All controllers for the Kawasaki Robots are delivered with two
possibilities of language programming. The Block Language Programming
and AS-Language Programming:
Block Language Programming This
type of programming is indicated as the simplified programming. It has
a structure, which differs a lot from the AS-programming. Each step of
a block programming contains all the necessary information for the
robotīs movements. One step consists in two parts: the Position Data
and the Auxiliary Data. This division enable to edit and to save the
Auxiliary Data without changing the Position Data and vice versa. The
angle position of each wrist is saved in the Position Data to reach a
maximum of accurate repetitions.
The Auxiliary Data contains information how this position shall be
started up. This data contains information about the Interpolation
modus( joint-, linear-, and circular interpolation), velocity and the
movement accuracy.
The system has the ability to control up to 8 different grippers. And
it provides for many applications with possibilities of direct control
of spot welding for example.
Any external input and output can be set in any or all steps of the
block programming to work with any peripheral device.
Block programming is preferably applied in the application areas as
point welding ,handling, spraying, and gluing. It is a simple but very
flexible programming method.
.
AS-Language Programming
The AS programming is a program language of high quality, which gives
the user the access to an extensive menu of intelligent programming
functions. It can be used for all applications, but this possibility
can not be reached from the block language programming.
The AS language consists of two different arts of commands: program
instructions and monitor commands. The last one is interpreted from a
command line and operates the program execution. Furthermore it gives
the possibility to alter the process during the operation as for
example to change the speed without affecting the whole work movement.
The actual instruction set for the controller consists of commands ,
which are interpreted in a program and in the running time.
When the main program is running, three other different programs can be
executed in the background. This feature is essential during the
operation of the work movements, which cannot not be interrupted to
make it possible to correct an error, to make data communication or
calculations.
The robotsī positions can be saved both as Accuracy Point and as
Transformation Point. A Precision Point contains the angle position for
each robot axis and a Transformation Point defines a location by
Cartesian coordinates in combination with the tool dimension. When a
certain posture of a robotīs arm is needed, then a Precision Point must
be used.
Additionally to the command procedure of the robot the AS- language
contains effective commands to control the serial communication,
connection of cameras systems, controlling of program- and sub-
programming, controlling interruption, and the binary signal processing
up to 20 sub – program levels.
The AS Language Program can be operated and created offline with any
editor based on MS-DOS/Windows. Archiving is via RS322, by floppy-disk
or with a PCMIA memory card to the robot. With a serial connection one
obtains the access to the AS-system also with help of the online-
editor KCWIN under MS-Windows.
