Kawasaki Robot Controller E Series. Reference Manual (2015)

5. Monitor Commands

SCNTRESET counter signal number

Function

Resets the internal counter value of the specified counter signal number to 0.

Parameter

Counter signal number

Select the number of the counter signal to reset. Setting range for counter signal numbers:

3097 to 3128.

SFLK signal number = time

Function

Turns ON/OFF (flickers) the specified signal in specified time cycle.

Parameter

Signal number

Specifies the number of signal to flicker. Setting range: 3065 to 3096.

Time

Specifies the time to cycle ON/OFF (real values). If a negative value is set, flickering is

canceled.

Explanation

The process of ON/ OFF is considered one cycle, and the cycle is executed in the specified time.

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5. Monitor Commands

SFLP output signal = set signal expression, reset signal expression

Function

Turns ON/OFF an output signal using a set signal and a reset signal.

Parameter

Output signal

Specifies the signal number of the signal to output. A positive number turns ON the signal; a

negative number turns OFF. Only the signal numbers for output signals can be specified (from

1 to actual number of signals).

Set signal expression

Specifies the signal number or logical expression to set the output signal.

Reset signal expression

Specifies the signal number or logical expression to reset the output signal.

Explanation

If the set signal is ON, the output signal is turned ON. If the reset signal is ON, the output signal

is turned OFF. The output signal is turned ON or OFF when the SFLP command is executed,

and not when the set signal or the reset signal is turned ON.

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5. Monitor Commands

SOUT signal number䠙signal expression

Function

Outputs the specified signal when the specified condition is set.

Parameter

Signal number

Specifies the signal number of the signal to output. Only the signal numbers for output signals

can be specified. (1 to actual number of signals).

Signal expression

Specifies a signal number or a logical expression.

Explanation

This command is for logical calculation of signals. Logical expressions such as AND and OR

are used. The specified signal is output when that condition is set.

Example

1001

SOUT 1 = 1001 AND

1002

1001

SOUT 1 = 1001 OR

1002

1001

SOUT -1 = 1001 AND

1002

SOUT

1 = NOT(1001 AND

1002)

1002

1001

SOUT 1 = -1001 AND

1002

1001

1002

SOUT 1 = (1001 AND

1002) OR

1003

SOUT -1 = 1001 or SOUT

1= -1001 or

1001

SOUT 1 = NOT(1001)

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5. Monitor Commands

STIM timer signal䠙input signal number, time

Function

Turns ON the timer signal if the specified input signal is ON for the given time.

Parameter

Timer signal

Selects the signal to turn ON. Acceptable signal numbers are from 3001 to 3064.

Input signal number

Specifies in whole numbers the input signal number or logical expression to monitor as a

condition for turning ON the timer signal. The value cannot exceed the number of signals

actually installed.

Time

Specifies in real numbers the time (sec) the input signal must be ON before turning ON the timer

signal.

Explanation

The monitored input signal has to be ON continuously in order for the timer signal to be turned

ON. If the input signal turns OFF before the given time passes, the time count restarts when that

signal turns ON again. If the input signal turns OFF, the timer signal turns OFF immediately.

However, the input signal affects the timer signal only when STIM is executed. Unless STIM is

executed, the timer signal remains ON even when the input signal turns OFF.

To check the state of signals 3001 to 3128, use the IO/E command.

Example

STIM 3001 = 1,5



sig2 turns ON if sig1 is ON for 5 seconds.

SOUT 2 = 3001



>PCEXECUTE



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5. Monitor Commands

SETPICK

time1, time2, time3, time4, 䈈, time8

SETPLACE

time1, time2, time3, time4, 䈈, time8

Function

Sets the time to start clamp close control (SETPICK) or clamp open control (SETPLACE) for

each of the 8 clamps.

Parameter

Time 1 to 8

Sets the control time to open/close clamps 1 to 8 in seconds. Setting range: 0.0 to 10.0 seconds.

Explanation

See CLAMP instruction for more details.

