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Contents
6.4 HOW TO SEARCH INSTRUCTIONS .............................................................6-7
6.5 EDITING OF M...
Contents
A－73 SPRAY ON/OFF .................................................................................9-47
A－75 SYS...
Contents
A－142-1 DISPLAY ........................................................................................9-90
A－1...
Contents
10 OTHER FUNCTIONS THAN TEACHING BY EXPLOSION-PROOF
TEACH PENDANT
10.1 LIST OF OTHER FUNCTIONS BY EXPLOSION-PROO...
6-1
6-2
6-3
7-0
7-1
8-0
8-1
8-2
8-3
8-4
8-5
8-6
8-7
Contents
CURRENT CONVEYOR POSITION SETTING (CURRENT
CV_POS) ...........
Contents
12.6.1
OVERVIEW OF CHECKING OPERATION....................................12-32
12.6.2
FLOW OF CHECKING OPERATION...
xiv
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Memo
This section summarizes safety precautions to be taken prior to operating your Kawasaki Robot.
Also, safety measures and t...
Safety
[ Note ]
The safety content described here applies only to operations
with the robot unit and is not intended as a...
Safety
3 ROBOT SPEED LIMITATIONS
The maximum speed is limited to 250mm/sec. when operating the robot in check or teach mo...
Safety
5 FIVE SAFETY RULES FOR KHI ROBOTS
！ WARNING
Before operating, the following five basic points must be given
atte...
Safety
3a. When performing work inside the safety fence, such as robot teaching or confirming that the
work is complete, ...
5.
Safety
Indicate the current status of the robot clearly and simply so that anyone can understand, for
example with a ...
Safety
6 SAFETY DURING START-UP
When starting up the robot, switch on
the power to the motor and control
panel.
Pay spec...
Safety
7 ENSURING SAFETY DURING TEACHING OPERATIONS
Confirm the contents of the teaching
when creating programs or teach...
Safety
8 DANGER PREVENTION DURING OPERATIONS
Typically, the robot is running in a state
of continuous motion during auto...
10
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Memo
SWITCHES AND KEYS
This chapter describes the switches and keys for the
controller, explosion-proof teach pendant, and
mult...
1.1
1. Switches and Keys
SWITCHES ON THE CONTROLLER
This unit provides information about the switches located on the C ...
1. Switches and Keys
These switches are mainly for the regular repeat operation.
No. Switch or light
Function
Illuminates...
1.2
1. Switches and Keys
MULTIFUNCTION PANEL
1.2.1
SWITCHES ON THE MULTIFUNCTION PANEL
Multifunction panel uses a lar...
1.2.2
1. Switches and Keys
LIQUID CRYSTAL DISPLAY
The liquid crystal display contains the following areas:
1
4
2
3
...
1.2.3
1. Switches and Keys
KEYS ON THE LIQUID CRYSTAL DISPLAY
Keys associated with programs and steps:
STEP
PROGRAM
p...
1.2.4
1. Switches and Keys
KEYBOARD
The keyboard screen can be selected when the
key on the multifunction panel is pre...
1. Switches and Keys
1.3 EXPLOSION-PROOF TEACH PENDANT
1.3.1 KEYS AND SWITCHES
The explosion-proof teach pendant is equip...
1. Switches and Keys
Key
SPRAY
X-OUT
GUN
X-IN
SMOTH
DATA
TIMER
CALL
JUMP
CONVR
SPEED
SHIFT
Function
For enteri...
Key
END
SHIFT
＋ END
SUSPEND
1. Switches and Keys
Function
Returns to the main menu.
Cancel the selection of program.
...
1. Switches and Keys
Key
Function
TURN
UP
Rotates the gun to the right in the Cartesean coordinates or rotates the
6th...
Key
SHIFT
＋
1. Switches and Keys
Function
RESET
Resets errors one by one when more than one errors occur at the same
t...
1.3.2
1. Switches and Keys
DISPLAY DURING TEACHING
The display during teaching appears as follows:
1
2
3
4
5
6
7
...
1-14
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Memo
This chapter describes the procedures for power on/off of the controller and for stopping the robot
motion.
2.1 TURNING T...
2.1
2. Procedures for Power ON/OFF and
Stopping the Robot Motion
TURNING THE POWER ON
The procedure for starting the ro...
2. Procedures for Power ON/OFF and
Stopping the Robot Motion
<4>
The purging time starts to be counted down.
Note: Purgi...
2. Procedures for Power ON/OFF and
Stopping the Robot Motion
In teach mode, turning the motor power ON will not bring act...
2.2
2. Procedures for Power ON/OFF and
Stopping the Robot Motion
TURNING THE POWER OFF
The procedure for turning the po...
2. Procedures for Power ON/OFF and
Stopping the Robot Motion
2.3 STOPPING THE ROBOT MOTION
The following emergency stop p...
2. Procedures for Power ON/OFF and
Stopping the Robot Motion
The following three procedures are provided for stopping the...
2-8
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Memo
3
BASIC OPERATION
OF MULTIFUNCTION PANEL
This chapter describes the basic operation
procedures for using the multifunctio...
3. Basic Operation of
Multifunction Panel
3.1 SWITCHING THE SCREEN OF THE MULTIFUNCTION PANEL
or
Press
keys to display...
3. Basic Operation of
Multifunction Panel
Menu screen
⇒ Status screen
See 3.1.4 Status screen, 3.1.5 Spray Status screen...
3. Basic Operation of
Multifunction Panel
3.1.1 BASIC SCREEN STRUCTURE ON THE MULTIFUNCTION PANEL
(1) Keys for switching ...
3. Basic Operation of
Multifunction Panel
3.1.2 STATUS SCREEN
(1) Status
(2) Program List
(3) Monitor
3-5
COPYRIGHTED...
3. Basic Operation of
Multifunction Panel
(4) Current Position
(5) Spray status
3.1.3 OTHERS
(1) Auxiliary Function
3-...
3. Basic Operation of
Multifunction Panel
(2) Key board
(3) Program selection
(4) Step selection
(When the status scree...
3. Basic Operation of
Multifunction Panel
3.1.4 STATUS SCREEN
Shows the current status and repeat conditions.
Shows the ...
3. Basic Operation of
Multifunction Panel
3.1.5 SPRAY STATUS SCREEN
Set items
Spray output
All ratio set
Signal output
...
3. Basic Operation of
Multifunction Panel
(1) Spray output
Changes the manual spray output signal.
Verify that the mode i...
3. Basic Operation of
Multifunction Panel
(2) All ratio set
Ratios for all the manual spray output signals can be set.
D...
3. Basic Operation of
Multifunction Panel
(4) Screen for entering numeric values
Numeric values can directly be entered f...
3. Basic Operation of
Multifunction Panel
3.1.6 PROGRAM LIST SCREEN
Displays the current program list.
•
Pressing the
...
3. Basic Operation of
Multifunction Panel
3.1.7 MONITOR SCREEN
Indicates the status of the current input/output signals.
...
When the
IN/OUT
3. Basic Operation of
Multifunction Panel
signal key is pressed:
3-15
COPYRIGHTED DOCUMENT - INTENDED...
3. Basic Operation of
Multifunction Panel
The signal names displayed on the monitor screen can be set by the user.
The pr...
3. Basic Operation of
Multifunction Panel
3.1.8 CURRENT POSITION SCREEN
Indicates the robot’s current position.
Joint
an...
3. Basic Operation of
Multifunction Panel
3.2 MOVING CURSORS
keys to select items.
Move the cursor using the
The moving...
3.3
3. Basic Operation of
Multifunction Panel
SELECTION BY ENTERING NUMERIC VALUES OR CURSOR OPERATION
Item selection c...
3.4
3. Basic Operation of
Multifunction Panel
ENTERING CHARACTERS
In some screens on the multifunction panel, operation...
3.5
3. Basic Operation of
Multifunction Panel
SELECTING PROGRAMS
PROGRAM
Press the
By entering numeric values
Enter nu...
3. Basic Operation of
Multifunction Panel
Deleting programs:
Move the cursor to the program to be deleted.
For example, ...
3.6
3. Basic Operation of
Multifunction Panel
SELECTING STEPS
STEP
Press the
STEP
key.
(Some types have a different ...
3-24
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
Memo
MANUAL OPERATION
This chapter describes the procedures for manual
operation of the robot.
4.1
4.2
4.2.1
4.2.2
4.2.3
4.2....
4.1
4. Manual Operation
KEYS USED FOR MANUAL OPERATION
The robot is manually operated when:
Moving the robot to the pos...
4.2
4. Manual Operation
PROCEDURES FOR MANUAL OPERATION
This section describes the basic procedures for manual operatio...
4. Manual Operation
Selecting motion coordinate system and speed:
FRAME
H
M
L
SPEED
Select the coordinate system for m...
4.2.1
4. Manual Operation
TYPES OF THE MANUAL OPERATION COORDINATE SYSTEM
The robot moves differently according to the ...
4.2.4
4. Manual Operation
MANUAL OPERATION ON THE JOINT COORDINATE SYSTEM
3rd axis
Up
4th axis
Swing left
5th axis
Be...
4. Manual Operation
Up
3rd axis
4th axis
Down
Swing left
Swing right
2nd axis
Bend up
6th axis
5th axis
Bend down
Ba...
4. Manual Operation
The axis keys move the robot as follows on the Joint Coordinate System.
Wrist motion of
standard mode...
4.2.5
4. Manual Operation
MANUAL OPERATION ON THE CARTESIAN COORDINATE SYSTEM
Up
Left
Back
Front
Right
Swing left
D...
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Manual robo kawasaki
1. 1. Explosion-Proof Type Operation Manual 操作説明書 Kawasaki Heavy Industries, Ltd. Caution Read this manual carefully before you use the robot actually
and keep it safe, so as to fully bring out the functions of your Kawasaki Robot for yourself. 90203－1075DEB COPYRIGHTED DOCUMENT - INTENDED
FOR CUSTOMER REFERENCE ONLY C Series Controller
2. 2. For safety FOR SAFETY This operation manual and the labels on the products are indicated with the symbols below for proper use and to avoid injuries or
property damage. Read this manual and the related documents thoroughly before installation, operation, maintenance and inspection. ！ DANGER Identifies
procedures that, if not properly followed, can result in imminent injury or death. ！ WARNING Identifies procedures that, if not properly followed, may
possibly lead to injury or death. ！ CAUTION Identifies procedures that, if not properly followed, may lead to human and/or mechanical injury. [ NOTE ]
Denotes easily-misunderstood items regarding product performance, operation, and maintenance. i COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
3. 3. For safety PREFACE This manual describes operational procedures for the Kawasaki C Series Controller, Explosion-Proof Type. Please read the Safety
Manual thoroughly, a separate volume, before reading this manual. Also, this manual should be read before actual operation of the robot, and be stored for safekeeping for later reference. This manual is written on the following assumptions: The robot is installed according to the Installation and Connection Manual
(for robot arm), a separate volume. The controller is installed and connected according to the Installation and Connection Manual (for robot controller), a
separate volume. The peripheral equipment is connected with the controller according to the External I/O Manual, a separate volume. This manual intends to
explain the operational procedures as detailed as possible. As not all operations can be explained in one manual, only the major functions are explained.
