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Kawasaki Robot Controller E Series. Reference Manual (2015) - page 19

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

SCNT counter signal number = count up

Outputs counter signal when counter

SCNT

signal, count down signal, counter clear

6.7

value is reached

signal, counter value

SCNTRESET

SCNTR

Resets internal counter value

SCNTRESET counter signal number

5.7

SCNTRESET

SCNTR

Resets internal counter value

SCNTRESET counter signal number

6.7

SCREEN

Control terminal display

....SCREEN

7.0

SET_TOOLSHAPE tool shape

no.=transformation value variable 1,㻌

SET_TOOLSHAPESET_TOOLSHAP

Registration of tool shape

transformation value

5.6

variabletransformation value variable2,㻌

…,㻌 transformation value variable 8

SET_TOOLSHAPE tool shpae

no.=transformation value variable 1,㻌

SET_TOOLSHAPESET_TOOLSHAP

Registration of tool shape

6.9

transformation value variable2,㻌 …,㻌

transformation value variable8

SET2HOME

SET2

Defines home pose 2

SET2HOME accuracy, HERE

5.6

SET2HOME accuracy, joint displacement

SET2HOME

SET2

Defines home pose 2

6.9

value variable

SETHOME

SETH

Defines home pose 1

SETHOME accuracy, HERE

5.6

SETHOME accuracy, joint displacement

SETHOME

SETH

Defines home pose 1

6.9

value variable

SETOUTDA port No. = LSB, No. of

SETOUTDA

Sets analog output environment.

5.8

bits, logic, max. voltage, min. voltage

SETOUTDA port No. = LSB, No. of

SETOUTDA

Sets analog output environment.

6.8

bits, logic, max. voltage, min. voltage

SETPICK

Sets time to start clamp close control

SETPICK time1,…, time8

5.7

SETPICK

Sets time to start clamp close control

SETPICK time1,…, time8

6.7

SETPLACE

Sets time to start clamp open control

SETPLACE time1,…, time8

5.7

SETPLACE

Sets time to start clamp open control

SETPLACE time1,…, time8

6.7

SETTIMEyear, month, day, time, minute,

SETTIME

Sets date an time

6.9

second

SETTRACE

Reserves necessary memory to log data

SETTRACE number of steps

5.2

SF_OPEN_ERROR

Error when safety fence is open

SF_OPEN_ERROR

7.0

Turns ON/OFF signal in given cycle

SFLK

SFLK signal number = time

5.7

time

Turns ON/OFF signal in given cycle

SFLK

SFLK signal number = time

6.7

time

Turns ON/OFF signal using set/reset

SFLP output signal = set signal expression,

SFLP

5.7

signal

reset signal expression

Turns ON/OFF signal using set/reset

SFLP output signal = set signal expression,

SFLP

6.7

signal

reset signal expression

SHIFT

Returns shifted transformation values

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

9.2

SIG

Returns logical AND of signal states

SIG (signal number, …)

9.1

Enable/ disable signal monitor

SIGMON_TEACH

7.0

signaloperation

SIGNAL

Turns signals ON/OFF

SIGNAL signal number, …

5.7

SIGNAL

Turns signals ON/OFF

SIGNAL signal number, …

6.7

A5-13

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

Switches number of signal to reset when

SIGRSTCONF

7.0

signal 0 is output

SIN

Returns the sine value

SIN (real values)

9.3

SINGULAR

Enable/ disable singular point check

SINGULAR

7.0

Switches execution program to program

SJUMP

SJUMP program name, status variable

6.5

specified in character string

SLOAD/IF/ARC device number=file

SLOAD

Loads files to robot memory

6.10

name, status variable

Sets the repeat speed in slow repeat

SLOW REPEAT

SLOW_REPEAT

5.6

mode

Enables or disables the slow start

SLOW_START

...SLOW_START...

7.0

function

SOUT

Outputs signal when condition is set

SOUT signal number = signal expression

5.7

SOUT

Outputs signal when condition is set

SOUT signal number = signal expression

6.7

$SPACE

Returns blanks

$SPACE (number of blanks)

9.4

SPEED

Sets monitor speed

SPEED monitor speed

5.4

SPEED monitor speed, rotation speed

SPEED

Sets monitor speed

6.2

ALWAYS

SQRT

Returns the square root

SQRT (real values)

9.3

STABLE

STA

Holds robot motion for a given time

STABLE time

6.1

Displays status information on keyboard

STAT_ON_KYBD

7.0

screen

STATUS

STA

Displays system status

STATUS

5.6

STEP program name, execution cycles,

STEP

STE

Executes a single step of a program

5.4

step number

STIM timer signal = input signal number,

STIM

STI

Turns ON timer signal

5.7

time

STIM timer signal = input signal number,

STIM

STI

Turns ON timer signal

6.7

time

STOP

STO

Terminates execution cycle

STOP

6.5

STPNEXT

STP

Executes the next step

STPNEXT

5.4

Sets the execution as one step at a time

STP_ONCE

...STP_ONCE...

