Kawasaki Robot

D/E Controller

Manual for
Motion Based on
Fixed Tool

Kawasaki Heavy Industries, Ltd.

90210-1179DEB
D/E Series Controller
Kawasaki Robot Manual for Motion Based on Fixed Tool

PREFACE

This manual explains in detail the function for motion based on fixed tool used with the Kawasaki
Robot Controller D/E Series.

The objective of this manual is to provide information on the settings and commands/instructions
used with this function so that it may be used effectively.

Read the Basic Manuals delivered with the robot (including Safety Manual), separate volumes,
without fail together with this manual. Do not perform any procedure described herein until the
contents of this manual are fully understood.

The descriptions in this manual are common to D and E series controllers, unless otherwise
specified. Simple differences between them are described by using “/” in order of D series
controller / E series controller.

1. This manual does not constitute a guarantee of the systems in which the robot is utilized.
Accordingly, Kawasaki is not responsible for any accidents, damages, and/or problems
relating to industrial property rights as a result of using the system.
2. It is recommended that all personnel assigned for activation of operation, teaching,
maintenance or inspection of the robot attend the necessary education/training course (s)
prepared by Kawasaki, before assuming their responsibilities.
3. Kawasaki reserves the right to change, revise, or update this manual without prior notice.
4. This manual may not, in whole or in part, be reprinted or copied without the prior written
consent of Kawasaki.
5. Store this manual with care and keep it available for use at any time. If the robot is
reinstalled or moved to a different site or sold off to a different user, attach this manual to the
robot without fail. In the event the manual is lost or damaged severely, contact Kawasaki.
Copyright © 2009 by Kawasaki Heavy Industries Ltd. All rights reserved.

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D/E Series Controller
Kawasaki Robot Manual for Motion Based on Fixed Tool

SAFETY

The items that require special attention in this manual are designated with the following symbols.

Ensure proper and safe operation of the robot and prevent physical injury or property damages by
complying with the safety matters given in the boxes with these symbols.

！ DANGER

Failure to comply with indicated matters can result

in imminent injury or death.

！ WARNIN

Failure to comply with indicated matters may

possibly lead to injury or death.

！ CAUTION

Failure to comply with indicated matters may lead

to physical injury and/or mechanical damage.

[ NOTE ]
Denotes precautions regarding robot specification,
handling, teaching, operation, and maintenance.

！ WARNING

1. The accuracy and effectiveness of the diagrams, procedures, and detail

explanations given in this manual cannot be confirmed with absolute certainty.
Accordingly, it is necessary to give one’s fullest attention when using this
manual to perform any work.
2. Safety related contents described in this manual apply to each individual work
and not to all robot work. In order to perform every work in safety, read and
fully understand the safety manual, all pertinent laws, regulations and related
materials as well as all the safety explanations described in each chapter, and
prepare safety measures suitable for actual work.

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D/E Series Controller
Kawasaki Robot Manual for Motion Based on Fixed Tool

INTRODUCTORY NOTES

1. HARDWARE KEYS AND SWITCHES (BUTTON)

D/E series controller provides hardware keys and switches on the operation panel and the teach
pendant for various kinds of operations. In this manual the names of the hardware keys and
switches are enclosed with a square as follows. The terms “key” or “switch” which should
follow the relevant names are sometimes omitted for simpler expression. When pressing two or
more keys at the same time, the keys are indicated by “+” as shown in the example below.

EXAMPLES

STEP: expresses the hardware key “STEP”.

TEACH/REPEAT: indicates the mode switch “TEACH/REPEAT” on the operation panel.
A+MENU: indicates pressing and holding down A then pressing MENU.

2. SOFTWARE KEYS AND SWITCHES

E series controller provides software keys and switches which appear on the screen of the teach
pendant for various kinds of operations depending on specifications and situations. In this manual,
the names of software keys and switches are enclosed by “< >” parentheses. The terms “key” or
“switch” which should follow the relevant names are sometimes omitted for simpler expression.

EXAMPLES

<ENTER>: expresses an “ENTER” key that appears on the teach pendant screen.
<NEXT PAGE>: expresses a “NEXT PAGE” key on the teach pendant screen.

3. SELECTION ITEMS

Very often an item must be selected from a menu or pull-down menu on the teach pendant screen.
In this manual the names of these menu items are enclosed in brackets [XXX].