Therefore, only the operation of functions specifically described herein can be guaranteed. Because Kawasaki constantly strives to improve the quality of its
products, this manual may be changed or revised without prior notice. This manual may not, in whole or in part, be reproduced or copied without the prior
written consent of Kawasaki. Though this manual was prepared to be as thorough and accurate as possible, the authors apologize should any information be
found in error. The screen examples in this manual may differ depending on software version. Some functions may not be installed depending on software
version. This manual concerns operating procedures. It is not a guarantee of safety, and Kawasaki is not responsible for damages by the system or any
industrial property troubles related with patent, as in the event of unforeseen trouble. MS-DOS is a registered trademark of Microsoft Corporation, USA. The
other company and product names are also registered. All rights reserved. Copyright @ 2001 by KAWASAKI HEAVY INDUSTRIES, LTD. ii
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
4. 4. For safety BASIC CONFIGURATION OF THIS MANUAL This manual describes the fundamental operational procedures for the Kawasaki C Series
Controller, Explosion-Proof Type. Overview and basic operations that need to be understood first for using Kawasaki Robot Controller are explained.
Operations which are common in every application and are peculiar to painting application are included and need to be read thoroughly. Many functions for
making full use of the controller are also explained and should be read depending on the aim of the user. A glossary is included at the end of the manual as a
reference for commonly used language and keywords regarding robots. The indicates a reference. For example, should be referenced. A-142 indicates that the
auxiliary function 142 iii COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type
Kawasaki Robot Operation Manual
5. 5. For safety TEACHING METHODS The Kawasaki C Series Controller, Explosion-Proof Type can be programmed by a variety of equipment including the
explosion-proof teach pendant. Select a teaching method that best suits the needs of your application and level of expertise. Explosion-proof teach pendant:
Manual operation and teaching for the robot can be conducted using the explosion-proof teach pendant. Manual operation can be conducted only by the teach
pendant. Multifunction panel: Various data can be displayed and set using the multifunction panel. Its keyboard screen is used for programming. PC (Option):
It is possible to create an advanced application program by entering program instructions on PC. (This is called general programming.) Robot Language (AS
Language) functions can be fully used, so that programs using advanced functions, such as coating operations, communication, and vision sensing, are possible.
iv COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
6. 6. For safety SYSTEM STRUCTURE The system structure of the Kawasaki C Series Controller, Explosion-Proof Type is as follows: Kawasaki Robot C Series
Controller Multifunction Panel Explosion-Proof Teach Pendant Peripheral Equipment Multifunction Panel PC Explosion-Proof Type Controller PC (Prepared
by the user) Explosion-Proof Teach Pendant KOSMOS Monitoring Software [For PC] (Provided by Kawasaki; Optional) [ NOTE ] Monitoring software for PC
is run by the OS such as MS-DOS. OS needs to be prepared by the user. Multifunction Panel Controller Program selection Displays programs and steps
Monitoring the signals Setting the repeat conditions General teaching Explosion-Proof Teach Pendant Regular operation Program selection Programs and steps
Display Manual operation of the robot Monitoring the signals Setting the repeat conditions Positional teaching General teaching v PC Instruction entry of AS
Language Keyboard entry of AS Language programs Loading/Saving of the programs into/from disk COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
7. 7. Contents CONTENTS SAFETY 1 ENSURING SAFETY.......................................................................................... 2 2 SAFETY IN
GENERAL....................................................................................... 2 3 ROBOT SPEED LIMITATIONS.......................................................................... 3 4
ROBOT MOTION RANGE ................................................................................. 3 5 FIVE SAFETY RULES TO BE OBSERVED FOR KHI
ROBOTS...................... 4 6 SAFETY DURING START-UP ........................................................................... 7 7 ENSURING SAFETY DURING TEACHING
OPERATIONS............................. 8 8 DANGER PREVENTION DURING OPERATIONS........................................... 9 １ SWITCHES AND KEYS 1.1
SWITCHES ON THE CONTROLLER...........................................................1-2 1.2 MULTIFUNCTION
PANEL ............................................................................1-4 1.2.1 SWITCHES ON THE MULTIFUNCTION PANEL ...................................1-4 1.2.2 LIQUID
CRYSTAL DISPLAY ...................................................................1-5 1.2.3 KEYS ON THE LIQUID CRYSTAL DISPLAY .........................................1-6 1.2.4
KEYBOARD..............................................................................................1-7 1.3 EXPLOSION-PROOF TEACH PENDANT....................................................1-8
1.3.1 KEYS AND SWITCHES ...........................................................................1-8 1.3.2 DISPLAY DURING
TEACHING.............................................................1-13 ２ PROCEDURES FOR POWER ON/OFF AND STOPPING THE ROBOT MOTION 2.1 TURNING
THE POWER ON.........................................................................2-2 2.2 TURNING THE POWER OFF .......................................................................2-5 2.3
STOPPING THE ROBOT MOTION ..............................................................2-6 ３ BASIC OPERATION OF MULTIFUNCTION PANEL 3.1 SWITCHING
THE SCREEN OF THE MULTIFUNCTION PANEL ...............3-2 3.1.1 BASIC SCREEN STRUCTURE ON THE MULTIFUNCTION
PANEL ..............................................................................................3-4 3.1.2 STATUS SCREEN ...................................................................................3-5 3.1.3
OTHERS .............................................................................................. 3-6 3.1.4 STATUS SCREEN ...................................................................................3-8
3.1.5 SPRAY STATUS SCREEN......................................................................3-9 3.1.6 PROGRAM LIST
SCREEN....................................................................3-13 3.1.7 MONITOR SCREEN ..............................................................................3-14 3.1.8 CURRENT
POSITION SCREEN ...........................................................3-17 3.2 MOVING CURSORS ...................................................................................3-18 3.3
SELECTION BY ENTERING NUMERIC VALUES OR USING CURSOR OPERATION...............................................................................3-19 3.4
ENTERING CHARACTERS ........................................................................3-20 3.5 SELECTING
PROGRAMS ..........................................................................3-21 3.6 SELECTING STEPS....................................................................................3-23 vi
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
8. 8. Contents ４ MANUAL OPERATION 4.1 KEYS USED FOR MANUAL OPERATION...................................................4-2 4.2 PROCEDURES FOR
MANUAL OPERATION..............................................4-3 4.2.1 TYPES OF THE MANUAL OPERATION COORDINATE SYSTEM.......4-5 4.2.2
SELECTING THE MANUAL OPERATION COORDINATE SYSTEM ..............................................................................................4-5 4.2.3 SELECTING
THE MANUAL OPERATION SPEED ................................4-5 4.2.4 MANUAL OPERATION ON THE JOINT COORDINATE SYSTEM........4-6 4.2.5
MANUAL OPERATION ON THE CARTESIAN COORDINATE SYSTEM ..............................................................................................4-9 4.2.6 MANUAL
OPERATION ON THE EASY COORDINATE SYSTEM ......4-11 4.2.7 GUN COORDINATE SYSTEM ..............................................................4-15 4.2.8
SELECTING THE OPERATION FOR TRAFERSE EQUIPMENT........4-17 4.2.9 MANUAL OPERATION OF THE TRAVERSE
EQUIPMENT................4-17 ５ TEACHING 5.1 OPERATION FOR TEACHING .....................................................................5-2 5.1.1 DISPLAY DURING
TEACHING...............................................................5-2 5.1.2 REGISTERING THE PROGRAM NUMBER ...........................................5-3 5.1.3 TEACHING
PROCEDURES....................................................................5-4 5.1.4 MANUAL POSITIONING........................................................................5-18 5.1.5
TEACHING THE MOVE INSTRUCTIONS ............................................5-20 5.1.6 TEACHING THE OTHER INSTRUCTIONS
(ADD)...............................5-22 5.1.7 THE PROCEDURES FOR CHECKING PROGRAMS (CHECK OPERATION)
.........................................................................................5-24 5.1.8 CORRECTING INSTRUCTIONS...........................................................5-25 5.2
EXPLANATION OF INSTRUCTIONS.........................................................5-29 5.2.1 SPEED
INSTRUCTION .........................................................................5-30 5.2.2 SPRAY INSTRUCTION .........................................................................5-32 5.2.3
EXTERNAL OUTPUT INSTRUCTION ..................................................5-36 5.2.4 EXTERNAL INPUT
INSTRUCTION ......................................................5-40 5.2.5 SMOOTH INSTRUCTION......................................................................5-42 5.2.6 CALL DATA
BANK INSTRUCTION.......................................................5-46 5.2.7 TIMER INSTRUCTION ..........................................................................5-48 5.2.8 CALL
PROGRAM INSTRUCTION.........................................................5-49 5.2.9 JUMP INSTRUCTION............................................................................5-50 5.2.10
CONVEYOR INSTRUCTION ..............................................................5-59 5.2.11 GUN CONTROL INSTRUCTION........................................................5-61
5.2.12 TABLE INSTRUCTION (OPTION)......................................................5-62 5.2.13 SENSING
INSTRUCTION...................................................................5-63 5.2.14 MOVE INSTRUCTION ........................................................................5-64 5.2.15
OTHER INSTRUCTIONS....................................................................5-67 5.3 REPEAT OPERATION FOR CHECKING ..................................................5-71
６ PROGRAM EDIT WITH EXPLOSION-PROOF TEACH PENDANT 6.1 DISPLAY DURING EDITING ..........................................................................6-2
6.2 STARTING EDIT PROGRAM MODE .............................................................6-3 6.3 HOW TO EDIT
INSTRUCTION.......................................................................6-5 vii COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C
Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
9. 9. Contents 6.4 HOW TO SEARCH INSTRUCTIONS .............................................................6-7 6.5 EDITING OF MOVE
INSTRUCTION ............................................................6-10 6.6 ENDING EDIT PROGRAM MODE ...............................................................6-11 7 PROGRAM
EDITING WITH MULTIFUNCTION PANEL OPTION） 7.1 OVERVIEW OF PROGRAM EDITING ...........................................................7-2 7.2
PROGRAM EDITING SCREEN ......................................................................7-3 7.3 PROGRAM EDITING
PROCEDURES ...........................................................7-4 7.3.1 EDIT OF AN ENTIRE STEP ....................................................................7-4 7.3.2 EDIT OF
ALL DATA IN MULTIPLE STEPS ..........................................7-10 8 REPEAT OPERATION PROCEDURES 8.1 BEFORE EXECUTING REPEAT
OPERATION .............................................8-2 8.2 METHOD OF REPEAT OPERATION.............................................................8-3 8.3 STOP AND RESTART
REPEAT OPERATION PROCEDURES...................8-7 8.4 REPEAT CONDITION SELECTION ...............................................................8-8 8.5 WAIT
OVERRIDE..........................................................................................8-10 8.6 SLOW REPEAT MODE.................................................................................8-12 9
AUXILIARY FUNCTIONS 9.1 AUXILIARY FUNCTION LIST .........................................................................9-3 A－2 LOCATION & SPEED
DISPLAY.........................................................9-6 A－3 DATA TRANSFER...............................................................................9-8 A－5 KILL
PROGRAM..................................................................................9-9 A－6 MIRROR CONVERSION (OPTION).................................................9-10 A－9
DATA CONVERSION (OPTION) ......................................................9-12 A－10 MEMORY→PC CARD (SAVE)...........................................................9-13 A
－11 PC CARD→MEMORY (LOAD)...........................................................9-15 A－12 FILE DIRECTORY (FDIRECTORY)
...................................................9-16 A－14 PC CARD AUX. FUNCTION...............................................................9-17 A－40 AUTO TOOL SET
(OPTION)..............................................................9-18 A－41 ZEROING ............................................................................................9-19 A－42 POSITION
ERROR RANGE AT EMERGENCY STOP .....................9-20 A－43 ENCODER ERROR RANGE..............................................................9-21 A－44
ZEROING DATA SET DISPLAY.........................................................9-22 A－46 INSTALLATION POSTURE................................................................9-23 A
－47 BASE COORDINATES .......................................................................9-24 A－48 TOOL
