON IN THE TEACH MODE

POWER ON/OFF PROCEDURES

AS LANGUAGE REFERENCE MANUAL

1. Place the TEACH/REPEAT switch in the TEACH position.

2. Place the TEACH LOCK switch on the multi function panel in the ON position.

3. At the BLOCK TEACHING screen, press and hold one of the trigger (deadman) switches and press the MOTOR POWER push button. At this time the MOTOR POWER lamp illuminates.

Emergency Stop Switch

ON OFF

TEACH LOCK

Teach Lock

Trig ger (Dea dman) Switches

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Figure 3-6 Multi Function Panel

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3.3 METHODS FOR STOPPING THE ROBOT

One of three methods are used to stop robot motion. Each of these methods is described in the following sections.

3.3.1 EMERGENCY STOP SWITCH

When the EMERGENCY STOP switch is pressed, motor power is turned off and the brakes are applied stopping the robot immediately. This places very high loads upon the robot and is only recommended for emergency situations. To stop the robot during nonemergency situations refer to section 3.3.2, HOLD/RUN SWITCH.

3.3.2 HOLD/RUN SWITCH

When the HOLD/RUN switch is turned to the HOLD position the robot decelerates smoothly to a stop and the brakes are applied. This places the robot into a temporary stop condition. The motor power lamp turns OFF and the CYCLE START lamp remains ON. When the HOLD/RUN switch is again turned to the RUN position the robot continues the motion execution pr ior to HOLD. To create a permanent stop condition, press the EMERGENCY STOP switch or tur n the TEACH/REPEAT switch to the TEACH position (the CYCLE START and MOTOR POWER indicator lamps turn off).

POWER ON/OFF PROCEDURES

AS LANGUAGE REFERENCE MANUAL

3.3.3 TEACH/REPEAT SWITCH

When the TEACH/REPEAT switch is turned to the TEACH position motor power is turned off and the brakes are applied stopping the robot immediately. This places very high loads upon the robot and is only recommended for emergency situations. To stop the robot during non-emergency situations refer to section 3.3.2, HOLD/RUN SWITCH.

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C SERIES CONTROLLER

4.0 MONITOR AND EDITOR COMMANDS........................................................ 4-3

4.1 Keyboard Display Control.............................................................................. 4-4

4.1.1 Terminal Control ............................................................................................ 4-4

4.2 Editor Commands ......................................................................................... 4-5

4.3 Program and Data Control Commands....................................................... 4-14

4.3.1 DIRECTORY Commands............................................................................ 4-15

4.3.2 LIST Commands ......................................................................................... 4-17

4.3.3 DELETE Commands................................................................................... 4-19

4.3.4 RENAME Command ................................................................................... 4-20

4.3.5 XFER and COPY commands...................................................................... 4-21

4.4 Program and Data Storage Commands...................................................... 4-22

4.4.1 FORMAT and FDIRECTORY Commands ................................................... 4-23

4.4.2 SAVE Command ......................................................................................... 4-23

4.4.3 LOAD and FDELETE Commands............................................................... 4-25

4.5 Program Control.......................................................................................... 4-26

4.5.1 SPEED and PRIME Commands ................................................................. 4-26

4.5.2 EXECUTE, STEP, and MSTEP Commands................................................ 4-28

4.5.3 ABORT, HOLD, CONTINUE, and STPNEXT Commands ........................... 4-30

4.5.4 KILL and DO Commands ............................................................................ 4-31

4.6 Defining Locations, Limits, and Home Positions ......................................... 4-31

4.6.1 Here, Teach, and Point Commands............................................................. 4-32

4.6.2 TOOL and BASE Commands ..................................................................... 4-36

4.6.3 ULIMIT and LLIMIT Commands.................................................................. 4-39

4.6.4 SETHOME Command................................................................................. 4-40

4.6.5 WHERE Command ..................................................................................... 4-41

4.7 System Information ..................................................................................... 4-43

4.7.1 ERRLOG and OPLOG Commands............................................................. 4-43

4.7.2 STATUS, FREE, ID, and HELP Commands ................................................ 4-44

4.8 System Control ........................................................................................... 4-47

4.8.1 SYSINIT, TIME, and ERESET Commands ................................................. 4-47

4.8.2 SWITCH, HSETCLAMP, and ZSIGSPEC Commands ................................ 4-48

4.8.3 ZZERO Command ...................................................................................... 4-49

4.8.4 BATCHK, ENCCHK_EMG, and ENCCHK_PON Commands ..................... 4-51

4.8.5 SLOW_REPEAT, REC_ACCEPT, ENV_DATA, and ENV2_DATA

Commands.................................................................................................. 4-52