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5. Monitor Commands

HSENSESET no. = input signal number , output signal number,

signal output delay time

Option

Function

Declares the starting of signal detection to AS system. When this instruction is executed, AS

system starts to watch the sensor signal and accumulates the data such as pose, etc, into the buffer

memory at signal transaction. The data saved in the buffer memory can be read using HSENSE

instruction. Buffer memory can save up to 20 data.

Parameter

No.

Specifies the number for the monitoring results. Up to 2 input signals can be monitored.

Command for each signal is written as HSENSESET 1 or HSENSESET 2. Acceptable range is

1 or 2.

Input signal number

Set the signal number to monitor. Setting zero (0) terminates the monitoring.

Output signal number

Set the number of the signal to be output after system acquires the joint angle. The specified

signal turns ON for 0.2 seconds. This may be omitted.

Signal output delay time

Set the time to delay the output of signal after acquiring the pose data. Acceptable range is 0 to

9999 ms. This may be omitted.

[ NOTE ]

Even when the control power becomes OFF during watching, buffer memory

keeps the read data. It is possible to read the kept data by HSENSE

instruction after turning ON the control power again. However, watching

does not restart automatically, so HSENSESET should be executed again

Example

>HSENSESET 1 = wx_senser

Starts watching for input signal wx_senser.

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5. Monitor Commands

HSENSE no. result variable, signal status variable, pose variable,

error variable, memory usage variable

Option

Function

Reads the data saved in the buffer memory by HSENSESET instruction.

Parameter

No.

Sets the monitoring number. To read data saved by HSENSESET 1, specify HSENSE1. To

read data saved by HSENSESET 2, specify HSENSE 2.

Result variable

Specifies the name of the real variable to which the watch result is assigned. After executing

HSENSE instruction, numerical value is assigned to this variable. Zero (0) is assigned to this

variable when AS system does not detect the signal transaction.

-1 is assigned to this variable

when AS system detects the signal transaction.

Signal status variable

Specifies the name of the real variable to which the status of signal transaction is assigned.

After executing HSENSE instruction, a numerical value is assigned to this variable. When the

signal(s) is turned from OFF to ON, ON (-1) is assigned. When the signal(s) is turned from ON

to OFF, OFF (0) is assigned to this variable.

Pose variable

Specifies the name of the pose variable to which the joint values at time of HSENSE signal input

are assigned.

Error variable

Specifies the name of the real variable to which the buffer overflow error result is assigned.

When no error occurs, 0 is assigned to this variable. When buffer memory overflows, a

numerical value (other than 0) is assigned to this variable. The buffer memory overflows after

accumulating data from more than 20 transactions.

Memory usage variable

Specifies the name of the real variable to which the number of used memory in the buffer is

assigned. The value assigned to this variable shows the number of memory in the buffer that is

already used. When only one memory is used, 0 will be assigned to the variable. When all the

memories are used, the value of the variable will be 19.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

5.8 MESSAGE DISPLAY COMMANDS

Displays data.

TYPE

Displays data.

IFPWPRINT

Displays specified character string in a display window.

IFPWOVERWRITE

Displays by overwriting character string in a display

window.

IFPLABEL

Sets the labels for the icons on interface panel.

IFPTITLE

Sets the title for the specified page of the interface

panel.

IOBOARD_STATUS

Displays the mounting status of IO boards

SETOUTDA

Sets analog output environment. (Option)

OUTDA

Outputs voltage at set condition. (Option)

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5. Monitor Commands

Kawasaki Robot AS Language Manual

PRINT device number: print data, …….

TYPE device number: print data, …….

Function

Displays on the terminal the print data specified in the parameter.

Parameter

Device number

Select the device for displaying the data:

0: All terminals that are connected

1: Personal computer

2: Teach pendant

3: - 5: Terminals connected via Ethernet

If not specified, the data is displayed on the currently selected device.

Print data

Select one or more from below. Separate the data with commas when specifying more than one.

(1) character string

e.g.

“count =”

(2) real value expressions (the value is calculated and displayed)

e.g.

count

(3) Format information (controls the format of the output message)

e.g.