DIMENSIONS ..........................................................................9-25 A－51 SOFTWARE LIMIT..............................................................................9-27 A－53
ACCURACY ........................................................................................9-28 A－55 SLOW REPEAT MODE ......................................................................9-33 A
－56 CHECK SPEED ..................................................................................9-34 A－57 TEACH SPEED...................................................................................9-35
A－70 MEMORY AVAILABLE .......................................................................9-36 A－71 RECORD
DATA/INHIBIT ....................................................................9-37 A－72 AUTOMATIC PATH GENERATION ...................................................9-38 viii
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
10. 10. Contents A－73 SPRAY ON/OFF .................................................................................9-47 A－75 SYSTEM
SWITCH ..............................................................................9-48 A－76 HOME POSITION ...............................................................................9-51 A－77
WORK SPACE OUTPUT (OPTION) ..................................................9-52 A－78 CLEAR CHECK SUM ERROR ...........................................................9-53 A
－80 XYZ SHIFT (OPTION).........................................................................9-54 A－81 JOINT SHIFT (OPTION)
.....................................................................9-55 A－82 TOOL SHIFT (OPTION)......................................................................9-56 A－83 WORK SHIFT
(OPTION) ....................................................................9-57 A－87 PROGRAM ARGUMENT/COMMENT (OPTION) ..............................9-58 A－90
SOFTWARE VERSION DISPLAY......................................................9-60 A－91 ENVIRONMENT DATA.......................................................................9-61 A
－95 ENVIRONMENT DATA ２ ..................................................................9-62 A－96 ENVIRONMENT DATA OF
PANEL....................................................9-63 A－99 CHECK SPECIFICATION...................................................................9-64 A－100 SYSTEM
INITIALIZATION................................................................9-65 A－101 BATTERY ERROR CHECK..............................................................9-66 A－103
TOUCH PANEL SHORT CIRCUIT CHECK.....................................9-67 A－110 TIME ............................................................................................9-68 A－
111 DEDICATED INPUT SIGNAL ...........................................................9-69 A－112 DEDICATED OUTPUT
SIGNAL.......................................................9-70 A－113 DEDICATED SIGNAL DISPLAY ......................................................9-71 A－114 GUN
SPECIFICATIONS ...................................................................9-73 A－114-1 GUN APPLICATION...................................................................9-74 A－114-20
HANDLING CLAMP DEFINITION ...............................................9-75 A－114-30 PAINTING/SEALING GUN DEFINITION ....................................9-76 A
－114-32 GUN RELATIVE DISTANCE CHECK .........................................9-77 A－120 ERROR
LOGGING ...........................................................................9-78 A－122 OPERATION LOGGING...................................................................9-79 A－124
MOTOR TORQUE INFORMATION (OPTION)................................9-80 A－124－1 WORNING LOG.............................................................................9-80 A
－124－2 PEAK CURRENT...........................................................................9-80 A－127 OPERATION INFORMATION
(OPTION).........................................9-81 A－130 PC PROGRAM RUN/STOP (OPTION) ............................................9-82 A－130－1 START
(PCEXECUTE) ...............................................................9-83 A－130－2 ABORT (PCABORT) ...................................................................9-83 A－130－3
STOP (PCEND)...........................................................................9-84 A－130－4 CONTINUE (PCCONTINUE) ......................................................9-84 A－130
－5 KILL (PCKILL)..............................................................................9-85 A－130－6 STATUS (PCSTATUS) ...............................................................9-85 A
－131 INTERFACE PANEL (OPTION) .......................................................9-86 A－133 AS INSTRUCTION DEFINITION (OPTION)
....................................9-87 A－140 ENCODER ROTATION COUNTER RESET....................................9-88 A－142 PROGRAM QUEUE (OPTION)
........................................................9-89 ix COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller,
Explosion-Proof Type Kawasaki Robot Operation Manual
11. 11. Contents A－142-1 DISPLAY ........................................................................................9-90 A－142-2
REGIST..........................................................................................9-91 A－142-3 INSERT ..........................................................................................9-92 A－
142-4 DELETE .........................................................................................9-93 A－142-5 ALL DELETE..................................................................................9-94
A－142-6 ENVIRONMENT SET ....................................................................9-95 A－143 START DELAY (OPTION)
................................................................9-97 A－143-1 COMMON DELAY DISTANCE......................................................9-98 A－143-2 INDIVIDUAL
DELAY DISTANCE ..................................................9-98 A－143-2-1 INDIVIDUAL SETTING...............................................................9-99 A－143-2-2 SET
SAME DIST ......................................................................9-100 A－143-3 MULTI START DELAY ................................................................9-100 A－143-3-1
DISPLAY...................................................................................9-101 A－143-3-2 CHANGE...................................................................................9-101 A－1433-3 DELETE ....................................................................................9-102 A－143-3-4 ALL DELETE ............................................................................9-102 A－
144 INTERRUPT PROGRAM................................................................9-103 A－149 TOOL REGISTRATION (OPTION).................................................9-104
A－153 PROGRAMS IN DETAIL.................................................................9-105 A－154 TOTAL REPEAT CYCLES OF
PROGRAM ...................................9-106 A－154-1 DISPLAY AND MODIFY..............................................................9-107 A－154-2 ALL
CLEAR..................................................................................9-107 A－155 HOME POSITION CHECK AXIS SET............................................9-108 A－158
DOUT FUNCTION ASSIGNMENT.................................................9-109 A－159 HISTORY CLEAR ...........................................................................9-110 A
－166 PG PARTIAL DELETE....................................................................9-111 A－167 SINGULAR POINT ALARM RANGE
SET......................................9-112 A－168 DIFF. OF WORK/AIR-CUT SPEED................................................9-113 A－169 OPERATION CONDITION
SETTING ............................................9-114 A－172 SYSCOUNT DISPLAY/SETTING...................................................9-116 A－172-1 SYSCOUNT
DISPLAY/SETTING................................................9-116 A－172-2 GENERAL SYSCOUNT SETTING .............................................9-117 A－172-3
PRIVATE SYSCOUNT SETTING ...............................................9-117 A－173 MOVING AREA XYZ LIMIT ............................................................9-118 A
－176 DATA BANK....................................................................................9-119 A－176-1 LIST ..........................................................................................9-119
A－176-2 EDIT ..........................................................................................9-120 A－176-3 COPY ..........................................................................................9-121
A－176-4 DELETE .......................................................................................9-121 A－176-5 ENVIRONMENT
SET ..................................................................9-122 A－197 PASSWORD SET (OPTION)..........................................................9-123 A－198 AUXILIARY
FUNCTION SET (OPTION)........................................9-124 x COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C
Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
12. 12. Contents 10 OTHER FUNCTIONS THAN TEACHING BY EXPLOSION-PROOF TEACH PENDANT 10.1 LIST OF OTHER FUNCTIONS BY
EXPLOSION-PROOF TEACH PENDANT .................................................................................................10-4 1-0 PROGRAM
SETTING ............................................................................10-7 1-1 REPEAT STATUS DISPLAY .................................................................10-8 1-2
PRODUCT RATE VALUE SETTING.....................................................10-9 1-3 PRODUCT PAINT_IO RATIO..............................................................10-10
3-0-0 PRORAM LIST DISPLAY (DETAIL) ....................................................10-11 3-0-1 PROGRAM NUMBER LIST
DISPLAY.................................................10-11 3-0-2 AVAILABLE MEMORY CAPACITY DISPLAY.....................................10-11 3-0-3 PROGRAM NAME
REGISTRATION...................................................10-12 3-1 PROGRAM COPY ...............................................................................10-14 3-2 PTOGRAM
LINK ..................................................................................10-15 3-3 PROGRAM DELETION........................................................................10-16 3-4-0
PARTIAL PROGRAM COPY ...............................................................10-17 3-4-1 PARTIAL PROGRAM DELETION .......................................................1019 3-5-0 PARALLEL SHIFT................................................................................10-20 3-5-1 GUN-TIP DIRECTION
SHIFT ..............................................................10-21 3-5-2 MIRROR IMAGE CONVERSION ........................................................10-22 3-5-3 TRAVELLER
SHIFT WITH GUN TIP FIXED.......................................10-23 3-5-4 SHUTTLE RIGHT-LEFT CONVERSION (OPTION) ...........................10-23 3-5-5
CONVEYOR POSITION SHIFT (OPTION) .........................................10-24 3-6 AUTOMATIC PATH GENERATION ....................................................10-25
4-0 DATA BANK EDITING .........................................................................10-26 4-1-0 DATA BANK DETAILS
DISPLAY ........................................................10-28 4-1-1 DATA BANK NUMBER DISPLAY........................................................10-28 5-0-0 GUN
POSITION/ANGLE......................................................................10-29 5-0-1 JOINT VALUE DISPLAY......................................................................10-30 5-0-2
JOINT COMMAND VALUE DISPLAY .................................................10-31 5-0-3 ENCODER VALUE DISPLAY..............................................................1031 5-0-4 POSITION DISPLAY OF TRAVERSE AXES ......................................10-32 5-0-5 TABLE POSITION DISPLAY
(OPTION)..............................................10-32 5-0-6 GUN POSITION/ WRIST ANGLE DISPLAY .......................................10-32 5-1-0 EXTERNAL OUTPUT
SIGNAL DISPLAY ...........................................10-33 5-1-1 EXTERNAL INPUT SIGNAL DISPLAY ...............................................10-34 5-1-2 INTERNAL
SIGNAL DISPLAY.............................................................10-35 5-1-3 HOME POSITION SIGNAL DISPLAY .................................................10-36 5-2-0
GENERAL COUNTER DISPLAY.........................................................10-37 5-2-1 DEDICATED COUNTER DISPLAY.....................................................1037 6-0-0 OPERATION CONDITION SELECTION (EXTERNAL OUTPUT)......10-38 6-0-1 OPERATION CONDITION SELECTION (INPUT WAIT)
....................10-39 6-0-2 OPERATION CONDITION SELECTION (CONVEYOR WAIT) ..........10-40 6-0-3 OPERATION CONDITION SELECTION
(TIME WAIT) ......................10-41 6-0-4 OPERATION CONDITION SELECTION (CV TRACK MODE)...........10-42 6-0-5-0 OPERATION CONDITION
SELECTION (SENSOR SETTING/ DOOR SENSING).............................................................................10-43 6-0-5-1 OPERATION CONDITION
SELECTION (SENSOR SETTING/ CAMERA SENSING)........................................................................10-43 xi COPYRIGHTED DOCUMENT INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
13. 13. 6-1 6-2 6-3 7-0 7-1 8-0 8-1 8-2 8-3 8-4 8-5 8-6 8-7 Contents CURRENT CONVEYOR POSITION SETTING (CURRENT CV_POS)
..........................................................................................10-44 COUNTER VALUE SETTING..............................................................10-45 LOCATION
VARIABLES REGISTRATION .........................................10-46 ERROR HISTORY DISPLAY...............................................................10-47 TOTAL
PLAYBACK COUNT DISPLAY ...............................................10-48 MANUAL EXTERNAL OUTPUT EXECUTION (GENERAL SIGNALS)
..........................................................................................10-49 MANUAL EXTERNAL OUTPUT EXECUTION (SPRAY SIGNALS)...10-50 MANUAL
EXTERNAL OUTPUT EXECUTION (FLOW RATE)...........10-51 MANUAL EXTERNAL OUTPUT EXECUTION (SHAPING/ PATTERN
AIR).....................................................................................10-52 MANUAL EXTERNAL OUTPUT EXECUTION (AIR MOTOR/ ATOMIZING AIR)
