AS programming

Older AS Manual attached.
**** This thread will be moved to Manuals section when I next get the opportunity.

Pretty much the same, except there may be new commands available for E Controller.

Anyone here have any other resources regarding the AS language?

Hello, do You need something specific?

A part from AS Manuals are there any other resources on structuring the programming language? Course notes, books etc.

Hi,

Are there any available AS programming manual for F-series? I am trying to create a driver for duAro butthe latest manual I can find is for E series. Thanks!

Welcome to the forum........

Yes there is a specific one for F Controller and Duaro.

You should have received all of the relevant manuals with your robot.

If not, contact your supplier or local Kawasaki distributor for the latest manual.

Alternatively if you are a Kawasaki customer you can sign up to the download centre, there you can obtain the latest releases of manuals and documentation.

Kawasaki Robotics Download Centre - Manuals, Software and Tools for Kawasaki Robots - Robotforum - Support and discussion community for industrial robots and cobots (robot-forum.com)

Hello!

I can't connect to the controller. This error appears.

Someone know about this?

Thanks!

Marco Antonio Asselta

Welcome to the forum.............

In future, can you create a new thread please?

What controller are you using?

Are you sure your in the correct port?

What type of lead are you using?

What are your connection settings in KRTerm?

What IP Address are you using?

Hi kwakisaki!

Sorry, I'm learning how to use the forum. rsrs

Ok, I will explain a little more.

I never work before with Kawasaki robot. This is my first project and is the most dificult in my career.

We have here a S52 controller. This guy came from Japan with spec Toyota. Inside he have a Toyopuc PC3 that talk with a Toyopuc PC10P - DP.

Until now, we discovered that this two guys, is at a FL-net network.

The PC3 (S52) IP is 192.168.250.1.

Today, I tried connect KRTerm in this IP with port 23, but didn't work.

In the network settings in aux function menu on Teach Pendent, the IP is 192.168.0.2, but I am not getting ping this addres with cmd.

I guess I'm a little lost. rsrsrs

As far as I know the Toyopuc network is not linked to the Kawasaki programming terminal.

Locate the 1KA board (has red tabs on it) and see if there is an ethernet port module attached.

If it is, then connect to this port directly using a crossover cable and retry KRTerm connection, as this is the port used for terminal editor application connection.

Hello!

I found the 1RA board and it's working!

Thank you!

Your welcome............

Hello, I use kawasaki S series controller and I need document the S series AS language Best regard!

No such specific document as far as I know.

AS is a language, and is not specific to controller variants so any AS language manual should suffice.

If there are specific commands made available for just S controller use then Toyota are likely to have the documentation under license and firmware agreements.

Thank you. I have a problem. I want to its shift with JMOVE command , but System is servo gun clamb1.

JMOVE pos1 , 1 not running.

.PROGRAM r1_pg78()

JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 GROUP0 CLAMP1 (OFF,0,1,1) 2 (OFF,0,0,O) OX= WX= YO=^H0,^H0,^H0,^H0,^H0 #[2.8537,-46.062,-2.2745,-180.75,63.057,94.842,17.943] ;

JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 GROUP0 CLAMP1 (ON,0,1,1) 2 (OFF,0,0,O) OX= WX= YO=^H42002200,^H1000,^He00,^H1051404,^H14000100 #[2.8351,-45.982,-2.4281,-180.76,62.905,94.867,9.4282] ;

JOINT SPEED9 ACCU1 TIMER0 TOOL1 WORK0 GROUP0 CLAMP1 (OFF,0,1,1) 2 (OFF,0,0,O) OX= WX= YO=^H0,^H0,^H0,^H0,^H0 #[2.8537,-46.062,-2.2745,-180.75,63.057,94.842,17.943] ;

JMOVE pos1,-1;//not moving

TWAIT 1

JMOVE pos1,1//not moving

.END

This application is spot welding. I need command JMOVE but not running

BLOCK programming is dedicated structured programming and uses joint angles and not cartesian.

So no specific SHIFT command is available to simply place in the program.

If the SHIFT option has been enabled you will see it in teach pendant menu, then you can use the built in macros to SHIFT (which will recalculate the joint angles) specific steps of the programs.

AS Language is completely different and addresses location registers (which you teach as positions).

The positions can easily be manipulated like SHIFT and TRANS, but are only applicable to cartesian and not joint angles.