/D, /S

A blank line is displayed if no parameter is specified.

Explanation

If “2” is entered for device number, the teach pendant screen changes automatically to keyboard

screen. Press <NEXT PAGE> to return to the regular screen.

The following codes are used to specify the output format of numeric expressions. The same

format is used until a different code is specified. In any format, if the value is too large to be

displayed in the given width, asterisks () will fill the space. In this case, change the number of

characters that can be displayed. The maximum number of characters displayed in one line is

128. To display more than 128 characters in a line, use the /S code explained on the following

page.

[ NOTE ]

If the MESSAGES switch is OFF, no message appears on the terminal screen.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

Format Specification Codes

Uses the default format. This is the same as specifying the format as /G15.8

except that zeros following numeric values and all spaces but one between

numeric values are removed.

/Em.n

Displays the numeric values in scientific notation 䠄e.g. -1.234E+02䠅.

“m”

describes the total number of characters shown on the terminal and “n” the

number of decimal places.

“m” should be greater than n by five or more.

/Fm.n

Displays the numeric values in fixed point notation (e.g. -1.234).

“m” describes

the total number of characters shown on the terminal and “n” the number of

digits in the fraction part.

/Gm.n

If the value is greater than 0.01 and can be displayed in Fm.n format within m

digits, the value is displayed in that format. Otherwise, the value is displayed in

Gm.n format.

/Hn

Displays the values as a hexadecimal number in the n digit field.

/In

Displays the values as a decimal number in the n digit field.

The following parameters are used to insert certain characters between character strings.

/Cn

Inserts line feed n times in the place where this code is entered, either in front or

after the print data. If this code is placed within print data, n-1blank lines are

inserted.

The line is not fed.

/Xn

Inserts n spaces.

/Jn

Displays the value as a hexadecimal number in the n digit field. Zeros are

displayed in place of blanks.

(Option)

/Kn

Displays the value as a decimal number in the n digit field. Zeros are displayed

in place of blanks.

(Option)

This is the same as /D except that all the spaces are removed with this code.

(Option)

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5. Monitor Commands

Kawasaki Robot AS Language Manual

Example

In this example the value of real variable “i” is 5, the fifth element of array variable “point” is

12.66666.

>PRINT "point", i, "=" , /F5.2, point [i]



point 5 = 12.67

㻌㻌㻌㻌㻌 The display should look like this.

point 5 = 

If the value of point[5] is 1000 (1000.00), the display

should look like this. The value is too large to display (i.e.

the number of digits is greater than 5).

In the following example code /S is used to display the data without changing the lines after the

data.

>PRINT “ABC”

>PRINT/S, “DEF”

>PRINT “GHI”



 ABC

 DEFGHI



The display should look like this, with “GHI” displayed on

the same line as “DEF”.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

IFPWPRINT window number, row, column, background color, label color =

“character string”, “character string”, ……

Function

Displays the specified character string in the string window set by Auxiliary Function 0509

(Interface panel screen).

Parameter

Window number

Corresponds to the window number specified in Auxiliary Function 0509 as the window

specification used to display the string. Select from 1to 8 (standard).

Row

Specifies the row in the window for displaying the string. Acceptable number is from 1 to 4,

though it depends on the window size. If not specified, 1 is assumed.

Column

Specifies the column in the window for displaying the string. Acceptable number is from

1 to 70, though it depends on the window size. If not specified, 1 is assumed.

Background color

Selects the color of the background of the selected window. Acceptable numbers are from

0 to 15. If not specified, the background is white.

No.

Color

No.

Color

No.

Color

No.

Color

Grey

Green

Pink

Navy

Blue

Pale Blue

White

Reddish Brown

Red

Yellow

Black

Deep Green

Orange

White

Cyan

Lavender

Label color

Selects the color of the characters displayed. Acceptable numbers are from 0 to 15㻌 (See chart

above).㻌 If not specified, the characters are displayed in black.