.................................................................................10-53 MANUAL EXTERNAL OUTPUT EXECUTION (HIGH VOLTAGE) ....10-54 MANUAL
EXTERNAL OUTPUT EXECUTION (FLUSHING) .............10-55 MANUAL EXTERNAL OUTPUT EXECUTION (PUSH THINNER) ....10-56 11
AUTOMATIC TOOL REGISTRATION (OPTIONAL) 11.1 AUTOMATIC TOOL REGISTRATION FUNCTION - OVERVIEW............11-2 11.2
REQUIRED DATA FOR AUTOMATIC TOOL REGISTRATION...............11-3 11.2.1 TEACHING TOOL DIMENSIONS FOR 4 BASE
POINTS ....................11-3 11.2.2 TEACHING TOOL POSTURE FOR TOOL Z DIRECTION...................11-4 11.2.3 TACHING TOOL ORIENTATION
WHEN DISPLACED IN Y DIRECTION............................................................................................11-4 11.3 MEASURING TOOL DIMENSIONS – POINTS
FOR CAUTION ..............11-5 11.3.1 METHOD FOR TEACHING POINTS B, C (EXAMPLE)........................11-6 11.4 OPERATION
METHOD .............................................................................11-7 11.4.1 PREPARATIONS FOR AUTOMATIC TOOL REGULATION................11-7 11.4.2
REGISTERING BASE POSTURE .........................................................11-8 11.4.3 REGISTERING MEASUREMENT
VALUES .........................................11-9 12 CONVEYOR TRACKING (OPTION) 12.1 OVERVIEW OF CONVEYOR TRACKING
FUNCTION............................12-2 12.2 OPERATION OF CONVEYOR TRACKING FUNCTION ..........................12-3 12.2.1 SELECTING CONVEYOR
TRACING ..............................................12-3 12.2.2 CURRENT POSITION DISPLAY......................................................12-4 12.2.3 SETTING THE
DATA ........................................................................12-5 12.2.4 SETTING ENVIRONMENTAL DATA................................................12-7 12.3 OPERATING
THE SIMULATION FUNCTION ........................................12-10 12.3.1 SELECTING ....................................................................................12-10 12.4
TEACHING STANDARDS .......................................................................12-12 12.4.1 OVERVIEW OF TEACHING OPERATIONS BY CONVEYOR
TRACKING .......................................................................................12-12 12.4.2 PREPARATORY OPERATIONS FOR TEACHING .......................12-15 12.5
TEACHING ...............................................................................................12-16 12.5.1 CAUTIONS TO BE TAKEN DURING TEACHING .........................1216 12.5.2 EXAMPLES OF TEACHING ...........................................................12-16 12.6 REPEAT RUN AND PROGRAM CHECKING
METHOD........................12-32 xii COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, ExplosionProof Type Kawasaki Robot Operation Manual
14. 14. Contents 12.6.1 OVERVIEW OF CHECKING OPERATION....................................12-32 12.6.2 FLOW OF CHECKING OPERATION AND REPEAT
RUN............12-33 12.7 INTERLOCK SIGNALS ............................................................................12-37 12.8 CONVEYOR POSITION SHIFT
FUNCTION...........................................12-38 13 INTERFACE PANEL SETTINGS (OPTION) 13.1 OVERVIEW OF THE INTERFACE
PANEL...............................................13-2 13.2 PROCESSING SEQUENCE ON INTERFACE PANEL ............................13-3 13.3 SELECTING THE
INTERFACE PANEL SCREEN ...................................13-4 13.4 METHODS FOR SETTING INTERFACE PANEL.....................................13-5 13.4.1
SWITCH SETUP ...............................................................................13-5 13.4.2 PUSH BUTTON SETUP ...................................................................13-6 13.4.3
PUSH BUTTON WITH LAMP - SWITCH SETUP ............................13-7 13.4.4 2-NOTCH SELECTOR SWITCH - SETUP .....................................13-8
13.4.5 3-NOTCH SELECTOR SWITCH - SETUP.......................................13-9 13.4.6 PILOT LAMP - SETUP....................................................................13-10
13.4.7 DIGITAL SWITCH - SETUP............................................................13-11 13.4.8 DIGITAL DISPLAY - SETUP...........................................................1312 13.4.9 TEXT WINDOW – SETUP (OPTION).............................................13-13 13.4.10 SOFTWARE DEDICATED
SIGNALS.............................................13-14 14 COUNTER MEASURES FOR ERRORS 14.1 SYSTEM
INITIALIZATION .........................................................................14-2 14.1.1 CALLING UP INITIALIZATION SCREEN..............................................14-3
14.1.2 OPERATION PROCEDURES ON THE INITIALIZATION SCREEN ....14-4 14.2 NORMAL PROCEDURES WHEN ERRORS
OCCUR .............................14-5 APPENDIX APPENDIX1 APPENDIX2 APPENDIX3 APPENDIX4 APPENDIX5 APPENDIX6 PROGRAM
SHEET.......................................................................A-2 EXPLOSION-PROOF TEACH PENDANT MENU DIRECTORY
LIST........................................................................A-5 MULTI-FUNCTION PANEL MENU DIRECTORY LIST ............ A-11 MULTI-FUNCTION PANEL
AUXILIARY FUNCTION LIST....... A-12 INITIAL DATA SETTINGS ......................................................... A-16
OAT ............................................................................................ A-18 AS LANGUAGE LIST ................................................................................................ AS-1
ERROR MESSAGE TABLE.........................................................................................E-1
GLOSSARY................................................................................................................. G-1
INDEX............................................................................................................................ I-1 xiii COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
15. 15. xiv COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY Memo
16. 16. This section summarizes safety precautions to be taken prior to operating your Kawasaki Robot. Also, safety measures and the speed, motion range
limitations on the robot are described. 1 2 3 ENSURING SAFETY ........................................................................................................ 2 SAFETY IN
GENERAL ..................................................................................................... 2 ROBOT SPEED
LIMITATIONS........................................................................................ 3 4 5 6 7 ROBOT MOTION
RANGE................................................................................................ 3 FIVE SAFETY RULES FOR KHI ROBOTS.....................................................................
4 SAFETY DURING START-UP ......................................................................................... 7 ENSURING SAFETY DURING TEACHING
OPERATIONS.......................................... 8 8 DANGER PREVENTION DURING OPERATIONS........................................................ 9 COPYRIGHTED
DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY SAFETY
17. 17. Safety [ Note ] The safety content described here applies only to operations with the robot unit and is not intended as a safety explanation for the whole
system. 1 ENSURING SAFETY In order to ensure safety, all local, regional, municipal and national safety laws and regulations must be strictly observed. 1.
The teaching and maintenance work on the robot must be carried out in accordance with labor safety laws and regulations. 2. The user should prepare safety
regulations for working on the robot itself and observe these regulations responsibly. 3. In order to ensure safety, the following safety standards should be
observed: JIS B8433, ISO10218, EN775, for robots used in production applications. 4. Safety administrators and full-time personnel should be assigned for
work on the robot. In addition, a safety administrative system should be established as a means of providing thorough education regarding safety. 2 SAFETY
IN GENERAL 1. The plant administrator should create safety and work regulations in consideration of structure of the line and peripheral equipment so that
injuries from the robot are prevented. Moreover, appropriate steps should be taken so that safety education and work standards are created for the benefit of the
workers. 2. Never use a Kawasaki Robot beyond the standard ability of the robot as set in the specifications manual. (Including specifications for payload,
speed, motion range, environment, etc.) 3. Prior to starting operation, operators are expected to fully understand operation manuals and materials relating to the
robot usage. And, care must be taken so that no injury occurs as a result of carelessness during operation. 4. Care must be taken so that none of the electrical
components become loose or disconnected while the robot is energized. (e.g. connectors, circuit boards, etc.) 5. Also, care must be taken so that neither the
explosion-proof teach pendant nor the multifunction panel are dropped or exposed to heavy impact, as they consist of a variety of precision instruments. 2
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-proof Type Kawasaki Robot
Operation Manual
18. 18. Safety 3 ROBOT SPEED LIMITATIONS The maximum speed is limited to 250mm/sec. when operating the robot in check or teach mode from the
multifunction panel or the teach pendant. 4 ROBOT MOTION RANGE A maximum possible motion range has been established for every robot model, unless
the robot is given special specifications at the time of purchase. However, the motion range can be restricted to support the requirements according to the needs
of the application. 1. Motion Range Limits via Software Motion range limits can also be set for the robot by software. ！WWARNING Setting only software
limits on the robot’s motion range is insufficient as a countermeasure for preventing serious or fatal accidents. Mechanical stoppers as well as a safety fence
must also be established. 2. Motion Range Limits via Mechanical Stoppers When mechanical stoppers are needed refer to the separate volume “Installation and
Connection manuals for the robot arm”. 3 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller,
Explosion-proof Type Kawasaki Robot Operation Manual
19. 19. Safety 5 FIVE SAFETY RULES FOR KHI ROBOTS ！ WARNING Before operating, the following five basic points must be given attention in order to
use the robot safely. Because the content here describes only fundamental points regarding safety, thorough reading of the separate safety manual is highly
recommended. 1. Without exception, install the robot within a safety fence. Ensure that the robot is not easily approachable by people. 2. Provide a safety plug
mechanism on the door of the safety fence. The safety plug should be installed so that the door cannot be opened without removing the plug and so that motor
power to the robot will be cut off if the plug is removed during operation. 4 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE
ONLY C Series Controller, Explosion-proof Type Kawasaki Robot Operation Manual
20. 20. Safety 3a. When performing work inside the safety fence, such as robot teaching or confirming that the work is complete, the worker must enter only after
removing the safety plug. This will prevent the robot from being switched on to automatic run by another worker. 3b. In addition, during teaching operations an
observer must be stationed in front of the controller and be ready and able to stop the robot at any time in case of an emergency. These duties can only be
assigned to persons who have completed special training and are qualified to use the robot. 4. While the robot is operating automatically (running) or waiting in
stand by mode, never enter the fenced area. 5 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller,
Explosion-proof Type Kawasaki Robot Operation Manual
21. 21. 5. Safety Indicate the current status of the robot clearly and simply so that anyone can understand, for example with a sign showing automatic operation,
teaching, emergency stop, etc. 6 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-proof
Type Kawasaki Robot Operation Manual
22. 22. Safety 6 SAFETY DURING START-UP When starting up the robot, switch on the power to the motor and control panel. Pay special attention to the items
below to ensure safety during start-up. 1. Before switching Motor Power on, make certain that the work cell is empty and that no one is within the safety fence,
also confirm that there are no obstructions in the path of the robot. When switching Motor Power on, be ready and able to press the Emergency Stop switch in
the event the robot moves abnormally. 2. Before starting operations in repeat mode, confirm that the work cell is empty and that no one is within the safety
fence, also confirm that there are no obstructions in the path of the robot. 7 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE
ONLY C Series Controller, Explosion-proof Type Kawasaki Robot Operation Manual
23. 23. Safety 7 ENSURING SAFETY DURING TEACHING OPERATIONS Confirm the contents of the teaching when creating programs or teaching point
information to the robot. Pay special attention to the items below to ensure safety during teaching. 1. When entering the safety fence area, confirm that all
safety and indicator devices, as well as the functions and devices for regulating the motion range of the robot are in good working order. Moreover, the worker
should hold the teach pendant and perform teaching so as to be able to stop the robot or find cover immediately in the event the robot moves abnormally. 2. The
robot must be installed in an area where the entire motion range of the robot can be overseen by an observer responsible for holding the Emergency Stop
switch. When one worker (teacher) is inside the safety fence, the observer must be stationed outside and be able to press the Emergency Stop switch
immediately if trouble arises. Duties including observing and working inside the safety fence are limited to those who have completed special training on robot
usage. 3. In order to run at a safe speed during teaching, operate the robot at 10% (or lower) of the repeat speed when: jogging the robot to the teaching point,
and confirming the teaching by moving either in one step increments or in 1 continuous cycle of steps. 4. During teaching, alert the attention of others so that
none of the robotic instruments are handled carelessly or accidently. Instruments include: controller, multi-function panel, teach pendant, keyboard, etc. 5.
