Kawasaki Robot Controller E Series. Reference Manual (2015) - page 4
5. Monitor Commands
XS
Function
Displays the contents of the paste buffer.
Explanation
Displays the current contents of the paste buffer. If the paste buffer is empty, nothing will be
displayed.
T pose variable
Option
Function
Enables teaching of motion instructions (JMOVE, LMOVE, etc.) using the teach pendant while
in editor mode.
Parameter
Pose variable
Specifies pose variable name of destination to be taught, expressed in transformation values or
joint displacement values.
It is read as an array variable if specified in the form of A[ ]. In
this case, variables cannot be used in the element numbers. If omitted, the current joint
displacement values are taught as constants (pose constant).
Explanation
Enter this command while in editor mode. When executed, teach pendant displays a specialized
teaching screen. Motions taught here are recorded as instructions in the program, and are
written on the step where the T command is entered. When more than one step is taught, the
variable is renamed by incrementing the last number in the variable name. See Operation
Manual for more details.
Example
With pose variable
2 JAPPRO #a
3? T pos
Teach using TP. Press
R to return to AS.
(3 steps are taught here)
3
JMOVE pos0
4
JMOVE pos1
5
LMOVE pos2
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5. Monitor Commands
Without pose variable
2 JAPPRO #a
3? T
Teach joint values using TP. Press
R to end.
(2 steps are taught here)
3 JMOVE #[0,10,20,0,0,0]
4 JMOVE #[10,10,20,0,0,0]
！
WARNING
Teach pendant must be connected to the controller to use this command. Also,
the robot has to be in Teach mode, and
TEACH LOCK ON.
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5. Monitor Commands
5.2㻌PROGRAM AND DATA CONTROL COMMANDS㻌
USB_FDIR
Lists names of files on USB flash drive.
DIRECTORY
Displays program or data names in list format.
DIRECTORY/P
Displays program names in list format.
DIRECTORY/L
Displays pose variable names in list format.
DIRECTORY/R
Displays real variable names in list format.
DIRECTORY/S
Displays string variable names in list format.
DIRECTORY/INT
Displays integer variable names in list format.
LIST
Displays all program steps and variable values.
LIST/P
Displays all program steps.
LIST/L
Displays all pose variables and their values.
LIST/R
Displays all real variables and their values.
LIST/S
Displays all string variables and their data.
LIST/INT
Displays all integer variables and their data.
DELETE/D
Deletes programs and variables in robot memory.
DELETE/P/D
Deletes programs in robot memory.
DELETE/L/D
Deletes pose variables in robot memory.
DELETE/R/D
Deletes real variables in robot memory.
DELETE/S/D
Deletes string variables in robot memory.
DELETE/INT/D
Deletes integer variables in robot memory.
USB_FDEL
Deletes files on USB flash drive.
RENAME
Changes the name of a program.
USB_RENAME
Changes the name of a program in USB flash drive.
XFER
Copies steps from one program to another.
COPY
Copies programs.
USB_COPY
Copies programs in USB flash drive.
TRACE
Turns ON/OFF the TRACE Function.
SETTRACE
Reserves memory for logging.
RESTRACE
Releases memory reserved with SETTRACE.
LSTRACE
Displays the logging data.
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5. Monitor Commands
USB_FDIR folder name
㻌
Function㻌
Displays the name of files on USB flash drive.
Parameters㻌
Folder name
Specifies the folder which contains the list of files to display. When omitted, the files in the root
folder of the USB flash drive memory are displayed.
Explanation㻌
By using the USB_FDIR command, all the files on USB flash drive are displayed.
Example㻌
>USB_FDIR
Displays the names all files on the USB flash drive.
When the switch SCREEN is ON, the display does not scroll and stops at the end of the screen.
To continue display, press
Spacebar. To end the display, press
.
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5. Monitor Commands
DIRECTORY program name,㻌
DIRECTORY/P program name,㻌
㻌
DIRECTORY/L pose variable,
㻌
DIRECTORY/R real variable,㻌
㻌
DIRECTORY/S string variable,㻌
㻌
DIRECTORY/INT integer variable,㻌
Function㻌
Displays the specified program and data in a list format.
㻌
Program name (/P), pose variable (/L), real variable (/R), string variable (/S),
integer variable (/INT)
Specifies the type of data to display. If not specified, all the data in memory is displayed.