EXAMPLES

[Auxiliary Function]: Expresses the item “Auxiliary Function” in a menu. To select it, move the
cursor to the relevant item by the arrow keys, and press the ↵ key. For
detailed description, this procedure should be described every time, but
“select [XXX] item” will be used instead for simpler expression.

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D/E Series Controller
Kawasaki Robot Manual for Motion Based on Fixed Tool

CONTENTS

Preface ................................................................................................................................................. 1
Safety................................................................................................................................................... 2
Introductory Notes .............................................................................................................................. 3

1.0 Function Overview..................................................................................................................... 5

2.0 Application Examples ................................................................................................................ 6

3.0 Linear Interpolated Motion Based on Fixed Tool..................................................................... 7

4.0 Setting the Pose of Fixed Tool................................................................................................... 9

4.1 Fixed Tool Transformation Values............................................................................................ 9
4.2 Defining Fixed Tool Transformation Values ............................................................................ 9
4.3 Recording Fixed Tool Pose in Auxiliary Function ................................................................. 12

5.0 Teaching Based on Fixed Tool ................................................................................................ 13

5.1 Robot Motion in Teach Mode.................................................................................................. 13
5.2 Example of Teaching Procedure.............................................................................................. 14

6.0 AS Language Reference........................................................................................................... 16

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D/E Series Controller 1. Function Overview
Kawasaki Robot Manual for Motion Based on Fixed Tool

1.0 FUNCTION OVERVIEW

This function enables robots to move based on a fixed tool point. When using the fixed tool, the
work point is not at the tool center point (TCP) of the robot, but is at a fixed point away from the
robot. This work point is called the fixed tool point, or hereafter referred to as fixed tool.

Generally, a robot can perform a task by using either of these two methods:
1. The workpiece is fixed in space and the tool attached to the robot is moved.
2. The tool is fixed in space and the robot holds and moves the workpiece.
The fixed tool motion function is used for the latter method.

When a robot moves in based on the fixed tool, the robot holds and moves the workpiece so that a
series of points on the path connecting the taught points on the workpiece pass through the origin
of the fixed tool coordinates (TCP of the fixed tool). In other words, the series of points that
pass through the fixed tool TCP draws a linear or circular trajectory on the workpiece. Also, the
robot controls the motion so that the speed when the points on the workpiece pass through the
fixed tool TCP at the set speed.

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D/E Series Controller 2. Application Examples
Kawasaki Robot Manual for Motion Based on Fixed Tool

2.0 APPLICATION EXAMPLES

With the Spot Weld Gun

The spot weld gun is installed and fixed
at a specified location. The robot holds
Gun and moves the workpiece through the
spot weld gun.
Workpiece

The cables of the spot weld gun can be

fixed, thereby eliminating any
interference trouble between robot and
cables.
Hand tool Robot

With the Sealing Gun

The sealing gun is installed and fixed at
Sealing gun specified location. The robot holds and
moves the workpiece under the sealing
Workpiece
gun.

The hoses of the sealing gun can be also

fixed, thereby eliminating the need to
Robot arrange the hoses to accommodate robot
motion.
Hand tool

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D/E Series Controller 3. Linear Interpolated Motion
Kawasaki Robot Manual for Motion Based on Fixed Tool Based on Fixed Tool

3.0 LINEAR INTERPOLATED MOTION BASED ON FIXED TOOL

The motion trajectory drawn by the center of the flange surface of the robot holding the
workpiece can be either straight or curved, according to the amount of change in orientation
between the two points. Examples of motions are described below.

When the orientation remains constant:

The center of the flange surface follows a linear path.

Workpiece

When the orientation changes:

The center of the flange surface follows a curved path. The change rate in the orientation between
each point is kept equal. A series of points on the workpiece move through the fixed tool TCP
drawing a linear trajectory.

Workpiece

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D/E Series Controller 3. Linear Interpolated Motion
Kawasaki Robot Manual for Motion Based on Fixed Tool Based on Fixed Tool

！ CAUTION
1. When changing the robot orientation, keep the changes small.
2. As the orientation changes, beware that unlike linear motion in
normal operations, in motion based on fixed tool, the center of
the flange face does not necessarily move on a linear path.
Always confirm the taught motion in teach mode and slow
repeat speed mode.

