Manual robo kawasaki

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

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


C Series Controller, Explosion-Proof Type
Kawasaki Robot Operation Manual

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
safe-keeping 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



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



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



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



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



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



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



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



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－143-3-3 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



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 .......................................................10-19
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..............................................................10-31
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.....................................................10-37
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



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 .........................12-16
12.5.2
EXAMPLES OF TEACHING ...........................................................12-16
12.6 REPEAT RUN AND PROGRAM CHECKING METHOD........................12-32
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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...........................................................13-12
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



xiv


Memo

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


SAFETY

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


C Series Controller, Explosion-proof Type

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



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



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



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



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



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



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



10


Memo

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


1

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




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

０１９９６９

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 explosion-proof 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



1.2


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



1.2.2


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



1.2.3


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



1.2.4


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




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




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.
Numeric value A (hexadecimal) can be entered when pressed with the
shift key.
Numeric value B (hexadecimal) can be entered when pressed with the
shift key.
Numeric value C (hexadecimal) can be entered when pressed with the
shift key.
The minus can be entered when pressed with the shift key.
Numeric value D (hexadecimal) can be entered when pressed with the
shift key.
Numeric value E (hexadecimal) can be entered when pressed with the
shift key.
Numeric value F (hexadecimal) can be entered when pressed with the
shift key.
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



Key
END

SHIFT

＋ END

SUSPEND


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




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



Key
SHIFT

＋


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



1.3.2


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



1-14


Memo

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


2

PROCEDURES FOR POWER
ON/OFF AND STOPPING THE
ROBOT MOTION

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




<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




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



2.2


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




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




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



2-8


Memo

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


操作説明書

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


Kawasaki Robot Operation

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



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



Multifunction Panel

3.1.2 STATUS SCREEN
(1) Status

(2) Program List

(3) Monitor

3-5



Multifunction Panel

(4) Current Position

(5) Spray status

3.1.3 OTHERS
(1) Auxiliary Function

3-6



Multifunction Panel

(2) Key board

(3) Program selection

(4) Step selection
(When the status screen is displayed.)

3-7



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



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



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
Indicates the dedicated signal condition of the high voltage in numeric
values for the corresponding signal. The numeric value screen
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



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.
Ratios for all the spray signals of the air motor or atomizing air are
indicated in percentage.
Ratios for all the spray signals of the high voltage are indicated in
percentage.

(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



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



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



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.



When the

IN/OUT

Multifunction Panel

signal key is pressed:

3-15



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



Multifunction Panel

3.1.8 CURRENT POSITION SCREEN
Indicates the robot’s current position.

Joint
angle
value

Transformation
value

3-17



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



3.3

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)



3.4

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.



3.5

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.



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



3.6

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



3-24


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
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


4

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
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



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



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.
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



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



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



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



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



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



Manual robo kawasaki

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