Kawasaki Robot Controller E Series. Reference Manual (2015)

Appendix 4 Error Message List

Code

Error Message

E5056

No Initialization Weld board.

E5057

Initialization failure in Initialization Weld board.

E5058

Welder(DENGEN COMPANY) not connected. (welder XX)

E5059

Welder(DENGEN COMPANY) response error. (welder XX)

E5060

Initialization Weld board protected. (welder XX)

E5061

Welder(DENGEN COMPANY) data process not execute. (welder XX)

E5062

Welder(DENGEN COMPANY) data process error.(welder XX)

E5063

Weld error has arisen. (CodeXX)

E5064

Welder(DENGEN COMPANY) of weld was aborted. (welder XX)

E5065

Welder(DENGEN COMPANY) error has arisen. (welder XX)

E5066

Waiting weld completion time out.(welder XX)

E5067

Magnet control is abnormal.(welder XX)

E5500

Vision board is not installed.

E5501

(Vision)Camera not connected.

E5502

(Vision)Incorrect parameter.

E5503

(Vision)Incorrect Symbol.

E5504

(Vision)Incorrect name.

E5505

(Vision)Incorrect image memory.

E5506

(Vision)Incorrect histogram data.

E5507

(Vision)Incorrect mode.

E5508

(Vision)Incorrect density(/color).

E5509

(Vision)Incorrect camera input assignment.

E5510

(Vision)Incorrect camera ch.number.

E5511

(Vision)Incorrect Window No.

E5512

(Vision)Incorrect coordinates data.

E5513

(Vision)Incorrect number.

E5514

(Vision)Incorrect image code(binary/multi).

E5515

(Vision)Incorrect threshold.

E5516

(Vision)PROTO(/TEMPLATE) not registered or already exists.

E5517

(Vision)Cal. data not registered.

E5518

(Vision)Graphic cursor is not initialized.

E5519

(Vision)Too many samples from PROTO object.

E5520

(Vision)Too many targets detected.

E5521

(Vision)Vision command not initiated.

E5522

(Vision)System registered with abnormal data.

E5523

(Vision)Error in processing image(s).

E5524

(Vision)Sound port assigned another function.

A4-30

Appendix 4 Error Message List

Code

Error Message

E5525

(Vision)Lack of data storage area.

E5526

(Vision)Incorrect synch. mode.

E5527

(Vision)Vision processing now.

E5528

(Vision)Image capture error.

E5529

(Vision)Time out or Buffer overflow.

E5530

(Vision)Failed to write on flash memory.

E5531

(Vision)Proto data abnormal, so initialized.

E5532

(Vision)Work detection failure.

E5533

(Vision)Initialization error. Code = XX

E5534

(Vision)Vision system error.

E5535

(Vision)Specified motion mode is incorrect.

E5536

(Vision)Inappropriate camera/projector parameters.

E5537

(Vision)Incorrect camera switch assignment.

E5538

(Vision)This plane is assigned to another camera.

E5539

(Vision)Edge was not found.

E5540

(Vision)Inappropriate HSI data.

E5541

(Vision)H data range width is over 128.

E5542

(Vision)Distance image input unit not set for camera.

E5543

(Vision)Cannot calculate the set edge points.

E5544

(Vision)Check color conversion table type in set config.

E5545

(Vision)Incorrect area size.

E5546

(Vision)Slit image does not exist.

E5547

(Vision)Incorrect no. of correlation vectors.

E5548

(Vision)Inappropriate vector data.

E5549

(Vision)X-Fit environment was not set.

E5550

(Vision)Mouse is not initialized.

E5551

(Vision)Camera switcher board is not installed.

E6000

Explosion proof teach pendant is not connected.

E6001

Step after XD(2)START must be LMOVE or HMOVE.

E6002

Signal condition already input.

E6003

Door open detect signal is not dedicated.

E6004

Location data was not detected.

E6005

Incorrect setting of barrier unit.

E6006

Signal not detected.

E6007

Wrist can't be straightened any more (Singular point 1).

E6008

Wrist can't be bent any more (Singular point 2).

E6009

Purge air flow is insufficient.

A4-31

Appendix 4 Error Message List

Code

Error Message

E6010

Out of XYZ MOVING AREA LIMIT.

E6011

Pressure within enclosure is low.

E6012

Relative distance between guns is too near (ID:XX).

E6013

No free memory in program queue.

E6014

No free memory in delayed start queue.

E6015

Special signal is not specialized.

E6016

Robot arm stretching out (Singular Point 3).

E6017

Out of mechanical XYZ motion limits.

E6018

Painting equipment control board error. (CodeXX)

E6019

Painting equipment control board is not installed.

E6020

Monitoring Robot ID is duplicate.

E6021

(Mutual-Wait)There is no response from the other party robot.

E6022

Duplicate Mutual-Wait IDs.

E6023

(Mutual-Wait)Communication error in Mutual-Wait.

E6024

Wrist can't bend any further left/right (Singular Point 1).

E6025

(Conveyer synchronous communications)It is a conveyer position reception error.

E6026

Guns are too near in X direction. (ID:XX)

E6027

Guns are too near in Y direction. (ID:XX)

E6028

Guns are too near in Z direction. (ID:XX)

E6029

[Servo boardXX]Mismatch in internal pressure of safety relay.

E6030

[Servo boardXX]Pressure within enclosure is low.

E6031

Monitoring Robot ID is invalid.

E6032

[Purge control board]Pressure within enclosure is low.

E6033

Painting equipment control process error. (CodeXX)

E6034

Cartridge table rotate command is abnormal.

E6500

No welding Interface board.

E6501

No.2 welding Interface board not found.

E6502

Arc failure.

E6503

Wire stuck.

E6504

Arc start failure.

E6505

Arc weld insulation defect.

E6506

Torch interference.

E6507

Illegal interpolation data.

E6508

No D/A board for polarity ratio control.

E6509

No work detected.

E6510

Undefined sensing direction.

E6511

Insufficient num. of sensing points.

A4-32

Appendix 4 Error Message List

Code

Error Message

E6512

Undefined mother or daughter work.

E6513

Too many sensing points.

E6514

Work specification incorrect.

E6515

Incorrect sensing point specified.

E6516

Wire check failure.

E6517

Incorrect weld condition number.

E6518

No weld condition data set.

E6519

Weld condition data is out of range.

E6520

Laser sensor tracking value exceeded.

E6521

Beyond Laser sensor tracking ability.

E6522

Laser sensor cannot detect welding joint.

E6523

Calibration data between torch and camera is not ready.

E6524

Error in data calculated using Laser sensor.

E6525

Cannot detect weld joint, Laser sensor tracking set already.

E6526

No response from Laser sensor controller.

E6527

Laser sensor communication error. Code is XX.

E6528

Start point not found by Laser sensor.

E6529

Finish point not found by Laser sensor.

E6530

Cannot use circular interp. with Laser sensor function.

E6531

Cannot turn Laser ON because motor power is OFF.

E6532

No communication board to Laser sensor.

E6533

No RTPM board.

E6534

Too many taught points for RTPM.

E6535

RTPM arc sensor error.

E6536

RTPM current deviation error.

E6537

RTPM tracking value is out of range.

E6538

Beyond RTPM tracking ability.

E6539

AVC tracking value is out of range.

E6540

Beyond AVC tracking ability.

E6541

No AVC board.

E6542

AVC voltage deviation error.

E6543

Too many taught points for AVC.

E6544

Hyper Arc tracking value is out of range.

E6545

Beyond Hyper Arc tracking ability.

E6546

Bead end is not found.

E6547

Finish end is not found.

E6548

Hyper Arc revolution beyond normal deviation.

A4-33

Appendix 4 Error Message List

Code

Error Message

E6549

Hyper Arc torch calibration error.

E6550

Hyper Arc Z phase index error.

E6551

No Hyper Arc board.

E6552

Hyper Arc board error. Code is XX.

E6553

Hyper Arc current sensor error.

E6554

Hyper Arc voltage sensor error.

E6555

Hyper Arc current deviation error.

E6556

Hyper Arc amplifier error. Code is XX.

E6557

No Wire feeding Control board.

E6558

Wire feeding control error, code is XX.

E6559

Wire feeding speed deviation error.

E6560

Cannot re-calibrate weld in progress.

E6561

Cannot weld, re-calibration in progress.

E6562

Electric pole stuck.

E6563

KHITS tracking system error. (Code = XX)

E6564

The arc weld instruction sequence is incorrect.