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D/E Series Controller 4. Setting the Pose of Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

4.0 SETTING THE POSE OF FIXED TOOL

To operate the robot in motion based on fixed tool, the pose of the fixed tool has to be defined
prior to use. The pose is defined in fixed tool transformation values.

4.1 FIXED TOOL TRANSFORMATION VALUES

The fixed tool transformation values describe the pose (position and orientation) of the fixed tool
coordinates with respect to the null base coordinates. It is expressed in XYZOAT values of the
null base coordinates.

X
Y
Fixed tool coordinates

Z X
Y
Null base coordinates

4.2 DEFINING FIXED TOOL TRANSFORMATION VALUES

Follow the procedures below to define the pose of the fixed tool.

！ CAUTION
When the robot uses the workpiece coordinates (Option), make sure
that Work No. 0 is selected during the following procedures. Also,
when the base coordinates are not set at the null base coordinates (i.e.
BASE command/instruction has been used), always reset the base
coordinates to null base before proceeding with the following
procedures.

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D/E Series Controller 4. Setting the Pose of Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

First, register the tool transformation values using a measurement tool with known size and
dimensions.

Attach the measurement tool to the robot. Using the keyboard screen of the teach pendant, enter
TOOL command. Type “TOOL” and press ↵. Enter the X, Y, Z values that describe the
position data of the tool center point (TCP) in the screen that appears. For convenience in the
next procedure, enter 180°, 180°, 0° for O, A, and T values. (The X, −Y,−Z direction of the null
tool coordinates becomes the X, Y, Z direction of the measurement tool coordinates.)

The data for the measurement tool is now registered. (For more details on how to define tool
transformation values, see AS Language Reference Manual.)

[ NOTE ]

When 180°, 180°, 0° are entered for O, A, and T values as explained above, the tool data
may appear as follows the next time TOOL command is used. There is no error in this
case, and all these values are valid.
Example
O A T T

180 -180 0
-180 180 0
-180 -180 0
0 180 180
0 180 -180
Not error
0 -180 180
0 -180 -180

Next, define the fixed tool transformation values.

Use the measurement tool whose tool transformation values were defined above. Pressing the
axis keys +/− on the teach pendant, move the robot with the measurement tool attached so that
the measurement tool tip is at the tip of the fixed tool. Make sure the flange surface is
perpendicular to the fixed tool.
Fixed tool coordinates
− 1 +
.....

TCP of
− 6 + measurement tool この時、基準姿勢でのフランジ面上方向（ヌル
ツール座標系のＹ－方向）が
Measurement tool

Robot
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D/E Series Controller 4. Setting the Pose of Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

At this point, the X, −Y, −Z direction of the null tool coordinates is equal to the X, Y, Z direction
of the fixed tool coordinates. (See the figure below.)

Null tool coordinates Measurement tool coordinates Fixed tool coordinates

at X,Y,Z,O,A,T
=XXXX,YYYY,ZZZZ,180,180,0

X X
Z Y
X Y
Y
Z Z

When the robot is at the correct pose, enter the WHERE command and display the transformation
values at this pose.

>WHERE ↵

X Y Z O A T
XXX.XXX YYY.YYY ZZZ.ZZZ OOO.OOO AAA.AAA TTT.TTT

Record these transformation values as the fixed tool transformation values. (See the next section.)

If the orientation of the fixed tool coordinates is the same as the orientation of the null base
coordinates, then enter 0 for O, A, and T values. The fixed tool coordinates will be set parallel
to the null base coordinates.

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D/E Series Controller 4. Setting the Pose of Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

4.3 RECORDING FIXED TOOL POSE IN AUXILIARY FUNCTION

The fixed tool transformation values can be set using the auxiliary function screen in the teach
pendant. (For setting using the AS language, refer to 6.0 AS Language Reference FTOOL
command/instruction.)

Select [Aux. Functions] from the pulldown menu displayed by pressing MENU on the teach
pendant. The auxiliary function screen appears. Enter Aux. function number 0305 （Fixed
Tool Coordinates）and press ↵, or select auxiliary group [3 Aux. Data Setting] and choose [5.
Fixed Tool Coordinates] from the screen that appears. Nine fixed tools can be set.

1. Move cursor to each item and input

the data obtained from the
procedure in the last section. Use
NUMBER (0-9). To record more
than one fixed tool, press <Next
Page> and input the data for other
tools. When all the required data
are input, press ↵.

