Kawasaki Robot Controller E Series. Reference Manual (2015)

6. Program Instructions

[ NOTE ]

ANY statement and its program instructions can be omitted.

ANY statement can be used only once in the structure. The statement must be at the

end of the structure as shown in the example below.

The colon “:” after the ANY statement can be omitted. When entering the colon,

always leave a space after ANY. Without a space, ANY: is taken as a label.

Both the ANY and END statements must be entered on their own line.

Example㻌

In the program below, if the value of real variable x is negative, the program execution stops after

the message is displayed. If the value is positive, the program is processed according to these 3

cases:

1. if the value is an even number between 0 and 10

2. if the value is an odd number between 1 and 9

3. if the value is a positive number other than the above.

IF x<0 GOTO 10

CASE x OF

VALUE 0,2,4,6,8,10:

PRINT "The number x is EVEN"

VALUE 1,3,5,7,9:

PRINT "The number x is ODD䇿

ANY :

PRINT "The number x is larger than 10"

END

STOP

10 PRINT "Stopping because of negative value"

STOP

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6. Program Instructions

SCASE index variable OF

SVALUE string_1䠈……:

program instructions

SVALUE string_2䠈……:

program instructions

SVALUE string_n䠈……:

program instructions

ANY

program instructions

END

㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌㻌 Option㻌

Function㻌

Executes program based on condition specified by the character string.

Parameter㻌

Index variable

Specifies character string variable or expression. Decides which SCASE structure to execute

according to character string of this variable.

Program instructions

Executes these program instructions when the string of the index variable equals one of the values

after the SVALUE statement.

Explanation㻌

Unlike CASE structure described before, the execution condition for SCASE structure is set as

character string. See also CASE structure.

If there is no string that matches the string character, the program instructions after the ANY

statement are executed. If there is not an ANY statement, none of the steps in the SCASE

structure is executed.

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6. Program Instructions

[ NOTE ]

ANY statement and its program instructions can be omitted.

ANY statement can be used only once in the structure. The statement must be at the end

of the structure.

The colon “:” after the ANY statement can be omitted. When entering the colon, always

leave a space after ANY. Without a space, ANY: is taken as a label.

Both the ANY and END statements must be entered on their own line.

Example㻌

In the program below, if character string variable $str is equal to the string of $a+”c”, the program

pc is executed. If character string variable $str is equal to the string of $a+”g”, the program pg is

executed.

SCASE $str OF

SVALUE $a+”c”:

CALL pc

SVALUE $a+”g”:

CALL pg

END

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6. Program Instructions

6.7 BINARY SIGNAL INSTRUCTIONS

RESET

Turns OFF all external output signals.

SIGNAL

Turns ON/OFF external I/O signals and internal signals.

PULSE

Turns ON output signal for the specified amount of time.

DLYSIG

Turns signal after the specified time has passed.

RUNMASK

Specifies the signals to mask.

BITS

Sets a group of signals to equal the specified value (Max. 16 signals )

BITS32

Sets a group of signals to equal the specified value (Max. 32 signals )

SWAIT

Suspends program execution until specified condition is set.

EXTCALL

Calls the program selected by external signal.

Sets interruption condition.

ONI

Sets interruption condition.

IGNORE

Cancels ON or ONI instruction.

SCNT

Outputs counter signal at the specified counter value.

SCNTRESET

Clears the counter signal number.

SFLK

Turns ON/OFF the flicker signal in cycle of specified time.

SFLP

Turns ON/OFF signals with SET/RESET signals.

SOUT

Outputs signal when specified condition is set.

STIM

Turns ON timer signal when the specified signal is ON for specified

period of time.

SETPICK

Sets the time to start clamp close control. (Option)

SETPLACE

Sets the time to start clamp open control.

(Option)

CLAMP

Controls open/close of clamp signals. (Option)

HSENSESET

Starts monitoring of specified sensor signal. (Option)

HSENSE

Reads the data stored in buffer by HSENSESET. (Option)

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6. Program Instructions

RESET

Function

Turns OFF all the external output signals. This command does not have effect on signals used

as dedicated signals, clamp signals and antinomy of multifunction OX/WX.

By using the optional setting, the signals used in the Interface Panel screen are not affected by this

command.

(Option)

SIGNAL signal number, ……

Function

Turns ON/OFF the specified external output signals (OX) or internal signals.

Parameter

Signal number

Selects the number of external output signal or internal signal. Selecting a dedicated signal

results in error.

