Kawasaki Robot Controller E Series. Reference Manual (2015)

5. Monitor Commands

HSETCLAMP

Function㻌

Assigns signal numbers to operate material handling clamps.

Example㻌

In the example below, clamp 3 is set as a double solenoid.

㻌

>HSETCLAMP



Clamp 1

Clamp 2

Clamp 3

Clamp 4

Spot weld

Handling

Not used

‘ON’out.signal

‘OFF’out.signal

Clamp 5

Clamp 6

Clamp7

Clamp 8

Not used

‘ON’out.signal

‘OFF’out.signal

Clamp number (18, ENTER only:No change, CTRL+C:Exit)㻌 3㻌㻌

;Select clamp number

Define as Handling clamp ?

(1:Defined as Handling clamp, 0:Not used, ENTER only:No change, CTRL+C:Exit)1

䠗Enter 1 to define as handling clamp.

㻌 For single solenoid valve, define one signal.

For double solenoid valve, define both.

'ON' out. signal

(0:Not used, ENTER only:No change, CTRL+C:Exit) Change ? 12 ;

Set so that ch12 is output

if ON

'OFF' out. signal

(0:Not used, ENTER only:No change, CTRL+C:Exit) Change ?; 13㻌

Set so that ch13 is output

if OFF

Clamp 1

Clamp 2

Clamp 3

Clamp 4

Spot weld

Handling

Not used

‘ON’out.signal

‘OFF’out.signal

Clamp 5

Clamp 6

Clamp7

Clamp 8

Not used

‘ON’out.signal

‘OFF’out.signal

Clamp number (18, ENTER only:No change, CTRL+C:Exit)㻌 3㻌

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5. Monitor Commands

DEFSIG INPUT

DEFSIG OUTPUT

Function㻌

Displays and changes the current setting of the software dedicated signals.

Parameter㻌

INPUT, OUTPUT

OUTPUT (or only O) displays the output signals, INPUT (or only I) the INPUT signals. The

setting can be changed when this parameter is entered. If this parameter is not entered, the

signals currently used as dedicated signals are displayed in a list.

Explanation

The signals in the table below can be used as dedicated signals.

For details on dedicated signals, refer to the External I/O Manual.

Software Dedicated Input Signal

Software Dedicated Output Signal

EXT. MOTOR ON

MOTOR_ON

EXT. ERROR RESET

ERROR

EXT. CYCLE START

AUTOMATIC

EXT. PROGRAM RESET

CYCLE START

Ext. prog. select (JUMP_ON, JUMP_OFF

TEACH MODE

RPS_ON, RPSxx)

HOME1, HOME2

EXT_IT

POWER ON

EXT. SLOW REPEAT MODE

RGSO

Ext. prog. select (JMP_ST, RPS_ST)㻌

The following codes can be used with this command.

L: Go back to the previous signal.

N: Go to the next signal.

Q: Cancel operation (the data input are ignored)

E: Exit

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5. Monitor Commands

[ NOTE ]

1. External program selection

(1) When selecting JMP as a dedicated signal, signals JMP-ON, JMP-OFF, JMP-ST are also

automatically set as dedicated. JMP-ST is an output signal but is set under DEFSIG

INPUT command.

(2) When selecting RPS signal as a dedicated signal, signals RPS-ON, RPS-ST are also

automatically set as dedicated signals. RPS-ST is an output signal but is set under

DEFSIG INPUT command.

2. RPS code

If at least one of the following signals is selected as dedicated signal, a prompt appears and

an RPS code must be input.

JMP, RPS or EXT. PROGRAM RESET

3. Signal numbers

Signals can be set within the following range:

Dedicated output signals: 1 to number of signals installed

Dedicated input signals: 1001 to number of signals installed

4. Others

If a signal number is already assigned to a dedicated signal, it cannot be assigned to another

dedicated signal or used as a general purpose signal.

㻌

Example㻌

The following example displays the currently selected software dedicated signals.

>DEFSIG

Dedicated signals are set

EXT. MOTOR ON = 1032

EXT. ERROR RESET = 1031

EXT. CYCLE START = 1030

MOTOR ON = 32

ERROR = 31

AUTOMATIC = 30

Condition : Panel switch in RUN.

Condition : Panel switch in REPEAT.

Condition : Repeat continuous.

Condition : Step continuous.

CYCLE START = 29

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5. Monitor Commands

TEACH MODE = 28

HOME1 = 27

>

The following example resets the selection of the software dedicated output signal MOTOR_ON,

changes the signal number of AUTOMATIC to 30, selects TEACH MODE as dedicated signal

and sets the signal number 3.