4.8.6 CHSUM Command ..................................................................................... 4-55

4.9 Signal Commands....................................................................................... 4-56

4.9.1 SIGNAL, PULSE, DLYSIG, and BITS Commands ...................................... 4-56

4.9.2 I/O and RESET Commands ........................................................................ 4-58

4.9.3 DEFSIG Command ..................................................................................... 4-60

4.10 Z-Series Robots AS Language Commands ................................................ 4-62

4.10.1 1GV Arm ID Board Functions and Commands ........................................... 4-62

4.10.2 Failure Prediction Function, Aux 124 (Option) ............................................ 4-65

4.10.2.1 Failure Prediction Function Setup Procedure .............................................. 4-65

AS LANGUAGE COMMANDS

AS LANGUAGE REFERENCE MANUAL

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4.10.3 Collision Detection Function..................................................................... 4-66

4.10.3.1 Setting Tool Weight Data Using AS Language WEIGHT Command....... 4-66

4.10.3.2 Range of Threshold.................................................................................. 4-67

4.10.3.3 Setting Thresholds.................................................................................... 4-68

4.10.3.4 Collision Detection AS Language Commands.......................................... 4-73

4.10.3.5 COLR ....................................................................................................... 4-74

4.10.3.6 COLRON/OFF.......................................................................................... 4-76

4.10.3.7 COLRJ...................................................................................................... 4-77

4.10.3.8 COLRJON/OFF ........................................................................................ 4-78

4.10.3.9 COLT ........................................................................................................ 4-78

4.10.3.10 COLTON/OFF........................................................................................... 4-78

4.10.3.11 COLTJ ...................................................................................................... 4-79

4.10.3.12 COLTJON/OFF ......................................................................................... 4-79

4.10.3.13 COLMVON/OFF ....................................................................................... 4-80

4.10.3.14 COLCALON/OFF...................................................................................... 4-81

4.10.3.15 WEIGHT ................................................................................................... 4-81

4.10.3.16 SETCOLTHID ........................................................................................... 4-82

4.10.3.17 COLINIT ................................................................................................... 4-83

4.10.3.18 COLSTATE ............................................................................................... 4-83

4.10.3.19 Collision Detection Error Code ................................................................. 4-85

4.10.3.20 Collision Detection Troubleshooting.......................................................... 4-85

AS LANGUAGE COMMANDS

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

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4.0 MONITOR AND EDITOR COMMANDS

AS LANGUAGE COMMANDS

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

The AS the MONITOR mode, press the menu key and select the keyboard screen (Figure 4-1).

system is operational as soon as power is applied to the controller. To access

November 14, 2000

Figure 4-1 Keyboard Screen

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4.1 KEYBOARD DISPLAY CONTROL CTL+L/CTL+N The CTL+L/CTL+N (last/next) key enables the programmer to

4.1.1 TERMINAL CONTROL

The following terminal control commands are available for AS Language programming using the keyboard of a personal computer (PC) interfaced with the C controller (see unit 8):

AS LANGUAGE COMMANDS

display the contents of the last line entered to appear on the current line or change the the current line to the next (CTL+N) one in order of lines after the CTL+L key is used. The CTL+N key is only effective after CTL+L is used more than once.

CTL+L is available with the keyboard in the normal mode and CTRL+N is available with the keyboard in the shifted mode (Figure 4-1).

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

CTRL C This command cancels the current input line. It is not used to

terminate the program that is currently executing. This command is similar to pressing the EXIT key on the multi function panel keyboard.

CTRL L This command enables the contents of the line of code previously

entered to display on the current input line. This operation can be used up to seven times to recover previously entered data.

CTRL N The CTRL N command is used in conjunction with the CTRL L

command. The CTRL N command changes the contents of the current input line to the next one in the history of command inputs after the CTRL L command is used. This operation is effective after CTRL L is pressed more than once.

CTRL Q This command is used to resume the updating of displayed informa-

tion after it was stopped with a CTRL S command.