㻌
Explanation㻌
The DIRECTORY command displays all the program names, their subroutines and variables.
On the other hand, DIRECTORY /P command displays only the contents of the specified
program itself.
㻌
Example㻌
>DIRECTORY
Displays the contents of all programs, including the variables and their
values in a list.
>DIRECTORY/L
Displays all the pose variable names in a list.
>DIRECTORY/R
Displays all the real variables names in a list.
>DIRECTORY test3㻌
Displays all the names of the variables used in program test3.
>DIRECTORY test*
Displays all the names of programs that start with test.
When the SCREEN switch is ON, the display does not scroll and stops when the screen is full.
To continue the display, press
Spacebar. To quit the display, press
.
[ NOTE ]
Program and variable names with * or ~ in front of the name indicate that
no data are set to that program or variable.
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5. Monitor Commands
LIST program name,㻌
LIST/P program name,㻌
㻌
LIST/L pose variable,
㻌
LIST/R real variable,㻌
㻌
LIST/S string variable,㻌
㻌
LIST/INT integer variable,㻌
Function㻌
Displays the specified program and data.
Parameters㻌
Program name (/P), pose variable (/L), real variable (/R), string variable (/S),
integer variable (/INT)
Specifies the type of data to display. If not specified, all the data in memory is displayed. If an
array variable is selected, all the elements of that array variable are displayed on the screen.
Explanation㻌
The LIST command displays all the program names, their subroutines and variables. On the
other hand, LIST/P command displays only the contents of the specified program itself.
Example㻌
>LIST
Displays the name of all programs, including the variables and their
values.
>LIST/L
Displays all the pose variables and their values.
>LIST/R
Displays all the real variables and their values.
>LIST test
Displays the contents of all programs that start with “test”, their
subroutines and variables.
When the SCREEN switch is ON, the display does not scroll and stops when the screen is full.
To continue the display, press
Spacebar. To quit the display, press
.
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5. Monitor Commands
DELETE/D program name,
DELETE/P/D program name,
㻌
DELETE/L/D pose variable 㼇array elements㼉 ,
㻌
DELETE/R/D real variable 㼇array elements㼉 ,
DELETE/S/D string variable 㼇array elements㼉 ,
㻌
DELETE/INT/D string variable 㼇array elements㼉 ,
㻌
Function㻌
Deletes the specified data from the memory.
Parameters㻌
Program name (/P), pose variable (/L), real variable (/R), string variable (/S),
integer variable (/INT), forced delete(/D)
Specifies the type of data to delete.
Explanation㻌
DELETE command deletes the specified program completely; i.e. the main program itself and, if
used in the program, the following data.
(However, data used in other programs are not
deleted).
· All subroutines called by the program or by subroutines within that program.
· All pose variables used in the program and in the subroutines in that program.
· All real variables used in the program and in the subroutines in that program.
· All string variables used in the program and in the subroutines in that program.
㻌
DELETE/P command, unlike the DELETE command, deletes only the program itself, and not the
subroutines and variables used by that program.
If the array elements are not specified with the DELETE/L, DELETE/R, DELETE/S and
DELETE/INT commands, all the elements in that array variable are deleted. If the element(s)
are specified, only the specified element(s) are deleted.
When forced delete (/D) is specified, all subroutine and variable including those used in other
programs are deleted. Those programs that are in execution or selected cannot be deleted.
Also, robot programs and PC programs in execution cannot be deleted forcibly.
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5. Monitor Commands
Example㻌
>DELETE test
㻌
Deletes the program “test”, and all the subroutines and variables
used in them.
>DELETE/P pg11,㻌 pg12
Deletes the programs “PG11” and “PG12”. (The subroutines and
the variables are not deleted.)
>DELETE/R a㻌
Deletes all the elements of the array variable “a”.
>DELETE/R a[10]
Deletes the 10th element of array variable “a”.
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5. Monitor Commands
USB_FDEL file name,
㻌
Function㻌
Deletes the specified file from the USB flash drive memory.
Parameters㻌
File name
Specifies the name of the file to delete. To specify the folder containing the files, add “folder
name¥” before the file name. Writing “CF¥” before the file name specifies the files on the
Compact Flash memory in the controller.
Explanation㻌
Deletes the programs in the specified file completely.
RENAME new program name䠙existing program name
Function㻌
Changes the name of a program currently held in memory.
Parameters㻌
New program name
Sets new name for the program.
