英⽂翻译
英⽂翻译（English translation）
INTRODUCTION
1.0INTRODUCTION
The AS language reference manual is designed to assist the user whose primary responsibility includes programming and operating Kawasaki industrial robots on a daily basis. AS language is a computer control language designed specifically for use with Kawasaki robot controllers. This text provides information on creating programs, running programs, and editing programs using AS language commands. AS language is relatively easy to learn with many keywords, syntax sequences, and interface commands being intuitive.
AS language provides the programmer with the ability to precisely define the task a robot is to perform .Programming the robot with a computer control language (AS) also provides the ability to integrate peripheral components into the program. Typical component interfacing with AS language programs includes: programmable logic controllers (PLCs),lasers, weld controllers, gray scale vision, and remote sensing systems.
AS language programs provide outstanding performance in terms of robot trajectory control. Program location points can be stored and played back as either joint angles representing the manipulator (precision points) or geometrically defined locations in the work envelope (transformations). Transformations locations can also be defined based on their relative position to one another (compound transformations).These capabilities allow program locations to be shifted and moved based on parameters and variables and identified in the AS language program.
简介
1.0简介
由于语⾔参考⼿册的⽬睹是帮助⽤户，其主要职责包括编程和操纵川崎⼯业机器⼈的⽇常⼯作。AS语⾔是⼀种为川崎机器⼈控制器特别设计的计算机控制语⾔。该⽂本提供了创建程序的信息、正在运⾏的程序和编辑程序使⽤的AS语⾔命令。AS语⾔中的许多关键字，语法序列和直观的界⾯命令都是⽐较容易学习的。AS语⾔能够为程序员执⾏提供精确的机器指令，AS语⾔作为计算机控制语⾔，能为编程提供整合周边组件的⽅案。典型组件接⼝AS语⾔⽅案包括：可编程逻辑控制器，激光，焊接控制器，灰度视觉和遥感系统。
AS语⾔程序提供了在机器⼈轨迹控制⽅⾯的突出表现，程序位置点的存储和包房能够早在机械⼿的关
节⾓度代表（精确点）或⼏何定义包络⾯的⼯作地点（转换）。转换位置也可以定义基础位置的相对位置（复合变换）。程序位置的移动和转移在基于参数后变量的前提下能够在AS语⾔中确定这些功能。
1.1 ROBOT CONTROLLER DESIGN SPECIFICATIONS
Control system: 32bit RISC main CPU
32bit RISC CPU for multi function panel unit
32bit RISC servo CPU controller (one per 3 axes)
Software controller AC servo drive system using pulse
width modulation (PWM) circuitry
Number of axes: 6 standard;7th optional
Motion Control: Teach mode- Joint
Base
Tool
Repeat mode-joint move
Linear move
Circular (optional)
FLIN move (optional)
Memory: CMOS RAM
Memory: standard- 1024 KB (approximately 4,000 steps) Accuracy: Adjustable in increments of 0.0001 mm within the ranges below
F-series
Adjustable between 0.1 mm -5,000 mm
UX/UT-series
Adjustable between 0.5 mm-5,000 mm
UZ-series
Adjustable between 0.3 mm-5,000 mm
Z-series
Adjustable between 0.3 mm-5,000 mm
Speed: proportional speed - percentage of maximum joint or
TCP.Adjustable in increments of 0.0001 up to 100%
(Rounding occurs as necessary).
Absolute speed - speed of TCP in mm/s.Adjustable in
Increments of 0.0001 mm/s up to maximum robot TCP
Speed (rounding occurs as necessary).
Data Editing: Step insertion and deletion, and rewriting of auxiliary and
Positional data.
