Details of a Kawasaki Move command

What you are looking at is a typical BLOCK step.

For reference of BLOCK, locate the Operation Manual and it explains how to BLOCK program using the teach pendant and offers explanations in detail of BLOCK steps.

You may also need to review SPOT welding section relative for Clamp settings.

However, I can offer you a brief explanation.

A BLOCK step contains many elements associated with one step of execution.

This means all of the elements will be applied during the execution of the step.

JOINT - Joint Interpolation motion request.

SPEED x - Speed x applied to the motion request (see aux func 0301 for set/adjustable value).

ACCU x - Accuracy x applied to the motion request (see aux func 0302 for set/adjustable value).

TIMER x - Timer x (delay) applied to the motion request (see aux func 0303 for set/adjustable value).

TOOL x - Tool Coordinate System to use - (see aux func 0304 for set/adjustable value).

WORK x - Work Compensation instruction if used (optional).

CLAMP x - Set the Clamp signals (possible gripper signals) at the end of the motion execution.

(OFF,0,1,1) - Parameters to use with Clamp control - Such as Weld Schedule, Clamp Conditions.

OX x - Set the Output No's used.

WX x - Wait for the Input No's used.

CL1 = .........Force, voltage,current parameters demand for weld timer conditions.

#xxx.xxx....... Joint Angle Target Positional values.

You will find in most automotive spot welding applications using Kawasaki, a global use of BLOCK programming for the motion instructions and actual welding functions.

This makes setup, programming and adjustments more simplified as all elements required for that specific step are contained on one step.

Also, consider moving whilst closing the clamp.

Same as you approaching a door with a handle to open, you blend the move with hand action.

Same with spot welding - makes for more efficient and better cycle times.

Otherwise you would have a very defined motion, then signal, then clamp, then clamp off, then signal off.

Hope that helps, but would recommend the Operation Manual for more detailed explanation.