Character string

Specifies the character string to display. All strings after the first string are displayed on the next

row starting at specified column. Execution of IFWPRINT clears all items, except the specified

character strings, from the specified window.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

Explanation

IFPWPRINT command can be used only when the interface panel is available for use. If the

parameters are not specified, the last setting of that particular window is selected (for first time

use, the above default values are set). If the character string does not fit in one row, its display

overflows to the next line (indenting to the selected column). Strings that extend beyond the

size of the window are not displayed. Control characters in the string are displayed as blanks.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

IFPWOVERWRITE window number, row, column, background color, label

color = “character string”, “character string”, ……

Function

Displays by overwriting the specified character string in the string window set by Auxiliary

Function 0509 (Interface panel screen).

Parameter

Window number

Corresponds to the window number specified in Auxiliary Function 0509 as the window

specification used to display the string. Select from 1to 8 (standard).

Row

Specifies the row in the window for displaying the string. Acceptable number is from 1 to 4,

though it depends on the window size. If not specified, 1 is assumed.

Column

Specifies the column in the window for displaying the string. Acceptable number is from

1 to 78, though it depends on the window size. If not specified, 1 is assumed.

Background color

Selects the color of the background of the selected window. Acceptable numbers are from

0 to 15. If not specified, the background is white.

No.

Color

No.

Color

No.

Color

No.

Color

Grey

Green

Pink

Navy

Blue

Pale Blue

White

Reddish Brown

Red

Yellow

Black

Deep Green

Orange

White

Cyan

Lavender

Label color

Selects the color of the characters displayed. Acceptable numbers are from 0 to 15㻌 (See chart

above).㻌 If not specified, the characters are displayed in black.

Character string

Specifies the character string to display. All strings after the first string are displayed on the next

row starting at specified column.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

Explanation

IFPWOVERWRITE command can be used only when the interface panel is available for use. If

the parameters are not specified, the last setting of that particular window is selected (for first

time use, the above default values are set). If the character string does not fit in one row, its

display overflows to the next line (indenting to the selected column). Strings that extend beyond

the size of the window are not displayed. Control characters in the string are displayed as blanks.

Unlike IFPWPRINT command/ instruction, the rows other than the row specified for display are

displayed unchanged as before executing IFPWOVERWRITE.

Example

The figures below show the screens displayed when executing IFPWPRINT and

IFPWOVERWRITE command/ instruction from the screen showing “This is a pen”. The left

figure is the figure after executing ”IFPWPRINT 1,3,1,7,10=”my”. The characters on lines 1, 2,

and 4 disappear and line 3 shows ”my”. On the other hand, the right figure shows the screen

after executing “IFPWOVERWRITE 1,3,1,7,10=”my”. The characters on lines 1, 2, and 4 are

displayed as they were before executing the instruction and only line 3 has changed to ”my”.

This

pen

Displays

“This is a pen”

This

pen

Screen after executing

IFPWPRINT 1,3,1,7,10 =“my”

IFPWOVERWRITE 1,3,1,7,10 =“my”

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5. Monitor Commands

Kawasaki Robot AS Language Manual

IFPLABEL position, "label 1", "label 2", "label 3", "label 4"

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Function

Sets and modifies the label of the icon at the specified position on the interface panel.

Parameter

Position

Specifies the display position on the interface panel of the icon to set/ modify the label.

Setting range: 1 - 112.

Displays

“This is a pen”

“Label 1”, “Label 2”…

Specifies the character string to display on the interface panel as the label of the specified icon.

Omitted label will not be changed.

Explanation

Sets and modifies the label for the icons displayed on the interface panel. When a position with

no icon set or when an icon with no label is specified, nothing occurs.

Example

>IFP

Screen after executing

㻌

IFPWPRINT 1,3,1,7,10 =“my”

IFPWOVERWRITE 1,3,1,7,10 =“my”

Icon at position 10 on the interface panel is changed to “label 3” (label 1, label 2 is not changed

because the parameters are omitted.)

㻌

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5. Monitor Commands

Kawasaki Robot AS Language Manual

㻌

IFPTITLE page no., "title"

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Function

Sets and modifies the title for the specified page of the interface panel.

