Content      ..     6      7      8      9     ..

Kawasaki Robot Controller E Series. Reference Manual (2015) - page 8

6. Program Instructions

ALIGN

Function

Moves the Z axis of the tool coordinates to be parallel with the closest axis of the base

coordinates.

Explanation

In each application, if the reference motion direction is set along the tool Z direction, DO ALIGN

enables easy alignment of the tool direction to the base coordinates before teaching the pose data.

HMOVE pose variable, clamp number

Function

Moves the robot to the specified pose. The robot moves in hybrid motion: major axes in linear

interpolation, and the wrist joints in joint interpolation.

Parameter

Pose variable

Specifies the destination of the robot motion.

(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 the auxiliary function 0605). If omitted, the clamp

does not open or close.

Explanation

This instruction moves the robot in linear interpolated motion. The origin of the tool

coordinates draws a linear trajectory. However, the wrist joints move in joint interpolation.

This instruction is used when the robot is to be moved in linear motion but the angles of the wrist

joints change greatly between the beginning and end of the motion.

6-11

6. Program Instructions

[ NOTE ]

. When monitoring the rising and trailing edge of the signal, the program branches only when

there is a change in the signal status. Therefore, if the rising edge of signal is monitored and

the signal is ON at the time XMOVE is executed, the program will not be interrupted until that

signal turns OFF and then ON again.

The input signal should be stable for at least 50 msec for accurate monitoring.

Example

XMOVE end TILL

1001

LMOVE skip

Moves from the current pose to pose “end” in linear motion. As soon as the input signal 1001 is

turned ON, the program execution skips to the next step (LMOVE skip) even if the robot has not

reached “end”.

X (current pose)

Input signal

WX1 (1001)

skip

×

end

6-13

6. Program Instructions

[ NOTE ]

The following motion instructions are needed before the C1MOVE instruction:

ALIGN, C1MOVE, C2MOVE, DELAY, DRAW, TDRAW, DRIVE, HOME,

JMOVE, JAPPRO, JDEPART, LMOVE, LAPPRO, LDEPART, STABLE,

XMOVE

C1MOVE instruction must be followed by C1MOVE or C2MOVE instruction.

C1MOVE instruction must precede a C2MOVE instruction.

Example

c2

JMOVE c1

C1MOVE c2

C2MOVE c3

c3

c1

The robot moves in joint interpolated motion to c1 and

then moves in a circular interpolated motion following the

arc created by c1, c2, c3.

b

JMOVE

#a

C1MOVE #b

arc a,b,c

C2MOVE #c

c

e

a

C1MOVE #d

arc c,d,e

C2MOVE #e

d

p2

p4

LMOVE

#p1

arc p1,p2,p3

C1MOVE #p2

p1

C1MOVE #p3

arc p2,p3,p4

C2MOVE #p4

p3

6-15

6. Program Instructions

Average span between P1 and P2

䠙Default setting

p1

p2

p1

p2

Average span between

P2and P3=X1

Y

Y

p3

p3

X

X

Robot motion program

Robot motion program

JMOVE㻌 p1

JMOVE㻌 p1

LMOVE p2

LMOVE p2

LOMVE p3

REFFLTSET㻌 X1

LOMVE p3

Take the countermeasures for vibration following the below procedure:

1)

Reduce the vibration by reducing the acceleration and deceleration.

Use AS instructions ACCEL/ DECEL to change them.

For block teaching, change them via

Aux. 0301 Acceleration/

Deceleration setting.

(Aux.0301

1) Reduce acceleration/ deceleration

can be used only when [ACCEL and

DECEL] setting in Aux. 0399 is set

Yes

to [Enable].)

Problem

End

solved

When the vibration is not reduced or

No

the cycle time is too long, reset them

to the original setting and perform

2) Use REFFLTSET instruction.

the next adjustment.

Yes

Problem

2)

Smooth the robot motion via

End

solved

REFFLTSET instruction.

No

Set the moving average span larger via

REFFLTSET instruction.

3) Use FFSET instruction.

This is effective when the section

where the average span is set larger

(i.e. the section between

REFFLTSET and REFFLTRESET)

satisfies the below condition:

6-26

6. Program Instructions

䞉 There is more than one step.

䞉 Few steps that require axis coincidence with the current pose.㻌

䞉 There are many steps with short distance below 50 mm.

䞉 The accuracy setting is small in the motion step before REFFLTSET/REFFLTRESET

instruction.

It is recommended to adjust the acceleration and deceleration together with the moving

average span. Executing REFFLTSET instruction changes the robot’s path, so be careful

when confirming the motion.

When the vibration is not reduced or the cycle time is too long after using REFFLTSET

instruction and changing the acceleration and deceleration, reset the REFFLTSET instruction

and acceleration/ deceleration setting to the original setting and perform the next adjustment

using FFSET instruction. FFSET instruction is explained later in this section.

Take the countermeasures for accuracy following the below procedure:

1)

Confirm the path accuracy at a low speed.

1) Reduce acceleration/ deceleration

Use AS instruction SPEED or

speed instruction in block teaching

Yes

to change the speed.

Problem

End

solved

If the path accuracy does not

No

improve or the speed setting does

2) Use REFFLTSET instruction.

not match with the application

conditions , set the speed back to

the original setting and perform the

next adjustment.

2)

Improve the path accuracy via

REFFLTSET instruction.

Use REFFLTSET instruction to

reduce the moving average span

and improve the path accuracy.

The vibration tends to increase when this setting is done, so be careful when checking the

robot motion.

6-27

6. Program Instructions

[ NOTE ]

Normally do not use this instruction, because using this instruction changes the dynamic

characteristics. When using this instruction, follow the below procedure:

䞉Gradually change the values, in about 0.1 increments, and confirm the robot motion

after making the changes.

䞉When checking the robot motion, start with a low monitor speed of about 20 % and

gradually raise the speed.

This instruction changes the dynamic characteristics; therefore confirm the robot speed

does not change suddenly at the beginning and end of the modification.

[ NOTE ]

The values set by executing this instruction apply to all robot motions, as is with SPEED

ALWAYS instruction. To reset to the default value, use FFRESET instruction.

Example

FFSET㻌 0.5

㻌 㻌 Sets all the speed/ acceleration feed forward value to 0.5.

FFSET㻌 0.5,0.49

Sets the speed/ acceleration feed forward value to 0.5 for all the axes

except for JT2, and sets the speed/ acceleration feed forward value to 0.5

for JT2 to 0.49.

In the sample robot motion program below, the speed/ acceleration feed forward gain is changed

to 0.5 after axis coincidence in #p1.

JMOVE㻌 #p1

FFSET㻌 0.5

JMOVE #p2

FFRESET

JMOVE #p3

6-30

6. Program Instructions

Take the countermeasures for vibration

following the below procedure:

1) Reduce acceleration/ deceleration

1) Reduce the vibration by reducing

the deceleration.

Problem

End

Follow the procedures explained for

solved

Yes

REFFLTSET instruction.

No

2) Smoothen the motion via

2) Use REFFLTSET instruction.

REFFLTSET instruction.

Follow the procedures explained for

Yes

REFFLTSET instruction.

Problem

End

solved

3)

㻌 Smoothen the motion via FFSET instruction.

No

Set the speed/ acceleration feed

3) Use FFSET instruction.

forward gain via FFSET instruction

to smoothen the robot motion.

Using FFSET instruction changes

the robot path so carefully confirm

the robot motion after executing the

instruction.

6-31

Content      ..     6      7      8      9     ..