CTRL S Stops the scrolling of output information displayed. This command

is used to confirm output information. Output resumes when CTRL Q is entered.

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C SERIES CONTROLLER

4.2 EDITOR COMMANDS

Editor commands are used after accessing the editor mode. The user must type “edit” in the MONITOR mode followed by the name of the program to edit or a new program name.

ED program_name,step EDIT

program_name: Name of the program to edit. If the program does not exist, a new

step: Optional step number to start editing. If the step is not specified,

AS LANGUAGE COMMANDS

program is created. If a program name is not specified, then the last program edited is opened for editing.

editing starts at the first step or the last step edited. If an error occurred during the last program run, the step where the error occurred is selected.

AS LANGUAGE REFERENCE MANUAL

NOTE

The program that is executing cannot be edited or deleted. Program commands or instructions are entered in lowercase or uppercase characters. When listing or editing the program, keywords are displayed in uppercase characters

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S step_number STEP

AS LANGUAGE COMMANDS

The number of the step to edit. If the step number is not specified, the first step is selected. If the step number is greater than the number of steps in the program, a new step following the last recorded step in the program is selected.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

P step_count PRINT

The number of steps to display beginning with the current step. If the step number is not specified, only one step is displayed.

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L LAST

AS LANGUAGE COMMANDS

Displays the previous step for editing.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

I INSERT

Inserts lines before the current step and all consecutive steps are renumbered. To terminate the insert mode, press the RETURN key twice.

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D step_count DELETE

AS LANGUAGE COMMANDS

Deletes program steps beginning with the current step. All consecutive steps are renumbered. The step_count specifies the number of steps to delete beginning with the current step. If the step count is not entered, the current step is deleted.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

F character_string FIND

Searches the current program for the specified character_string from the current step to the last, and displays the first step that includes the string.

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C SERIES CONTROLLER

M /existing_characters/new_characters MODIFY

/existing_ characters: Characters to modify in the current step.

/new_ characters: Characters used to modify the existing characters.

AS LANGUAGE COMMANDS

Modifies the current step by replacing the existing characters specified with the new characters specified.

AS LANGUAGE REFERENCE MANUAL

O OVER

Places the cursor on the current step for editing. Use the arrow keys to move the cursor within the step. The Back-

space key removes the character preceding the cursor.

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R character_string REPLACE

character_ string: New characters to replace the existing characters.

AS LANGUAGE COMMANDS

Replaces existing characters on current step with new characters.

To use the REPLACE command:

• Use the spacebar to move the cursor under the first character to change.

• Press the “r” key, then the spacebar.

• Enter the new character(s) to replace existing characters in the

step and press the RETURN key.

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

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C program_name, step_number CHANGE

AS LANGUAGE COMMANDS

Opens the selected program for editing at the specified step

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

E EXIT

Exits from the editor to the monitor mode.

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XD number of lines CUT

AS LANGUAGE COMMANDS

The XD command is used to remove (cut) a specified number of lines from a program and store them in the paste buffer.

Move the cursor to the first line to remove to the paste buffer and enter XD, the number of lines to cut, and press ENTER.

The number of lines specified, including the current line, are placed in the paste buffer and the program steps are renumbered accordingly.

When the XD command is used again, the contents of the paste buffer are overwritten.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

XY number of lines COPY

The XY command is used to copy a specified number of lines from a program and store them in the paste buffer.

Move the cursor to the first line to copy to the paste buffer and enter XY, the number of lines to copy, and press ENTER.

The number of lines specified, including the current line, are placed in the paste buffer.

When the XY command is used the lines in the program are not affected.

XP PASTE

Places the contents of the paste buffer into a program. The steps in the paste buffer are placed in the program ahead of

the step number where the XP command is entered.

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The program steps are renumbered accordingly.

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C SERIES CONTROLLER

XQ Places the contents of the paste buffer into a program in reverse PASTE order.

XS Displays the contents of the paste buffer. DISPLAY

AS LANGUAGE COMMANDS

The steps in the paste buffer are placed in the program ahead of the step number where the XQ command is entered.

The program steps are renumbered accordingly.

The XS command entered at step 2 displays the three steps in the paste buffer.