Existing program name
Specifies the current name of the program.
Explanation㻌
If the new program name already exists, RENAME command results in an error.
Example㻌
> RENAME test=test.tmp
㻌 㻌 㻌 Changes the name of the program from “test.tmp” to “test”.
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5. Monitor Commands
USB_RENAME new file name䠙existing file name
Function㻌
Changes the name of a file currently held in USB flash drive memory.
Parameters㻌
New file name
Sets new name for the file. To specify the folder containing the files, add “folder name¥” before
the file name. Writing “CF¥” before the file name specifies the files on the Compact Flash
memory in the controller.
Existing file name
Specifies the current name of the file. To specify the folder containing the files, add “folder
name¥” before the file name. Writing “CF¥” before the file name specifies the files on the
Compact Flash memory in the controller.
Explanation㻌
If the new file name already exists, USB_RENAME command results in an error.
Example㻌
>USB_ RENAME file_new =file
㻌 㻌 㻌 Changes the name of the file in USB memory, from
“file” to “file_new”.
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5. Monitor Commands
XFER destination program name, step number1 =
source program name, step number2, number of steps
Function㻌
Copies and transfers steps from one program to another program.
Parameters㻌
Destination program name
Sets the program for receiving the copied data. If a program of that name does not exist, the
data is transferred to a new program with that name.
Step number 1
Sets the step number before which the copied data is inserted. If no step is specified, the data is
inserted at the end of the specified program.
Source program name
Sets the name of the program from where the data is copied.
Step number 2
Sets the step number in the source program where the data is copied. If no number is specified,
the data is copied starting from the top of the program.
Number of steps
Sets the number of steps to copy from the source program, starting from the step number set
above (parameter: step number 2). If no step count is specified, all remaining steps in the
program are copied.
Explanation㻌
Copies from the specified program a specified number of steps, and inserts the data before the
specified step in the destination program.
㻌
㻌
[NOTE]
If the destination program is being displayed using the STATUS or PCSTATUS
commands, or if it is being edited (EDIT command), XFER command cannot be used.
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5. Monitor Commands
COPY new program name =
source program name + source program name +
Function㻌
Copies the complete program to a new program.
Parameters㻌
New program name
Specifies the name of the program to where the copied program is placed. This must be
specified.
Source program name
Specifies the name of the program to be copied. At least one program must be specified.
Explanation㻌
When two or more source programs are specified, the programs are combined into one program
under the new program name. The name specified for the new program cannot be an existing
program.
USB_COPY new file name = source file name
Function㻌
Copies the specified files to a new file on USB flash drive memory.
Parameters㻌
New file name
Specifies the new name for the file to be created. This must be specified. To specify the folder
containing the files, add “folder name¥” before the file name. Writing “CF¥” before the file
name specifies the files on the Compact Flash memory in the controller.
Source file name
Specifies the name of the file(s) to be copied. This must be specified. To specify the folder
containing the files, add “folder name¥” before the file name. Writing “CF¥” before the file
name specifies the files on the Compact Flash memory in the controller.
Explanation㻌
The name specified for the new file cannot be an existing file name.
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5. Monitor Commands
TRACE stepper number: ON/OFF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
Starts (ON) or ends (OFF) logging of the robot or PC program to allow program tracing.
Parameters㻌
Stepper number
Specifies the program to trace using the following number selection:
1: Robot program
1001: PC program 1
1004: PC program 4
1002: PC program 2
1005: PC program5
1003: PC program 3
If the program is not specified, the program currently in execution is logged.
ON/OFF
Starts/ ends logging.
Explanation㻌
If the necessary memory is not reserved using the SETTRACE command before TRACE ON, the
error (P2034) “Memory undefined” occurs. Execute SETTRACE before retrying.
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5. Monitor Commands
SETTRACE number of steps
Function㻌
Reserves the necessary memory to log the data for program tracing.
Parameters㻌
Number of steps
Specifies the number of steps to log (setting range: 1 to 9999). If not specified, memory for 100
steps will be reserved.
Explanation㻌
A portion of the user memory is set aside to accommodate the specified number of steps and the
current number of existing robot and PC programs.
If TRACE ON and LSTRACE commands are executed without reserving the memory for
logging, the error (P2034) “Memory undefined” occurs. If the SETTRACE command is used
while logging, error (P2033) “Logging is in process” occurs, and all tracing are turned OFF
(ends).