Software Features: Continuous path motion control - CP ON/OFF
Time delays
Coordinate modification
Process control programs (3)
Peripheral equipment control
Interrupt signal control
Errors interrupt control
Input of real, string, and integer variables
Local variables
Subroutine calls with arguments (maximum stack=20)
Program weld schedules
Servo shutdown time
Auto start function
I/O Signals1GW I/O board 32 inputs/32 outputs (256 maximum)
(Including dedicated signals)
1FS RI/o board (optional)
Robot I/O 256 I/O (including dedicated signals)
Robot internal 256
Relay circuit 32 I/O
A-B PLC 64 I/O
Weld controller 32 I/O
Non-retentive 128 I/O
Retentive 16 I/O
Timers 16 I/O
Counters 16 I/O
Message display 64 I/O
在线翻译英文翻译logic status 16 I/O
Control Net (option)
Dedicated Signals: Outputs - Motor power ON
Error occurrence
Automatic
CYCLE_START
Teach mode
HOME 1
HGSO
Ext. program select (RPS) enabled Dedicated Signals: Inputs- Ext. motor power ON Ext. error reset
Ext. cycle start
Ext. program
Select start (JUMP)
JUMP_ON
JUMP_OFF
JUMP_ST
EXT. program select start (RPS)
RPS_ON
RPS_ST
Number of RPS code signal
First signal number of RPS code
Program rest
Ext. Hold (EXT_IT)
Ext. condition waits (EXT_WAIT)
Ext. slow repeat mode
Error Messages: Error code messages, self-diagnosis, error logging, operation logging
Program check mode
Special Features:
Adjustable restriction of JT1
Terminal box on robot arm (optional)
Robot application interface panel (optional)
Over travel limit switch - JT1 (JT2, JT3 optional)
Power lockout
Ethernet (optional)
Multi Function Panel: Dead man safety switches
(Optional) 7.2 inch color LCD
Touch panel
Teach-lock function
Emergency stop switch
Pen for touch panel
PC card insertion section
Teach Pendant: Dead man safety switches
(Optional) Teach-lock function
Emergency stop switch
Membrane switch keypad
Alphanumeric LCD
Supplemental
Data Storage: PC flash RAM memory card 8 MB, PCMCIA 2.1 slot
Floppy disk drive (optional)
Personal computer (optional)
Power Requirements: Standard Spec.: 3-phase 200/220 V AC
North Am Spec.: 3-phase 400/440/460/480/515/575 V AC
European Spec.: 3-phase 380/400/415/440/460/480 V AC
Tolerance: +/- 10%
Frequency: 50/60 Hz
Rated Load: 10.5 kV A
Ground: less than 100 ohm ground line separated
From welder power ground
Dimensions: Standard Spec.: W x D x H, 460.8mm x 430mm x 1240mm
(Inches) (18.1 x 16.9 x 48.8)
North Am. Spec.: W x D x H, 550mm x 500mm x 1150mm
(Inches) (21.7 x 19.7 x 45.3)
European Spec.: W x D x H, 550mm x 500mm x 1150mm
(Inches) (21.7 x 19.7 x 45.3)
Weight: Standard Spec.: approx. 80 kg (176 lbs)
North Am. Spec.: 250 kg (550 lbs)
European Spec.: 250 kg (550 lbs)
1.1机器⼈控制器的设计规范
控制系统：32位RISC主CPU
32位RISC CPU的多功能⾯板单元
32位RISC CPU控制器伺服（每3轴）
软件控制交流伺服驱动系统采⽤脉冲宽度调制（PWM）电路
轴数：6个标准，第七可选
运动控制：教学模式—联合
基地
⼯具
重复模式—联合⾏动
线性移动
通函（可选）
FLIN移动（可选）
内存：CMOS RAM
内存：标准—1024KB（约4000步）
精度：在0.0001毫⽶递增内课调以下范围
F系列
可调式0.1毫⽶-5000毫⽶之间
UX/UT系列
可调式在0.5-5000毫⽶之间
UZ系列
可调式在0.3-5000毫⽶之间
Z系列
可调式在0.3-5000毫⽶之间
速度：⽐例速度-最⼤的联合或百分⽐技术合作计划，在0.0001增量⾼达100%可调（四舍五⼊发⽣视需要）。绝对速度-TCP速度单位mm/s。可调增量位0.0001mm/s到最⼤的