Acceptable Signal Numbers

External output signal

1 㻌 actual number of signals

Internal signal

20012960

See also 5.7㻌 BITS, BITS32 commands.

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6. Program Instructions

SWAIT signal number, ……

Function

Waits until the specified external I/O or internal signal meets the set condition.

Parameter

Signal number

Specifies the number of the external I/O or internal signal to monitor. Negative numbers

indicate that the conditions are satisfied when the signals are OFF.

Acceptable Signal Numbers

External output signal

1 㻌 actual number of signals

Internal signal

20012960

Explanation

If all the specified signals meet the set conditions, this instruction is ended and the program

executes the next step. If the conditions are not satisfied, the program waits in that step until

they are set.

SWAIT instruction in execution can be skipped using CONTINUE NEXT command.

The same result can be gained using the WAIT instruction.

Example

SWAIT

1001,1002

Waits until the external input signals 1001(WX) and 1002

(WX2) are turned ON.

SWAIT

1,-2001

Waits until external output signal 1(OX1) is ON and the

internal signal 2001(WX1) is OFF.

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6. Program Instructions

EXTCALL

Function

Calls the program selected by the external input signal.

Explanation

EXTCALL instruction is processed as shown in the following procedure:

1. Outputs JUMP-ST signal, allowing input at an external program.

2. Waits for JUMP-ON signal to be input.

3. When JUMP-ON is input, the program number input by RPS-CODE is read. If the number

input is 100 or higher, programs pgxxx are called. If the number is 99 - 10, programs pgxx

are called and if the number is smaller than 9, pgx.

JUMP-ST output

JUMP䠉ON

OFF

input

OFF

JUMP-OFF?

read RPS code

Error (P1014)

current program

Yes _{Cannot execute because the}

= new program

program is already in use.

change program

JUMP-ST OFF

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6. Program Instructions

[ NOTE ]

This instruction can be skipped by entering the CONTINUE NEXT command when

waiting for JUMP_ON signal.

This instruction is effective only when RPS mode is ON and the RPS signal is set as

software dedicated signal. An error occurs if this instruction is executed when

RPS is not defined as a dedicated signal.

If RPS mode is OFF, this instruction is ignored.

EXTCALL is used to call a subroutine. After the completion of this subroutine (or

when a RETURN instruction is processed in the subroutine), the execution returns

to the original program.

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6. Program Instructions

ON mode signal number CALL program name, priority

ON mode signal number GOTO label, priority

ONI mode signal number CALL program name, priority

ONI mode signal number GOTO label, priority

Function

Monitors the specified external input signal or internal signal and upon input of the signal,

branches to the specified subroutine (CALL) or jumps to the specified label (GOTO).

ONI stops the current motion instruction, while ON waits for the current motion to be completed

before jumping to the subroutine or label.

Parameter

Mode

(not specified)

Monitors the rising and trailing edges of the specified signal.

/ERR (option)

Returns an error if the status of the signal already meets the set

condition when monitoring starts.

/LVL (option)

Immediately jumps to the specified subroutine or label if the status of

the signal already meets the set condition when monitoring starts.

Signal number

Specifies the number of the signal to monitor.

If the number is positive, the rising edge of signal or the change from OFF to ON is monitored.

If the number is negative, the trailing edge or the change from ON to OFF is monitored.

Acceptable signal numbers

External input signal

1001 - actual number of signals

Internal signal

2001 - 2960

Program name

Specifies the name of the subroutine to branch to when the specified signal is input. If omitted,

the program goes on to the next step in the program and does not branch to a subroutine.

Label

Specifies which label to jump to when the specified signal is input.

Priority

Specifies the priority of the program, setting range: 1 to 127. If not specified, 1 is assumed.

The greater the number is, the higher the priority becomes. Priority is ignored when a label is

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6. Program Instructions

entered as the destination.

Explanation

For ON…CALL instruction, if change is detected in the monitored signal, the program is

interrupted and the specified subroutine is executed. This functions the same as CALL

instruction after the monitored signal is detected.

(See also 6.5 CALL program instruction).

If the RETURN instruction is executed in the called subroutine, the execution returns to the

program step after the step that was running before the subroutine was called (See also 11.3

External Interlock.)

ONI instruction can be used only in robot motion programs and not in PC programs.