Parameter㻌

Page no.

Specifies the page of the interface panel to change the title. Setting range: 1- 4.

“Title”

Specifies the character string to display on the page as the title. Default setting is “Interface

Panel”. When NULL string (“”) is specified, this default setting is also displayed.

㻌

Explanation

Sets and modifies the title for the specified page of the interface panel.

㻌

Example

>IFPTITLE 1, "Page 1"

The title of the first page of the interface

panel is changed to “Page 1”.

㻌

>IFPTITLE 2, ""

The title of the second page of the

interface panel is changed to “Interface

Panel”.㻌

㻌

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5. Monitor Commands

Kawasaki Robot AS Language Manual

IOBOARD_STATUS

Function

Displays the installation status of IO board when IOBOARD_STATUS command is executed.

Explanation

Displays the correspondence between IO board address and IO signal number/ analog output

channel number. When using 1TW and 1UR board at the same time, use this command to

confirm the correspondence between each board and the signal numbers.

Example

>IOBOARD_STATUS<ret>

1- 16

17- 32

33- 48

49- 64

65- 80

81- 96

97-112

113-128

1TWn

1URn

1TWn

1TWn NON NON

1- 4

9- 12

13- 16

1TWn

1URn NON NON

Title䠖 IO indicates the signal numbers, DA indicates the channel numbers

1TWn: Corresponds to 1TW board (32 signals)

1URn: Corresponds to 1UR board (16 signals)

NON : Not used

n 䠖 Board address for each aboard (1 to 4)

If the board addresses for 1TW board and 1UR board are set to the first and third boards

respectively, the following signal numbers are used.

>IOBOARD_STATUS<ret>

1- 16

17- 32

33- 48

49- 64

65- 80

81- 96

97-112

113-128

1TW1

1UR3 NON NON

NON NON NON

1- 4

9- 12

13- 16

1TW1

1UR3 NON

NON

At this time, if 1UR board is set as the second board, signal numbers 17-32 duplicate with 1TW

board so error (D2056) 䇾[I/O board(No.XX)]Several boards have same ID address.” occurs.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

SETOUTDA port No. = LSB, No. of bits, logic, max. voltage, min. voltage

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Option

Function

Specifies the analog output environment including: port number and LSB, number of bits and

logic voltage for signal output, maximum and minimum voltage.

Parameter

Port No.

Specifies port number. Setting range: integer between 1 and 16.

LSB

Specifies as an integer the first signal number to be output for D/A conversion. Setting range:

OUT 1- OUT 125, 2001 - 2125, 3000 (1^st channel of 1TW), 3001 (2^nd channel of 1TW), hereafter

increment by one up to the number of DA channels of 1TW board. Default value is 3000.

Previous setting remains in effect if not specified.

Number of bits

Specifies the integer number of bits output for each signal to be D/A converted. Setting range: 4

bits - 16 bits. Set to 12 bits when specifying 3000 - [3000 + number of DA channel on 1TW

board] for parameter LSB above. Default value is 8 bits. Previous setting remains in effect if

not specified.

Logic

Sets output data either to positive logic (1) or negative logic (0). Initial set value is 0 (negative

logic). Previous setting remains in effect if not specified. Set the logic to positive for 1TW.

Maximum voltage

Specifies the maximum voltage of hardware (D/A output). Setting range: -15 - +15V. Unit: V.

Default value is 13V. Round off to first decimal place. Previous setting remains in effect if

not specified.

Minimum voltage

Specifies the minimum voltage of hardware (D/A output). Setting range: -15 - +15V. Unit: V.

Default value is 0V. Round off to first decimal place. Previous setting remains in effect if not

specified.

See also 6.8 SETOUTDA, OUTDA instructions.

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5. Monitor Commands

Kawasaki Robot AS Language Manual

OUTDA㻌㻌 voltage, port number

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Function

Outputs the voltage according to the condition set to the specified port.

Parameter

Voltage

Specifies the voltage to be output from D/A port. Setting range: -15 - +15 V. Unit: 0.1 V.

Round off to first decimal place.

