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C SERIES CONTROLLER AS LANGUAGE REFERENCE MANUAL
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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, All Rights Reserved. Copyright 2001 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 discon. tinue specific robot models and associated hardware and software designs descrip. tions specifications or performance 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 electrical maintenance and me. chanical 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. For additional information contact, Kawasaki Robotics USA Inc.
Training and Documentation Dept, 28059 Center Oaks Court. Wixom Michigan 48393, C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL. REVISION HISTORY, Revision Release, Description of Change Initials. Number Date, 0 6 7 99 Initial PDF release BF, 1 9 22 00 Revision 1 based on revision 1 of print copy CB. 2 1 15 01 Revision 2 based on revision 2 of print copy CB. C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL.
INTRODUCTION, I 0 INTRODUCTION I 2, I 1 Robot Controller Design Specifications I 3. November 20 1998 I 1, C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL. INTRODUCTION, I 0 INTRODUCTION, The AS Language Reference Manual is designed to assist the user whose primary. 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 rela. tively 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 compo. nent interfacing with AS Language programs includes programmable logic controllers. PLCs lasers weld controllers gray scale vision and remote sensing systems. AS Language programs provide outstanding performance 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 param. eters and variables identified in the AS Language program. I 2 November 20 1998, C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL.
INTRODUCTION, I 1 ROBOT CONTROLLER DESIGN SPECIFICATIONS. Control System 32 bit RISC main CPU, 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, Number of Axes 6 standard 7th optional. Motion Control Teach mode Joint, Repeat mode Joint move.
Linear move, Circular move optional, FLIN move optional. 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. Adjustable between 0 1 mm 5 000 mm, UX UT series, Adjustable between 0 5 mm 5 000 mm. Adjustable between 0 3 mm 5 000 mm, Adjustable between 0 3 mm 5 000 mm.
September 15 2000 I 3, C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL. INTRODUCTION, Speed Proportional speed percentage of maximum joint or TCP. 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, Data Editing Step insertion and deletion and rewriting of auxiliary and. positional data, Software Features Continuous path motion control CP ON OFF.
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.
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, I 4 September 15 2000, C SERIES CONTROLLER. Kawasak AS LANGUAGE REFERENCE MANUAL, INTRODUCTION. Dedicated Signals Outputs Motor power ON, Error occurrence. CYCLE START, Teach mode, Ext program select RPS enabled. Dedicated Signals Inputs Ext motor power ON, Ext error reset.
Ext cycle start, Ext program, Select start JUMP, Ext program select start RPS. 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, Error Messages Error code messages self diagnosis error logging operation. 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, November 20 1998 I 5, C SERIES CONTROLLER. Kawasak AS LANGUAGE REFERENCE MANUAL, INTRODUCTION. Multi Function Panel Deadman safety switches, optional 7 2 inch color LCD.
Touch panel, Teach lock function, Emergency stop switch. Pen for touch panel, PC card insertion section, Teach Pendant Deadman safety switches. optional Teach lock function, Emergency stop switch. Membrane switch keypad, Alphanumeric LCD, Supplemental. Data Storage PC flash RAM memory card 8 MB PCMCIA 2 1 slot. Floppy disk drive optional, Personal computer optional.
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. 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. I 6 September 15 2000, C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL. SYSTEM OVERVIEW, 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 Terminal 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 Values 1 12, 1 5 4 ASCII Values 1 13. 1 6 Variable Names 1 13, 1 6 1 Location Variables 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. November 14 2000 1 1, C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL. SYSTEM OVERVIEW, 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 ac. cess 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. 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 Com. mands for details, The AS 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, 1 2 November 14 2000, C SERIES CONTROLLER. Kawasak AS LANGUAGE REFERENCE MANUAL, SYSTEM OVERVIEW.
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, Robot Path Switch Setting, 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. 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 OX 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. Default setting is ON, November 14 2000 1 3, C SERIES CONTROLLER. Kawasak AS LANGUAGE REFERENCE MANUAL, SYSTEM OVERVIEW.
Figure 1 2 OX PREOUT Switch, 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, 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 program. ming 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 di. mensions 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. 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, 1 4 November 14 2000. C SERIES CONTROLLER, Kawasak AS LANGUAGE REFERENCE MANUAL.
SYSTEM OVERVIEW, STP ONCE Step Once, When this switch is ON the repeat condition function of progressing through a. AS LANGUAGE REFERENCE MANUAL MPPCCONTO11E 2 Kawasak Kawasaki Robotics USA Inc K a a a w s k 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

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