RESTRACE
Function㻌
Releases the memory set aside by SETTRACE command.
Explanation㻌
If the RESTRACE command is used while logging, the error (P2033) “Logging is in process”
occurs.
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5. Monitor Commands
LSTRACE stepper number: logging number
Function㻌
Displays the logging data of the specified robot program or PC program.
Parameters㻌
Stepper number
Specifies the program to be displayed by the following number selection:
1: Robot program
1001: PC program 1
1004: PC program 4
1002: PC program 2
1005: PC program5
1003: PC program 3
If no program is specified, the log for robot program is displayed.
Log line number
Specifies the line number of the logging data from which to start the display.
If not specified,
line 1 is selected.
Explanation㻌
If the necessary memory is not reserved using the SETTRACE command before executing
LSTRACE, error (P2034) “Memory undefined” occurs.
If the LSTRACE command is used while logging, error (P2033) “Logging is in process” will
occur.
When the LSTRACE command is executed, the logging data is displayed. The prompt appears
after the data and the following commands can be entered:
N
displays the next 9 lines.
L
displays the previous 9 lines.
S number
displays the specified log line number, and the 4 lines logged before and after that
line (total of 9 lines). If no line number is specified, lines 1 to 9 are displayed. If the number is
greater than the existing lines, the highest line number is displayed.
F character
displays the line that includes the specified character(s), and the 4 lines logged
before and after that line (total of 9 lines). If no character(s) are specified, the characters
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5. Monitor Commands
entered previously with the F command are used. If the characters are not found in the data,
nothing is displayed.
E
ends the display and returns to AS monitor mode.
entered alone displays the next 9 lines.
Example㻌
91㻌 㻌
pg1㻌
31㻌 JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 CLAMP1 (OFF,0,0,0)
2
92
pg1
32㻌 SIGNAL
14;sig on
93
pg1
33 JOINT SPEED9 ACCU1
TIMER0 TOOL1 WORK0
CLAMP1
(OFF,0,0,0)
2
94
pg1
34㻌 CALL “sub1”
95
sub1
1㻌 PRINT “SUB1”
96
sub1
2㻌 xyz:
97
sub1
3㻌 JMOVE a
98
sub1
4㻌 JMOVE b
99
sub1
5㻌 JMOVE c
----N: Next page, L: Previous page, S number: Jump to number, F character: Find character,
E: End-------
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5. Monitor Commands
5.3 PROGRAM AND DATA STORAGE COMMANDS
SAVE*
Saves the specified programs.
SAVE/P *
Saves programs.
SAVE/L *
Saves pose variables.
SAVE/R *
Saves real variables.
SAVE/S *
Saves character strings.
SAVE/A *
Saves auxiliary information.
SAVE/SYS *
Saves system data.
SAVE/ROB *
Saves robot data.
SAVE/EAG *
Saves error log data.
SAVE/OPLOG * Saves operation log data.
SAVE/ALLLOG * Saves all log data.
SAVE/FULL *
Saves all data that can be saved.
SAVE/STG 䠆
Saves logging data for data storage function. (Option)
LOAD *
Loads programs and data to robot memory.
USB_MKDIR
Creates a new folder on the USB flash drive.
Note*㻌 㻌 㻌 㻌 These commands save data to personal computers. 㻌 To save the data to the USB flash
drive, add the prefix USB_ to the command. See the explanation for each command
for further information.
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5. Monitor Commands
㻌
SAVE/SEL file name䠙program name,
………
USB_SAVE/SEL file name䠙program name,
………
Function㻌
SAVE command stores programs and variable data on the computer hardware. (Use only when a
PC is connected to the robot controller.)
USB_SAVE command stores programs and variable data on USB flash drive.
Parameters㻌
File name
Saves the specified program under this file name. If the extension is not specified, the extension
“.as” is automatically added to the file name. To specify the folder containing the files, add
“folder name¥” before the file name. Writing “CF¥” before the file name specifies the files on
the Compact Flash memory in the controller.
Program name
Select the program to save. If not specified, all the programs in the memory are saved.
Explanation㻌
The commands SAVE/P, SAVE/L, SAVE/R, SAVE/S, SAVE/SYS store each data type
(program, pose variable, real variable, string variable, and system data, respectively) in separate
files. Using the SAVE command alone stores all the five data types in one file.