AS LANGUAGE REFERENCE MANUAL

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4.3 PROGRAM AND DATA CONTROL COMMANDS

DIRECTORY Displays the names of all programs and variables. DIRECTORY/P Displays the names of programs. DIRECTORY/L Displays the names of locations. DIRECTORY/R Displays the names of real variables. DIRECTORY/S Displays the names of string variables. LIST Displays all program steps and variable values. LIST/P Displays all program steps.

AS LANGUAGE COMMANDS

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

LIST/L Displays the value of specified locations. LIST/R Displays the value of specified real variables. LIST/S Displays the value of specified string variables. DELETE Deletes specified programs and related variables. DELETE/P Deletes specified programs. DELETE/L Deletes specified locations. DELETE/R Deletes specified real variables. DELETE/S Deletes specified str ing variables. RENAME Changes the name of a program. XFER Copies steps from one program to another. COPY Copies one or more programs to a new program.

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C SERIES CONTROLLER

4.3.1 DIRECTORY COMMANDS

The DIRECTORY commands display the names of programs and variables residing in memory. If a program name is not specified when using the DIRECTORY command, all program names, location names, real variable names, and string variable names are listed. The screen stops at the end of each page until the spacebar is pressed, and continues to do so until all names have been listed. Pressing the ENTER key stops the listing.

The asterisk “*” is a wild card character which represents any character. It is used with all program and data control commands except the RENAME command. The following illustration shows how the asterisk is used to list specific information. For example, if DIR w* is typed, all programs beginning with “w” and subroutine programs called by the selected programs are listed. All locations and real variables used in the programs are displayed.

AS LANGUAGE COMMANDS

AS LANGUAGE REFERENCE MANUAL

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DIRECTORY/P program_name

program_name: Name of the program to be displayed.

AS LANGUAGE COMMANDS

Displays the names of programs in memory.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

DIRECTORY/L location_name

Displays the names of locations in memory.

location_name: Name of the location to display

DIRECTORY/R real_variable_name

Displays the names of real variables in memory. real_variable_ name: Name of the real variable to be displayed.

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DIRECTORY/S string_variable_name

string_variable_ name: Name of the str ing variable to be displayed.

AS LANGUAGE COMMANDS

Displays the names of string variables in memory.

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

4.3.2 LIST COMMANDS

The LIST command displays program steps and the values of variables residing in memory. If a name is not specified when using the LIST command, all program names, location names, real variable names, and str ing variable names are listed. The screen stops at the end of the page until the spacebar is pressed and continues until all names have been listed.

LIST/P program_name

Displays all program steps.

program_name: Name of the program to be listed.

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LIST/L location_name

location_name: Location variable name.

AS LANGUAGE COMMANDS

Displays the value of the specified locations.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

LIST/R real_variable_name

Displays the value of the specified real variable. real_variable_ name: Real variable to be listed.

LIST/S string_variable_name

Displays the value of the specified str ing variable. string_variable_ name: Name of str ing variable to be listed.

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C SERIES CONTROLLER

4.3.3 DELETE COMMANDS

The DELETE command is used to delete specified programs, location var iables, real variables, and string variables from memory.

DELETE program_name

program_name: Name of program to delete. All subroutines, locations, real vari-

AS LANGUAGE COMMANDS

Deletes the specified programs.

ables, and string variables within the specified program are deleted unless a subroutine is called by another program. The current program on the program stack cannot be deleted.

To delete all programs starting with a specified character, use that character with an asterisk. If DEL s* is typed, all programs starting with the letter “s” are deleted, including any subroutines and all variables called by those programs. Likewise, if DEL pg* is typed, all programs starting with “pg” are deleted, including their subroutines and variables.

AS LANGUAGE REFERENCE MANUAL

DELETE/P program_name

Deletes the specified programs.

program_name: Name of the program to delete.

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DELETE/L location_name

location_name: Name of location to delete.

DELETE/R real_variable_name

real_variable_ name: Name of real variable to delete.

DELETE/S string_variable_name

real_variable_ name: Name of the str ing variable to delete.

AS LANGUAGE COMMANDS

Deletes the specified locations.

Deletes the specified real variables.

Deletes the specified string variables.

C SERIES CONTROLLER

AS LANGUAGE REFERENCE MANUAL

4.3.4 RENAME COMMAND

RENAME new_program_name = old_program_name

Renames the current name of a program with a new program name.

If the new program name already exists, the RENAME operation is

aborted and an error message displayed.