When observer and teacher work together, one person must be designated as supervisor before the teaching operation can proceed. In addition, any signals used
during teaching and the step order of the teaching must be understood and confirmed in advance. 6. While working within the area of the safety fence the
observer and teacher must never take their eyes off the robot. 8 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C
Series Controller, Explosion-proof Type Kawasaki Robot Operation Manual
24. 24. Safety 8 DANGER PREVENTION DURING OPERATIONS Typically, the robot is running in a state of continuous motion during automatic operation. In
order to prevent any accidents during automatic operation pay special attention to the items below. 1. During automatic operation, never enter the safety fence
area under any circumstances. 2. In automatic operation, the robot may stop motion during timer mode or while waiting for input signal. Be careful at these
times because the robot will restart motion as soon as the signal conditions are realized or the time count is completed. 3. If the installation of the tool or the
grasp of the work is insufficient during automatic operation, the tool may become disengaged or the work may be ejected from the robot. To prevent these
kinds of accidents, take extra care in checking the conditions of the tool attachment and the grasping of the work. Moreover, for applications in which the work
is manipulated with a pneumatic device (hand, end-effector), set up a fail safe structure so that the work is not thrown as a result of an accidental cut in air or
power to the solenoid valve. 4. When the robot stops due to some malfunction during automatic operation, confirm the contents of the error message shown on
the display and perform an appropriate restoration of the system. Responsibility for resolving the error code numbers/messages that may arise should be
assigned to teaching, operations and maintenance supervisors in advance. In addition, it is essential to clearly define the steps to be taken by each supervisor
during system trouble. 9 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-proof Type
Kawasaki Robot Operation Manual
25. 25. 10 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY Memo
26. 26. SWITCHES AND KEYS This chapter describes the switches and keys for the controller, explosion-proof teach pendant, and multifunction panel. 1.1
SWITCHES ON THE CONTROLLER............................................................. 1-2 1.2 1.2.1 1.2.2 1.2.3 MULTIFUNCTION
PANEL .............................................................................. 1-4 SWITCHES ON THE MULTIFUNCTION PANEL........................................... 1-4 LIQUID
CRYSTAL DISPLAY........................................................................... 1-5 KEYS ON THE LIQUID CRYSTAL DISPLAY................................................. 1-6
1.2.4 1.3 1.3.1 1.3.2 KEYBOARD ..................................................................................................... 1-7 EXPLOSION-PROOF TEACH
PENDANT ..................................................... 1-8 KEYS AND SWITCHES................................................................................... 1-8 DISPLAY DURING
TEACHING .................................................................... 1-13 1-1 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY 1
27. 27. 1.1 1. Switches and Keys SWITCHES ON THE CONTROLLER This unit provides information about the switches located on the C Series Controller,
Explosion-Proof Type. Backside of the controller Multifunction Panel Multifunction panel connector Operation panel 10 3 4 6 9 Control power switch (circuit
breaker) 8 7 5 Communication port 1 2 Connector for the explosionproof teach pendant Explosion-proof teach pendant Control power switch (breaker): Switch
to ON to turn on the control power of the controller. Switch to OFF to turn off the control power of the controller. 1-2 COPYRIGHTED DOCUMENT INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
28. 28. 1. Switches and Keys These switches are mainly for the regular repeat operation. No. Switch or light Function Illuminates when the control power of the
controller is ON. 1 Hour meter 2 ０１９９６ ９ Indicates the total motor power ON time. 3 Illuminates when errors occur. initialization screen appears. 4 An
error is reset when pressed. The error light is turned off after the error is reset properly. (Sequential errors cannot be reset.) 5 Switches the robot condition
between operable (RUN) and temporary stop (HOLD). 6 Switches modes between TEACH and REPEAT. (This needs the attached keys.) 7 Repeat operation
starts when pushed. This light illuminates when repeat operation starts properly. 8 Motor power is turned on when pushed. This light illuminates when motor
power is applied properly. 9 Switches the method to start repeat operation. REMOTE: From the external start signal. LOCAL: From the Cycle Start button on
the controller. Emergency Stop 10 Blinks when the The motor power is shut off and the robot stops when pushed. Motor Power light and Cycle Start light are
turned off at the same time. (Control power is not shut off). Terms Teach mode: A mode for teaching by the remote control box for teaching (called explosionproof teach pendant). Repeat operation is not possible in this mode. Repeat mode: A mode for starting repeat operation. Repeat operation: A robot condition in
which taught operations are automatically repeated. 1-3 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series
Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
29. 29. 1.2 1. Switches and Keys MULTIFUNCTION PANEL 1.2.1 SWITCHES ON THE MULTIFUNCTION PANEL Multifunction panel uses a large-sized
color liquid crystal VGA display equipped with touch panel function. Keys are easily operated just by touching lightly on the liquid crystal display. These keys
are for entering and editing various data. 1 4 3 2 No. 1 2 3 4 Switch or light Liquid crystal display PC card slot Contrast adjustment knob Touch panel pen
Function Provides keys for entering and editing various data on robots. Also displays status, teaching and various data. For inserting a PC card. See A –14 PC
card Adjusts the shading (brightness) of the display. Used for touch panel operation. 1-4 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER
REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
30. 30. 1.2.2 1. Switches and Keys LIQUID CRYSTAL DISPLAY The liquid crystal display contains the following areas: 1 4 2 3 (The actual display may be
different in some parts.) 1. System message area: Errors are indicated. 2. Title area: Displays the title of the selected status or function. 3. Auxiliary data area:
Displays the present status and the teaching status of the present step. 4. Status information area: Displays status information. For example: M-OFF HOLD
TEACH M-ON RUN REPEAT Repeat Accept 1-5 Slow repeat Inhibit COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE
ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
31. 31. 1.2.3 1. Switches and Keys KEYS ON THE LIQUID CRYSTAL DISPLAY Keys associated with programs and steps: STEP PROGRAM pg1 PC 1 Key
Function PROGRAM pg1 STEP Displays the program name that is currently selected. The program selection screen appears when pushed. Displays the current
step number. 1 The step selection screen appears when pushed. PC Displays the PC program name that is currently selected. Keys for selecting screen: Key
Function Used for teaching programs. Screens for teaching appear when pushed: AS TEACHING (option), PROGRAM INPUT (option). Toggles screens:
STATUS, PROGRAM LIST, MONITOR, and CURRENT POSITION, PAINTING STATUS. Repeat conditions can be selected in the STATUS screen.
Toggles screens among status, function selection, and keyboard entry. STATUS, FUNCTION, INTERFACE PANEL SETTING (option), KEYBOARD
screens are equipped with auxiliary functions with which various data can be displayed and set. As for the multifunction panel with specification 2 (pull-down
menu type), pushing STATUS and MENU keys drops menu selection keys below each key. 1-6 COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
32. 32. 1.2.4 1. Switches and Keys KEYBOARD The keyboard screen can be selected when the key on the multifunction panel is pressed. MENU Robot language
programming and operation control of the robot are possible using AS Language in this screen. NEXT MENU key CTL+L key Backspace key SPACE key
Switch ＢＳ SHIFT key ENTER key Function The BACK SPACE key is used to delete the entered characters one by one. NEXTMENU The NEXT MENU
key switches the multifunction panel display from the keyboard screen to the status screen. ＥＮ ＴＥＲ The ENTER key is used for setting the AS Language
commands, executing, and entering data. SHIFT The SHIFT key is used to enter the special symbols indicated on the top of the character keys by pressing with
the other character keys. For example, when is pressed with the shift key, the symbol ! can be entered. NEXT PG Goes to the next page. Ｃ ＴＬ＋ Ｌ SPACE
key Displays the previously entered character strings (can go back a maximum of 10 previous entries). When the SHIFT key is pressed, this key turns into
CTL+N key. CTL+N key displays the next character string to the present string. Used to enter a space. 1-7 COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
33. 33. 1. Switches and Keys 1.3 EXPLOSION-PROOF TEACH PENDANT 1.3.1 KEYS AND SWITCHES The explosion-proof teach pendant is equipped with
the keys for robot manual operation, teaching programs, entering and editing various data. Liquid crystal display Trigger switch Emergency stop switch
Backside of the explosion-proof teach pendant 1-8 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series
Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
34. 34. 1. Switches and Keys Key SPRAY X-OUT GUN X-IN SMOTH DATA TIMER CALL JUMP CONVR SPEED SHIFT Function For entering the numeric
value of 1. Decimal point can be entered when pressed with the shift key. For entering the numeric value of 2. Numeric value A (hexadecimal) can be entered
when pressed with the shift key. For entering the numeric value of 3. Numeric value B (hexadecimal) can be entered when pressed with the shift key. For
entering the numeric value of 4. Numeric value C (hexadecimal) can be entered when pressed with the shift key. For entering the numeric value of 5. For
entering the numeric value of 6. The minus can be entered when pressed with the shift key. For entering the numeric value of 7. Numeric value D
(hexadecimal) can be entered when pressed with the shift key. For entering the numeric value of 8. Numeric value E (hexadecimal) can be entered when
pressed with the shift key. For entering the numeric value of 9. Numeric value F (hexadecimal) can be entered when pressed with the shift key. For entering the
numeric value of 0. Used with the other keys. The additional values such as A – F can be entered when pressed with the other keys. Moves the cursor up the
screen (to smaller numbers). SHIFT ＋ Goes back to the previous screen. Moves the cursor down the screen (to larger numbers). SHIFT ＋ CLR Goes to the
next screen. Cancels the numeric entry and clears all. 1-9 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series
Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
35. 35. Key END SHIFT ＋ END SUSPEND 1. Switches and Keys Function Returns to the main menu. Cancel the selection of program. The repeat operation
ends when pushed during the repeat operation. Holds the present mode and moves to the other mode. The original mode appears when this key is pressed again.