7.0

or continuous

$STR_ID

Returns robot information for robot 1

$STR_ID (number)

9.4

$STR_ID2

Returns robot information for robot 2

$STR_ID2 (number)

9.4

Returns the value of specified pose

STRTOPOS

STRTOPOS (string variable)

9.1

variable

Returns the value of specified real

STRTOVAL

STRTOVAL (string variable)

9.1

variable

SWAIT

Waits for desired signal state

SWAIT signal number,

6.7

SWITCH

Sets system switches

SWITCH switch name,...=ON (=OFF)

5.6

SWITCH

Returns system switch status

SWITCH (switch name)

9.1

SYSDATA

Returns parameters in AS system

SYSDATA (keyword, opt1, opt2)

9.1

$SYSDATA

Returns parameters in AS system

SYSDATA (keyword, opt1, opt2)

9.1

SYSINIT

SYS

Initialize system

SYSINIT

5.6

A5-14

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

Enables teaching by TP in editor mode

5.1

TASK

Returns execution status of program

TASK (task number)

9.1

TDRAW X translation, Y translation, Z

Moves the robot by a given amount of

TDRAW

translation, X rotation, Y rotation, Z

6.1

the tool coordinates

rotation, speed

TEACH_LOCK

TEACHLOCK switch ON/OFF status

switch (TEACH_LOCK)

7.0

THEN

IF structure

IF logical expression THEN

6.6

TIME

Sets and displays date and time

TIME yy-mm-dd hh:mm:ss

5.6

$TIME

Reutrns system date and time

$TIME

9.4

TIMER

Sets timer

TIMER timer number = time

6.9

TIMER

Returns timer values

TIMER (timer number)

9.1

FOR structure

FOR ... TO ... END

6.6

TOOL transformation value variable, tool

TOOL

Defines tool transformation values

5.6

shape no.

TOOL transformation value variable, tool

TOOL

Defines tool transformation values

6.9

shape

TOOL

Reutrns tool transformation values

TOOL

9.2

TOOLSHAPE

Sets speed control using tool shape

TOOLSHAPE㻌 tool shape no.㻌

5.6

TOOLSHAPE

Sets speed control using tool shape

TOOLSHAPE㻌 tool shpae no.㻌

6.9

Touch panel operation of TP repeat

TOUCH.ENA

7.0

condition enable/ disable

Touch panel operation of TP status lamp

TOUCHST.ENA

7.0

enable/ disable

TPKEY_A

Turns ON/OFF A key on TP

switch (TPKEY_A)

7.0

TPLIGHT

Turns on the TP backlight

TPLIGHT

5.6

TPLIGHT

Turns on the TP backlight

TPLIGHT

6.9

Automatic slow speed setting for teach

TPSPEED.RESET

7.0

and check speed

TRACE

Logs and traces programs

TRACE stepper number: ON/OFF

5.2

TRACE

Logs and traces programs

TRACE stepper number: ON/OFF

6.10

Returns the sum of traverse axis and

TRADD

TRADD (transformation value variable)

9.2

transformation values

TRANS (X component, Y component, Z

TRANS

Returns transformation values

component, O component, A component,

9.2

T component)

TRIGGER

TRIGGER switch ON/OFF status

switch (TRIGGER)

7.0

Acquires the torque value of specified

TRQNM

TRQNM(axis number)

9.1

axis

Returns the difference of traverse axis

TRSUB

TRSUB (transformation value variable)