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C SERIES CONTROLLER

4.3.5 XFER AND COPY COMMANDS

XFER new program, start step=old program, start step, number of

new program: Name of the program to copy the specified steps into. start step: Step to insert specified steps before. old program: Name of the program to copy steps from.

AS LANGUAGE COMMANDS

steps

Copies steps from one program to another (or within the same program) and inserts them before the specified start step. The old program steps are not replaced or deleted by this command.

AS LANGUAGE REFERENCE MANUAL

start step: Step to start coping from. number of steps: Number of steps to copy, including the star t step. Example: XFER pg01,2=pg02,5,4

COPY destination program name=source program name + source

program name

The copy command is used to copy a complete program or programs to a new program. The name of the destination program cannot be an existing program.

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4.4 PROGRAM AND DATA STORAGE COMMANDS

FORMAT Initializes a PC card or a floppy disk. FDIRECTORY Displays the name of files stored on a PC card or a disk. SAVE Stores programs and variables in a specified file on a PC card or a

SAVE/P Stores programs in a specified file on a PC card or a disk. SAVE/L Stores locations in a specified file on a PC card or a disk. SAVE/R Stores real variables in a specified file on a PC card or a disk.

disk.

AS LANGUAGE COMMANDS

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

SAVE/S Stores string variables in a specified file on a PC card or a disk. SAVE/SYS Stores system data in a specified file on a PC card or a disk. SAVE/ELOG Stores error log data in a specified file on a PC card or a disk. LOAD Loads programs and variables from a specified file into system

memory. LOAD/Q Loads selected programs and variables from a specified file into

system memory. FDELETE Deletes specified files on a PC card or a disk.

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C SERIES CONTROLLER

4.4.1 FORMAT AND FDIRECTORY COMMANDS FORMAT Initializes a PC card or a disk to accept files. The format command

FDIRECTORY Displays names of files stored on the PC card or disk. The exten-

AS LANGUAGE COMMANDS

erases all data on a PC card or a disk. It also sets up a directory for keeping track of files as they are created. A new PC card or disk must be formatted before it can be used.

sions indicate the type of file, such as system (AS), programs (PG), auxiliary (AU), location variables (LC), real variables (RV), weld data (WD), and string variables (ST). It also displays the size of the file, and the date and time the file was created.

AS LANGUAGE REFERENCE MANUAL

4.4.2 SAVE COMMAND

SAVE file_name=program_name

Stores programs and variables in a specified file onto a PC card or a disk.

file_name: Name of the file in which all programs, locations, and variables are

stored.

program_name: Name of the program stored in the specified file directory. If the

name of the program is not specified, all data in memory is stored. If a file with the same name already exists a “B” (backup) is added

to the extension of the existing file. For example, if a file named TEST.AS exists on disk, and a backup is made to the PC card or disk using the same file name, the file extension is changed to TEST.BAS and a new file TEST.AS is created.

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SAVE/P file_name=program_name

file_name: Name of the file in which programs are stored. program_name: Name of the program to store in the specified file directory. If the

Example: SAVE/P FENDER = pg01, weld, pg02 saves programs pg01, weld,

SAVE/L file_name=program_name

AS LANGUAGE COMMANDS

Stores programs in a specified file on a PCcard or a disk.

name of the program is not specified, all programs in memory are

stored. If the file name has no extension, PG is added.

and pg02 in the file FENDER.

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

Stores locations in a specified file on a PC card or a disk. file_name: Name of the file in which locations are stored. program_name: Name of the program to store in the specified file directory. If the

name of the program is not specified, all locations from memory are

stored. If the file name has no extension, LC is added. Example: SA/L #POS saves all precision points in the file #POS.

SAVE/R file_name=program_name

Stores real variables in a specified file on a PC card or a disk. file_name: Name of the file in which real variables are stored. program_name: Name of the program to store in the specified file directory. If the

name of the program is not specified, all real variables from memory

are stored. If the file name has no extension, RV is added. Example: SA/R REAL_VAR saves all real values in the file REAL_VAR.

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C SERIES CONTROLLER

SAVE/S file_name=program_name

file_name: Name of the file in which string variables are stored. program_name: Name of the program store in the specified file directory. If the

Example: SA/S MESSAGES saves all string variables in the file MESSAGES.