E6565

Arc welding Interface board(1LN) is not installed.(robot XX)

E6566

FN instructions not executed in the correct order.

E6567

KLS tracking system error.(Code=XX)

E6568

Failed in executing command to tracking system.(cmd=XX)

E6569

Taught data exceeds inclination limit for compensation.

E6570

Cannot execute because welding now.

E6571

Cannot execute because wire inching/retracting now.

E6572

Teach point for circular motion is missing.

E6573

The welding machine is abnormal.(Code=XX)

E6574

Sensing of groove: cannot detect edge.

E6575

Sensing of groove: gap error.

E6576

Welder is not ready for operation. (Code=XX)

E6577

Deviation is too large.Reset allows non-correction movement.

E6578

Sensing was interrupted due to power OFF. Restore step and retry.

E6579

KI instructions not executed in the correct order.

E7000

Servo weld gun disconnected.

E7001

Location data includes released gun status data.

E7002

Destination is far from target point.

E7003

The clearance distance of gunXX is set to 0mm.

E7004

Gun tip wear change over the limit. (MOVING SIDE)

E7005

Gun tip wear change over the limit. (FIXED SIDE)

A4-34

Appendix 4 Error Message List

Code

Error Message

E7006

Clamp number or gun number is not servo weld gun.

E7007

Cannot change tip base data in 1 Stg. because tip wear rate is not set.

E7008

Independent Gun control is not completed.

E7009

Current limit for servo welding gun is abnormal.

E7500

JtXX Collision is detected.

E7501

JtXX Unexpected shock is detected.

E7502

AC Fail Process Error = XX

E7503

POWER SEQUENCE setting data incorrect.

E7504

Angle between JtXX is out of range at start location.

E7505

Angle between JtXX is out of range at end location.

E7506

Angle between JtXX is out of range.

E7507

SC1MOVE or SC2MOVE instruction is required after SC1MOVE.

E7508

SC1MOVE instruction is required before SC2MOVE.

E7509

Cannot execute, interpolation conditions are not fulfilled.

E7510

Cannot move with current posture.

E7511

Brake control bit number is duplicated.

E7512

L3C1MOVE or L3C2MOVE instruction is required after L3C1MOVE.

E7513

L3C1MOVE instruction is required before L3C2MOVE.

E7514

Specified parameter is not consistent.

E8200

Not in cooperative mode.

E8201

Unmatch the total of motion instruction in cooperative mode.

E8202

Unmatch step of motion instruction in cooperative mode.

E8203

Cannot use this instruction in cooperative mode.

E8204

Invalid cooperative group No.

E8205

No JMASTER robot.

E8206

TouchSensing in Cooperative mode is no supported.

E8207

JMASTER robot already exists.

E8208

WSLAVE robot already exists.

E8209

Fixed Point Motion in Cooperative mode is no supported.

E8210

No WSLAVE robot.

E8211

Out of sync.

E8212

Cannot continue non-cooperative instruction in cooperative mode.

E8213

No MASTER robot.

E8214

No SLAVE robot.

E8400

Servohand opened in clamp ON step.(CLAMP=XX)

E8401

Clamping position of servo Hand is error.(CLAMP=XX)

E8402

Cannot achieve set force of JtXX.

A4-35

Appendix 4 Error Message List

Code

Error Message

E8403

NC Joints lock signal not off.

E8404

Interpolation other than joint int. is unavailable.

E8405

It tries to move the Matehan axis with the axis locked.

E8600

䠄FSJ)Processing condition error.XX

E8601

Gap was over the lower pos. limit.

E8602

Reached the Penetration depth within min.processing time.

E8603

It could not reach the set Penetration depth within the appointed period.

E8604

Pressure cable disconnected.

E8605

Please input two set pressure or more.

E8606

Please input data in ascending order.

E8607

FSJ COUNTER ALARM.XX

E8608

(FSJ)FSJ schedule setting data is abnormal.

E8609

Setting tip force is over limit.

E8610

Setting rotation speed is over limit.

E8611

FSW Logging buffer is full.

E8800

Command value almost exceeds virtual safety fence.(SphereXX, LineXX)

E8801

Command value almost exceeds virtual safety fence.(SphereXX, ZUpper)

E8802

Command value almost exceeds virtual safety fence.(SphereXX, ZLower)

E8803

Command value almost invades restricted space.(SphereXX, Part.XX LineXX)

E8804

Command value almost invades restricted space.(SphereXX, Part.XX ZUpper)

E8805

Command value almost invades restricted space.(SphereXX, Part.XX ZLower)

E8806

Command value almost exceeds virtual safety fence.(ToolBox, LineXX)

E8807

Command value almost exceeds virtual safety fence.(ToolBox, ZUpper)

E8808

Command value almost exceeds virtual safety fence.(ToolBox, ZUpper)

E8809

Command value almost invades restricted space.(ToolBox, Part.XX)

E8810

Command value almost exceeds virtual safety fence.(LinkXX, LineXX)

E8811

Command value almost exceeds virtual safety fence.(LinkXX, ZUpper)

E8812

Command value almost exceeds virtual safety fence.(LinkXX, ZLower)

E8813

Command value almost invades restricted space.(LinkXX, Part.XX LineXX)

E8814

Command value almost invades restricted space.(LinkXX, Part.XX ZUpper)

E8815

Command value almost invades restricted space.(LinkXX, Part.XX ZLower)

E8820

Current value exceeded virtual safety fence.(SphereXX, LineXX)

E8821

Current value exceeded virtual safety fence.(SphereXX, ZUpper)

E8822

Current value exceeded virtual safety fence.(SphereXX, ZLower)

E8823

Current value invaded restricted space.(SphereXX, Part.XX LineXX)

E8824

Current value invaded restricted space.(SphereXX, Part.XX ZUpper)

E8825

Current value invaded restricted space.(SphereXX, Part.XX ZLower)

E8826

Current value exceeded virtual safety fence.(ToolBox, LineXX)

E8827

Current value exceeded virtual safety fence.(ToolBox, ZUpper)

A4-36

Appendix 4 Error Message List

Code

Error Message

E8828

Current value exceeded virtual safety fence.(ToolBox, ZLower)

E8829

Current value invaded restricted space.(ToolBox, Part.XX)

E8830

Current value exceeded virtual safety fence.(LinkXX, LineXX)

E8831

Current value exceeded virtual safety fence.(LinkXX, ZUpper)

E8832

Current value exceeded virtual safety fence.(LinkXX, ZLower)

E8833

Current value invaded restricted space.(LinkXX, Part.XX LineXX)

E8834

Current value invaded restricted space.(LinkXX, Part.XX ZUpper)

E8835

Current value invaded restricted space.(LinkXX, Part.XX ZLower)

E8850

Disabled robot motion.

E8851

Detected area interference.

E8852

Detected arm interference.(XX, XX)

E8853

Failed to predict trajectory.

E8854

Detected near miss.(XX, XX)

E8855

No response from interference check board.

E8856

Communication error between interference check board and ARM CONTROL

board.

E8857

The number of robots is too many.

E8858

[INTERFERENCE CHECK BOARD]Processing time-out.

E8859

[INTERFERENCE CHECK BOARD]Can not receive data from ARM CTRL

BOARD.

E8860

[ARM CTRL BOARD]Cannot receive data from INTERFERENCE CHECK

BOARD.

E8861

Communication error between IL server and ARM CONTROL board.

E8862

Cable disconnected between IL server and ARM CONTROL board.

E8900

Detected torque for load presence is abnormal.

E8901

Detected torque for load absence is abnormal.

E8902

Stopped because motion limitation signal was input.

E9000

Joystick of JtXX is disconnected.

E9100

RSC)Watchdog timer overflow.

E9101

RSC)Overvoltage error. (3.3V)

E9102

RSC)Overvoltage error. (5V)

E9103

RSC)Internal processing time time-out.

E9104

RSC)RSC error occurred.(Code:54)

E9105

RSC)Robot number transmission, interprocessor communication error.

E9106

RSC)RSC operation status, interprocessor communication error.

E9107

RSC)I/O output, interprocessor communication error.

E9108

RSC)I/O check, interprocessor communication error.

E9109

RSC)Schedule management, timer synchronization error.

A4-37

Appendix 4 Error Message List

Code

Error Message

E9110

RSC)Main module, interprocessor communication error.

E9111

RSC)Operation part, interprocessor communication error.

E9112

RSC)Tool number input, interprocessor communication error.

E9113

RSC)I/O Port filtering, interprocessor communication error.

E9114

RSC)Robot diagnosis, interprocessor communication error.

