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Kawasaki Robot Controller E Series. Reference Manual (2015) - page 12

6. Program Instructions

SLOAD/IF/ARC device number = file name, status variable

Function

Reads from external memory device, the file specified by the character string and loads it on

to the robot memory.

Parameter

Device number

Specifies where to display the current processing situation. Specify either 1 or 2:

1:Standard terminal (PC)

2:Teach pendant

When omitted, it is displayed where the program is executed.

File name

Specifies the file to load on to robot memory. Only one file can be specified.

Status variable

Specifying 0 for this parameter allows continuing program execution even when error occurs.

The error code is saved. When omitted, program execution stops at error occurrence.

Explanation

Loads on to robot memory the contents (program and variables) of the specified file.

Specifying a program with the same name as a program already in the robot memory results

in error, and no new program is read.

1. Specifying SLOAD/IF loads interface panel data.

2. Specifying SLOAD/ARC loads arc welding data.

When there is a step that is not readable in a program being loaded, error message and

message “Step format incorrect. (0: Comment-out the step and continue reading, 1: Delete

program and terminate) appears. When continuing by selecting “0”, modify the program

via editor after loading is completed.

[ NOTE ]

Pose variable, real variable, or a string variable with the same name as the

variable being read is over-written by the new data without any warning.

Example

SLOAD $str1

When $str1=”pallet.as”, loads content of file pallet.as.

SLOAD $str2

When $str2=”f3.pg”, loads contents of file f3.pg.

6-129

7. System Switches

CYCLE. STOP

㻌

Function㻌

Determines whether or not to continue repeating the execution cycle after an HOLD is

applied.

Explanation㻌

When this switch is OFF, the robot stops when the external HOLD signal is input, but

CYCLE START remains ON. Therefore, when the external HOLD signal is turned OFF,

the robot resumes program execution.

When this switch is ON, the robot stops when the external HOLD signal is input, and

CYCLE START is turned OFF. Therefore, even if the external HOLD is released, CYCLE

START remains OFF, so the robot does not resume program execution. To resume program

execution, follow regular program execution procedures (i.e. press

A

+

CYCLE START on teach pendant).

This switch has effect only on external HOLD and not when HOLD/RUN state is changed to

HOLD. If HOLD/RUN is changed to HOLD, robot stops, but CYCLE START remains ON,

regardless of the condition of this system switch. The robot resumes program execution

when HOLD/RUN is changed to RUN.

Default setting is OFF.

㻌

MESSAGES

㻌

Function㻌

Enables or disables the output of message on the terminal.

Explanation㻌

When this switch is ON, the messages are displayed on the terminal when the PRINT or

TYPE command is used. When this switch is OFF, messages are not displayed on the

terminal.

Default setting is ON.

7-5

7. System Switches

QTOOL

㻌

Function㻌

Enables or disables tool transformation during block teaching.

Explanation㻌

When this switch is ON, the following functions come into effect for the tool coordinates

being taught:

1. Automatic selection of the tool coordinates

(1) If the current step is taught in block teaching, the robot is moved according to the tool data

registered for the currently selected tool (1 - 9).

(2) If an AS language instruction is taught at the current step, the tool changes to the tool

specified by the button below. Therefore, when using only the tool taught by AS language,

turn this switch OFF.

(3)

(3) If nothing is taught yet in the current step, and the teach pendant is displaying the

auxiliary data screen, the robot is moved according to the tool coordinates registered as the

tool data for the tool (1 - 9) currently shown on screen.

(4) If nothing is taught yet in the current step and the teach pendant is not at the auxiliary data

screen, the tool coordinates remain unchanged.

2. The tool number currently effective is displayed in the status area, on the upper right corner

of the teach pendant screen.

The tool number is displayed here after “T”.

When this switch is OFF, the tool coordinates change when the TOOL command is executed,

or when the TOOL instruction or when a block instruction is executed within a program.

Default setting is ON.

7-7

7. System Switches

㻌

RPS

㻌

Function㻌

Enables or disables the random selection of programs (JMP, RPS).

Explanation㻌

When this switch is OFF, the EXTCALL instruction and JUMP/ END of the auxiliary data

are ignored.

Default setting is OFF.

㻌

SCREEN

㻌

Function㻌

Enables or disables scrolling of the screen.

Explanation㻌

If the switch is ON, the scrolling of the screen stops when the display is full. Press

Spacebar

to show the next page.

Default setting is ON.

7-8

7. System Switches

HOLD. STEP

Function㻌

Selects the step to display when the program execution is held.

Explanation㻌

When this switch is ON and program execution is held during execution of a non-motion step, the

step in the currently executed stepper is displayed instead of the motion instruction just completed.

For example in the situation below, if the switch is ON, the stepper step of SWAIT is displayed

(SWAIT can be skipped). If the switch is OFF, the motion step A is displayed.

Motion step A

×

(completed)

×

Subroutine without a motion instruction

×

SWAIT䊹Stepper

×

×

Default setting is OFF.

㻌

WS_COMPOFF

㻻㼜㼠㼕㼛㼚㻌

Function㻌

Changes the output condition of the welding signal (WS).

Explanation㻌

When this switch is ON, WS signal is output from the moment memory change occurs until

the welding complete signal is input.

When this switch is OFF, WS signal is output from the moment memory change occurs until

the next memory change.

Default setting is OFF.

7-19

7. System Switches

DEST_CIRINT

㻌

Function㻌

Determines the pose where the DEST/#DEST function returns on the circular trajectory

within the accuracy circle in Motion type 2.

Explanation㻌

The robot’s motion trajectory when moving in

Linear

linear interpolation motion along A→B→C in

Interpolated

motion type 2 will be as shown in the figure below.

motion

㻭’

This figure shows the example when the accuracy

setting at point B is 1 mm, 100 mm, 200 mm. The

robot starts to shortcut to the next path when as

soon as it enters the accuracy circle of the set

Circular arc

accuracy. The robot will follow a circular

㻮’㻌

Maximum shortcut:

trajectory within the accuracy circle. See also

half the distance of

“4.5.4 Relation between CP Switch and

next path

ACCURACY, ACCEL, DECEL”.

When DEST/#DEST functions are used in the following two timing, the returned pose can be

changed by setting this switch ON or OFF.

1. When the robot is between point A and the point starting circular motion

2. When the robot is following the circular trajectory (within the accuracy circle)

When this switch is ON, at accuracy setting of 200 mm, point A’ is returned at timing 1, and

point B’ is returned for timing 2.

When this switch is OFF, at accuracy setting of 200 mm, point B is returned at timing 1, and

point C is returned for timing 2.

Default setting is ON.

7-26

7. System Switches

PROG.DATE

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

Function㻌

Determines if the date of program modification is added to the program information or not.

Explanation㻌

When this switch is ON, an item selection button is displayed in the program list screen.

Pressing this button will display the total number of execution times and the program

modification date.

When this switch is OFF, the item selection button is not displayed on the program list screen.

The number of steps in the program and its comment are displayed instead of the program list.

Default setting is OFF.

INSERT_NO_CONFIRM

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

Function㻌

Selects whether confirmation message is displayed or not when insertion operation is done in

teach operation.

㻌

Explanation㻌

When this switch is ON, the confirmation message is not displayed when insertion operation

is done in teach operation.

When this switch is OFF, the confirmation message is displayed when insertion operation is

done in teach operation.

㻌

Default setting is OFF.

㻌

7-27

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