2. For E controller, pressing <Tool

Shape> displays the left screen.
For details on setting Tool Shape,
refer to Aux. 0304 in Operation
Manual for E controller.

3. If there is no error, values are stored

and “Setting complete.” is
displayed.

[ NOTE ]
The setting covers 9 pages. All data input in these pages are recorded together.
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D/E Series Controller 5. Teaching Based on Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

5.0 TEACHING BASED ON FIXED TOOL

In this section, the block teaching method is explained. (For teaching in AS language, refer to
6.0 AS Language Reference.)

The interpolation mode shown on the auxiliary data row changes as shown below each time S +
INTER / A + INTER is pressed. (Items in parentheses are Options.)

JOINT → LINEAR → (LIN2) → (CIR1) → (CIR2) → (FLIN) →

(FCIR1) → (FCIR2) → (X LIN) → JOINT

Select FLIN to teach linear interpolation based on fixed tool.

FCIR1 and FCIR2 teach circular interpolation motion based on fixed tool. They are used in the
same manner as CIR1 and CIR2.

5.1 ROBOT MOTION IN TEACH MODE

Select FLIN for the interpolation and Tool number from the manual operating coordinates to use
the fixed tool mode in teach mode.

When the robot is moved using +/− for X, Y and Z axes, the robot moves parallel to that axis of
the fixed tool coordinates.

Example 1 When moving along Y axis using + .

Fixed tool coordinates As seen from the workpiece, the robot moves so
Workpiece that the fixed tool moves in the direction of
Y
X positive Y axis of the fixed tool coordinates.

When the robot is moved using +/− for RX, RY and RZ, the robot rotates the workpiece around
that axis of the fixed tool coordinates with the TCP as center of rotation.

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D/E Series Controller 5. Teaching Based on Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

Example 2 When moved using the RX axis key

Fixed tool coordinates The robot moves so that the workpiece rotates
around X axis with the fixed tool TCP as the
X Workpiece
center of rotation.
Y

5.2 EXAMPLE OF TEACHING PROCEDURE

The block teaching procedure is explained here using an example in which a workpiece is sealed
between two points, 1 and 2, as shown in the figure below.

Teaching point 1
Move the robot to point 1, and set the auxiliary data as below:
Interpolation: LINEAR, Accuracy: 3

1. Choose LINEAR by pressing S + INTER / A + INTER.

2. Set the accuracy to 3 by pressing S + ACC / A + ACC.

3. Press CL1 and turn ON signal data for clamp 1 instruction.

4. Press REC and record the pose data and auxiliary data for point 1.

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D/E Series Controller 5. Teaching Based on Fixed Tool
Kawasaki Robot Manual for Motion Based on Fixed Tool

Teaching point 2
Move the robot to point 2 and then follow the following steps to set the auxiliary data.

1. Choose FLIN by pressing S + INTER / A + INTER.

2. Press CL1 and turn ON signal data for clamp 1 instruction.

3. Press REC and record the pose data and auxiliary data for point 2.

！ CAUTION
Command values are not superposed between a point taught in
FLIN and a point taught by different interpolation instruction.
The robot will decelerate and stop before moving to the next
taught point. (CP motion does not function.)

！ CAUTION
For sealing or spot welding operations, or when the program
repeats points taught by FLIN instruction between which the pitch
is very small, teach so that robot pose does not change greatly and
follows a continuous path.

Tips for using circular interpolation:

Use FLIN instruction to teach the starting point of a circular path. By doing so, the trajectory of
a circular interpolated motion can be checked based on fixed tool.

FCIR1
・

・ ・
FLIN FCIR2

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

6.0 AS LANGUAGE REFERENCE

This section explains the AS commands/ instructions used in motion based on fixed tool. The
AS commands/ instructions are as follows:

FTOOL command/ instruction

FHERE command/ instruction
FJMOVE instruction
FLMOVE instruction
FJAPPRO instruction
FLAPPRO instruction
FC1MOVE instruction
FC2MOVE instruction
FHERE function
FDEST function

EXAMPLE

Keyword Parameter

FTOOL transformation values variable

Parameters marked with can be omitted.

Always enter a space between the keyword and the parameter.

↵ represents the Enter key in the examples.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Monitor Command
Program Instruction
FTOOL transformation values variable, tool shape number

Function
Defines fixed tool transformation values. The fixed tool transformation values describe the
pose (position and orientation) of the fixed tool coordinates with respect to the null base
coordinates.