E9115

RSC)RSC error occurred.(Code:5F)

E9116

RSC)Ethernet chip writing error.

E9117

RSC)Ethernet chip System. Open failure.

E9118

RSC)RSC error occurred.(Code:62)

E9119

RSC)RSC error occurred.(Code:63)

E9120

RSC)RSC error occurred.(Code:64)

E9121

RSC)Error log addition error.

E9122

RSC)Error log acquisition error.

E9123

RSC)Error log overwrite error.

E9124

RSC)RSC error occurred.(Code:68)

E9125

RSC)RSC error occurred.(Code:69)

E9126

RSC)Current time initialization error.

E9127

RSC)Current time acquisition error.

E9128

RSC)Current time set point error.

E9129

RSC)RSC error occurred.(Code:6D)

E9130

RSC)RSC error occurred.(Code:6E)

E9131

RSC)RSC error occurred.(Code:6F)

E9132

RSC)CPU error.

E9133

RSC)Memory error.

E9134

RSC)CPU status exchange failure.

E9135

RSC)Firmware CRC error.

E9136

RSC)RSC parameter CRC error.

E9137

RSC)RSC error occurred.(Code:75)

E9138

RSC)Mac address CRC error.

E9139

RSC)Initialization failure in "power down backup".

E9140

RSC)RSC error occurred.(Code:78)

E9141

RSC)RSC error occurred.(Code:79)

E9142

RSC)Power-source monitoring process error.

E9143

RSC)Pulse check error.

E9144

RSC)Readback error.

E9145

RSC)Relay contact check error.

E9146

RSC)Crosscheck error.

A4-38

Appendix 4 Error Message List

Code

Error Message

E9147

RSC)Input mismatching check error.

E9148

RSC)First-time encoder data receiving time-out.

E9149

RSC)FPGA operation error.

E9150

RSC)RSC error occurred.(Code:82)

E9151

RSC)RSC error occurred.(Code:83)

E9152

RSC)RSC error occurred.(Code:84)

E9153

RSC)RSC error occurred.(Code:85)

E9154

RSC)RSC error occurred.(Code:86)

E9155

RSC)Command value axes number error.

E9156

RSC)parameter error.(axes number / tool number)

E9157

RSC)"Command value input section" CRC error.

E9158

RSC)Robot number transmitting failure.

E9159

RSC)First command value receive time out.

E9160

RSC)USB communication impossible.

E9161

RSC)command value byte-number corruption.

E9162

RSC)USB Device recognition time-out.

E9163

RSC)command value receive time out.

E9164

RSC)RSC error occurred.(Code:90)

E9165

RSC)RSC error occurred.(Code:91)

E9166

RSC)RSC parameter read failure.

E9167

RSC)Robot number error.

E9168

RSC)Encoder data movement error.

E9169

RSC)Parameter and RC zeroing data mismatch.

E9170

RSC)TCP Communication Retry count over.

E9171

RSC)Rotary switch number error.

E9172

RSC)RSC error occurred.(Code:98)

E9173

RSC)RSC error occurred.(Code:99)

E9174

RSC)Parameter setting range over error.

E9175

RSC)Monitoring area parameter setting error.

E9176

RSC)Parameter error at TOOL monitoring invalid.

E9177

RSC)Operation part internal error.

E9178

RSC)RSC error occurred.(Code:9E)

E9179

RSC)RSC error occurred.(Code:9F)

E9180

RSC)Safety speed over.(TCP)

E9181

RSC)Speed over.(flange point)

E9182

RSC)Axis upper limit over.

E9183

RSC)Axis lower limit over.

A4-39

Appendix 4 Error Message List

Code

Error Message

E9184

RSC)Outside of a SSL area limit.(partial restricted area)

E9185

RSC)Outside of a SSL area limit.(restriction area)

E9186

RSC)Outside of a SSF area limit.

E9187

RSC)Positioning confirmation processing error.

E9188

RSC)TOOL verification error.

E9189

RSC)Distance error between flanges.

E9190

RSC)RSC error occurred.(Code:EA)

E9191

RSC)RSC error occurred.(Code:EB)

E9192

RSC)RSC error occurred.(Code:EC)

E9193

RSC)RSC error occurred.(Code:EE)

E9194

RSC)RSC error occurred.(Code:EE)

E9195

RSC)RSC error occurred.(Code:EF)

E9196

RSC)RSC error occurred.(Code:F0)

E9197

RSC)RSC error occurred.(Code:F1)

E9198

RSC)RSC error occurred.(Code:F2)

E9199

RSC)RSC error occurred.(Code:F3)

E9200

RSC)RSC error occurred.(Code:F4)

E9201

RSC)RSC error occurred.(Code:F5)

E9202

RSC)RSC error occurred.(Code:F6)

E9203

RSC)RSC error occurred.(Code:F7)

E9204

RSC)RSC error occurred.(Code:F8)

E9205

RSC)RSC error occurred.(Code:F9)

E9206

RSC)Encoder receiving timeout error.

E9207

RSC)Encoder receiving timeout error 2.

E9208

RSC)Encoder status error.

E9209

RSC)Encoder data reading Retry count over.

E9210

RSC)RSC error occurred.(Code:FE)

E9211

RSC)RSC error occurred.(Code:FF)

E9300

Cannot rotate JtXX. Because disconnected axis.

E9301

Cannot rotate JtXX. Because invalid axis.

E9302

Rotation speed setting for JtXX is abnormal.

D0001

CPU error.(PC=XX)

D0002

Main CPU BUS error.(PC=XX)

D0003

VME BUS error.(PC=XX)

D0004

[ARM CONTROL BOARD]CPU error.(PC=XX)

D0005

[ARM CONTROL BOARD] CPU BUS error.(PC=XX)

A4-40

Appendix 4 Error Message List

Code

Error Message

D0006

[ARM CONTROL BOARD]Servo control software CPU error.

(PC=XX,

CodeXX)

D0007

[Servo boardXX]CPU error. (CodeXX)

D0008

[Servo boardXX]Floating point exception. (CodeXX)

D0009

[Servo boardXX]CPU exception. (PC=XX)

D0900

Teach data is broken.

D0901

AS Flash memory sum check error.

D0902

Servo Flash memory sum check error.

D0903

IP board memory error. (XX)

D0904

Memory is locked due to AC_FAIL.

D1000

Read error of servo control software.

D1001

Download error of servo control software.

D1002

Init. error of servo software.

D1003

Init. error of servo control software.

D1004

[ARM CTRL BOARD]Watch dog error of Servo control software.

D1005

Servo board command error. (XX)

D1006

Servo system error.

D1007

Regenerative time over. [XX]

D1008

P-N low voltage. [XX]

D1009

P-N high voltage. [XX]

D1010

Regenerative resistor overheat. [XX]

D1011

As or servo software is not compatible with the robot model.

D1012

Servo type mismatch. Check the settings.

D1013

P-N capacitor is not discharged.

D1014

Servo system error.(Code=XX)

D1015

The servo data file does not exist.

D1016

Data applicable to the robot model not in servo data file.

D1017

Error of download of servo data.

D1018

Servo software version mismatch.

D1019

[ARM CONTROL BOARD]Watchdog error in timer built-in CPU for servo

control.

D1020

[ARM CONTROL BOARD]Synchronous error between CPUs.

D1021

Servo FPGA configuration data not found.

D1022

Configuration error in servo FPGA.(CodeXX)

D1023

Current mismatch betw. m-plexer&software. JtXX

D1024

[ARM CONTROL BOARD]Servo FPGA detected Watch dog error on ARMSC

Software.

D1025

[Servo boardXX]Detected Watch dog error.(Servo FPGA)

A4-41

Appendix 4 Error Message List

Code

Error Message

D1026

[Servo boardXX]Input abnormal signal from power sequence board.

D1027

[MCXX]Detected Watch dog error.

D1028

[Servo boardXX]DC is abnormal.(Servo FPGA)

D1029

[Servo boardXX]AC primary power is abnormal.(Servo FPGA)

D1030

Cannot start communication with the servo boardXX.

D1031

Read error of servo software.

D1032

[Servo boardXX]Download error of servo software.(CodeXX)

D1033

Connection Port No(XX) and Servo board No(XX) mismatch.

D1034

The servo data file is missing or not acceptable.(CodeXX)

D1035

[Servo boardXX]Init. error of servo software.(CodeXX)

D1036

[Servo boardXX]Download error of servo data.(CodeXX)

D1037

[Servo boardXX]Configuration error in servo FPGA.(CodeXX)

D1038

[Servo boardXX]Upload error of servo software initial data.(CodeXX)

D1039

[Servo boardXX]Download error of servo software initial data.(CodeXX)

D1040

[Servo boardXX]Device check error. (CodeXX)

D1041

JtXX axis brake release circuit is abnormal.