9.2

and transformation values

TWAIT

Wait for a given period of time

TWAIT time

6.5

TYPE

Displays data on the terminal

TYPE device number: print data, …

5.8

TYPE

Displays data on the terminal

TYPE device number: print data, …

6.8

A5-15

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

ULIMIT

Sets lower limit of robot motion

ULIMIT joint displacement value variable

5.6

ULIMIT

Sets lower limit of robot motion

ULIMIT joint displacement value variable

6.9

UNTIL

DO structure

DO ... UNTIL logical expression

6.6

USB_COPY new program name = source

USB_COPY

Copies files in USB drive

5.2

program name

USB_FDEL

Deletes data in USB drive

USB_FDEL file name,…

5.2

Displays names of program/variable in

USB_FDIR

5.2

USB memory

Loads contents of USB drive into robot

USB_LOAD

USB_LO

USB_LOAD/Q filename

5.3

memory

USB_MKDIR

Creates a folder on the USB drive

USB_MKDIR folder name

5.3

USB_RENAME new file name = existing

USB_RENAME

Changes file name in USB drive

5.2

file name

USB_SAVE/SEL filename =program

USB_SAVE

USB_SA

Stores program/variable into USB drive

5.3

name,…

USB_SAVE/ALLL

USB_SA/

Stores auxiliary information into floppy

USB_SAVE/A file name

5.3

ALLLOG

disk

USB_SAVE/ELOG

USB_SA/ELOG

Stores error log into USB dirve

USB_SAVE/ELOG file name

5.3

USB_SAVE/OPLO

USB_SA/OPLOG

Stores operation log into USB drive

USB_SAVE/OPLOG file name

5.3

USB_SAVE/P,L,R,

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

file

USB_SA/P,L,R,S,A

Stores data into floppy disk

5.3

S,A

name=program name,...

USB_SAVE/ROB

USB_SA/ROB

Stores robot data into floppy disk

USB_SAVE/ROB file name

5.3

USB_SAVE/SYS

USB_SA/SYS

Stores system data into floppy disk

USB_SAVE/SYS file name

5.3

Changes ASCII8 bit display font to

USE_ISO8859_5

7.0

Cyrillic font

UTIMER

Sets user timer

UTIMER @timer variable = timer value

6.9

UTIMER

Returns current user timer values

UTIMER (@timer variable)

9.1

UWRIST

Changes wrist configuration

UWRIST

6.4

VAL

Returns real value

VAL (string, code)

9.1

WAIT

Waits for specified condition

WAIT condition

6.5

WAITREL_AUTO

Displays wait release popup window

WAITREL_AUTO

7.0

WEIGHT load mass, center of gravity

X,center of gravity Y,center of gravity Z,

WEIGHT

Sets load mass data

5.6

inertia moment ab.X axis, inertia moment

ab.Y axis, inertia moment ab.Z axis

WEIGHT load mass, center of gravity

X,center of gravity Y,center of gravity Z,

WEIGHT

Sets load mass data

6.9

inertia moment ab.X axis, inertia moment

ab.Y axis, inertia moment ab.Z axis

WHERE

Displays current robot pose

WHERE display mode

5.6

Returns task number of specified

WHICHTASK

WHICHTASK program name

9.1

program

WHILE

DO structure

WHILE ... DO ... END

6.6

A5-16

Appendix 5 AS Language List

Kawasaki Robot 㻌 AS Language Reference Manual

Abbre-

Name

Function

Format (Parameter)

Sec

viation

WS.ZERO

Changes the weld processing

...WS.ZERO...

7.0

WS_COMPOFF

Changes the output timing of WS signal

...WS_COMPOFF...

7.0

Cuts step and pastes on the buffer

XD number of steps

5.1

XFER destination program name, step

XFER

Copies and transfers steps

number 1= source program name, step

5.2

number 2, number of steps

XMOVE mode pose variable TILL signal

XMOVE

Moves until the signal changes

6.1

number

XOR

Exclusive logical OR

XOR

8.3

Inserts contents of paste buffer

5.1

Inserts contents of paste buffer in reverse

5.1

order

Displays contents of paste buffer

5.1

Copies step and pastes on the buffer

XY number of steps

5.1

ZSIGSPEC

ZSIG

Sets number of installed signals

ZSIGSPEC

5.6

ZZERO

Sets zeroing data

ZZERO㻌 joint number

5.6

FALSE

Returns FALSE value

... FALSE ...

9.1

TRUE

Returns TRUE value

... TRUE ...

9.1

Subtraction

.... -...

8.1

Subtraction of transformation values

.... - ...

8.5

Multiplication

.....*

8.1

Division

.... / …

8.1

䠺

Power

.....䠺

8.1

Addition

.... + ...

8.1

Addition of transformation values

.... + ...

8.5

Combination of strings

.... + …

8.6

Less than

.... < ...

8.2

Less than or equal to

.... <= ...

8.2

Not equal to

.... <> ...

8.2

Less than or equal to

.... =< ...

8.2

Equal to

.... = ...

8.2

Greater than or equal to

.... => ...

8.2

Greater than

.... > ...

8.2

Greater than or equal to

.... >= ...

8.2

A5-17

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