Parameter
Transformation values variable
Specifies transformation values variable or compound transformation values variable
Acceptable range: −9999.9 to 9999.9 mm，−180° to 180°

When used as monitor command, this parameter can be omitted. When omitted, the current
fixed tool transformation values are displayed for modification.

Tool shape number (only for E controller)

Specify the tool shape number.
For details of the tool shape number, refer to “AS Language Reference Manual”.
This parameter can be omitted. When this command is used as monitor command and the
parameter is omitted, the confirmation massage appears.

Explanation
If the variable that was used as the parameter is redefined after FTOOL has been executed, be
sure to redefine the fixed tool transformation values by using the FTOOL
command/instruction again. Otherwise, the changes made in the variable will not be
reflected in the fixed tool transformation values.

When the parameter is omitted, the current fixed tool transformation values followed by the
message “Change?” appears.

Example

>FTOOL grip ↵ Changes the current fixed tool transformation values to

transformation values defined as “grip”.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Monitor Command
Program Instruction
FHERE pose variable

Function
Defines the specified pose variable as the current pose.

Parameter
Pose variable
Can be specified in transformation values, joint displacement values, or compound transformation
values.

Explanation
When the pose variable is specified in transformation values, the pose of the fixed tool
coordinates with respect to the null tool coordinates will be defined (c in figure below).

c=transformation values in fixed tool mode*

Y
Z X Y
X
Fixed tool Z NOTE* By using these transformation
coordinates Null tool
coordinates
values, only the fixed tool
transformation values have to be
b redefined to playback the
operation taught offline even when
a=fixed tool transformation values
the robot or the fixed tool changes.
Z
Y
Null base
coordinates X

When the parameter is specified in compound transformation values, only the rightmost
variable is defined. If variables other than the rightmost variable are not defined, this
command results in an error.

When FHERE is entered as a monitor command, the current values are shown followed by
the message “Change?”. To change the values, enter the new values separated by commas.
Omit elements that are not changed. Enter only ↵ to exit editing. When defining joint
displacement values (indicated by variable starting with #), the values of each angle are displayed.

Example
>FHERE place ↵ Defines the current pose as “place”.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Program Instruction
FJMOVE pose variable, clamp number

Function
Starts joint interpolated motion towards the specified pose.

Parameter
Pose variable
Specifies the destination pose of the robot motion (specified in joint displacement values or
transformation values). When specifying in transformation values, use the transformation
values that describe the pose of the fixed tool coordinates with respect to the null tool
coordinates, expressed in values based on the null tool coordinates.

Clamp number
Specifies the clamp number to open/ close at the destination pose.
Acceptable range: 1 to number of clamps set using HSETCLAMP command (maximum 8)
A positive number closes the hand, and a negative number opens it. When omitted, the hand
will not change.

Explanation
This instruction moves the robot in joint interpolated motion. The robot moves so that the
ratio of distance traveled to the total distance is equal at all joints throughout the movement from
the starting pose to the end pose.

When the destination pose is specified in transformation values, the transformation values
describing the pose of the robot tool coordinates with respect to the null base coordinates is
calculated from the transformation values between the fixed tool coordinates with respect to the
null tool coordinates, and the robot moves in regular joint interpolated motion at that pose. (See
example diagram in FHERE description).

[ NOTE ]
When the pose variable name is specified in joint displacement values,
this instruction functions the same as JMOVE instruction.

Example
FJMOVE #pick Moves in joint interpolated motion to the pose defined by joint
displacement values “#pick”.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Program Instruction
FLMOVE pose variable, clamp number

Function
Moves the robot to the specified pose. A series of points on the workpiece pass through the
fixed tool TCP, drawing a linear trajectory. These points pass through the fixed tool TCP at
set speed.

Parameter
Pose variable
Specifies the destination pose of the robot motion (specified in joint displacement values or
transformation values). When specifying in transformation values, use the transformation
values that describe the pose of the fixed tool coordinates with respect to the null tool
coordinates, expressed in values based on null tool coordinates.

Clamp number
Specifies the clamp number to open/ close at the destination pose.
Acceptable range: 1 to number of clamps set using HSETCLAMP command (maximum 8)
A positive number closes the hand, and a negative number opens it. When omitted, the hand
will not change.