D1500

Encoder misread error. JtXX

D1501

Defective gun changer connection or encoder comm. error.

D1502

Amp overcurrent. JtXX

D1503

Current detector type (XX) mismatch!

D1504

Abn. curr feedback JtXX. (Amp fail, pwr harness disconnect)

D1505

Motor harness disconnected or amplifier overheated.(XX)

D1506

Power module error. JtXX

D1507

AC primary power OFF.

D1508

24VDC power source is too low.

D1509

Primary power source is too high.

D1510

Primary power source is too low.

D1511

+12VDC or -12VDC is abnormal.

D1512

Brake line error for JtXX.

D1513

Brake power is abnormal.(XX)

D1514

I/O 24V fuse is open.

D1515

Mismatch in setting of safety circuit as single/double.

D1516

Mismatch betw hard/software settings for HOLD backup time.

D1517

Blown fuse on safety circuit emergency line.

D1518

Mismatch in the Emer. Stop condition on safety circuit.

D1519

Mismatch in safety circuit LS conditions.

D1520

Mismatch in safety circuit TEACH/REPEAT condition.

A4-42

Appendix 4 Error Message List

Code

Error Message

D1521

Mismatch in safety circuit safety-fence condition.

D1522

Mismatch in cond. of safety circuit enabling device.

D1523

Mismatch in cond. of safety circuit ext.enabling device.

D1524

Incorrect operation of the safety relay.

D1525

Incorrect operation of MC(K1).

D1526

Incorrect operation of MC(K2).

D1527

Incorrect operation of MC(K3).

D1528

Controller temperature is out of range.

D1529

Signal harness disconnected or encoder power error.

D1530

Abnormal current limit of JtXX.

D1531

Heat sink on power block overheated.

D1532

(SSCNET)EnCoder communication error.(JtXX)(CodeXX)

D1533

(SSCNET)Absolute position of JtXX is erased.(CodeXX)

D1534

(SSCNET)Parameter error of JtXX.(CodeXX)

D1535

(SSCNET)Alarm of JtXX.(CodeXX)

D1536

JtXX does not move normally.

D1537

Brake rectifier relay failure.

D1538

DC 24V is abnormal.

D1539

Power supply circuit for PWM signal output malfunctioned.

D1540

Amplifier overheats.(XX)

D1541

Encoder type set in software and arm control board mismatch.

D1542

No Rotation data from multidrop encoder at initialize.

D1543

[Servo boardXX]DC 5V is abnormal.

D1544

[Servo boardXX]DC 3.3V is abnormal.

D1545

[Servo boardXX]DC 12V is abnormal.

D1546

[Servo boardXX]DC 2.5V is abnormal.

D1547

[Servo boardXX]DC 1.2V is abnormal.

D1548

[Servo boardXX]DC 1.0V is abnormal.

D1549

[Servo boardXX]Primary power source is too low.

D1550

[Servo boardXX]Primary power source is too high.

D1551

[Servo boardXX]AC primary power OFF.

D1552

[MCXX]DC 3.3V is abnormal.

D1553

[MCXX]DC 5V is abnormal.

D1554

Brake power in servo amplifiers abnormal.

D1555

Amplifier temperature is out of range or regenerative resistor overheats.

D1556

Control power in servo amplifier is abnormal.

D1557

[Power sequence board]DC 3.3V is abnormal.

A4-43

Appendix 4 Error Message List

Code

Error Message

D1558

[Power sequence board]DC 5V is abnormal.

D1559

[Power sequence board]DC 12V is abnormal.

D1560

[Power sequence board]DC 24V is abnormal.

D1561

[Power sequence board]AC primary power OFF.

D1562

[Power sequence board]AC primary power voltage is too high.

D1563

[Power sequence board]AC primary power voltage is too low.

D1564

[Power sequence board]Remote power off signal was detected.

D1565

Cannot access power sequence board.(CodeXX)

D1566

P-N capacitor has not discharged.(Servo boardXX)(MCXX)

D1567

[Servo boardXX]Primary Power source is error.

D1568

[Servo boardXX]Power supply circuit for PWM signal output malfunctioned.

D1569

Servo amplifier is abnormal.(XX)

D2000

No response from Comm. board for Laser sensor.

D2001

RI/O or C-NET board initialize error.

D2002

No response from the Arm ID board.

D2003

No data in the Arm ID board.

D2004

Mismatch data in the Arm ID board.

D2005

CC-LINK software version mismatch.

D2006

Watch dog error on communication board for Explosion proof TP.

D2007

No response from the built-in sequence board.

D2008

Magnet is Contactor of groupXX is stuck.

D2009

Sensor for detecting pressure in enclosure is abnormal.

D2010

Sync. error between User I/F and Arm control board.

D2011

Parameter download error betw User I/F & Arm control boards.

D2012

Soft Absorber error. Turn OFF & ON the control power.

D2013

Change gain error. Turn OFF & ON the control power.

D2014

Robot network initialize error.

D2016

No response from the Arm control board.

D2017

No response from User I/F board.

D2018

[ARM CTRL BOARD]No response.

D2019

[ARM CTRL BOARD]Servo software no response.

D2020

[ARM CTRL BOARD]Servo control software no response.

D2021

Arm data file is not found.

D2022

Arm data is not found.

D2023

Failed to load arm data.

D2024

[ARM CTRL BOARD]Robot type setting failed.

D2025

Robot codes set in software and Arm ctrl board do not match.

A4-44

Appendix 4 Error Message List

Code

Error Message

D2026

Codes set in software & curr. sensor I/F b'd do not match.

D2027

Codes set in software and power block do not match.

D2028

(SSCNET) Initialization error. (CodeXX)

D2029

Motor codes in software & Arm control b'd mismatch.(Jt-A)

D2030

Codes set in software & curr. sensor I/F b'd mismatch.(Jt-A)

D2031

Codes set in software and on add'l pwr block mismatch.(Jt-A)

D2032

Motor codes set in software and Arm ctrl b'd mismatch.(Jt-B)

D2033

Codes set in software & curr. sensor I/F b'd mismatch.(Jt-B)

D2034

Codes set in software and on add'l pwr block mismatch.(Jt-B)

D2035

Program execution error.

D2036

(SSCNET)System error occurred in 1LP I/F board. (CodeXX)

D2037

Safety unit circuit is abnormal.

D2038

(SSCNET)Interface board is not installed.

D2039

(SSCNET)Communication error of JtXX on initialization.

D2040

(SSCNET)Initialization error of JtXX.(CodeXX)

D2041

Connection of the signal harness is wrong.

D2042

Servo amp and robot arm are mismatched.

D2043

Arm I/F board detects AC-Fail.

D2044

[ARM CONTROL BOARD]No response from Servo FPGA software.

D2045

[ARM CONTROL BOARD]Device check error. (CodeXX)

D2046

Relay error on purge control board. (relay XX)

D2047

Jumper setting error or Safety relay failure on Servo CPU board.

D2048

DC 12V Voltage source error on purge control board.

D2049

Over current error in interlock relay drive circuit(1) for purge control board.

D2050

Over current error in interlock relay drive circuit(2) for purge control board.

D2051

Communication error on purge control board.

D2052

Hardware setting for the external axis amplifier has discrepancy. robot=n

D2053

(FANXX-XX)Rotational speed of fan is abnormal.(Servo boardXX)

D2054

Codes set in software and power block do not match.(Code:XX)

D2055

[Power sequence board]Watchdog error was detected.

D2056

[I/O board(No.XX)]Several boards have same ID address.

D2057

[Servo boardXX]No response from Servo FPGA device.

D2058

[Main CPU board]DC power supply is abnormal.(XX mV)

D2059

1SP board is abnormal.(DXX)

D2060

Safety unit is abnormal.(DXX)

D2061

Mother board is abnormal.(DXX)

D2062

1QL board is abnormal.(DXX)

A4-45

Appendix 4 Error Message List

Code

Error Message

D2063

MC unit is abnormal.(DXX)

D2064

[Purge control board]Pressure within enclosure is low.(during purging)

D2065

Safety relay is abnormal which cut off brake power when inner pressure is low.㻌

D2066

[Purge control board]DC is abnormal.(12V)

D2067

[Main CPU board]Communication with purge control board is abnormal.