Returns to the upper screen. SET RT LFT FRNT SHIFT ＋ FRNT BCK Moves to the next screen when pressed for confirmation of menu selection or numeric
value entry. Moves the robot in the right direction in the Cartesean coordinates or swivels the 1st axis to the right. The table axis rotates in normal (+) direction.
Moves the robot in the left direction in the Cartesean coordinates or swivels the 1st axis to the left. The table axis rotates in reverse (-) direction. Moves the
robot forward in the Cartesean coordinates or rotates the 2nd axis forward. Moves in the forward direction of the gun (only for the frame coordinates). Moves
the robot backward in the Cartesean coordinates or rotates the 2nd axis backward. ＋ BCK Moves in the backward direction of the gun (only for the frame
coordinates). UP Moves the robot upward in the Cartesean coordinates or rotates the 3rd axis upward. DWN Moves the robot downward in the Cartesean
coordinates or rotates the 3rd axis downward. SWING RT Turns the gun to the right in the Cartesean coordinates or rotates the 4th axis to the right. SWING
LFT Turns the gun to the left in the Cartesean coordinates or rotates the 4th axis to the left. BEND FRNT Rotates the gun upward in the Cartesean coordinates
or rotates the 5th axis to the right. BEND BCK Rotates the gun downward in the Cartesean coordinates or rotates the 5th axis to the left. SHIFT 1-10
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
36. 36. 1. Switches and Keys Key Function TURN UP Rotates the gun to the right in the Cartesean coordinates or rotates the 6th axis to the right. TURN DWN
Rotates the gun to the left in the Cartesean coordinates or rotates the 6th axis to the left. FRAME Toggles the coordinate system at manual operation: Easy →
Gun → Joint ＋ SHIFT FRAME ROB TRV TBL Selects the coordinate system to be switched with the coordinate selection key: Easy → XYZ1 → XYZ2
Selects an axis to be operated with the axis key: robot or other axes. LED toggles by pressing the device selection key as: Robot → Traverse → Table EQPMT
Note: The detail of the device selection key may be different depending on the robot system structure. Toggles the manual speed of the robot and the peripheral
devices among three levels: High → Medium → Low H M L SPEED Selects interpolation when recording positions. pressing the interpolation key as: Linear
→ Circular (middle → end)→ Joint L C J MOTION SHIFT ＋ MOTION STORE In teaching and edit modes, selects a type for correcting command codes
from among Prohibit/Add/Modify/Delete/ Search. CRCT ＋ The circular LED is lit up in the middle of the circular arc and blinks at the end. During
linear/circular interpolation toggles among: Retaining gun posture/wrist axis angle. Note: When retaining wrist axis angle, linear and circular interpolation
LEDs are lit up and joint interpolation LED blinks. Records the present location as a teaching point. POS SHIFT LED toggles by CRCT RESET Changes the
default correction mode to Prohibit/Add/Modify when correcting command codes on the command display screen for teaching and editing. Resets all the errors.
1-11 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
37. 37. Key SHIFT ＋ 1. Switches and Keys Function RESET Resets errors one by one when more than one errors occur at the same time. SPRAY ON/OFF
Selects whether or not to spray paint. When spraying (ON), the LED is lit up. SPRAY 1/2 Turns on the Spray 1 signal (outputs while key is pressed). SHIFT ＋
SPRAY 1/2 TEACH LOCK STEP Turns on the Spray 2 signal (outputs while key is pressed). Switch is designed to avoid repeat operation from being
conducted accidentally during teaching. This switch needs to be ON after stopping repeat operation before entering into the safety fence. Cycle start cannot be
conducted while Teach Lock is ON (LED is on). Toggles the way to move through steps, backwards or forwards, when in check mode (confirming the
trajectory). Every time the key is pressed, the way to move from the first move in the screen toggles as: Move Command Continuous Jump STEP NEXT Shifts
the program forward when in check mode (confirming the trajectory). STEP BACK Shifts the program backward when in check mode (confirming the
trajectory). The keys below are the LED indication only: Key Function Indicates that the servo of the robot (manipulator) is ON SERVO ROB TBL when this
LED is lit. Indicates that the servo of the table is ON when this LED is SERVO ROB TBL lit. Note: LED names may be different depending on the robot
system structure. (The above is for standard specification.) Switch and push-button switch on the explosion-proof teach pendant: Key Function Emergency stop
Turns OFF the servo power and stops the robot. switch Trigger switch Enables/disables the robot’s motion (enabled only while pressed.) These switches can be
engaged only in teach mode. 1-12 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, ExplosionProof Type Kawasaki Robot Operation Manual
38. 38. 1.3.2 1. Switches and Keys DISPLAY DURING TEACHING The display during teaching appears as follows: 1 2 3 4 5 6 7 Correction mode
(Prohibit/Add/Modify/Delete/Search), which is a sub-mode, is 1 displayed. Use CRCT key to change the mode. Displays coordinate system (Easy (XYZ1)
(XYZ2)/Gun/Joint) at manual operation. 2 Use FRAME key to change the system. Displays how the program is shifted (per move/command/continuous/jump)
when 3 pressing STEP NEXT and STEP BACK keys in check mode. Use STEP key to change the shifting method. 4 Displays program number that is
presently taught. Displays present point number. 5 Counts MOVE commands in the program from the top and displays as a point number. 6 Displays operation
guidance. Displays commands taught in each step below the 3rd line. The sequential number on the left indicates in command unit. 7 The highlighted number
indicates that the the command execution is complete. The above example means that the commands up to the command unit 3, turning on the spray No.1, are
executed. 1-13 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki
Robot Operation Manual
39. 39. 1-14 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY Memo
40. 40. This chapter describes the procedures for power on/off of the controller and for stopping the robot motion. 2.1 TURNING THE POWER
ON ............................................................................................................2-2 2.2 TURNING THE POWER
OFF ............................................................................................................2-5 2.3 STOPPING THE
ROBOT ................................................................................................................2-6 2-1 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER
REFERENCE ONLY 2 PROCEDURES FOR POWER ON/OFF AND STOPPING THE ROBOT MOTION
41. 41. 2.1 2. Procedures for Power ON/OFF and Stopping the Robot Motion TURNING THE POWER ON The procedure for starting the robot operation is as
follows: ！ WARNING When turning the Control and Motor Power of the robot controller on, thorough attention should be taken to prevent personnel from
entering the motion range of the robot and the peripheral equipment controlled by the robot controller. The robot may move or operate accidentally when
turning on the motor power, if the robot servo system is damaged.< 1> Turn the Control Power on.< 2> The version information is displayed on the teach
pendant screen. Note: The version displayed depends on the software.< 3> Air purging process is automatically started. Note: This process is executed in
pressurized explosion-proof type of robots such as KE and KF series. Steps 3-5 are skipped in the flame-proof type of robots. After confirming that the the
purge air is supplied, step 4 is automatically started. 2-2 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series
Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
42. 42. 2. Procedures for Power ON/OFF and Stopping the Robot Motion< 4> The purging time starts to be counted down. Note: Purging time depends on the
manipulator type. When purging is complete, the next screen automatically appears.< 5> After purging, the robot waits for the pressure to rise in the
pressurized enclosure. When the pressure rises, the next screen automatically appears.< 6> The main menu appears.< 7> Turn the TEACH/REPEAT Switch to
TEACH.< 8> Turn the MOTOR POWER on. The lamp is lit up. 2-3 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY
C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
43. 43. 2. Procedures for Power ON/OFF and Stopping the Robot Motion In teach mode, turning the motor power ON will not bring actual motor power to the
robot immediately. The motor brake holds the robot at the current posture. After the motor power is on, the motor current is activated by pressing the trigger
switch located on the backside of the explosion-proof teach pendant. Then, after 0.5 second, the motor brake is released and the robot becomes servo-locked.
2-4 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation Manual
44. 44. 2.2 2. Procedures for Power ON/OFF and Stopping the Robot Motion TURNING THE POWER OFF The procedure for turning the power off when
finishing the robot operation is as follows. In this example external signals are not used. See the External I/O Manual, a separate volume, for using external
signals. ！ WARNING When shutting off the control power (breaker) of the robot, be sure to turn off the motor power by pressing the EMERGENCY STOP
Switch located on the controller before turning off the control power switch (breaker).< 1> Press the EMERGENCY STOP switch and Turn the MOTOR
POWER off. (The light goes off.)< 2> Turn the CONTROL POWER switch off. Turning off the motor and control power is complete. 2-5 COPYRIGHTED
DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
45. 45. 2. Procedures for Power ON/OFF and Stopping the Robot Motion 2.3 STOPPING THE ROBOT MOTION The following emergency stop procedures are
provided for stopping the robot motion immediately. These procedures can be executed regardless of the robot mode, repeat or teach. The robot motor power is
shut off and the arm comes to a complete stop when executed. Controller EMERGENCY STOP 非常 停止 Press the EMERGENCY STOP switch located on
the controller. The MOTOR POWER and CYCLE START lights on the controller turn off. Explosion-proof teach pendant Press the EMERGENCY STOP
switch located on the explosion-proof teach pendant. The MOTOR POWER and CYCLE START lights on the controller turn off. External equipment such as
interlock board Press the EMERGENCY STOP switch. The MOTOR POWER and CYCLE START lights on the controller turn off. See the External I/O
Manual (Interlock Signals), a separate volume. When stopping the robot motion using the above procedures, the ERROR light on the controller may turn on or
an error message may appear on the display. For restarting the robot from the stopped condition, press the ERROR RESET switch and then the MOTOR
POWER or CYCLE START switch. [ NOTE ] The EMERGENCY STOP switch should be used only for urgency during the robot operation. An emergency
stop gives a sudden brake on the motor that drives the robot arm. This means that the robot is forced to stop by excessive power, and this may give a damage to
the robot components. 2-6 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type
Kawasaki Robot Operation Manual
46. 46. 2. Procedures for Power ON/OFF and Stopping the Robot Motion The following three procedures are provided for stopping the robot motion during repeat
operation. Switches used for stopping the robot motion E-STOP SWITCH on the teach pendant E-STOP SWITCH RUN HOLD CYCLE START ON To
REPEAT E-STOP CYCLE START OFF MOTOR POWER ON E-STOP MOTOR POWER OFF Arm in a complete stop Arm in hold Arm in motion
TOGGLE SWITCH TOGGLE SWITCH To TEACH E-STOP Press Press 2-7 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER
REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
47. 47. 2-8 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY Memo
48. 48. 3 BASIC OPERATION OF MULTIFUNCTION PANEL This chapter describes the basic operation procedures for using the multifunction panel. 3.1 3.1.1
3.1.2 3.1.3 3.1.4 3.1.5 3.1.6 3.1.7 3.1.8 SWITCHING THE SCREEN OF THE MULTIFUNCTION PANEL..............................3-2 BASIC SCREEN
STRUCTURE ON THE MULTIFUNCTION PANEL ........................3-4 STATUS
SCREEN.........................................................................................................3-5
OTHERS ........................................................................................................................3-6 STATUS
SCREEN.........................................................................................................3-8 SPRAY STATUS
SCREEN ...........................................................................................3-9 PROGRAM LIST SCREEN ........................................................................................
3-13 MONITOR SCREEN................................................................................................... 3-14 CURRENT POSITION
SCREEN ............................................................................... 3-17 3.2 3.3 MOVING CURSORS ..................................................................................................