SAVE command (without /SEL) stores the specified program(s), including any variables and
subroutines used by the program(s). SAVE/SEL command stores only the program and not the
subroutines and variables used by that program.
Example
>SAVE f3=cycle,motor
Stores under the file name “f3.as” the system data, the two
programs “cycle” and “motor”, the subroutines called from
those programs, and the variables used in those programs.
[ NOTE ]
If the specified file name already exists in memory, then the existing file is
automatically renamed with a “b” in front of the file extension. For example if
“file1.as”already exists in memory and the command >SAVE file1 ( is executed, then
that file is renamed “file1.bas”. The newly created file will be named “file1.as”.
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5. Monitor Commands
SAVE/P/SEL㻌file name=program name,
………㻌
SAVE/L/SEL file name=program name,
………㻌
SAVE/R/SEL㻌file name=program name,
………
SAVE/S/SEL㻌file name=program name,
………㻌
SAVE/A㻌file name㻌
SAVE/SYS㻌file name㻌
SAVE/ROB㻌file name㻌
SAVE/ELOG㻌file name
SAVE/OPLOG file name
SAVE/ALLLOG file name
SAVE/FULL file name
SAVE/STG file name
USB_SAVE/P/SEL㻌file name=program name,
………㻌
USB _SAVE/L/SEL file name=program name,
………
USB _SAVE/R/SEL㻌file name=program name,
………㻌
USB _SAVE/S/SEL㻌file name=program name,
………
USB _SAVE/A㻌file name㻌
USB _SAVE/SYS㻌file name㻌
USB _SAVE/ROB㻌file name㻌
USB _SAVE/ELOG㻌file name
USB _SAVE/OPLOG file name
USB _SAVE/ALLLOG file name
USB _SAVE/FULL file name
USB _SAVE/STG file name
㻌
Function㻌
Stores in the file the program (/P), pose variable (/L), real variable (/R), string variable (/S),
auxiliary information (/A), system data (/SYS), robot data (/ROB), error log (/ELOG), operation
log (/OPLOG) , all logs (/ALLLOG), all savable data (/FULL) and data logging function (option)
logging data (STG).
As with SAVE command, USB_SAVE/ commands are used to save files to the USB flash drive
memory. Use SAVE/ command only when a PC is connected to the robot controller. See
2.6.2 Uploading and Downloading Data.
㻌
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5. Monitor Commands
Parameters㻌
File name㻌
Saves the data under this file name. If the extension is not specified, the following extensions
are automatically added to the file name according to the type of data in the file:
program
.PG
pose information
.LC 㻌 㻌 real variables 㻌 㻌 .RV
string variables .ST
auxiliary information .AU
system data
.SY
robot data㻌
.RB
error log
.EL
operation log
.OL
all logs
.AS
all data
.AS
data storage
.CSV
To specify the folder containing the files, add “folder name¥” before the file name. Writing
“CF¥” before the file name specifies the files on the Compact Flash memory in the
controller.
Program name
Selects the name of the program to save. If not specified, all the programs and data in the
memory will be saved on the file.
Explanation㻌
1. SAVE/P
Stores in the specified file the selected program(s) and the subroutines called by those program(s)
(including the subroutines called by the subroutines).
The names of the program(s) that were saved to the file are displayed on the system terminal.
Some additional program names other than those specified by the SAVE command may appear.
These are the names of the subroutines the specified program calls. These subroutines are stored
in the same file as the program(s). Programs are stored in the file in alphabetical order
regardless of the order in which they were saved.
2. SAVE/L, SAVE/R, SAVE/S
Stores only the variables used in the specified program(s) and the subroutine(s) called by those
program(s). (/L: stores only the pose variables, /R: stores only the real variables, /S: stores only
the string variables)
3.㻌 SAVE/A
Stores the auxiliary information.
4.㻌 SAVE/SYS
Stores the system data.
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5. Monitor Commands
5.㻌 SAVE/ROB
Stores the data pertaining specifically to the robot (robot data).
6.㻌 SAVE/ELOG
Stores the error log. This command cannot be entered together with other SAVE/ commands.
For example, SAVE/ELOG/R does not function.
7.㻌 SAVE/OPLOG
Stores the operation logs. This command cannot be entered together with other SAVE/
commands. For example, SAVE/OPLOG/P does not function.
8.㻌 SAVE/ALLLOG 㻌
Stores all logs such as the error log, operation log, etc. This command cannot be entered together
with other SAVE/ commands. For example, SAVE/ALLLOG/P does not function.