D2068

[IO board No. XX]Device check failure.(CodeXX)

D2069

[ANYBUS interface board(No.XX)]Several boards have the same ID address.

D3800

Communication board memory error. (XX)

D3801

JtXX axis amp interface error 1.

D3802

JtXX axis amp interface error 2.

D3803

JtXX axis amp interface error 3.

D3804

JtXX axis amp power element error.

D3805

JtXX axis amp current detector error.

D3806

JtXX axis amp main circuit voltage unmatch.

D3807

JtXX axis amp memory error.(EEPROM error)

D3808

JtXX axis amp inside RAM error.

D3809

JtXX axis amp servo processor error.

D3810

JtXX axis amp parameter error.

D3811

JtXX axis amp initial processing error.

D3812

JtXX axis amp undefinition error 1.

D3813

Amp communication I/F board initialed check error.(XX)

D3814

Amp communication I/F board undefinition error.(XX)

D3815

It is not possible to communicate with JtXX axis amp.

D3816

JtXX axis amp communication frame reception error.

D3817

JtXX axis amp communication frame reception timeout.

D3818

JtXX axis amp communication bank data error.

D3819

JtXX axis amp init timeout.

D3820

JtXX axis amp communication undefinition error.

D3821

Motor harness connection point is error.

D3822

Motor parameter is not consistent with controller. JtXX

D3823

FAN NO. XX in Controller is out of order.

D3824

Fuse NO.XX on IO board NO.1 is open.

D3825

Fuse NO.XX on IO board NO.2 is open.

D3826

Robot DC voltage error.

D3828

Controller type error.

D3829

K1 and/or K2 works wrong.

D3830

PN high voltage error.

A4-46

Appendix 4 Error Message List

Code

Error Message

D3831

PN low voltage error.

D3832

D3833

Discharge resistor overheated.

D3834

Power board switching circuit is abnormal.

D3835

Power board inrush current limiting circuit is abnormal.

D3836

DC Power voltage is abnormal.(CodeXX)

D3837

JtXX axis amp control power supply error.

D3838

Power board is abnormal.

D3839

Servo control line error.

D3840

FAN NO. XX on power board is out of order.

D3841

RobotXX servo amp is missing.

D3842

Control power supply for a power device is abnormal.

D3843

Brake release setting is abnormal.

D4000

[DIAG]Error is detected in RS232C.(Code:XX)

D4001

[DIAG]Error is detected in Ethernet.(Code:XX)

D4500

Fieldbus interface board is not detected.

D4501

ABMA-PDP)I/F module error. XX

D4502

FIELD-BUS-INIT)Error reply. XX

D4503

FIELD-BUS-INIT)Reply timeout. XX

D4504

ANYBUS)OUT/FB.CTRL request timeout. XX

D6000

Over temperature error in Barrier unit.

D6001

Mutual-Wait initialize error.

A4-47

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

APPENDIX 5 AS LANGUAGE LIST (ALPHABETICAL ORDER)

The abbreviation for each AS language may be changed without prior notice.

The alphabets after the function represent the following:

M: monitor commands, E: editor commands, P: program instructions, S: switches,

F: functions, O: operators, K: other keywords.

Abbre-

Name

Function

Format (Parameter)

Sec

viation

ABORT

Stops execution

ABORT

5.4

ABOVE

Changes elbow joint to above position

ABOVE

6.4

ABS

Returns absolute value

ABS (real value)

9.3

ABS.SPEED

Enables use of absolute speed

...ABS.SPEED...

7.0

ACCEL

ACCE

Sets acceleration

ACCEL acceleration ALWAYS

6.2

ACCURACY

ACCU

Sets accuracy range

ACCURACY distance ALWAYS FINE

6.2

AFTER.WAIT.TM

Sets how timers begin in block step

...AFTER.WAIT.TMR...

7.0

programs

Aligns tool Z axis with base coordinate

ALIGN

6.1

axis

AND

Logical AND

.... AND

8.3

ASC

Returns ASCII value

ASC (string, character number)

9.1

ATAN2

Returns the arctangent value

ATAN2 (real value1, real value2)

9.3

AUTOSTART.PC

Starts PC program automatically

...AUTOSTART.PC...

7.0

AUTOSTART2.PC

Starts PC program automatically

...AUTOSTART2.PC...

7.0

AUTOSTART3.PC

Starts PC program automatically

...AUTOSTART3.PC...

7.0

AUTOSTART4.PC

Starts PC program automatically

...AUTOSTART4.PC...

7.0

AUTOSTART5.PC

Starts PC program automatically

...AUTOSTART5.PC...

7.0

AVE_TRANS (transformation value

AVE_TRANS

AVE TRANS

Returns average value

9.2

variable1, transformation value variable2)

BAND

Binary AND

... BAND ...

8.4

BASE

Defines base transformation values

BASE transformation value variable

5.6

BASE

Defines base transformation values

BASE transformation value variable

6.9

BASE

Reutrns base transformation values

BASE

9.2

BELOW

Changes elbow joint to below position

BELOW

6.4

BITS start number , number of signals =

BITS

Sets output signals

5.7

value

BITS start number , number of signals =

BITS

Sets output signals

6.7

value

A5-1

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

BITS (starting signal number , number of

BITS

Returns signal status

9.1

signals)

BITS32 start number , number of signals =

BITS32

Sets output signals

5.7

value

BITS 32 start number , number of signals

BITS32

Sets output signals

6.7

= value

BITS32 (starting signal number, number of

BITS32

Returns signal status

9.1

signals)

BOR

Binary OR

... BOR ...

8.4

BRAKE

BRA

Stops robot motion immediately

BRAKE

6.2

BREAK

BRE

Causes a break in CP motion

BREAK

6.2

BSPEED

BSP

Sets block speed

BSPEED speed

6.2

BXOR

Binary XOR

... BXOR ...

8.4

Shift amount

SHIFT (trans BY X shift, Y shift, Z shift)

9.2

Changes program to edit

C program name, step number

5.1

C1MOVE

Circular interpolated motion

C1MOVE pose variable, clamp number

6.1

C2MOVE

Circular interpolated motion

C2MOVE pose variable, clamp number

6.1

CALL

Calls subroutine

CALL program name

6.5

CASE index variable OF ... VALUE ...

CASE

CASE structure

6.6

ANY... END

CCENTER (transformation value variable

1, transformation value variable 2,

CCENTER

Returns the center of the arc

9.2

transformation value variable

3,transformation value variable 4)

Enables or disables input of commands

CHECK.HOLD

from the keyboard when HOLD/RUN is

....CHECK.HOLD

7.0

in HOLD

$CHR

Returns ASCII characters

$CHR(real value )

9.4

Enables/disables resetting of abnormal

CHSUM

5.6

check sum error

CLAMP clamp number 1, …, clamp

CLAMP

Controls open/close clamp signals

6.7

number 8

Closes clamp hand

CLOSE clamp number

6.3

CLOSEI

Closes clamp hand

CLOSEI clamp number

6.3

CLOSES

Turns ON/OFF close clamp signal

CLOSES clamp number

6.3

COM

Binary complement

... COM ...

8.4

CONF_VARIABL

Configuration change in linear motion

.....CONF_VARIABLE

7.0

CONTINUE

CON

Resumes execution

CONTINUE NEXT

5.4

COPY new program name = source

COPY

COP

Copies programs in robot memory

5.2

program name + ...

A5-2

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

COS

Returns the cosine value

COS (real value)

9.3

Continuous path (CP) function

.....CP

7.0

CYCLE START switch ON/OFF status

switch (CS)

7.0

CSHIFT (transformation value variable 1,

transformation value variable 2,

CSHIFT

Returns the shifted pose

transformation value variable

9.2

3,transformation value variable 4 BY shift

amount)

CURLIM axis number, positive current

CURLIM

Modify external axis motor current limit

6.9

limit, negative current limit

Acquire external axis motor current limit

CURLIMM

CURLIMM㻌 (axis number)

9.1

value (negative)

Acquire external axis motor current limit

CURLIMP

CURLIMP (axis number)

9.1

value (positive)

CYCLE.STOP

Stops cycle with External HOLD

....CYCLE.STOP

7.0

Deletes program steps

D number of steps

5.1

$DATE

Returns system date

$DATE (date form)

9.4

DECEL

DECE

Sets deceleration

DECEL deceleration ALWAYS

6.2

$DECODE (string variable, separator

$DECODE

Extracts characters

9.4

character, mode)

DECOMPOSE array variable element

DECOMPOSE

DECO

Extracts components of pose variable

6.9

number]= pose variable

Displays and changes software dedicated

DEFSIG

DEF

DEFSIG OUTPUT/INPUT

5.6

signals

DELAY

DEL

Stops the robot for a given time

DELAY time

6.1

DELETE

DEL

Deletes data in memory

DELETE (/P) (/L) (/R) (/S) data, ...