Explanation
This instruction controls the robot motion so that the speed of the series of points on the
workpiece passing through the fixed tool TCP is set at specified speed (monitor speed,
program speed).

Example
FLMOVE #pick, 1 The robot moves in linear interpolated motion to the pose described by
joint displacement values “#pick”. When it reaches the destination
pose, clamp no.1 is closed.

！ WARNING

Be careful when using transformation values as parameter. Always use

the transformation values that describe the pose of the fixed tool
coordinates with respect to the null tool coordinates. If the regular
transformation values describing the tool coordinates with respect to the
base coordinates is used instead, the robot will move to unexpected poses.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Program Instruction
FJAPPRO pose variable, distance

Function
Approaches, in joint interpolated motion, the specified pose keeping the specified distance in
the direction of the Z axis of the fixed tool coordinates. The distance is expressed in the Z
axis direction of the fixed tool coordinates.

Parameter
Pose variable
Specifies the destination pose of the approach motion (specified in joint displacement values
or transformation values). When specifying in transformation values, use the transformation
values that describe the pose of the fixed tool coordinates with respect to the null tool
coordinates, expressed in values based on null tool coordinates.

Distance
Specifies the distance from the destination pose along the Z axis of the fixed tool coordinates
(unit in millimeter).
When a positive value is specified, the pose shifts in the direction of the positive Z axis.
When a negative value is specified, it shifts in the direction of the negative Z axis.

Explanation
In this command, the posture of the workpiece is determined by the orientation of the
specified pose. The position will be the position shifted by the specified distance along the Z
axis of the fixed tool coordinates from the position determined by the specified pose.

Example
FJAPPRO place, 100 Moves in joint interpolated motion to the pose 100 mm away from
“place” in the direction of the Z axis of the fixed tool coordinates.

！ WARNING

Be careful when using transformation values as parameter.

Always use the transformation values that describe the pose of the
fixed tool coordinates with respect to the null tool coordinates.
If the regular transformation values describing the tool
coordinates with respect to the base coordinates is used instead,
the robot will move to unexpected poses.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Program Instruction
FLAPPRO pose variable, distance

Function
Approaches the specified pose keeping the specified distance in the direction of the Z axis of
the fixed tool coordinates. The series of points on the workpiece pass through the fixed tool
TCP drawing a linear trajectory.

Parameter
Pose variable
Specifies the destination pose of the approach motion (specified in joint displacement values
or transformation values). When specifying in transformation values, use the transformation
values that describe the pose of the fixed tool coordinates with respect to the null tool
coordinates, expressed in values base on null tool coordinates.

Distance
Specifies the distance from the destination pose along the Z axis of the fixed tool coordinates
(unit in millimeter).
When a positive value is specified, the pose shifts in the direction of the positive Z axis.
When a negative value is specified, it shifts in the direction of the negative Z axis.

Explanation
In this command, the posture of the workpiece is determined by the orientation of the
specified pose. The position will be the position shifted by the specified distance along the Z
axis of the fixed tool coordinates from the position determined by the specified pose.

Example
FLAPPRO place, offset Moves in linear interpolated motion to the pose “offset” mm
away from the pose “place” in the direction of the Z axis of the
fixed tool coordinates.

！ WARNING

Be careful when using transformation values as parameter.

Always use the transformation values that describe the pose of the
fixed tool coordinates with respect to the null tool coordinates.
If the regular transformation values describing the tool
coordinates with respect to the base coordinates is used instead,
the robot will move to unexpected poses.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Program Instruction
FC1MOVE pose variable, clamp number

Function
The robot moves so that a series of points on the workpiece pass through the fixed tool TCP
following a circular trajectory determined by the specified pose.

Parameter
Pose variable
Specifies the destination pose (specified in joint displacement values or transformation
values). When specifying in transformation values, use the transformation values that
describe the pose of the fixed tool coordinates with respect to the null tool coordinates,
expressed in values based on null tool coordinates.

Clamp number
Specifies the clamp number to open/ close at the destination pose.
Acceptable range: 1 to number of clamps set using HSETCLAMP command (maximum 8)
A positive number closes the hand, and negative number opens it. When omitted, the hand
will not change.