㻌

Port number

Sets the port number. Setting range: integer between 1 and 16. If not specified, 1 is assumed.

[ NOTE ]

Confirm that command voltage and actual output voltage are the same by setting

output environment to correspond with the hardware settings via SETOUTDA

instruction (command).

5-123

6. Program Instructions

6.0 PROGRAM INSTRUCTIONS

This chapter groups the program instructions in the following categories, and

describes each instruction in detail. A program instruction consists of a keyword

expressing the instruction and parameter(s) following that key word, as shown in

the example below.

Example

Keyword Parameter

JMOVE pose variable, clamp number

Parameters marked with

can be omitted.

Always enter a space between the keyword and the parameter.



in the examples represent the

Enter

key.

6-1

6. Program Instructions

6.1 MOTION INSTRUCTIONS

JMOVE

Moves robot in joint interpolated motion.

LMOVE

Moves robot in linear interpolated motion.

DELAY

Stops robot motion for specified time.

STABLE

Stops robot motion for specified time after the axes coincide.

JAPPRO

Approach the destination in joint interpolated motion.

LAPPRO

Approach the destination in linear interpolated motion.

JDEPART

Leaves the current pose in joint interpolated motion.

LDEPART

Leaves the current pose in linear interpolated motion.

HOME

Moves to the home pose.

DRIVE

Moves in the direction of a single axis.

DRAW

Moves the specified amount in the direction of the X, Y, Z, axis of the

base coordinates.

TDRAW

Moves the specified amount in the direction of the X, Y, Z, axis of the

tool coordinates.

ALIGN

Aligns the tool Z axis with the base coordinate axis.

HMOVE

Moves in linear interpolated motion (the wrist joint moves in joint

interpolated motion.)

XMOVE

Moves in linear movement to the specified pose.

C1MOVE

Moves in circular interpolated motion. (Option)

C2MOVE

Moves in circular interpolated motion.

(Option)

6-2

6. Program Instructions

JMOVE pose variable, clamp number

LMOVE pose variable, clamp number

Function

Moves the robot to the specified pose.

JMOVE: Moves in joint interpolated motion.

LMOVE: Moves in linear interpolated motion.

Parameter

Pose variable

Specifies the destination pose of the robot.

(Can be in transformation values, compound

transformation values, joint displacement values or pose information functions.)

Clamp number

Specifies the clamp number to open or close at the destination pose. Positive number closes the

clamp, and negative number opens it. Any clamp number can be set, up to the maximum

number set via HSETCLAMP command (or auxiliary function 0605). If omitted, the clamp

does not open or close.

Explanation

The robot moves in joint interpolated motion when JMOVE instruction is executed. The robot

moves so that the ratios of distance traveled to the total distance are equal at all joints throughout

the movement from the starting pose to the end pose.

The robot moves in linear interpolated motion when LMOVE instruction is executed. The

origin of the tool coordinates (TCP) moves along a linear trajectory.

Example

JMOVE

#pick

Moves to pose described by joint displacement values “#pick” in joint

interpolated motion.

LMOVE ref+place

Moves to the pose described by the compound transformation values

“ref + place” in linear interpolated motion.

LMOVE

#pick,1

Moves to the pose described by joint displacement values “#pick” in

linear interpolated motion. Upon reaching the pose, clamp 1 is closed.

6-3

6. Program Instructions

DELAY time

Function

Stops the robot motion for the specified time.

Parameter

Time

Specifies in seconds for how long the robot motion is stopped.

Explanation

In AS system, DELAY instruction is considered as a motion instruction that “moves to nowhere”.

Even if the robot motion is stopped by DELAY instruction, all the program steps before the next

motion instruction are executed before stopping.

Example

DELAY 2.5

Stops the robot motion for 2.5 seconds.

STABLE time

Function

Postpones execution of next motion instruction until the specified time elapses after the axes

coincide.

(Waits until the robot is stable.)

Parameter

Time

Specifies in seconds for how long the robot motion is kept stable.