3-18 SELECTION BY ENTERING NUMERIC VALUES OR CURSOR OPERATION .... 3-19 3.4 3.5 3.6 ENTERING
CHARACTERS....................................................................................... 3-20 SELECTING
PROGRAMS ......................................................................................... 3-21 SELECTING STEPS...................................................................................................
3-23 3-1 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY 操作説明書
49. 49. 3. Basic Operation of Multifunction Panel 3.1 SWITCHING THE SCREEN OF THE MULTIFUNCTION PANEL or Press keys to display pull-down
menu. MENU STATUS Select the desired key to switch screens. Status Display screen STATUS ⇒ Status screen See 4 Status screen. ⇒ See 3.1.6 Program
List screen. Program List screen ⇒ Monitor screen See 3.1.7 Monitor screen. ⇒ Current Position screen See 3.1.8 Current Position screen. ⇒ Spray Status
screen See 3.1.5 Spray Status screen. 3-2 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller,
Explosion-Proof Type Kawasaki Robot Operation
50. 50. 3. Basic Operation of Multifunction Panel Menu screen ⇒ Status screen See 3.1.4 Status screen, 3.1.5 Spray Status screen, 3.1.6 Program List screen, 3.1.7
Monitor screen (Output signal), and 3.1.8 Current Position screen ⇒ Aux function screen See 9. Auxiliary Functions ⇒ Setting screen for interface panel
(option) See 13. Interface Panel Setting ⇒ Keyboard screen (Option) See 1.2.4 Keyboard 3-3 COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
51. 51. 3. Basic Operation of Multifunction Panel 3.1.1 BASIC SCREEN STRUCTURE ON THE MULTIFUNCTION PANEL (1) Keys for switching screens
(A): Left menu key for teaching (B): Right menu key for status display (C): Menu key (A) (B) (C) Status Status Display Program List Aux. Function Monitor
Interface Panel Current Position Keyboard Spray Status Note: The left and right menu keys can be switched by pressing the keys indicated by (A) and (B)
above. The selected menu key is darkened. (D): Returns to the STATUS screen by pressing the EXIT key on the function list screen of the Aux screen. (2)
Keys for program and step selection PROGRAM STEP (A): Program selection and display key (B): Step selection and display key (C): PC program display
key (A) (B) (C) A small screen for step selection appears. Switches to the program selection screen. (3) Others Program List screen contains two pages which
can be switched by the PRE PG and NEXT PG keys. NEXT Program List Program List PRE PG (1/2) (2/2) Monitor screen contains Input, Output, and Internal
Signal screens which can be switched by each key located on the downside. Output Monitor Monitor Input (Input Signal) (Output signal) Internal Output Input
Monitor (Internal Signal) 3-4 Internal COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, ExplosionProof Type Kawasaki Robot Operation
52. 52. 3. Basic Operation of Multifunction Panel 3.1.2 STATUS SCREEN (1) Status (2) Program List (3) Monitor 3-5 COPYRIGHTED DOCUMENT INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
53. 53. 3. Basic Operation of Multifunction Panel (4) Current Position (5) Spray status 3.1.3 OTHERS (1) Auxiliary Function 3-6 COPYRIGHTED DOCUMENT
- INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
54. 54. 3. Basic Operation of Multifunction Panel (2) Key board (3) Program selection (4) Step selection (When the status screen is displayed.) 3-7
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation
55. 55. 3. Basic Operation of Multifunction Panel 3.1.4 STATUS SCREEN Shows the current status and repeat conditions. Shows the monitor speed. Shows year,
date, and time. Shows the repeat condition. Shows the current mode. The displayed color changes when turned ON and OFF. Displayed only when STEP
ONCE is selected. Shows the step number and data. The second line is highlighted and shows the step in progress. Shows the location data of the step in
progress. Set Items Repeat 10% Repeat condition Display Items E-STOP Motor power Cycle start Teach/Repeat Hold/Run Error Normal Release ext. hold
Record accept Step forward Repeat Cont/Once Step Cont/Once Descriptions The repeat speed is indicated in percentage. See 8.5 Repeat Condition Selection
Descriptions Turns on when the EMERGENCY STOP switch is pressed. Turns on when the MOTOR POWER switch is pressed. Turns on when the CYCLE
START switch is engaged. Indicates robot mode; Teach or Repeat. Indicates the robot condition; Hold or Run Turns on when errors occur. Turns on when the
robot is operating normally without any errors. Turns on when the stop release is engaged. The color changes when teaching becomes effective. Appears when
STEP ONCE is selected. Indicates the status of the repeat operation programmed, one cycle only (Repeat Once) or continuous cycle (Repeat Cont). Indicates
the program execution status, step by step (Step Once) or continuously (Step Cont). Indicates that RPS (Random Program Selection) function is enabled or RPS
disabled. RPS is a function for selecting programs by external input Enable/Disable signal to the robot. Dryrun Indicates that the Dryrun mode is effective (ON)
or not effective (OFF). ON/OFF 3-8 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, ExplosionProof Type Kawasaki Robot Operation
56. 56. 3. Basic Operation of Multifunction Panel 3.1.5 SPRAY STATUS SCREEN Set items Spray output All ratio set Signal output Descriptions Switches to the
Spray output screen. Switches to the All ratio set screen. Switches to the Signal output screen. Display items Production speed ratio Descriptions Indicates the
production speed ratio data. Indicates the conveyor speed. (when the conveyor synchronization function is enabled.) Indicates the conveyor position. (when the
conveyor synchronization function is enabled.) Indicates the production number. Indicates the repeat time. Conveyor speed Conveyor position Production
number Repeat time 3-9 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type
Kawasaki Robot Operation
57. 57. 3. Basic Operation of Multifunction Panel (1) Spray output Changes the manual spray output signal. Verify that the mode is in TEACH and the Teach lock
keys on the explosion-proof teach pendant is OFF before changing. The screens for entering numeric values appear when the AIRMOTOR , HIGH VOLT keys
are pressed. Display items Spray 1 Spray 2 Flow rate Shaping air / Pattern air Air motor / Atomize air High voltage Flushing Push thinner Flow rate upper
Shaping air upper / Pattern air upper Air motor upper / Atomize air upper High volt upper FLOWRATE , SHAPING AIR , Descriptions Indicates the ON/OFF
condition of the spray 1. Indicates the ON/OFF condition of the spray 2. Indicates the dedicated signal condition of the flow rate in numeric values for the
corresponding signal. The numeric value screen appears for entering. Indicates the dedicated signal conditions of the shaping or pattern air in numeric values
for the corresponding signal. The numeric value screen appears for entering. Indicates the dedicated signal conditions of the air motor or atomizing air in
numeric values of the signal. The numeric value screen appears for entering. Indicates the dedicated signal condition of the high voltage in numeric values for
the corresponding signal. The numeric value screen appears for entering. Indicates the ON/OFF condition of the dedicated signal for flushing. Indicates the
ON/OFF condition of the dedicated signal for push thinner. Indicates the upper limit setting of the flow rate in numeric values for the signal. The numeric value
screen appears for entering. Indicates the upper limit setting of the shaping or pattern air in numeric values for the signal. The numeric value screen appears for
entering. Indicates the upper limit setting of the air motor or atomizing air in numeric values for the signal. The numeric value screen appears for entering.
Indicates the upper limit setting of the high voltage in numeric values for the signal. The numeric value screen appears for entering. 3-10 COPYRIGHTED
DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
58. 58. 3. Basic Operation of Multifunction Panel (2) All ratio set Ratios for all the manual spray output signals can be set. Display items Flow rate Shaping air /
Pattern air Air motor air / Atomize air High volt Descriptions Ratio for all the spray signals of the flow rate is indicated in percentage. The numeric entry screen
appears when entering with keys. Ratios for all the spray signals of the shaping or pattern air are indicated in percentage. The numeric entry screen appears
when entering with keys. Ratios for all the spray signals of the air motor or atomizing air are indicated in percentage. The numeric entry screen appears when
entering with keys. Ratios for all the spray signals of the high voltage are indicated in percentage. The numeric entry screen appears when entering with keys.
(3) Signal output Sets ON/OFF for the general output signals. The ON/OFF status of the signal is indicated by the LED on each key. Red : ON Blue: OFF
Switched ON and OFF by pressing the keys. The signals assigned to the dedicated signal cannot be switched by the key. 3-11 COPYRIGHTED DOCUMENT INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
59. 59. 3. Basic Operation of Multifunction Panel (4) Screen for entering numeric values Numeric values can directly be entered from the Spray output and All
ratio set screen. * The above is a screen called from the All ratio set/Flowrate. Flow rate Pattern air Atomize air High volt ※When the Setting range for manual
spray output 0 – upper limit (0 – 10000) 0 – upper limit (0 – 10000) 0 – upper limit (0 – 10000) 0 – upper limit (0 – 10000) RETURN Setting range for All
ratio set 0 – 200 0 – 200 0 – 200 0 – 200 key is pressed, the original screen appears again. 3-12 COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
60. 60. 3. Basic Operation of Multifunction Panel 3.1.6 PROGRAM LIST SCREEN Displays the current program list. • Pressing the or key scrolls up/down the
program steps by five lines based on the step with the cursor. [ NOTE ] When inserting, deleting, and modifying the program steps by teaching/editing from the
explosion-proof teach pendant, the currently displayed screen does not reflect changes instantaneously. 3-13 COPYRIGHTED DOCUMENT - INTENDED
FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
61. 61. 3. Basic Operation of Multifunction Panel 3.1.7 MONITOR SCREEN Indicates the status of the current input/output signals. The displayed color changes
when the signal is ON. ⇑ ⇓ ⇑ ⇓ If the Built in sequencer function option is installed, the Input signals : IN*** Output signals : OUT*** Internal signals :
INT*** INTEGER DATA The following IN/OUT signal keys appear in some versions. 3-14 key appears. COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
62. 62. When the IN/OUT 3. Basic Operation of Multifunction Panel signal key is pressed: 3-15 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER
REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
63. 63. 3. Basic Operation of Multifunction Panel The signal names displayed on the monitor screen can be set by the user. The procedure is as follows: 1. Save the
auxiliary data. SAVE/A File name. Or Select AUX 10. MEMORY → PC CARD, then select 3 for Auxiliary data and save it. 2. Add the following
between .AUXDATA and .END using the editor function of the PC that saved the file: For output signal, N_OX1 “signal name 1” N_OX2 “signal name 2” ：
For input signal, N_WX1 “signal name 1” N_WX1 “signal name 2” ： For internal signal, N_INT1 “signal name 1” N_INT2 “signal name 2” ： Enter the
desired signal name in “ ”. The name should be within 14 bytes. 1 – 64 can be set for output and input signals. 3. Load the file created by the editor. 4. When
deleting the set file names, enter items without signal names between .AUXDATA and .END as shown below and load. N_OX1“ ” ： N_WX1“ ” ： N_INT1“
” ： When the same name is set as the dedicated signals, the name for the dedicated signal will be taken. [ NOTE ] The initial name is set when the system is
initialized (SYSINIT). 3-16 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof
Type Kawasaki Robot Operation
64. 64. 3. Basic Operation of Multifunction Panel 3.1.8 CURRENT POSITION SCREEN Indicates the robot’s current position. Joint angle value Transformation
value 3-17 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki
Robot Operation
65. 65. 3. Basic Operation of Multifunction Panel 3.2 MOVING CURSORS keys to select items. Move the cursor using the The moving range of the cursor
depends on the screens. PROGRAM SELECT pg?? pg10 pg2 pg7 PROGRAM SELECT pg1 pg5 pg8 ⇒ ⇒ pg?? pg10 pg2 pg7 ⇓ ⇑ PROGRAM SELECT pg??