9.㻌 SAVE/FULL
Stores all data that can be saved. This command cannot be entered together with other SAVE/
commands. For example, SAVE/FULL/P does not function.
10.㻌 SAVE/STG
Stores the logging data logged in data storage function (option). This command cannot be
entered together with other SAVE/ commands. For example, SAVE/STG/P does not function.
11.㻌 If /SEL is entered with /P,/L,/R,/S, only the main program and the variables used only in the
main program are stored. The subroutines and the variables used in the subroutines are not
stored.
If the specified file name already exists in memory, then the existing file is automatically renamed
with a “b” in front of the file extension. (See also SAVE command).
Example
>SAVE/L file2=pg1, pg2
The pose variables used in programs pg1 and pg2
are stored under the file name 䇾file2.lc䇿
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5. Monitor Commands
LOAD/Q file name
USB_LOAD/Q file name
Function㻌
LOAD command loads the files in the computer memory into the robot memory.
(Use only
when PC is connected to the robot controller). USB_LOAD command loads the files on the
USB flash drive.
Parameters㻌
File name
Saves the specified program under this file name. If no extension is specified, the extension
“.as” is automatically added to the file name. To specify the folder containing the files, add
“folder name¥” before the file name. Writing “CF¥” before the file name specifies the files on
the Compact Flash memory in the controller.
Explanation㻌
This command loads the data (system data, programs, and variables) from the specified file into
the robot memory. Attempting to load a program name that already exists in memory results in
error, and execution of the LOAD command is aborted.
[ NOTE ]
When loading a pose variable, real variable, or string variable name that
already exists in memory, the data in the memory is overwritten without any
warning.
(Programs are not overwritten.)
The original data is deleted if LOAD is canceled while overwriting the data in
the memory.
For LOAD command with /Q, the following message appears before loading each system data or
program:
Load? (1:Yes, 0:No, 2:Load all, 3:Exit)
The choices are as follows:
1: Loads the data.
0: Does not load the data and goes on to the next data.
2: Loads the data and the remaining data in the file without inquiry.
3: Does not load the data, and ends the LOAD command.
5-34
5. Monitor Commands
If there is an unreadable or incorrect step in the program, the following message appears: “The
step format is incorrect (0: Continue load 1: Delete program and exit)”. If the operation is
continued by entering “0”, use the editor (Edit mode) to correct the step after the program has
been loaded.
Example
>LOAD pallet
Loads the data in the file “pallet.as” into the memory.
Loading…
System data
Program a1()
Program test()
䠖
Transformation values
Joint interpolation values
Real values
Loading done.
>
>LOAD f3.pg
Loads all programs in file 䇾f3.pg䇿 into the memory.
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5. Monitor Commands
USB_MKDIR folder name
Function㻌
Creates a file folder on the USB flash drive memory by the specified name.
Parameters㻌
Folder name
Creates a folder by this name.
Explanation㻌
Creates a new folder on the USB flash drive memory with the specified name. If a file or folder
with the same name already exists on the memory, the message “Could not create folder” is
displayed and the folder is not created.
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5. Monitor Commands
5.4 PROGRAM CONTROL COMMANDS
SPEED
Sets the monitor speed.
PRIME
Prepares the program for execution.
EXECUTE
Executes the program.
STEP
Executes one step of the program.
MSTEP
Executes one robot motion instruction.
ABORT
Stops execution after the current step is completed.
HOLD
Stops execution.
CONTINUE
Resumes execution of the program.
STPNEXT
Executes the program in step once mode.
KILL
Initializes the execution stack.
DO
Executes a single program instruction.
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5. Monitor Commands
SPEED monitor speed
Function
Sets the monitor speed in percentage.
Parameter
Monitor speed
Sets the speed in percentage. If this value is 100, then the speed will be 100 % of the maximum
speed. If it is 50, the speed will be the half of the maximum speed.
Explanation
A product of the monitor speed (set by this command) and program speed (set in the program
using the SPEED instruction) determines the robot motion speed. For example, if the monitor
speed is set at 50 and the speed set in the program is 60, and then the robot’s maximum speed will
be 30 %.
[ NOTE ]
The maximum speed of the robot is automatically set at 100 %, if the product of the
monitor speed and the program speed exceeds 100.
The default setting of the monitor speed is 10 %.