Signal monitoring is canceled in any of the following cases:

1. IGNORE instruction is executed for the signal specified in ON and ONI instructions.

2. The ON and ONI instructions are executed and the program has branched to a subroutine.

3. A new ON or ONI instruction specifies the same signal as an earlier ON (ONI) instruction

(the older setting is canceled).

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6. Program Instructions

[ NOTE ]

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

only when there is a change in the signal state. Therefore, if the leading edge is

to be detected, branching does not occur if that signal is already ON when the ON

instruction is executed. No branching will occur until the signal is turned OFF

then turned ON again.

2. To detect signal changes accurately, the signal must be stable for at least 50 msec.

3. Monitoring starts as soon as the ON (ONI) instruction is executed. Since in the

AS system, non-motion instructions are read and executed together with the

preceding motion, the monitoring starts at the same time as the motion right before

ON (ONI) instruction is executed.

4. The signals are not monitored while the program is not executed.

5. For ON and ONI instruction set in the main program, the signal status is monitored

also in the subroutine. However, when the signal signified in the subroutine is

input, the execution timing of the interruption process will be right after returning

to the main program. To execute the interruption process immediately in the

subroutine, set ON and ONI instructions in the subroutine in the same way as in the

main program.

6. The robot moves in standard motion type instead of motion type 2 while the signals

are monitored by ON instruction. Therefore, the robot motion may differ when

monitoring and not monitoring the signals.

Example

ONI -1001 CALL alarm

Monitors external input signal 1001(WX1). As soon as this signal

changes from ON to OFF (the signal number is negative so the

trailing edge is detected), the motion stops and the program

branches to subroutine “alarm”.

ON test CALL delay

Monitors the signal assigned to the variable “test”. If the signal

changes as desired (the condition depends on the value of “test”,

since it could be negative or positive), the program branches to

subroutine “delay” after execution of the current motion step is

completed. It returns to the original program when the subroutine

“delay” is completed.

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6. Program Instructions

IGNORE signal number

Function

Cancels the monitoring of signals set by ON or ONI instruction.

Parameter

Signal numbers

Specifies the number of the signal to cancel monitoring.

Acceptable signal numbers

External input signal

1001 - actual number of signals

Internal signal

2001 - 2960

Explanation

This instruction nullifies the effect of the recent ON or ONI instruction set to the specified signal.

(See also 11.3 External Interlock.)

[ NOTE ]

The ON(ONI) monitoring function is only effective with binary I/O signals

actually installed as input signal.

Example

IGNORE

1005

Cancels monitoring of external input signal (Channel 5).

IGNORE test

Cancels the monitoring of the signal specified by the value of variable “test”.

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6. Program Instructions

SCNT counter signal number = count up signal, count down signal,

counter clear signal, counter value

Function

Outputs counter signal when the specified counter value is reached.

Parameter

Counter signal number

Specifies the signal number to output. Setting range for counter signal numbers: 3097 to 3128.

Count up signal

Specified by signal number or logical expressions. Each time this signal changes from OFF to

ON, the counter counts up by 1.

Count down signals

Specified by signal number or logical expressions. Each time this signal changes from OFF to

ON, the counter counts down by 1.

Counter clear signals

Specified by signal number or logical expressions. If this signal is turned ON, the internal

counter is reset to 0.

Counter value

When the internal counter reaches this value, the specified counter signal is output. If “0”is

given, the signal is turned OFF.

Explanation

If the count up signal changes from OFF to ON when the SCNT command is executed, then the

internal counter value increases by 1. If the count down signal changes from OFF to ON, the

internal counter value decreases by 1. When the internal counter value reaches the value

specified in the parameter (counter value), the counter signal is output. If the counter clear

signal is output, value of the internal counter is set at 0. Each counter signal has its own

individual counter value. To force reset of the internal counter to 0, use SCNTRESET

command.

To check the states of signals 3001 to 3128, use the IO/E command. (Option)

See 5.7 also SCNT monitor command.

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6. Program Instructions

SCNTRESET counter signal number

Function

Resets to 0 the internal counter value corresponding to the specified counter signal.

Parameter

Counter signal number

Selects the number of the counter signal to reset. Setting range for counter signal numbers: 3097

to 3128.

See also 5.7 HSENSESET monitor command.

Example

HSENSESET 1 = wx_sens

Starts watching for input signal wx_sens.

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6. Program Instructions

HSENSE no. result variable, signal status variable,

pose variable, error variable, memory remainder variable

Option

Function

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

Parameter

No.

Specifies the monitoring number. To read data saved by HSENSESET 1 specify HSENSE 1.