5.2

DELETE

DEL

Deletes data in memory

DELETE (/P) (/L) (/R) (/S) data, ...

6.10

Returns destination in transformation

#DEST

9.2

values

Returns destination in transformation

DEST

9.2

values

Determines the position to return via

DEST_CIRINT

7.0

DEST/ #DEST function

DEXT

Returns specified element of given pose

DEXT (pose variable, element number)

9.1

DIRECTORY(/P)(/L)(/R)(/S)(/INT)

Display in list the specified program/data

DIRECTORY

program name/ pose variable name/

5.2

name

variable name,

…

Change display of step at program

DISP.EXESTEP

7.0

execution

Changes the display mode of IO

DISPIO_01

DIS

....DISPIO_01

7.0

command

DISTANCE (transformation value

DISTANCE

Returns distance

9.1

variable1, transformation value variable2)

A5-3

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

DIVIDE.TPKEY_S

Switch A key information allocation

DIVIDE.TPKEY_S

7.0

DLYSIG

Outputs signal after delay

DLYSIG signal number time

5.7

DLYSIG

Outputs signal after delay

DLYSIG signal number time

6.7

Executes a single program instruction

DO program instruction

5.4

DO structure

DO program instruction

6.6

DRAW X translation, Y translation, Z

DRAW

DRA

Moves the robot by a given amount

translation, X rotation, Y rotation, Z

6.1

rotation, speed

DRIVE

DRI

Moves a single joint

DRIVE joint number, displacement, speed

6.1

DWRIST

Changes wrist configuration

DWRIST

6.4

Returns X component

DX (transformation value variable)

9.1

Returns Y component

DY (transformation value variable)

9.1

Returns Z component

DZ (transformation value variable)

9.1

Exits from edit mode

5.1

EDIT

Enters edit mode

EDIT program number, step number

5.1

ELSE

IF structure

IF ... ELSE ... END

6.6

ENA_TOOLSHAP

Enables/ Disables speed control using

ENA_TOOLSHAPE㻌 tool shape

5.6

tool shape

no.=TRUE/FALSE㻌

ENA_TOOLSHAP

Enables/ Disables speed control using

ENA_TOOLSHAPE㻌 tool shape

6.9

tool shape

no.=TRUE/FALSE㻌

Sets deviation range of robot pose at

ENCCHK EMG

ENCCHK E

ENCCHK EMG

5.6

E-stop

Sets acceptable encoder value of robot

ENCCHK PON

ENCCHK P

ENCCHK PON

5.6

pose at E-stop

$ENCODE

Returns string created by print data

$ENCODE (print data, print data, …...)

9.4

END

FOR structure, etc.

FOR ... END , CASE ... END

6.6

ENV DATA

ENV

Sets hardware environmental data

ENV_DATA

5.6

ENV2 DATA

ENV2

Sets software environmental data

ENV2_DATA

5.6

Magnification ratio for initial value of

ENVCHKRATE

ext. axis deviation error detection

ENVCHKRATE axis number, coefficient

6.9

threshold value

Acquire the set value for magnification

ENVCHKRATE

ratio for initial value of ext. axis

ENVCHKRATE (axis number)

9.1

deviation error detection threshold value

ERESET

ERE

Resets error condition

ERESET

5.6

ERRLOG

ERR

Displays error log

ERRLOG

5.6

ERRLOG

ERR

Displays error log

ERRLOG

5.6

$ERRLOG

Returns string for error message

$ERRLOG (error log number)

9.4

ERROR

In error status

switch (ERROR)

7.0

ERROR

Returns program error status

ERROR

9.1

$ERROR

Returns error messages

$ERROR (error code)

9.4

A5-4

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

$ERRORS

Returns error messages

$ERRORS (“error code”)

9.4

Executes PC program when an error

ERRSTART.PC

ERRS

...ERRSTART.PC…

7.0

occurs

EXECUTE program name, execution

EXECUTE

Executes a robot program

5.4

cycles, step number

Checks if the variable exists or not

EXISTCHAR

EXISTCHAR ("string variable name"䠅

9.1

(string variables)

Checks if the variable exists or not

EXISTINTEGER ("integer variable

EXISTINTEGER

9.1

(integer variables)

name")

Checks if the variable exists or not (joint

EXISTJOINT ("name of joint

EXISTJOINT

9.1

displacement values)

displacement value variable")

EXISTLOCALCH

Checks if the local variable exists or not

EXISTLOCALCHAR ("local string

9.1

(string variables)

variable name"䠅

EXISTLOCALINT

Checks if the local variable exists or not

EXISTLOCALINTEGER ("local integer

9.1

EGER

(integer variables)

variable name")

EXISTLOCALJOI

Checks if the local variable exists or not

EXISTLOCALJOINT ("local name of

9.1

(joint displacement values)

joint displacement value variable")

EXISTLOCALRE

Checks if the local variable exists or not

EXISTLOCALREAL ("local real variable

9.1

(real variables)

name"䠅

EXISTLOCALTR

Checks if the local variable exists or not

EXISTLOCALTRANS ("local

9.1

ANS

(transformation value variables)

transformation value variables ")

EXISTPGM

Checks if the program exists or not

EXISTPGM ("program name")

9.1

Checks if the variable exists or not (real

EXISTREAL

EXISTREAL ("real variable name")

9.1

variables)

Checks if the variable exists or not

EXISTTRANS ("name of transformation

EXISTTRANS

9.1

(transformation values)

value variable")

EXTCALL

Calls program selected by signals

EXTCALL

6.7

Searches for a string

F character string

5.1

FFRESET

Resets acceleration feed forward gain.

FFRESET

6.2

FFSET

Sets acceleration feed forward gain.

FFSET㻌㻌 JT1 gain, JT2 gain, ..., JT9 gain

6.2

Displays the acceleration feed forward

FFSET_STATUS

5.6

gain setting.

FLOWRATE

Changes flow rate control mode

... FLOWRATE ...

7.0

FOR

FOR structure

FOR loop=start TO end STEP value

6.6

FRAME (transformation value varible 1,

Returns the transformation values for

transformation value varible

FRAME

9.2

frame coordinates

2,transformation value varible 3,

transformation value varible 4)

FREE

Displays size of free memory

FREE

5.6

Encoder temperature of specified axis

GETENCTEMP

GETENCTEMP (axis number)

9.1

[ºC]

GOTO

Jumps to label

GOTO label IF condition

6.5

GUNOFF

Turns OFF gun signals

GUNOFF gun number, distance

6.3

GUNOFFTIMER

Controls gun output OFF timing

GUNOFFTIMER gun number, time

6.3

GUNON

Turns ON gun signals

GUNON gun number, distance

6.3

A5-5

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

GUNONTIMER

Controls gun output ON timing

GUNONTIMER gun number, time

6.3

HALT

Stops execution

HALT

6.5

Displays a list of AS commands and

HELP

HEL

HELP㻌 alpha character

5.6

instructions

HELP/DO

HEL/DO

Displays a list of functions

HELP/DO alpha character

5.6

HELP/F

HEL/F

Displays a list of monitor commands

HELP/F alpha character

5.6

Displays a list of commands usable with

HELP/M

HEL/M

HELP/M alpha character

5.6

MC instructions

Displays a list of instructions usable with

HELP/MC

HEL/MC

HELP/MC alpha character

5.6

DO command

HELP/P

HEL/P

Displays a list of program instructions

HELP/P alpha character

5.6

Displays a list of instructions usable in

HELP/PPC

HEL/PPC

HELP/PPC alpha character

5.6

PC programs

HELP/SW

HEL/SW

Displays a list of system switches

HELP/SW alpha character

5.6

HERE

Records current pose

HERE pose variable

5.5

HERE

Records current pose

HERE pose variable

6.9

Returns transformation values for

#HERE

9.2

current pose

Returns joint displacement values for

HERE

9.2

current pose

HMOVE

Moves in hybrid motion

HMOVE pose variable, clamp number

6.1

HOLD

Stops execution

HOLD

5.4

Enables display of the step in execution

HOLD.STEP

....HOLD.STEP

7.0

when the program is held

HOME

Moves to home pose

HOME home pose number

6.1

Returns joint displacement values for

#HOME

#HOME (home pose number)