>DEFSIG OUTPUT

MOTOR ON Dedication cancel? (Enter 1 to cancel.)1



ERROR Dedication cancel? (Enter 1 to cancel.)



Signal number

Change ?

(1 - 32 )



AUTOMATIC Dedication cancel? (Enter 1 to cancel.)



Signal number

Change ?

(1 - 32 )



CYCLE START Dedication cancel? (Enter 1 to cancel.)



Signal number

Change ?

(1 - 32 )



TEACH MODE Dedication set? (Enter 1 to set.) 1



Signal number

Change ?

(1 - 32 )



HOME1 Dedication cancel? (Enter 1 to cancel.)



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5. Monitor Commands

ZZERO joint number

Function㻌

Sets the encoder value corresponding to the mechanical origin of each axis of a robot as zeroing

data. Also, the current zeroing data and the value of encoder rotation counter can be displayed

using this command.

Parameter㻌

Joint number

(1) To reset the encoder rotation counter:

Enter the joint number plus 100. For example, to reset the encoder rotation counter on joint two,

enter:

ZZERO

102



If “100” is entered as the joint number, all the encoder counters are reset.

(2) To set zeroing data:

To set the encoder zeroing data for joint two, enter:

ZZERO



If “0” is entered as the joint number, all the joints are zeroed.

If no joint number is specified, the current encoder data and the zeroing data are displayed.

[ NOTE ]

Reset the encoder rotation counter before setting the zeroing data.

！

DANGER

Use this command only for the following purposes:

1. To check if the zeroing data has changed when the position of the arm is abnormal.

2. To correct the zeroing data when it has changed unexpectedly.

When the zeroing data is changed, the values detected for robot poses also change.

Therefore be aware that the same program ends in different destination pose and

trajectory before and after the zeroing data is changed.

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5. Monitor Commands

Example

1. The following command displays the zeroing data:

>ZZERO



JT1

JT2

JT3

JT4

JT5

JT6

Set data

268435456

Current

268435456

data

Change?(If not , hit RETURN only)

JT1

JT2

JT3

JT4

JT5

JT6

OFFSET

Change? (If not , hit RETURN only)

The following command resets the encoder rotation counter of all the joints.

>ZZERO 100

** Encoder rot. counter reset (all joints) **

Are you sure? (Enter 1 to execute)



Setting complete.

The following command resets the encoder rotation counter of joint 2 with the joint value

specified for [Current angle] as the current value.

>ZZERO 102

** Encoder rot. counter reset (joint 2) **

Current angle (deg, mm) ?



Are you sure? (Enter 1 to execute) 1



Setting complete.

The following command sets the zeroing data of all the joints simultaneously. The current

value will become 0°.

>ZZERO 0



JT1

JT2

JT3

JT4

JT5

JT6

Set data 268427264 268427264 268427264 268427264 268427264 268427264

Current

268427264 268427264 268427264 268427264 268427264 268427264

Set current values of all joints as zeroing data? (Enter 1 to set.)1



Setting complete.



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5. Monitor Commands

5. Resets the zeroing data of joint 2 with the value specified for [Current angle] as the current

value.

>ZZERO 2



Current angle (deg.mm)?



Change? (If not, Press RETURN only.)



Encoder value? (Current=268435456, Enter 1to set current value) 1



Zeroing value=268435456 (268419072-268451840) OK?

(Enter 0 to change)



Setting complete.



5-80

5. Monitor Commands

ERESET

Function㻌

Resets the error condition. Identical to the

ERROR RESET button on the operation panel.

Explanation

When the ERESET command is executed, the ERROR_RESET signal is output. However this

command is ineffective when an error occurs continuously.

SYSINIT

Function㻌

Deletes all program and data in the memory and initializes defined parameters.

Explanation㻌

Initializes the system and deletes all programs, pose variables, numeric variables, and string

variable.

[ NOTE ]

All programs and variables are deleted from the memory when this command is

executed.

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5. Monitor Commands

HELP alpha character

HELP/ M alpha character

HELP/ P alpha character

HELP/ F alpha character

HELP/ PPC alpha character

HELP/ MC alpha character

HELP/ DO alpha character

HELP/ SW alpha character

Function㻌

Displays a list of AS Language commands and instructions.

Parameter

Specifies with which letter in the alphabet the command, instruction, etc. begins. If omitted, all

the commands, instructions are displayed.

For example, entering HELP command followed by an alpha character displays the monitor

commands or program instructions starting with that alphabet. Entering HELP/F command

followed by an alpha character command displays the functions starting with that alphabet.

Explanation㻌

Entering HELP only, displays a list of monitor command and program instructions.

HELP/M lists the monitor commands.

HELP/P lists the program instructions.

