AD Controller - Kawasaki Robotics

AD CONTROLLER
Full 32-Bit, Language-Based,
All Digital Robot Controller
KEY FEATURES
Processors:
Kawasaki
32-bit CPU, with Floating Point Co-processor
Standard Hardware:
Plasma Display Screen, Built-in 3.5" Floppy Disk
Drive, 32 I/O Board Type (up to 128 optional), 512K
RAM (up to 5 Meg optional) Teach Pendant, Operator
Panel with Function Menu Keypad, Full Function
Keyboard (Opt.)
Applications:
Spot Welding, All Purpose, All Area Palletizing,
Material Handling, Sealing, Arc Welding, Assembly,
Machine Tending
Kawasaki’s AD-series Robot Controller is a full 32-bit, language based controller which is common to the
entire line of Kawasaki Robot models. A unique, standard feature of the AD-Controller is it’s flexibility to
accept block-step type or language type programming instructions. Operators, programmars, and
maintenance personnel can easily interact with the Kawasaki AD-Controller without adding any option-al
equipment or special software.
The all digital servo system provides smooth motion control and allows convenient built-in interface to
peripheral devices such as vision and PLC equipment.
Among the significant user benefits of the AD-Controller are:
• Easy to use operator interface is common to all
Kawasaki robots, allows simple block/step type or
more sophisticated language based programming,
and minimizes training requirements. All digital
Servo System with Absolute Positioning to optimize
motion performance, minimize cycle times, and
eliminate downtime associated with intermittent
power loss.
• The ‘AS’ Language is powerful, yet familiar to
industrial users, and includes high level functions
such as frame shifting, on-line program editing,
multi-task program execution during robot
operation, and on-line path parameter changes.
• Proven reliability through years of field-tested
mechanical and electrical components, means high
MTBF rates and maximum uptime.
• Common mechanical & electrical parts reduces
spare parts and simplifies maintenance. Safety
features including E-stop buttons on the operator
panel and the teach pendant, automatic speed
limitation in teach mode, and brakes on all axes
motors.
• All software is completely menu-driven, and
displayed on the controller plasma display, or the
teach pendant display screen.
• Troubleshooting is made easy through standard online error-logging, operation-logging, and extensive
diagnostic capabilities.
AD CONTROLLER
AS LANGUAGE
The powerful Kawasaki AS Language is a derivative of a language already familiar to many machine tool and robot programmers. It
is an interpreter type language which eliminates the need for program compilation and therefore provides immediate feedback on
program-ming errors. Debugging is quick and simple, and can be done without taking the time to compile the program or run the
robot. Instructional commands include Arithmetic, Logicals, Conditional Signal & Position Control, and Motion Status. For example,
Automatic Palletizing is possible without adding any specail software by teaching three initial points and defining stack prameters.
User frames can be easily shifted or rotated to accuratelyaccommodate changes in part location. In addition to the robot arm motion
control programming, AS provides Process Control Program (PCP), or PC for short, which canbe programmed and executed
simultaneously with the robotmotion programs. PC programming capa-bilities provide extreme versatility for programming and
controlling peripheral equipment. External devices can be controlled and operated independent and/or dependent of robot motion
program. PC program supports and executes all As instructions except the ones which cause robot arm motion.
CONTROLLER SPECIFICATIONS:
CPU: 32-bit Microprocessor and Floating Decimal
Point C0-Processor
Servo Control and Drive System: Software Servo
with Transistor PWM.
Number of Controlled Axes: 6 (std.) / 7 Traverse
axis (opt.)
Memory Type:
• Robot Software: EPROM
• User Memory: C-MOS RAM with Battery Backup
Memory Capacity: 512KB (Approx 4200 steps)(std.)
up to 5MB (opt.)
Operator Panels:
• Motor Power On, Cycle Start, E-Stop, Teach/Repeat, etc.
• Alphanumeric PDU (80 character x 22 lines)
• Menu Driven Function Key Pad Panel
• Detachable keyboard (opt.)
• 3.5" FD
• Printer Port
External Storage: 3.5 in. Floppy Disk Drive Unit
Construction: Self-standing enclosure with heat exchanger
Dimensions: 730 mm W x 750 mm D x 1100 mm H.
Operator panel: 400 mm W x 170 mm D x 340 mm H.
Remote mount available (opt.)
Teach Pendant:
Memory Division: Infinitely Variable
Accuracy: 4 Levels/Step (Adjustable 0.5-5000 mm
thru pre-set tables or infinitely adjustable thru software)
Speed: 10 levels/Step (Adjustable 0-100% thru preset table or infinitely adjustable thru software)
• Tactile Feedback Switches
• LED Indicators
• Alphanumeric LCD with back light (40 character x 8 lines)
• Emergency stop switch
• Teach lock switch
• Deadman grip
Clamp signal: Maximum 4 (Pulse, Level Adjustable)
Clamp Subroutine: 9 Clamp Sequence Programs.
Clamp with Weld Schedule Signals Output
Dedicated Signals:
Output
• Motor Power On • Home Position
• In Error Condition • Weld Schedule
• Automatic
• Robot Hold
Teach Mode
Input
• Ext Motor On
• Ext Cycle Start
• Ext hold Reset
I/O Signals:
• Output (O/x): 32 Channels, DC24V Solid State Relay
(std.) (Includes dedicated signals) 64, 96, 128 Ch (opt.)
Input (WX): 32 Channels, DC 24V Photo Coupler (std.)
(Includes dedicated signals) 64, 96, 128 Ch (opt.)
• Remote I/O: AB Remote I/O (opt.)
• Analog Output: DC-10 V (opt.)
Special Functions:
• Movement check function in teach mode
• Door interlock
• Power Lockout
• Restriction of R-Axis
• Maximum teach speed 10 in./sec
• Drive power shutdown in “HOLD”
• Manual brake release for each axis
Weight: 200 kg
Installation and Operating Conditions:
• Power Requirements: 3 Phase, 50/60 Hz, 460 VAC
+15%/-20%, 10 KVA (Momentary drop up to -30%)
(Available 380, 400, 420, 440, 480 VAC)
• Ambient Temperature: 5-52 Deg C (41-125 deg F)
• Relative Humidity: 35-85% Non condensing

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