9.2

home pose

HSENSE No result variable, signal status

HSENSE

Reads HSENSESET data

variable, pose variable, error variable,

5.7

memory remainder variable

HSENSE No result variable, signal status

HSENSE

Reads HSENSESET data

variable,pose variable, error variable,

6.7

memory remainder variable

HSENSESET No = input signal number,

HSENSESET

Starts monitoring of signal

5.7

output signal number

HSENSESET No = input signal number,

HSENSESET

Starts monitoring of signal

6.7

output signal number

HSETCLAMP

Assigns signal number to operate clamps

HSETCLAMP

5.6

Inserts new steps

5.1

Displays version information

5.6

Jumps to label when condition is set

IF condition GOTO label

6.5

IF structure

IF...THEN...ELSE...END

6.6

IFAKEY

Allow operation while A key is pressed

....IFAKEY

7.0

IFPLABEL position,

IFPLABEL

Sets label for I/F panel

5.8

"label1","label2","label3","label4"

A5-6

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

IFPLABEL position,

IFPLABEL

Sets label for I/F panel

6.8

"label1","label2","label3","label4"

IFPTITLE

Set title for I/F panel

IFPTITLE page no., "title"

5.8

IFPTITLE

Set title for I/F panel

IFPTITLE page no., "title"

6.8

IFPWOVERWRITE window, row,

IFPWOVERWRIT

Overwrite and displays string in string

column, background color, label color =

5.8

window

"character string", "character string",…

IFPWOVERWRITE window, row,

IFPWOVERWRIT

Overwrite and displays string in string

column, background color, label color =

6.8

window

"character string", "character string",…

IFWPRINT window, row, column,

Displays string in string window set by

IFPWPRINT

background color, label color = "character

5.8

aux. function

string", "character string",…

IFWPRINT window, row, column,

Displays string in string window set by

IFPWPRINT

background color, label color = "character

6.8

aux. function

string","character string", …

IGNORE

Cancel ON or ONI instruction

IGNORE signal number

6.7

INPUT

Software dedicated input signals

DEFSIG INPUT

5.6

INRANGE (pose variable1, pose

INRANGE

Returns the result of motion range check

9.1

variable2)

INSERT_NO_CON

ON/OFF of confirmation message for

....INSERT_NO_CONFIRM

7.0

FIRM

insert operation in teach operation

Returns the starting point of the specified

INSTR

INSTR(starting point, string 1, string 2)

9.1

string

Returns the integer value of numeric

INT

INT (numeric expression)

9.1

expression

INVALID.TPKEY_INVALID.TPKEY

Invalidate SHIFT when A key is pressed

....INVALID.TPKEY_S

7.0

Displays signal states

IO/E signal number

5.6

IOBOARD_STAT

Displays IO board mounting status

IOBOARD_STATUS

5.8

Displays peak current value for each

IPEAKCLR

5.6

joint

IPEAKLOG

Displays peak current value log

IPEAKLOG

5.6

IQARM

Acquires current value for specified axis

IQARM(axis number)

9.1

Approaches pose in joint interpolated

JAPPRO

JAPPRO pose variable, distance

6.1

motion

Withdraws from current pose in joint

JDEPART

JDEPART distance

6.1

interpolated motion

JMOVE

Starts joint interpolated motion

JMOVE pose variable, clamp number

6.1

JUMP

Switch executing program

JUMP program name

6.5

KILL

Initializes program stack

KILL

5.4

Selects the previous step

5.1

Approaches pose in linear interpolated

LAPPRO

LAPPRO pose variable, distance

6.1

motion

Withdraws from current pose in linear

LDEPART

LDEPART distance

6.1

interpolated motion

$LEFT

Returns the leftmost characters

$LEFT(string, number of characters)

9.4

A5-7

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

LEFTY

Changes to left-hand configuration

LEFTY

6.4

LEN

Returns number of characters

LEN (string)

9.1

LIST

Displays data or program listing

LIST (/P)(/L)(/R)(/S) prog/data,…

5.2

LLIMIT

Sets lower limit of robot motion

LLIMIT joint displacement value variable

5.6

LLIMIT

Sets lower limit of robot motion

LLIMIT joint displacement value variable

6.9

LMOVE

Starts linear interpolated motion

LMOVE pose variable, clamp number

6.1

LOAD

Loads contents of PC into robot memory

LOAD/Q filename

5.3

LOCK

Changes priority

LOCK priority

6.5

LSTRACE stepper number: logging

LSTRACE

Displays the logging data

5.2

number

Modifies characters

M/existing characters/new characters

5.1

Returns the largest element in the

MAXINDEX (string variable, dimension

MAXINDEX

9.1

specified dimension

number)

MAXVAL

Returns the largest value

MAXVAL (real value1, real value 2, …)

9.1

Executes monitor commands from PC

MC monitor commands

6.9

programs

MESSAGES

Enables or disables terminal output

.....MESSAGES

7.0

$MID(string, real value, number of

$MID

Returns characters

9.4

characters)

Returns the smallest element in the

MININDEX (string variable, dimension

MININDEX

9.1

specified dimension

number)

MINVAL

Returns the smallest value

MINVAL (real value1, real value 2, …)

9.1

MM/MIN

MM/M

millimeters per minute

... MM/M

6.2

MM/S

millimeters per second

... MM/S

6.2

MOD

Remainder

... MOD ...

8.1

Wait time corresponding to speed

MON_TWAIT

MON_TWAIT time

6.5

setting

MSPEED

Returns the current monitor speed

M SPEED

9.1

MSPEED2

Returns the current monitor speed

M SPEED2

9.1

MSTEP program name, execution cycles,

MSTEP

Executes a single robot motion

5.4

step number

Waits until given time or distance is

MVWAIT

MVWAIT value

6.5

reached

NCHOFF

NCHOF

Turns OFF notch filter

NCHOFF

6.9

NCHON

Turns ON notch filter

NCHON

6.9

Skips to next step

CONTINUE NEXT

5.4

NLOAD/IF/ARC device number=file

NLOAD

Loads files to robot memory

6.10

name + file name + 䞉䞉䞉, status variable

NOT

Logical NOT

... NOT ...

8.3

NO_SJISCONV

File character code switch at save/ load

NO_SJISCONV

7.0

NULL

Returns null transformation values

NULL

9.2

A5-8

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

Places the cursor in current line

5.1

OFF

Turns OFF system switches

switch name, ... OFF

5.6

OFF

Turns OFF system switches

switch name, ... OFF

6.9

OFF

Returns FALSE value

...OFF

9.1

Turns ON system switches

switch name,

5.6

ON mode signal number CALL program

Sets interruption condition

6.7

name, priority

ON mode signal number GOTO label,

Sets interruption condition

6.7

priority

Turns ON system switches

switch name,

6.9

Returns TRUE value

.....ON

9.1

Calls specified program when error

ONE

ONE program name

6.5

occurs

ONI mode signal number CALL program

ONI

Sets interruption condition

6.7

name, priority

ONI mode signal number GOTO label,

ONI

Sets interruption condition

6.7

priority

OPEINFO

Displays operation information

OPEINFO robot number: joint number

5.6

OPEINFOCLR

Resets operation information

OPEINFOCLR

5.6

OPEN

Opens clamps

OPEN clamp number

6.3

OPENI

Opens clamps

OPENI clamp number

6.3

OPENS

Turns ON/OFF open clamp signal

OPENS clamp number

6.3

OPLOG

Displays history of operations

OPLOG

5.6

Logical OR

... OR ...

8.3

OUTDA

Outputs voltage at set condition.

OUTDA㻌 voltage,㻌 port number

5.8

OUTDA

Outputs voltage at set condition.

