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Kawasaki Robot Controller E Series. Reference Manual (2015) - page 15

9. Functions

FRAME (transformation value variable 1䠈transformation value variable 2䠈

transformation value variable 3䠈transformation value variable 4)

Function㻌

Returns the transformation values of the frame (relative) coordinates with respect to the base

coordinates. Note that only the translational components of transformation values of the pose

variables are used as positional information to determine the frame coordinates.

㻌

Parameter㻌

Transformation value variable1, transformation value variable 2

Specifies transformation value variables to determine the direction of the X axis. The X axis of

the frame coordinates is set so that it passes through these two poses. The positive direction of

the X axis is set in the direction from pose determined by transformation values variable 1 to pose

determined by transformation value variable 2.

Transformation value variable 3

Specifies a transformation value variable to determine the direction of the Y axis. The Y axis of

the frame coordinates is set so that the three points, pose1, pose 2, and pose 3, each determined by

transformation value variables 1, 2 and 3, are on the XY plane. Also, pose 3 is set so it has the

positive Y value.

Transformation value variable 4

Specifies a transformation value variable to specify the origin of the frame coordinates, which

equals the values of X,Y,Z returned by this function.

Explanation㻌

POINT F1=FRAME(O1, X1, Y1, O1)

Sets frame coordinates as in the diagram below.

z

y

z

Y1

F1

01

0

y

X1

x

Frame coordinates

(relative coordinates)

x Base coordinates

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9. Functions

If the poses in the frame coordinates are taught as F1+A, then only F1 needs reteaching if the

coordinates change, as when the parts station is moved.

(See 11.6 Relative Pose Using the

Frame Coordinates).

POINT F2=FRAME(O1, X1, Y1, O2)

Sets frame coordinates as shown in the

diagram below.

z

y

z

Y1

01

F1

X1

x

0

y

z

y

F2

x Base

Frame coordinates

coordinates

02

X

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9. Functions

[ NOTE ]

Pay attention to the following points when defining frame coordinates.

POINT F=FRAME(a1, a2, a3, a1)

a3

a1

a2

㻌

a1

a2

a3

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

Note that the Y and Z axes in the above two frame coordinates face opposite directions,

depending on where a3 is taught. Therefore, when a3 is taught close to the X axis (see

diagram below), the direction of the Z axis may not result in the desired direction, so always

check the frame coordinates before using the coordinates in any programs.

a3

a1

a2

(a3)

The three points a1, a2, a3 defines the position of the tool coordinates origin. When

redefining the frame coordinates, the tool transformation must be the same as when a1, a2, a3

were first taught.

For better accuracy, teach the three points a1, a2, a3 as far apart as possible. Especially, a3

should be a point near the Y axis but as far away from the X axis as possible.

When teaching a1, a2, a3, the origin of the tool coordinates should be defined at a point that

is easy to see, e.g. the tip of the tool, etc.

With some tools, it is difficult to determine the origin of the tool coordinates even when it has

been moved by tool transformation. In such case, a1, a2, a3 are taught at null tool, but note

that in this case, the origin of the tool coordinates is at the center of the flange surface.

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9. Functions

#PPOINT (jt1, jt2, jt3, jt4, jt5, jt6)

㻌

Function㻌

Returns the specified joint displacement values.

Parameter㻌

jt1

jt2

Specifies the value of each angle (in degrees for rotational joints)

jt3

:

If not specified, 0 is assumed.

jt6

Explanation㻌

This function returns the specified joint displacement values. The values represent the

displacement of each joint, from joint 1 to the last joint (not necessarily six).

[ NOTE ]

㻌

#PPOINT function is only processed in joint displacement values. Therefore,

always enter “#” at the beginning of the function.

㻌

Example㻌

In the program below, joints 2 and 3 of a six-joint robot are moved the specified amount from the

current pose.

㻌

HERE㻌 #ref

Stores the current pose in memory.(#ref)

DECOMPOSE x[0]=#ref

Decomposes each component into elements of

array variable x[0],……x[5].

JMOVE #PPOINT (X[0], x[1]+a, x[2]-a/2, x[3], x[4], x[5])

These two instructions result in the same pose as the program above, but unlike the program, the

two joints do not move at the same time.

DRIVE

2, a, 100

Move jt2 by a.

DRIVE 3, -a/2, 100

Move jt3 by  a/2.

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9. Functions

㻌

BASE

㻌

Function㻌

Returns the current base transformation values.

Example㻌

point a = BASE

Assigns to variable “a” the current base transformation values.

㻌

㻌

㻌

㻌

㻌

TOOL

㻌

Function㻌

Returns the current tool transformation values.

Example㻌

point aa = TOOL

Assigns to variable “aa” the current tool transformation values.

㻌

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9. Functions

CCENTER (transformation value variable1, transformation value variable 2,

transformation value variable 3, transformation value variable 4)

Option

Function㻌

Returns the center of the arc created by the three specified pose.

Parameter㻌

Transformation value variable 1, transformation value variable 2, transformation value variable 3

Specifies pose variables defined by transformation values to determine the three points on the arc.

