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Kawasaki Robot Controller E Series. Reference Manual (2015) - page 14

9. Functions

㻌

TASK㻌 (task number)㻌

㻌

Function㻌

Returns the execution status of the program specified by the task number.

Parameter㻌

Task number

1: Robot 1

2: Robot 2

1001: PC program 1

1004: PC program 4

1002: PC program 2

1005: PC program 5

1003: PC program 3

Explanation㻌

This function returns execution status of a program. For example, this function can be used to

monitor the execution status of a PC program from a robot control program. Then the condition

of robot operation can be set according to the status of the PC program.

The values returned by this function are:

0

Not in execution

1

Program running.

2

Program execution held.

Execution of the stepper completed; waiting for the

3

completion of robot motion.

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9. Functions

㻌

INRANGE (pose variable 1, joint displacement value variable)㻌

Function㻌

Checks if a pose is within the robot’s motion range and returns a value depending on the result of

this check (see the table below).

Parameter㻌

Pose variable 1

Specifies which pose to check.

(Joint displacement values, transformation values, or compound

transformation values).

Joint displacement value variable

Specify a pose defined by joint displacement values. This parameter is entered only when the

specified pose variable 1 is defined by transformation values or compound transformation values.

The robot configuration is calculated by the pose variable 2 defined by joint displacement values.

If not specified, the current configuration is used.

Explanation㻌

The values returned by this function are as follows:

0

Out of motion range.

1

JT1 is out of motion range.

2

JT2 is out of motion range.

4

JT3 is out of motion range.

8

JT4 is out of motion range.

16

JT5 is out of motion range.

32

JT6 is out of motion range.

16384

Beyond the collision check range.

32768

Out of reach of robot arm.

㻌

[ NOTE ]

㻌

This function checks if the pose is in the motion range but does not check

㻌

if the path to that pose is within the motion range.

㻌

Example㻌

IF INRANGE(pos1, #p) GOTO ERR STOP

:

ERR_STOP:

Jumps to label ERR_STOP if pose pos1 is out

TYPE "pose pos1is out of motion range.”

of motion range, displays the message, and

PAUSE

stops.

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9. Functions

ZROB.MGFNO

Returns the robot number.

opt1䈈Robot number (1 to number of robot). If not entered, 1 is assumed.

opt2: Not used.

ZROB.NOWAXIS

Returns the number of axis of the robot.

Opt1䈈Robot number (1 to number of robot).

If not entered, 1 is assumed.

Opt2: Not used.

SIG.DO

Returns the number of external output signal.

Opt1: Not used.

Opt2: Not used.

SIG.DI

Returns the number of external input signal.

Opt1: Not used.

Opt2: Not used.

SIG.INT

Returns the number of internal signal.

Opt1: Not used.

Opt2: Not used.

LANGUAGE

Returns the number of the language selected for display. The language numbers are as follows.

Japanese

1

English

2

Italian

3

Finnish

4

German

5

Chinese

6

Korean

7

Russian

8

Polish

9

Spanish

10

Dutch

11

Opt1: Not used.

Opt2: Not used.

MEM.FREE

Returns the size of the memory currently available in percentage.

Opt1: Not used.

Opt2: Not used.

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9. Functions

㻌

EXISTPGM

(“program name”)

Function

Checks if the specified program exists or not.

Parameter

“Program name”

Specifies program (or subroutine) name in form of string variable.

Explanation

If the specified program or subroutine exists, returns -1. If it does not exist, returns 0 (zero).

㻌

Example

ret=EXISTPGM(“pg1”)

If program pg1 exists, ret=-1. If not, ret=0.

EXISTLOCALJOINT㻌(“name of local joint displacement value variable” )㻌

Function

Checks if the specified local pose variable exists as variable defined by joint displacement values.

Parameter㻌

“Name of local joint displacement value variable”

Specifies the name of local joint displacement value variable in form of character string. The

variable name should be enclosed in quotations. Start the name with #. Error occurs if

variable other than local joint displacement value variable is specified.

Explanation㻌

If the variable exists, returns -1. If it does not exist, returns 0.

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9. Functions

[ NOTE ]

㻌 㻌

There are restrictions as described below when specifying array variables.

1. Specify the area of array elements. This cannot be omitted.

2. The minimum value is written to the left of the colon “:”㻌 and the largest values

is written to the right.

For example, if real variable r is a three-dimensional array and elements r[1,1,1],

r[1,1,2], and r[1,1,3] exist,

Check will result OK

r[1,1,1:3]

Check will result NG

r[1,1,1:]

䠗Area not specified

r[1,1,*]

䠗Area not specified

r[1,1,3:1]

䠗Area specified in wrong order

(from largest to smallest)

Example

ret=EXISTLOCALJOINT(“.#pos”)

If local joint displacement value variable #pos

exists, ret= -1. If not, ret=0.

The following shows a case where local joint displacement value variable #place is a

two-dimensional array from #place[1,1] to #place[1,5].

ret=EXISTLOCALJOINT(“.#place”)

.#place does not exist, so ret = 0.

ret=EXISTLOCALJOINT(“.#place[1,1]”)

.#place[1,1] exists, so ret=-1.

ret=EXISTLOCALJOINT(“.#place[1,1:5]”)

.#place[1,1] to .#place[1,5] exist, so ret=-1.

ret = EXISTLOCALJOINT(“.#place[1,1:6]”)

.#place[1,6] does not exist, so ret = 0.

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