OUTDA㻌 voltage,㻌 port no

6.8

OUTPUT

Software dedicated output signals

DEFSIG OUTPUT

5.6

Sets the timing of OUTPUT signal

OX.PREOUT

....OX.PREOUT

7.0

generation

Displays program steps

P number of steps

5.1

PAUSE

Stops execution temporarily

PAUSE

6.5

PCABORT

PCA

Stops execution of PC program

PCABORT PC program number:

10.0

PCABORT

PCA

Stops execution of PC program

PCABORT PC program number:

10.0

PCCONTINUE PC program number:

PCCONTINUE

PCC

Resumes execution of PC program

10.0

PCEND

PCEN

Stop execution of PC program

PCEND PC program number: task number

10.0

PCEND

PCEN

Stop execution of PC program

PCEND PC program number: task number

10.0

PCEXECUTE PC program number,

PCEXECUTE

PCEX

Executes PC program

program name, execution cycle, step

10.0

number

A5-9

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

PCEXECUTE PC program number,

PCEXECUTE

PCEX

Executes PC program

program name, execution cycle, step

10.0

number

PCKILL

PCK

Initializes PC program stack

PCKILL PC program number:

10.0

Sets cycle time for PC program

PCSCAN

PCSC

PCSCAN time

10.0

execution

PCSTATUS

PCSTA

Displays status of PC program

PCSTATUS PC program number:

10.0

PCSTEP PC program number: program

PCSTEP

PCSTE

Executes single step of a PC program

10.0

name, execution cycles, step number

Returns the constant pi

9.3

PNL_CYCST

Turns ON/OFF cycle start switch

switch (PNL_CYCST)

7.0

PNL_ERESET

Turns ON/OFF error reset switch

switch (PNL_ERESET)

7.0

PNL_MPOWER

Turns ON/OFF motor power

switch (PNL_MPOWER)

7.0

POINT pose variable1= pose variable2,

POINT

Defines pose variable

5.5

joint displacement value variable

POINT pose variable1 = pose variable2,

POINT

Defines pose variable

6.9

joint displacement value variable

POINT/7 transformation value variable1 =

POINT/7

PO/7

Assigns the value of joint 7

5.5

transformation value variable2

POINT/7 transformation value variable1 =

POINT/7

PO/7

Assigns the value of joint 7

6.9

transformation value variable2

POINT/18 transformation value variable1

POINT/18

PO/18

Assigns the value of joint 18

5.5

= transformation value variable2

POINT/18 transformation value variable1

POINT/18

PO/18

Assigns the value of joint 18

6.9

= transformation value variable2

POINT/A transformation value variable1 =

POINT/A

PO/A

Assigns A component value

5.5

transformation value variable2

POINT/A transformation value variable1 =

POINT/A

PO/A

Assigns A component value

6.9

transformation value variable2

POINT/EXT transformation value

POINT/EXT

PO/EXT

Assigns external axes component value

5.5

variable1 = transformation value variable2

POINT/EXT transformation value

POINT/EXT

PO/EXT

Assigns external axes component value

6.9

variable1 = transformation value variable2

POINT/O transformation value variable1 =

POINT/O

PO/O

Assigns O component value

5.5

transformation value variable2

POINT/O transformation value variable1 =

POINT/O

PO/O

Assigns O component value

6.9

transformation value variable2

POINT/OAT transformation value

POINT/OAT

PO/OAT

Assigns O-, A- and T component values

5.5

variable1 = transformation value variable2

POINT/OAT transformation value

POINT/OAT

PO/OAT

Assigns O-, A- and T component values

6.9

variable1 = transformation value variable2

POINT/T transformation value variable1 =

POINT/T

PO/T

Assigns T component value

5.5

transformation value variable2

POINT/T transformation value variable1 =

POINT/T

PO/T

Assigns T component value

6.9

transformation value variable2

POINT/X transformation value variable1

POINT/X

PO/X

Assigns X component value

5.5

= transformation value variable2

A5-10

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

POINT/X transformation value variable1 =

POINT/X

PO/X

Assigns X component value

6.9

transformation value variable2

POINT/Y transformation value variable1 =

POINT/Y

PO/Y

Assigns Y component value

5.5

transformation value variable2

POINT/Y transformation value variable1 =

POINT/Y

PO/Y

Assigns Y component value

6.9

transformation value variable2

POINT/Z transformation value variable1

POINT/Z

PO/Z

Assigns Z component value

5.5

= transformation value variable2

POINT/Z transformation value variable1 =

POINT/Z

PO/Z

Assigns Z component value

6.9

transformation value variable2

MOTOR POWER switch ON/OFF

POWER

switch(POWER)

7.0

status

#PPOINT

Returns joint displacement values

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

9.2

PREFETCH.SIGIN

Enables or disables early processing of

....PREFETCH.SIGINS

7.0

I/O signals

PRIME program name, execution cycles,

PRIME

PRIM

Sets up for program execution

5.4

step number

PRIN

Displays data on the terminal

PRINT device number: print data, …

5.8

PRIN

Displays data on the terminal

PRINT device number: print data, …

6.8

PRIORITY

Returns priority number

PRIORITY

9.1

PROG.DATE

Add date to program information

PROG.DATE

7.0

Displays message on terminal and waits

PROMPT device number: character string,

PROMPT

PROM

6.8

for input

variables

Turns ON signal for a given period of

PULSE

PULSE signal number, time

5.7

time

Turns ON signal for a given period of

PULSE

PULSE signal number, time

6.7

time

Tool transformation during block

QTOOL

....QTOOL

7.0

teaching

Replaces characters

R character string

5.1

RANDOM

Returns random number from 0 to 1

RANDOM

9.3

Enables/disables RECORD/PROGRMA

REC ACCEPT

REC

REC_ACCEPT

5.6

CHANGE function

REFFLTRESET

Resets moving average span.

REFFLTRESET

6.2

REFFLTSET joint value moving average

Sets moving average span of connand

span, position moving average span,

REFFLTSET

6.2

values.

orientation moving average span, signal

moving average span

REFFLTSET_STA

Displays the command value moving

REFFLTSET_STATUS

5.6

TUS

average span setting.

Turns OFF clamp signals (close and

RELAX

RELAX clamp number

6.3

open)

Turns OFF clamp signals (close and

RELAXI

RELAXI clamp number

6.3

open)

Turns ON/OFF clamp signal (close and

RELAXS

RELAXS clamp number

6.3

open)

RENAME new program name = existing

RENAME

REN

Changes program name

5.2

program name

A5-11

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

Sets if repeat cycle is done once or

REP_ONCE

REP

...REP ONCE...

7.0

continuously

REP_ONCE.PRS_

Selects the terminating step in repeat

...REP ONCE.PRS_LAST...

7.0

LAST

once operation.

TEACH/REPEAT switch ON/OFF

REPEAT

switch (REPEAT)

7.0

status

RESET

RES

Turns OFF all external output signals

RESET

5.7

RESET

RES

Turns OFF all external output signals

RESET

6.7

Releases memory set aside by

RESTRACE

5.2

SETTRACE

RETURN

RET

Returns to the caller program

RETURN

6.5

RETURNE

Returns to step after the error

RETURNE

6.5

RGSO

Servoing switch ON/OFF status

switch(RGSO)

7.0

$RIGHT

Returns the rightmost characters

$RIGHT(string, number of characters)

9.4

RIGHTY

Changes to right-hand configuration

RIGHTY

6.4

Round the real value at the first decimal

ROUND

ROUND (numeric value)

9.1

place

RPS

Calls program selected by signals

....RPS

7.0

RUN

HOLD/RUN switch status

switch (RUN)

7.0

RUNMASK starting signal number,

RUNMASK

Masks signals

6.7

number of signals

Rotation about X Axis

RX (angle)

9.2

Rotation about Y Axis

RY (angle)

9.2

Rotation about Z Axis

RZ (angle)

9.2

Selects program step

S step number

5.1

SAVE

Stores program/variable into a PC

SAVE/SEL filename =program name,...

5.3

SAVE/ALLLOG

Stores all log

SAVE/ALLLOG file name

5.3

SAVE/ELOG

SA/ELOG

Stores error log into PC

SAVE/ELOG file name

5.3

SAVE/FULL

SA/FULL

Stores all savable data

SAVE/ FULL file name

5.3

SAVE/OPLOG

SA/OPLOG,...

Stores operation log

SAVE OPLOG file name

5.3

SAVE(/P)(/L)(/R)(/S)/SEL

file

SAVE/P,L,R,S,A

SA/P,...

Stores data into PC

5.3

name=program name,...

SAVE/ROB

SA/ROB

Stores robot data into PC

SAVE/ROB file name

5.3

Stores logging data of data storage

SAVE/STG

SA/STG

SAVE/STG file name

5.3

function into PC

SAVE/SYS

SA/SYS

Stores system data into PC

SAVE/SYS file name

5.3

SCALL

SCA

Jumps to subroutine

SCALL string expression, variable

6.5

SCASE index variable OF ...

SCASE

SCASE structure

6.6

SVALUE ... ANY... END

SCNT counter signal number = count up

Outputs counter signal when counter

SCNT

SCN

signal, count down signal, counter clear

5.7

value is reached

signal, counter value

A5-12

Kawasaki Robot Controller E Series. Reference Manual (2015) - page 18