Transformation value variable 4

Specifies the pose variable to determine the orientation of the robot.

㻌

㻌

CSHIFT (transformation value variable1, transformation value variable 2,

transformation value variable 3,

transformation value variable 4 BY shift amount)

Option

Function㻌

Returns the pose that was shifted the specified amount from the object pose.

Parameter㻌

Transformation value variables 1, 2, 3

Specifies transformation value variables to determine the three points on the arc.

Transformation value variables 4

Specifies a transformation value variable to specify the object pose in transformation values.

Shift amount

Specifies the amount to shift in real values.

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9. Functions

Kawasaki Robot AS Language Reference Manuals

ABS䠄real value䠅

SQRT(real value)

PI

SIN(real value)

COS(real value)

ATAN2(real value1, real value 2)

RANDOM

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9. Functions

Kawasaki Robot AS Language Reference Manuals

Keyword

Function

Example

ABS

Returns the absolute value of a numerical expression.

ABS(value)

SQRT

Returns the square root of a numerical expression.

SQRT(value)

PI

Returns the constant (3.1415……).

PI

SIN

Returns the sine value of a given angle.

SIN(value)

COS

Returns the cosine value of a given angle.

COS(value)

Returns the values of an angle (in degrees) whose tangent

ATAN2(v1,v2)

ATAN2

equals v1/v2.

RANDOM

Returns a random number from 0.0 to 1.0.

RANDOM

㻌

㻌

Example

x=ABS(y)

substitutes the value |y| into x

x=SQRT(y)

substitutes the square root of y into x

en=2PIr

substitutes the result of 2r into en

Z=(SIN(x)＾2)+(COS(y)＾2)

substitutes the result of (sin(x))²+(cos(y))² into z

slope=ATAN2(rise,run)

substitutes the result of tan^-1(rise/run) into slope

r=RANDOM10

substitutes a random number from 0 to 10 into r

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9. Functions

$LEFT (string, number of characters)

Function㻌

Returns the specified number of characters starting from the leftmost character of the specified

string.

Parameter㻌

String

Character string, string variable, or string expression.

Number of characters

Specifies how many characters to return counting from the leftmost (or first) character of the

entered string. If 0 or a negative number is specified, blank is returned. If the number

specified is larger than the number of characters in the string, the whole string is returned.

㻌

Example㻌

$LEFT (“abcdefgh”,3)

Returns the string “abc”.

$LEFT (“*1*2*3*4*5”,15)

Returns “*1*2*3*4*5” ( the whole string).

㻌

$RIGHT (string, number of characters)㻌

㻌

Function㻌

Returns the specified number of characters starting from the rightmost character of the specified

string.

Parameter㻌

String

Character string, string variable, or string expression.

Number of characters

Specifies how many characters to return counting from the rightmost (or last) character of the

entered string. If 0 or a negative number is specified, blank is returned. If the number

specified is larger than the number of characters in the string, the whole string is returned.

Example㻌

$RIGHT(“abcdefgh”,3)

㻌 Returns the string “fgh”.

㻌

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9. Functions

㻌

$DECODE (string variable, separator character, mode)㻌

㻌

Function㻌

Returns the string separated by “separator characters”.

Parameter㻌

String variable

Specifies the string from where the characters are taken. Characters extracted as a result of this

function are removed from this string.

Separator character

Specifies the character to read as separator. (Any character in the string can be specified as

separator).

Mode

Specifies the real number for operation done by this function.

If the mode is a negative number or 0, or if it is not specified, the characters starting from the first

character in the string variable to the separator are returned. The returned string is removed

from the string variable. If a positive number specifies the mode, the first separator that appears

in the string is returned. The returned separator is removed from the value of the string variable.

If more than one separator characters exists in the string consecutively, all the separator characters

are returned and removed from the string variable.

Explanation㻌

This function searches the specified string for the separator character and extracts the characters

from the beginning of the string to the separator. The extracted characters are returned as the

result of the function, and at the same time they are removed from the original string.

The string returned as the result of the function (string removed from the original string) could be

either the characters before the separator or the separator itself.

[ NOTE ]

This function changes the original string at the same time it returns the characters.

The separator character is not case-sensitive.

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9. Functions

㻌

$ERRORS

(“error code”)㻌

㻌

Function㻌

Returns the error message for the specified error code. The error code is returned as a character

string with the error message.

Parameter㻌

Error code

Specifies the error code in the following format: Pxxxx, Wxxxx, Exxxx, or Dxxxx.

㻌

㻌

㻌

㻌

㻌

㻌

㻌

$ERROR

(error number)㻌

㻌

Function㻌

Returns the error message for the specified error code.

Parameter㻌

Error number

Specifies the error number by a negative number (starting with ).

The error codes are

converted into negative error numbers as shown below:

Dxxxx

:

4xxxx

Exxxx

:

3xxxx

Wxxxx :

2xxxx

Pxxxx

:

1xxxx

㻌

㻌

㻌

㻌

㻌

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