[04] - AS Language Quick Reference

Quick guide to AS commands that are frequently referenced

[0] - Manuals

AS Language Manual

[E_Controller]-[AS_Language_Reference_Manual]-[E]_unlocked.pdf

Cubic-S Manual

[E_Controller]-[Cubic-S_Instruction_Manual]-[E].pdf

External IO Manual

[E_Controller]-[External_IO_Manual]-[E].pdf

[1] - Move Types

[00] - Transformation Values Operators

In the AS system, operators + and - are used to determine the compound transformation values (the...

ALIGN

ALIGN Function Moves the Z axis of the tool coordinates to be parallel with the closest axis of...

DRAW/TDRAW

DRAW X translation, Y translation, Z translation, X rotation, Y rotation, Z rotation, speed TDR...

DRIVE

DRIVE joint number, displacement, speed Function Moves a single joint of the robot Parameter ...

HMOVE

HMOVE pose variable, clamp number Function Moves the robot to the specified pose. The robot mov...

HOME

HOME home pose number Function Moves in joint interpolated motion to pose defined as HOME or HO...

JAPPRO/LAPPRO

JAPPRO pose variable , distance LAPPRO pose variable , distance Function Moves in tool Z direc...

JDEPART/ LDEPART

JDEPART distance LDEPART distance Function Moves the robot to a pose at a specified distance a...

JMOVE / LMOVE

JMOVE pose variable, clamp number LMOVE pose variable, clamp number Function Moves the robot t...

XMOVE

XMOVE mode pose variable TILL signal number Function Moves the robot towards the specified pose...

[2] - Logic

CASE

CASE index variable OF VALUE case number 1，……: //program instructions VALUE case numbe...

[3] - Waypoints

HERE

HERE pose variable Function Assigns the current pose to the pose variable with the specified va...

POINT

POINT pose variable 1= pose variable 2, joint displacement value variable Function Assigns the ...

[4] - Functions

DECOMPOSE

DECOMPOSE array variable [element number] = pose variable Function Stores as elements of an arr...

DEXT

DEXT (pose variable, element number) Function Returns the specified element of the specified po...

DX/DY/DZ

DX (transformation value variable) DY (transformation value variable) DZ (transformation value ...

TRQNM

TRQNM (axis number) Function Returns the torque value of the axis with the specified number. ...

[5] - In-Line Settings

ACCURACY

ACCURACY distance ALWAYS FINE Function Sets the accuracy when determining the robot pose. Par...

SPEED

SPEED speed, rotational speed, ALWAYS Function Specifies the robot motion speed Parameter Sp...

[6] - Signals / Datatypes

BITS

BITS starting signal number, number of signals = decimal value Function Arranges a group of ext...

SWAIT

SWAIT signal number, …… Function Waits until the specified external I/O or internal signal meet...

Transformation Value Operators