SAVE/SYS file_name

AS LANGUAGE COMMANDS

Stores character string variables in a specified file on a PC card or a disk.

name of the program is not specified, all string variables from memory are stored. If the file name has no extension, .ST is added.

AS LANGUAGE REFERENCE MANUAL

Stores system data in a specified file on a PC card or a disk.

file_name: Name of the file in which system data is stored with an .SY exten-

sion.

SAVE/ELOG file_name

Stores system data in a specified file on a PC card or a disk.

file_name: Name of the file in which error log data is stored with an .EL exten-

sion.

4.4.3 LOAD AND FDELETE COMMANDS

LOAD file_name

Loads programs and variables from a specified file into system memory.

file_name: Name of file to load from disk to memory. If an extension is not

specified, .AS is assumed. All data in the specified file is loaded.

LOAD/Q file_name

Loads selected programs and variables from a specified file into system memory. The user is prompted “Load this data? (1:Yes, 0:No, 2:Load all, 3:Exit)” before each type of data is loaded.

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file_name: Name of file to load from the PC card to memory. If an extension is

An error message is displayed if a porgram in the file selected to load already exists in memory. If a variable is loaded from a file to memory and a variable of the same type and same name exists the old value is lost and the new value is stored. When system settings are loaded from a file the settings in memory are overwritten.

FDELETE file_name

file_name: Name of file to delete. When a file is deleted, its name and data are

AS LANGUAGE COMMANDS

not specified, .AS is assumed. All selected data in the specified file

is loaded.

Deletes specified files from a PC card or a disk.

removed from the directory, and cannot be loaded from the PC card

or disk into RAM.

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

Example: FDEL pg01.pg, deletes pg01. To delete all files from the PC card or

disk enter FDEL *.*.

4.5 PROGRAM CONTROL

SPEED Sets the monitor speed. PRIME Prepares a program for execution. EXECUTE Executes a robot control program. STEP Executes a single step of the program. MSTEP Executes a single robot motion step in the program. ABORT Stops execution after the current step is completed. HOLD Stops execution immediately. CONTINUE Resumes execution of the program. STEPNEXT Executes the next program step in step once mode. KILL Initializes the execution stack. DO Executes a single program instruction.

4.5.1 SPEED AND PRIME COMMANDS

SPEED monitor_speed

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Sets the monitor (repeat conditions) speed in percentages. The

range is from 0.01 to 100 percent. The new speed is not effective

until the next robot motion. The robot speed is determined by the

product of the monitor speed, and the program speed.

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C SERIES CONTROLLER

Example: In program pg01 shown below, the program speed is 1,000 mm/s

AS LANGUAGE COMMANDS

and the monitor speed is 50; therefore, the robot repeat speed is 500 mm/s (50 percent of 1000 mm/s). In program pg02, the program speed for steps 1 and 3 is SP9 and steps 2 and 4 is SP6, the monitor speed is 60; therefore, the robot repeat speed for steps 1 and 3 is 60 percent of SP9 and steps 2 and 4 is 60 percent of SP6.

AS LANGUAGE REFERENCE MANUAL

PRIME program_name, execution_cycles, step_number

program_name: The program name is optional. If omitted, the program specified by

the last EXECUTE or PRIME command is selected.

execution_cycles: Specifies the number of execution cycles. If omitted, one is as-

sumed and the program executes once. If a negative number is entered, the program repeats continuously until 32,767 cycles are completed.

step_numberE The optional step number allows the user to specify the program

step desired for beginning execution. If omitted, execution begins at the first executable step.

NOTE

The PRIME command is used to prepare the system to execute a program. The PRIME command does not execute the program.

Example: pr ime prog01,5,3 puts prog01 on the stack. When the CYCLE

START button is pushed, the command EXECUTE or CONTINUE is typed and entered; prog01 is executed five times starting at step 3.

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4.5.2 EXECUTE, STEP, AND MSTEP COMMANDS

EXECUTE program_name, execution_cycles, step_number

program_name: Name of the program to execute. If the program name is omitted,

execution_cycles Specifies the number of execution cycles. If omitted, one is as-

step_number: Number of the step at which program execution is to begin. If

AS LANGUAGE COMMANDS

Executes a robot control program.

the current program is executed.

sumed and the program executes once. If a negative number is

entered, the program repeats continuously until 32,767 cycles are

completed.

omitted, execution begins at the first executable step.