Explanation

If coincidence of the axes fails while the robot is stopped by this command, the time is counted

from when the axes coincide again.

6-4

6. Program Instructions

JAPPRO pose variable , distance

LAPPRO pose variable , distance

Function

Moves in tool Z direction to a specified distance from the taught pose.

JAPPRO: Moves in joint interpolated motion.

LAPPRO: Moves in linear interpolated motion.

Parameter

Pose variable

Specifies the end pose (in transformation values or joint displacement values)

Distance

Specifies the offset distance between the end pose and the pose the robot actually reaches on the

Z axis direction of the tool coordinates (in millimeters). If the specified distance is a positive

value, the robot moves towards the negative direction of the Z axis. If the specified distance is a

negative value, the robot moves towards the positive direction of the Z axis.

Explanation

In these commands, tool orientation is set at the orientation of the specified pose, and the position

is set at the specified distance away from the specified pose in the direction of the Z axis of the

tool coordinates.

Example

JAPPRO place,100

Moves in joint interpolated motion to a pose 100 mm away from the

pose “place” in the direction of the Z axis of the tool coordinates.

Pose “place” is described in transformation values.

LAPPRO place, offset

Moves in linear interpolated motion to a pose away from the pose

“place”, described in transformation values, at the distance defined by

the variable “offset” in the direction of the Z axis of the tool

coordinates.

6-5

6. Program Instructions

JDEPART distance

LDEPART distance

Function

Moves the robot to a pose at a specified distance away from the current pose along the Z axis of

the tool coordinates.

JDEPART : Moves in joint interpolated motions.

LDEPART : Moves in linear interpolated motions.

Parameter

Distance

Specifies the distance in millimeters between the current pose and the destination pose along the

Z axis of the tool coordinates. If the specified distance is a positive value, the robot moves

“back” or towards the negative direction of the Z axis. If the specified distance is a negative

value, the robot moves “forward” or towards the positive direction of the Z axis.

Example

JDEPART

The robot tool moves back 80 mm in Z direction of the tool coordinates

in joint interpolated motion.

LDEPART

2offset

The robot tool moves back 2offset (200 mm if offset = 100) in Z

direction of the tool coordinates in linear interpolated motion.

6-6

6. Program Instructions

HOME home pose number

Function

Moves in joint interpolated motion to pose defined as HOME or HOME2.

Parameter

Home pose number

Specifies the home pose number (1 or 2). If omitted, HOME 1 is selected.

Explanation

Two home poses can be set (HOME 1 and HOME 2). This instruction moves the robot to one

of the home poses in joint interpolated motion. The home pose should be defined beforehand

using the SETHOME or SET2HOME command/ instruction. If the home pose is not defined,

the null origin (all joints at 0) is assumed as the home pose.

Example

HOME

Moves to the home pose defined by SETHOME command/

instruction in joint interpolated motion.

HOME 2

Moves to the home pose defined by SET2HOME command/

instruction in joint interpolated motion.

6-7

6. Program Instructions

DRIVE joint number, displacement, speed

Function

Moves a single joint of the robot.

Parameter

Joint number

Specifies the joint number to move. (In a six-joint robot, the joints are numbered 1 to 6, starting

from the joint furthest from the tool mounting flange.)

Displacement

Specifies the amount to move the joint, as either a positive or negative value.

The unit for this value is the same as the value that describes the pose of the joint; i.e. if the joint

is a rotational joint, the value is expressed in degrees (), and if the joint is a slide joint, the value

is expressed in distance (mm).

Speed

Specifies the speed for this motion. As in regular program speed, it is expressed as a percentage

of the monitor speed. If not specified, 100㻌 % of the monitor speed is assumed.

Explanation

This instruction moves only one specified joint.

The motion speed for this instruction is combination of the speed specified in this instruction and

the monitor speed. The program speed set in the program does not affect this instruction.

Example

DRIVE

2,-10,75

Moves joint 2 (JT2) 10 from the current pose. The speed is 75 %㻌

of the monitor speed.

6-8

Kawasaki Robot Controller E Series. Reference Manual (2015) - page 7