This command will not affect the speed of motion currently in execution. The new speed setting
takes effect after the current motion and the planned motion are completed.
Example
If the program speed is set at 100 %:
>SPEED
30
The robot motion speed is set at 30 % of the maximum speed.
>SPEED
50
The robot motion speed is set at 50 % of the maximum speed.
>SPEED
100
The robot motion speed is set at 100 % of the maximum speed.
>SPEED
200
The robot motion speed is set at 100 % of the maximum speed.
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5. Monitor Commands
PRIME program name, execution cycles, step number
Function
Prepares the system so that a program can be executed using the
A+
CYCLE START key. This
command alone does not execute the program.
Parameter
Program name
Selects the program to prepare for execution. If not specified, the program last executed or used
in prime command will be selected.
Execution cycles
Sets how many times the program is executed. If not specified, 1 is assumed. To execute the
program continuously, enter a negative number (-1).
Step number
Selects the step from which to start execution. If not specified, the execution starts from the first
step of the program.
Explanation
This command only prepares the system for program execution. It does not execute the program.
A program can be executed using the CONTINUE command after the PRIME command
prepares the system. The program can also be executed using
A+
CYCLE START keys.
[ NOTE ]
When using this command, the execution stack in the robot memory is
initialized; i.e. any information indicating a program is held (e.g. by HOLD
command or by an error) will be lost. For example, if program execution is
held while in a subroutine (the information is memorized in the stack), and
then the subroutine is executed using this command with CYCLE START or
CONTINUE command (the stack is initialized), the processing cannot return
to the main program as the stack has been initialized.
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5. Monitor Commands
EXECUTE program name, execution cycles, step number
Function
Executes a robot program.
Parameter
Program name
Selects the program to execute. If not specified, the program last executed (by EXECUTE,
PRIME, STEP, or MSTEP command) is selected.
Execution cycles
Sets how many times the program is executed. If not specified, 1 is assumed. To execute the
program continuously, enter a negative number (1). The maximum limit is 32767.
Step number
Selects the step from which to start execution. If not specified, execution starts from the first
executable step of the program. If the program is executed more than once, from the second
cycle, the program is executed from the first step.
Explanation
Executes a specified robot program from the specified step. The execution is repeated the
specified number of cycles.
CAUTION
！
When this command is used, the following conditions are set automatically:
SPEED
100 ALWAYS
ACCURACY
1 ALWAYS
The STOP instruction or the last step of the program marks the end of a cycle.
Example
>EXECUTE test,-1 Executes the program named “test” continuously.
(Program
execution continues until stopped by commands such as
HALT, or when an error occurs.)
>EXECUTE
Executes the program last executed.
(One cycle only).
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5. Monitor Commands
STEP program name, execution cycles, step number
MSTEP program name, execution cycles, step number
Function
Executes one step of a robot program.
Parameter
Program name
Selects the program to execute. If not specified, the program currently suspended or the
program last executed is selected.
Execution cycles
Sets how many times the program is executed. If not specified, 1 is assumed.
Step number
Selects the step from which to start execution. If not specified, execution starts from the first
executable step of the program. If no parameters are specified, the step after the last executed
step is selected.
Explanation
This command can be executed without parameters only in the following conditions:
1. after a PAUSE instruction,
2. after the program is stopped by causes other than error,
3. when the previous program instruction was executed using the STEP command.
MSTEP command executes one motion segment (i.e. one motion instruction and the steps before
the next motion instruction). STEP command executes only one step of the program (the robot
does not necessarily move).
Example
>STEP assembly,,23
Executes only step 23 of the program “assembly”.
Entering STEP again without parameter immediately
after this executes step 24.
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5. Monitor Commands
ABORT
Function
Stops execution of the robot program.
Explanation
Stops execution of the robot program after the current step is completed. If the robot is in
motion, the execution stops after that motion is completed. Program execution is resumed using
the CONTINUE command.
[ NOTE ]
In AS system, the motion of the robot and the step in execution may not always be
the same. Therefore, if the processing of steps is faster than the motion of the
robot, the robot may perform one more motion after the current motion before it
stops.
HOLD
Function
Stops execution of the robot program immediately.
Explanation
The robot motion is stopped immediately. Unlike
EMERGENCY STOP switch, the motor
power does not turn OFF. This command has the same effect as when HOLD/RUN state is
changed from RUN to HOLD. Program execution is resumed using the CONTINUE command.
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