HELP/F lists functions.

HELP/PPC lists program instructions usable in PC programs. (Option)

HELP/MC lists monitor commands usable with the MC instruction. (Option)

HELP/DO lists program instructions usable with DO command. (Option)

HELP/SW displays a list of system switches. (Option)

For some commands and instructions, the parameters are also displayed.

Example㻌

>HELP/M



ABORT BASE BITS BATCHK CONTINUE COPY DEFSIG

DELETE DIRECTORY DLYSIG DO EDIT ERESET ERRLOG

>HELP/F



#DEST

#PPOINT

$CHR

$DECODE

$ENCODE

$ERROR

$LEFT

$MID

$RIGHT

$SPACE ABS ASC

5-82

5. Monitor Commands

Function㻌

Displays the version information of the software installed in the robot controller.

Explanation㻌

Displays the following information.

Robot name:

the name of the robot arm controlled by AS software

Joint number:

number of joints of the controlled robot arm

Serial number:

serial number of the controlled robot arm

Number of signals:

maximum number of output, input, and internal signals available in this

system

Clamp number:

maximum number of clamps available in this system

Motion type:

motion type currently set

Servo type:

type of servo software currently set

Acceleration speed change per load: enable/ disable of acceleration speed change function per

load

Servo specification:

control specification of the servo software

Software version:

version number of the AS software

[ NOTE ]

If the above information does not match the actual robot, contact us immediately.

Do not turn ON the motor power nor make the robot do any motion operations.

㻌

Example㻌

>ID



Robot name: RS020N-A001 Num of axes: 6

Serial No. 1

㻌㻌㻌

Number of signals: output=32

input=32

internal=256

Clamp number

:2 MOTION TYPE: 1 SERVO TYPE:1

Acceleration change function : OFF

SERVO specification:

[Software version]

===

AS Group ===

: ASE_010100W30 2014/09/23 14:17

User IF AS

: UASE010100W30 2014/09/23 14:17

User IF TP

: UTPE010100W30 2014/09/23 14:14

Arm Control AS

: AASE010100W30 2014/09/23 14:33

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5. Monitor Commands

User IF AS message file

: MASE0100W30JP 2014/09/23 13:46

User IF TP message file

: MTPE0100W30JP 2014/09/23 13:46

Arm data file

: ARME021310W0K 2014/08/07 19:58

===

SERVO group ===

Arm Control SERVO

: ASVE08000003C 2014/01/31 15:51

SERVO data file

: ASPE08000003J 2014/09/23 13:43

Arm Control SERVO FPGA

: ASFE080000007 2013/11/29 18:48

>ID



Robot name

: RS020N-A001 Num of axes: 6 Serial No.䠍

Software version : version

000004-04…08/11/27 13:11

Servo

: SAOA00-RS020N-01

Number of signals: output=32

input=32

internal=256

Clamp number

:2 MOTION TYPE: 1 SERVO TYPE:1

[ NOTE ]

Displayed software version may vary from above according to the selected option.

5-84

5. Monitor Commands

WEIGHT load mass䠈center of gravity X, center of gravity Y,

center of gravity Z, inertia moment ab. X axis,

inertia moment ab. Y axis, inertia moment ab. Z axis

Function㻌

Sets the load mass data (weight of tool and workpiece). The data is used to determine the

optimum acceleration of the robot arm.

Parameter㻌

Load mass

The mass of the tool and workpiece (in kilograms). Range: 0.0 to the maximum load capacity

(kg).

Center of gravity (unit = mm)

X: the x value of the center of gravity in tool coordinates

Y: the y value of the center of gravity in tool coordinates

Z: the z value of the center of gravity in tool coordinates

Inertia moment about X axis, inertia moment about Y axis, inertia moment about Z axis

(Option)

Sets the inertia moment around each axis. Unit is kg·m². The inertia moment about each axis

is defined as the moment around the coordinates axes parallel to the null tool coordinates with the

center of rotation at the tool’s center of gravity.

Explanation㻌

If no parameters are specified, the current value is displayed followed by the message “Change?”

！

DANGER

Always set the correct load mass and center of gravity. Incorrect data may

weaken or shorten the longevity of parts or cause overload / deviation errors.

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5. Monitor Commands

ENCCHK_ EMG

Function㻌

Sets an acceptable deviation range when checking the robot’s pose at an emergency stop versus

the pose when the robot is restarted.

Explanation

Deviation 䠙|(pose after motor power is reapplied) (pose after the emergency stop)|

The acceptable deviation range can be set at each joint. If. 0.0 is set as the range, deviation

check is not performed. Setting too small of a range may trigger an error when motor power is

reapplied after an emergency stop even if the robot is operating within performance

specifications.