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 remainder 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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6. Program Instructions

Example

In this program, sensor signal wx_senser is monitored while the robot moves from

#p2_1 to

#p4_1 and the pose data of JT3 is saved in the array hsens_jt[ ] when the signal is detected. This

program uses many local variables (local variable names are written with a period (.) at the

beginning of the name).

.err = 0

;Initialize

IF SIG(wx_senser) THEN

;When sensor signal keeps ON

.err=4

;Incorrect starting point

RETURN

END

;

HSENSESET 1 = wx_senser

;Start watching

JMOVE #p2_1

;Move to starting point

BREAK

SPEED sens_sp

ABS.SPEED ON

JMOVE #p4_1

;Move to finishing point

.num = 0

loop:

HSENSE 1 .stat,hsens_onoff[.num+1],#hsens[.num+1] ,.serr,.rest

IF .serr <> 0 THEN

.err = 3

;Memory buffer over㻌 "(HSENS)"

RETURN

END

IF .stat==ON THEN

hsens_jt[.num+1] = DEXT(#hsens[.num+1],3)

;Save pose in Z direction when signal detected

.num = .num + 1

END

IF .rest GOTO loop

;Loop when buffer keeps data

IF DISTANSE(DEST,HERE) > 0.1 GOTO loop

;

HSENSESET 1 = 0

;Finish watching

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6. Program Instructions

6.8 MESSAGE CONTROL INSTRUCTIONS

Displays message on terminal.

TYPE

Displays message on terminal.

PROMPT

Displays message on terminal and waits for input from the keyboard.

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.

SETOUTDA

Sets analog output environment. (Option)

OUTDA

Outputs voltage at set conditions. (Option)

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6. Program Instructions

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 to display the data from below:

0: All terminals that are connected

1: Personal computer

2: Teach pendant

3: - 5: Terminals connected via Ethernet

If not specified, the data will be 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

See 5.8 PRINT/TYPE Monitor Command.

[ NOTE ]

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

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6. Program Instructions

PROMPT device number: character string, variables

Function

Displays the specified character strings on the terminal followed by the prompt ”>” and waits for

input from the keyboard.

Parameter

Device number

Select the device to display the data from below:

1: Personal computer

2: Teach pendant

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

Character string

Specifies the characters to display on the terminal.

Variables

Specifies to which variable the data input from the keyboard is substituted. It can be a series of

real variables or a single string variable.

Explanation

The specified character strings are displayed on the terminal and waits for data and

 to be input

from the keyboard.

The data input is processed in one of the following ways.

1. When PROMPT is used to ask for values for a series of real variables, the system reads the

input line as a series of numbers separated by spaces or commas. Each input number is

converted into internal expressions according to its notation, and then they are assigned to the

variables one by one.

2. If the number of values input is greater than the number of variables, the excess values are

ignored. If the number of values input is less than the number of variables, “0” is assigned

to the remaining variables. If data other than numeric values are input, an error occurs, and

the program stops execution. To avoid confusion and error, it is advisable that one

PROMPT instruction is used to assign one value to one variable.

When using a character string variable as the variable parameter for PROMPT, the characters

input are read as a single data unit and all the characters are assigned to the character string

variable. At the screen prompt, if only the

 key or

CTRL +

C is pressed, “0” is assigned to real

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6. Program Instructions

variables, and a null string is assigned to character string variables.

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.

Example

The character string in quotations is displayed on the terminal, and asks for data to be input.

When the data (number of parts) is input and the

 key is pressed, the value entered is substituted

to the variable “part.count”. The program execution then proceeds.

PROMPT "Enter the number of parts: ", part.count

The instruction below asks for the value of a character string variable. Alphanumeric characters

can be input without causing an error.

PROMPT "Enter the number of parts: ", $input

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6. Program Instructions

IFPWPRINT window number, row, column, background color,

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

Option

Function

Displays the specified character string in the string window set in 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 selected window to display the string. Enter from 1 to 4; available rows

depend on the window size. If not specified, 1 is assumed.

Column

Specifies the column in the selected window to display the string. Enter from 1 to 70, though

available columns depend on the window size. If not specified, 1 is assumed.

Background color

Selects the background color of the selected window. Colors are numbered 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. Colors are numbered from 0 to 15 (See chart

above). 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 the non-display area in the

specified window.

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Kawasaki Robot Controller E Series. Reference Manual (2015) - page 10