AS LANGUAGE REFERENCE MANUAL

C SERIES CONTROLLER

STEP program_name, repeat_count, step_number

Executes one step of the program. program_name: Name of program to execute. If the program name is omitted, the

last executed program is selected. repeat_count: Number of times execution of the program is repeated. If the count

is omitted, it is set to one and the user may step through all the

steps in the program only once. After the last step is executed, a

“program completed” message is displayed and the step command

becomes ineffective. To continue stepping through the program

after the last step, the user must specify a repeat_count greater

than one. step_number: Number of the program step to be executed. If all parameters are

omitted, the next step is executed. The user can execute the de-

sired step by typing all the parameters. Example: step pg01,1,5 executes step 5 of program pg01.

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November 14, 2000

Kawasaki MPPCCONTO11E-2 Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

INTRODUCTION

I.0 INTRODUCTION

SYSTEM OVERVIEW

1.0 SYSTEM OVERVIEW

1.1 AS SYSTEM STATUS

1.2 NOTATIONS AND CONVENTIONS

1.3 DISPLAYING WITH THE TERMINAL

1.4 LOCATION INFORMATION

1.4.1 PRECISION LOCATION

1.4.2 TRANSFORMATION LOCATION

1.4.3 COMPOUND TRANSFORMATION LOCATION (RELATIVE TRANSFORMATION)

1.5 NUMERIC INFORMATION

1.5.1 INTEGERS

1.5.2 REAL NUMBERS

1.5.3 LOGICAL VALUES

1.5.4 ASCII VALUES

1.6 VARIABLE NAMES

1.6.1 LOCATION VARIABLES

1.6.2 REAL VARIABLES

1.6.3 CHARACTER STRING VARIABLES

1.7 NUMERICAL EXPRESSION

1.7.1 OPERATORS

1.8 MONITOR COMMANDS

1.8.1 PROGRAM INSTRUCTIONS

SAFETY

2.0 SAFETY

2.1 INTRODUCTION

2.2 SAFETY CONVENTIONS AND SYMBOLOGY

2.2.1 WARNING/CAUTION SYMBOLS

2.3 SAFETY CATEGORIES

2.3.1 PERSONAL SAFETY

2.3.2 SAFETY DURING OPERATION

2.3.3 SAFETY DURING PROGRAMMING

2.3.4 SAFETY DURING INSPECTION AND MAINTENANCE

2.4 SAFETY FEATURES

2.5 WORK ENVELOPE DRAWINGS

2.5.1 FS02N/FS03N

2.5.2 FS06L

2.5.3 FC06N/FS06N/FW06N/FS10C

2.5.4 FS10N

2.5.5 FS10E

2.5.6 FS10L

2.5.7 FS20C

2.5.8 FS20N

2.5.9 FS30L

2.5.10 FS30N/FS45C

2.5.11 FS45N

2.5.12 UB150

2.5.13 UT100/150/200

2.5.14 UX70

2.5.15 UX100/120/150

2.5.16 UX200

2.5.17 UX300

2.5.18 UZ100/120/150

2.5.19 ZD130

2.5.20 ZX130L

2.5.21 ZX130U

2.5.22 ZX165U

2.5.23 ZX200S

2.5.24 ZX200U

2.5.25 ZX300S

POWER ON/OFF PROCEDURES

3.0 POWER ON/OFF PROCEDURES

3.1 CONTROLLER POWER ON/OFF PROCEDURES

3.1.1 CONTROLLER POWER ON PROCEDURES

3.1.2 CONTROLLER POWER OFF PROCEDURES

3.2 SERVO MOTOR POWER-ON PROCEDURES

3.2.1 SERVO MOTOR POWER-ON IN THE REPEAT MODE

3.2.2 SERVO MOTOR POWER-ON IN THE TEACH MODE

3.3 METHODS FOR STOPPING THE ROBOT

3.3.1 EMERGENCY STOP SWITCH

3.3.2 HOLD/RUN SWITCH

3.3.3 TEACH/REPEAT SWITCH

AS LANGUAGE COMMANDS

4.0 MONITOR AND EDITOR COMMANDS

4.1 KEYBOARD DISPLAY CONTROL CTL+L/CTL+N The CTL+L/CTL+N (last/next) key enables the programmer to