Explanation
This program instruction defines a midpoint on a circular trajectory. To complete a circular
interpolated motion, two other poses must be specified, one each before and after the pose
specified in this instruction:
1. Pose specified by a motion instruction before this instruction
2. Pose specified by FC1MOVE or FC2MOVE after this instruction

[ NOTE ]

There must be a FC1MOVE or FC2MOVE instruction following the

FC1MOVE instruction. This instruction can be used only when
Circular interpolation option is installed.

Example c2
FJMOVE c1
・
FC1MOVE c2
FC2MOVE c3 c1 ・ ・ c3

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

！ WARNING

Be careful when using transformation values as parameter. Always use

the transformation values that describe the pose of the fixed tool
coordinates with respect to the null tool coordinates. If the regular
transformation values describing the tool coordinates with respect to the
base coordinates is used instead, the robot will move to unexpected poses.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Program Instruction
FC2MOVE pose variable, clamp number

Function
The robot moves so that a series of points on the workpiece pass through the fixed tool TCP
following a circular trajectory determined by the specified pose.

Parameter
Pose variable
Specifies the destination pose (specified in joint displacement values or transformation
values). When specifying in transformation values, use the transformation values that
describe the pose of the fixed tool coordinates with respect to the null tool coordinates,
expressed in values based on null tool coordinates.

Clamp number
Specifies the clamp number to open/ close at the destination pose.
Acceptable range: 1 to number of clamps set using HSETCLAMP command (maximum 8)
A positive number closes the hand, and negative number opens it. When omitted, the hand
will not change.

Explanation
This program instruction defines the end pose of a circular trajectory. Two other poses must
be specified before the pose specified in this instruction.
1. Pose specified by FC1MOVE right before FC2MOVE
2. Pose specified by a motion instruction before the FC1MOVE
[ NOTE ]
FC2MOVE instruction must follow a FC1MOVE instruction.
This instruction can be used only when Circular interpolation
option is installed.

Example
FJMOVE #a ・
b
FC1MOVE #b
FC2MOVE #c ・ a ・c ・ e
FC1MOVE #d ｄ
・
FC2MOVE #e

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

！ WARNING

Be careful when using transformation values as parameter.

Always use the transformation values that describe the pose of
the fixed tool coordinates with respect to the null tool
coordinates. If the regular transformation values describing
the tool coordinates with respect to the base coordinates is used
instead, the robot will move to unexpected poses.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Transformation Value Functions

FHERE

Function
Returns the transformation values describing the pose of the fixed tool coordinates with
respect to the null tool coordinates, expressed in the value based on the null tool coordinates.

Explanation
The current pose of the fixed tool coordinates described in values based on null tool
coordinates is returned by reading the encoder values at the moment the function is executed.

Example
dist=DISTANCE（FHERE,pos1） Calculates the distance between “pos1” and the current pose
of the fixed tool coordinates with respect to the null tool
coordinates. The result is substituted into the variable
“dist”.

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D/E Series Controller 6. AS Language Reference
Kawasaki Robot Manual for Motion Based on Fixed Tool

Transformation Value Functions

FDEST

Function
Returns the destination pose of the current fixed tool motion in transformation values
describing the pose of the fixed tool coordinates with respect to the null tool coordinates.

Explanation
By using this function, the destination of the robot can be determined after the motion is
interrupted.

Example
FDEST function can be used to resume the motion interrupted by instructions such as
ONI...CALL. Write a step as shown below in the interruption subroutine to resume the
initial motion.

POINT save=FHERE Stores in variable “save” the current pose of the fixed tool
coordinates with respect to the null tool coordinates.
POINT old=FDEST Stores in variable “old” the destination of the fixed tool
coordinates with respect to the null tool coordinates.
JDEPART 50.0 Departs from the current pose by 50 mm.
......

FJAPPRO save, 50.0 Moves to the pose 50 mm away from “save”. (Joint
interpolated motion)
FLMOVE save Moves to “save” in fixed tool motion. (Linear interpolated
motion)
FLMOVE old Moves to “old” in fixed tool motion. (Linear interpolated
motion)

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 Kawasaki Robot D/E Series Controller
Manual for Motion Based on Fixed Tool

October 2002 : 1st Edition

March 2009 : 2nd Edition

Published by KAWASAKI HEAVY INDUSTRIES, LTD.

90210-1179DEB

All rights reserved. Copyright © 2009 by KAWASAKI HEAVY INDUSTRIES, LTD.