pg10 pg2 pg7 pg1 pg5 pg8 pg1 pg5 pg8 PROGRAM SELECT ⇐ ⇐ 3-18 pg?? pg10 pg2 pg7 pg1 pg5 pg8 COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
66. 66. 3.3 3. Basic Operation of Multifunction Panel SELECTION BY ENTERING NUMERIC VALUES OR CURSOR OPERATION Item selection can be
made by entering numeric values or operating cursor on the following screens of the multifunction panel. Selecting programs Selecting items for program edit
Selecting auxiliary items Selecting auxiliary items is explained in this example: By entering numeric By operating cursor With the cursor position at 2
LOCATION & SPEED DISPLAY, enter desired numeric value. Move the cursor to desired item. For example, move to 9 DATA CONVERSION. １ ４ 12
FILE DIRECTORY (FDIRECTORY) 14 PC CARD AUX. FUNCTION 41 ZEROING FUNCTION NUMBER: 14 RETURN 3-19 6 MIRROR
CONVERSION 9 DATA CONVERSION 10 MEMORY→PC CARD (SAVE) 11 PC CARD→MEMORY (LOAD) 12 FILE DIRECTORY (FDIRECTORY)
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation
67. 67. 3.4 3. Basic Operation of Multifunction Panel ENTERING CHARACTERS In some screens on the multifunction panel, operation can be made by entering
characters. Press CHARACTER key on the screen for the character entry screen. CHARACTER Ａ … Ｚ ＥＮ ＴＥＲ Press the １ … ０ CHARACTER key.
Press desired keys. Fix the entered characters using the ENTER key. Press the NEXT MENU key to exit the character entry mode. The character entered at the
tail end is deleted by pressing the BS 3-20 key. COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller,
Explosion-Proof Type Kawasaki Robot Operation
68. 68. 3.5 3. Basic Operation of Multifunction Panel SELECTING PROGRAMS PROGRAM Press the By entering numeric values Enter numeric values with
pg?? displayed. １ PROGRAM By operating cursor Move the cursor to desired program. ０ RETURN 1. When the program name exceeds the screen, press
NEXT PG key to show the rest. 2. When setting the program name like set1, enter from the keyboard screen by pressing CHARACTER key. 3. The contents of
the program selected by cursor can be checked by pressing the PROGRAM LIST key. 3-21 key. COPYRIGHTED DOCUMENT - INTENDED FOR
CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
69. 69. 3. Basic Operation of Multifunction Panel Deleting programs: Move the cursor to the program to be deleted. For example, select pg10. Press the RETURN
key to delete. Or press the EXIT key to cancel. RETURN pg?? pg1 pg8 pg2 The program list is displayed after deletion. pg 3-22 COPYRIGHTED
DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
70. 70. 3.6 3. Basic Operation of Multifunction Panel SELECTING STEPS STEP Press the STEP key. (Some types have a different way to switch toward the first
or last step.) When FIRST STEP is indicated for the key, press it to select the first step of the program. The key display changes to LAST STEP by pressing the
S key. When FIRST/LAST is indicated, press it with BACKWARD key to select the first step of the program. Press it with FORWARD key to select the last
step. Pressing S key does not make any change in display. Press STEP SELECT key to directly specify the step number. By entering numeric value ３ By
operating cursor Select steps using the BACKWARD or FORWARD key. Pressing the FORWARD key shifts one step ahead. Pressing the BACKWARD key
shifts one step back. STEP 3 Step: 3 is indicated. RETURN 3-23 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C
Series Controller, Explosion-Proof Type Kawasaki Robot Operation
71. 71. 3-24 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY Memo
72. 72. MANUAL OPERATION This chapter describes the procedures for manual operation of the robot. 4.1 4.2 4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.2.6 4.2.7 4.2.8
4.2.9 KEYS USED FOR MANUAL OPERATION .................................................................4-2 PROCEDURES FOR MANUAL
OPERATION............................................................4-3 TYPES OF THE MANUAL OPERATION COORDINATE SYSTEM.........................4-5 SELECTING
THE MANUAL OPERATION COORDINATE SYSTEM......................4-5 SELECTING THE MANUAL OPERATION
SPEED....................................................4-5 MANUAL OPERATION ON THE JOINT COORDINATE SYSTEM..........................4-6 MANUAL
OPERATION ON THE CARTESIAN COORDINATE SYSTEM...............4-9 MANUAL OPERATION ON THE EASY COORDINATE
SYSTEM.........................4-11 GUN COORDINATE SYSTEM ................................................................................4-15 SELECTING THE OPERATION FOR
TRAVERSE EQUIPMENT..........................4-17 MANUAL OPERATION OF THE TRAVERSE EQUIPMENT ..................................4-17 4-1
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY 4
73. 73. 4.1 4. Manual Operation KEYS USED FOR MANUAL OPERATION The robot is manually operated when: Moving the robot to the position to teach.
Moving the robot arm when an error occurs. The explosion-proof teach pendant is used for manual operation of the robot. Hold the teach pendant firmly with
both hands. Shift key Axis keys Manual speed key Coordinates selection key Equipment selection key Teach lock key Trigger switches Backside of the
explosion-proof teach pendant The following keys are mainly used for manual operation: Coordinates selection key, Equipment selection key, Axis key,
Manual speed key, Teach lock key, Trigger switches. 4-2 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series
Controller, Explosion-Proof Type Kawasaki Robot Operation Manual
74. 74. 4.2 4. Manual Operation PROCEDURES FOR MANUAL OPERATION This section describes the basic procedures for manual operation of the robot.
Preparation: Turn the CONTROL POWER ON. The CONTROL POWER light illuminates. Setting switches: Turn the TEACH/REPEAT switch to TEACH.
Turn the HOLD/RUN switch to RUN. TEACH LOCK Turn the TEACH LOCK key on the explosionproof teach pendant ON. (The LED on this key will
illuminate. When the TEACH LOCK key is ON, CYCLE START is not engaged by turning the TEACH/REPEAT switch to REPEAT. The MOTOR POWER
light turns on. Press the MOTOR POWER switch. ！ WARNING Enter the safety fence for manual operation of the robot after confirming that the above
preparation and setting switches are complete. 4-3 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series
Controller, Explosion-Proof Type Kawasaki Robot Operation
75. 75. 4. Manual Operation Selecting motion coordinate system and speed: FRAME H M L SPEED Select the coordinate system for manual operation. Select the
robot motion speed. See 4.2.1 Types of the Manual Operation Coordinate System, 4.2.2 Selecting the Manual Operation Coordinate System and 4.2.3 Selecting
the Manual Operation Speed Release the motor brake by pressing the trigger switches on the backside of the explosion-proof Trigger switches teach pendant.
Keep these switches pressed during the manual operation of the robot. Either switch, right or left, works. Backside of the explosion-proof teach pendant Select
the axis and motion direction (+ or -) to be moved by the axis keys. TURN RT UP The robot moves while these keys are … pressed. TURN LFT DWN ！
CAUTION The robot operates by pressing the axis keys with the trigger switches grasped. Manual operation is complete. ！ WARNING Be sure to turn the
TEACH LOCK key OFF (LED goes off) after coming out of the safety fence when manual operation is complete. 4-4 COPYRIGHTED DOCUMENT INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
76. 76. 4.2.1 4. Manual Operation TYPES OF THE MANUAL OPERATION COORDINATE SYSTEM The robot moves differently according to the coordinate
system types at manual operation. The characteristics of each coordinate system should be fully understood before conducting manual operation. XYZ1 :
Moves the gun parallel to the Cartesian coordinate system based on the gravity direction. The gun posture is during operation. XYZ2 : Moves the gun parallel
to the Cartesian coordinate system based on the gravity direction. The wrist axis angle is kept during operation. Joint : Moves each axis independently. Gun :
Moves parallel to the tool coordinate system based on the gun posture. The gun referred to is the last one that was selected by the gun selection instruction.
Easy : This is the mode for orthogonal operations which are used most frequently at manual operation. 4.2.2 SELECTING THE MANUAL OPERATION
COORDINATE SYSTEM The 1st line of the coordinate system display on the explosion-proof teach pendant toggles by pressing the FRAME key. SHIFT ＋
FRAME keys are used for switching XYZ1 and XYZ2. The Cartesian and Work coordinate systems are switched by the condition setting mode. EASY XYZ1
XYZ2 4.2.3 Gun Joint SELECTING THE MANUAL OPERATION SPEED The LED illuminates in turn as below by pressing the SPEED key, to indicate the
manual operation speed. Low High Med H M L The initial setting: →150mm/s equiv. → 80mm/s equiv. SPEED → 10mm/s equiv. The maximum speed is
approximately 150mm/sec at the gun tip. The ratio (%) to the max. speed is defined by the auxiliary data. See 9. A-57 Check Speed 4-5 COPYRIGHTED
DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
77. 77. 4.2.4 4. Manual Operation MANUAL OPERATION ON THE JOINT COORDINATE SYSTEM 3rd axis Up 4th axis Swing left 5th axis Bend down Down
Swing right 6th axis Bend up Turn left nd 2 axis Turn right Back Front Right Left 1st axis * The above manipulator is from the KE610 model series. 4-6
COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot
Operation
78. 78. 4. Manual Operation Up 3rd axis 4th axis Down Swing left Swing right 2nd axis Bend up 6th axis 5th axis Bend down Back Turn left Turn right Front
Right Left 1st axis * The above manipulator is from the KF121 model series. 4-7 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER
REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
79. 79. 4. Manual Operation The axis keys move the robot as follows on the Joint Coordinate System. Wrist motion of standard models Wrist motion of KF192 and
KF262 Rotates 1st axis Rotates 1st axis Rotates 2nd axis Rotates 2nd axis Rotates 3rd axis Rotates 3rd axis Rotates 4th axis Rotates 5th axis Rotates 5th axis
Rotates 4th axis Rotates 6th axis Rotates 6th axis RT LFT FRNT BCK UP DWN SWING RT SWING LFT BEND FRNT BEND BCK TURN UP TURN
DWN 4-8 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki
Robot Operation
80. 80. 4.2.5 4. Manual Operation MANUAL OPERATION ON THE CARTESIAN COORDINATE SYSTEM Up Left Back Front Right Swing left Down Swing
right Bend up Turn left Turn right The above figures indicate the robot motion for XYZ1. Bend down Refer to the figure for Joint coordinate system regarding
the motion direction of the wrist axes (4th – 6th axes) for XYZ2. The above manipulator is from the KE610 model series. In these sample figures, the
manipulator is installed on the floor. In case of installation on the wall or from the ceiling for some models, manual operation can be conducted in the same
way as a floor-installed robot, by defining the antigravity direction as +Z direction. 4-9 COPYRIGHTED DOCUMENT - INTENDED FOR CUSTOMER
REFERENCE ONLY C Series Controller, Explosion-Proof Type Kawasaki Robot Operation
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