ENCCHK_ PON

Function㻌

Sets the acceptable range for the difference in encoder value when the control power is turned ON

versus the value when the power was turned OFF the last time.

Explanation㻌

Acceptable range = | (value when control power is turn ON)  (value when the control power was

turned OFF the last time)|

The acceptable range can be set at each joint Setting too small of a range may trigger an error

when motor power is reapplied after an emergency stop even if the robot is operating within

performance specifications.

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5. Monitor Commands

SLOW_ REPEAT

Function㻌

Sets the repeat speed in slow repeat mode.

Explanation㻌

>SLOW REPEAT

SLOW REPEAT MODE Speed㻌 (1-25%)

(Enter only: No change ^C:Exit): Now

10 Change ?

If no change is made, press only

. To change the speed, enter the new value and press

.

[ NOTE ]

Ctrl䠇C (Exit) cannot be used from the teach pendant keyboard screen.

REC_ACCEPT

Function㻌

Enables or disables RECORD and PROGRAM CHANGE functions.

Explanation㻌

>REC ACCEPT㻌



RECORD(0:Enable, 1:Disable)

(Enter only: No change ^C:Exit): Now

0 Change ?

PROGRAM CHANGE(0:Enable, 1:Disable)

(Enter only: No change ^C:Exit): Now

0 Change ?

Enter 0 to enable RECORD or PROGRAM CHANGE option. Enter 1 to disable the options.

[ NOTE ]

Ctrl䠇C (Exit) cannot be used from the teach pendant keyboard screen.

2. If PROGRAM CHANGE is disabled, the following message appears when EDIT

command is executed: “Program change inhibited. Set ACCEPT and operate again.”

REC_ACCEPT command cannot be used in EDIT mode.

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5. Monitor Commands

ENV_DATA

Function㻌

Sets hardware environmental data.

(Auto servo OFF timer and status of teach pendant

installation)

Explanation㻌

>ENV DATA



AUTO SERVO OFF TIMER(0:Servo not off)

(Enter only: No change ^C:Exit): Now

0 Change ?

If no change is to be made, press only

. Enter 0 to disable the auto servo OFF timer. To

enable the timer, enter after how much time (in seconds) the servo turns OFF.

Next, a prompt for the teach pendant is displayed.

TEACH PENDANT(0:Connect, 1:Disconnect)

(Enter only: No change ^C:Exit): Now

0 Change ?

If no change is made, press only

. To operate the robot without connecting the teach pendant,

enter 1. Connect the short circuit plug after disconnecting the teach pendant.

[ NOTE ]

Ctrl䠇C (Exit) cannot be used from the teach pendant keyboard screen.

ENV2_DATA

Function㻌

Sets software environmental data.

Explanation㻌

>ENV2 DATA

TEACH PENDANT (0:Connect, 1:Disconnect)

(Enter only: No change ^C:Exit): Now

0 Change ?

If no change is made, press only

. Next, a prompt for the terminal setting is displayed.

TERMINAL (0:Connect, 1:Disconnect)

(Enter only: No change ^C:Exit): Now

0 Change ?

If no change is made, press only

. Usually the personal computer is set as the terminal.

[ NOTE ]

Ctrl䠇C (Exit) cannot be used from the teach pendant keyboard screen.

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5. Monitor Commands

CHSUM

Function㻌

Enables or disables the resetting of abnormal check sum error.

Explanation㻌

>CHSUM

CLEAR CHECK SUM ERROR(0:Ineffect, 1:Effect)

(Enter only: No change ^C:Exit): Now

0 Change ?

If “0” is entered, error cannot be reset. If “1” is entered the error is reset. The default value is

“0”. CHSUM is reset to “0” when the control power is turned OFF.

The following message appears if the error cannot be reset:

>CHSUM

Cannot clear check sum error. Check the following command or auxiliary data.

ZZERO

DEFSIG

If any data still contains an abnormal check sum, the message in the first example (CLEAR

CHECK SUM ERROR) does not appear. Instead, a message (as in the second example) is

displayed identifying additional troubleshooting.

[ NOTE ]

Ctrl䠇C (Exit) cannot be used from the teach pendant keyboard screen.

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5. Monitor Commands

IPEAKLOG

Option

Function㻌

Displays the peak current value for each joint.

Explanation㻌

Displays the program name, step number, effective current value [Arms], and the ratio of peak

value to mechanical limit or motor limit when the motor torque is at its highest for each joint.

Example㻌

>IPEAKLOG



Log since

00/1/24

13:44:23

Joint

Program Step

Effective current

Date

JT1

pg223

4.1[Arms]

29.5[%]

00/1/24