KR-C-System-Variables 05Jul2005.pdf

SOFTWARE

KR C...

System Variables

KUKA System Software (KSS)

Issu Issued ed:: 05 Jul Jul 2005 2005 SysVar 08.02.03 en

Versi ersion on:: 03 1 of 170

e

Copyright

KUKA Roboter GmbH

This This documen documentati tation on or excerptstheref excerptstherefrommay rommay notbe reprodu reproduced ced or disclos disclosed ed to third third partieswithou partieswithoutt theexpress permis permissionof sionof thepublishe thepublishers. rs. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content content of this documentation documentation for conformity with the hardware and software described. described. Nevertheless, Nevertheless, discrepancies discrepancies cannot be precluded, precluded, for which reason we are not able to guarantee guarantee total conformity. conformity. The information information in this documentati documentation on is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

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Contents 1

How to use this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5

2

A ...............................................................

7

3

B ...............................................................

29

4

C ...............................................................

34

5

D ...............................................................

41

6

E ................................................................

53

7

F ................................................................

63

8

G ...............................................................

66

9

H ...............................................................

68

10

I ................................................................

70

11

J ................................................................

77

12

K ...............................................................

78

13

L ................................................................

81

14

M ...............................................................

85

15

N ...............................................................

92

16

O ...............................................................

95

17

P ................................................................

100

18

R ...............................................................

115

19

S ................................................................

124

20

T ................................................................

139

21

U ...............................................................

158

22

V ................................................................

159

23

W ...............................................................

166

24

Z ................................................................

170

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System Variables

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1

1

How How to use use this this docu docume ment ntat atio ion n

How How to use use thi this doc docume umenta ntation tion This This tabula tabularr summa summary ry of the sy syste stem m vari variabl ables es is inten intende ded d to serv serve e as an aid aid for prog progra ramme mmers rs with good knowledge of the functions of the KUKA robot system and the KR C... controller, and who are thoroughly familiar with programming. Many variable values are preset by the manufacturer (default values) and should not be changed without a compelling reason. If changes are nevertheless necessary, they can be carried out using the variable modification function or by editing the files. Change the values of variables only if you have sufficient knowledge of the functions of the system variables and their effects!

The The manuf manufact actur urer er accept accepts s no liabilit liability y and provi provides des no warran warranty ty whats whatsoev oever er for damage of any kind arising from improper modification of variable values or their modification for a purpose other than the intended one. Please also observe the chapter [Safety] in the handbook.

Please note:

Each table is preceded by a title with the name and function of the system variable, e.g.:

Variable name

Function of the variable variable

Data type

Unit

a ue

min. max.

In file Original line Comments Options

Effect

If no Options are specified, then the second table is omitted.

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System Variables

Table entries:

Data type

Real, Real, Intege Integer, r, Boolean Boolean,, Chara Character cter,, Structur Structure, e, Sign Signal al declara declaration tion,, Enum, Enum, Frame, Array

Unit

ms, mm, m/s2, s,  , %, V, A, increments, bits, bit sequence, motion instructions

In fil file

KRC KRC\Ro \Roboter\ ter\KR KRC\R C\R1 1\Ma \Mada\... \... ... \Steu\Mada\...

Origi Origina nall line line

Source Source text text ;Comment

Commen Comments ts

Function Functional al descrip description tion

Value min. Minimum and maximum values depending on the specific data type max. Optio Option n

Option Options s depe depend ndin ing g on the data data type type (TRUE, (TRUE, FALSE FALSE,, 1, 2, etc.) etc.)

A group of system variables is indicated at the beginning with a framed name box: Variable name

Function of the variable

Data typ type

Str Structur ture

Unit

a ue

min. max.

In file Original line Comments If the description contents of subsequent system variables remain the same, only their title lines are displayed.

Variable name.1


If there is a change change,, the correspo correspondi nding ng section section of the table table is shown shown under under the title line. line. This change then applies to all subsequent variables of the group.

Variable name.2

Variable name.3

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Data type

Real

Unit

mm, 

a ue

min. 0 max.



2

2

A

A

$A4PAR

Set axis 4 parallel parallel to the last rotational rotational main axis

Data typ type

Inte Integ ger

a ue

Unit In fil file

R1\Ma \Mada\$m \$machin chine e.da .dat

Origina Originall line line

INT $A4PAR $A4PAR

min. max.

Comments Options

Effect

0

Not set

1

Set

$ABS_ACCUR

Switch absolutely absolutely accurate accurate robot model on/off

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $ABS_AC $ABS_ACCUR CUR=FA =FALSE LSE ;Absolutgenaues Robotermodell

a ue

min. max.

Comments Options

Effect

TRUE

Switched on

FALSE

Switched off

Conversion Conversion of point coordinates coordinates into absolutely absolutely accurate accurate robot model

$ABS_CONVERT

Data typ type

Boo Boolea lean

Unit

a ue

In fil file

Ste Steu\Ma \Mada\$c \$custom tom.da .dat


BOOL $ABS_CON $ABS_CONVER VERT=F T=FALSE ALSE ;Konvertierung ;Konvertierung der Punktkoordinaten Punktkoordinaten

min. max.

Comments Options

Effect

TRUE FALSE

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System Variables

$ABS_RELOAD

Reload absolutely accurate robot model

Data typ type

Boo Boolea lean

a ue

Unit In fil file

Ste Steu\Ma \Mada\$o \$operate rate.d .da at


BOOL $ABS_REL $ABS_RELOAD OAD

min. max.

Comments

$ACC

Path, swivel and rotational rotational accelerations accelerations in the advance advance run

Data typ type

Str Structur ture

Unit

a ue

In file

-- -- --


DECL DECL CP $ACC $ACC

Commen Comments ts

Accelera Acceleration tions s in the advanc advance e run CP = m/s2, ORI1 =  /s2, ORI2 =  /s2

$ACC_ACT_MA

min. max.

Limit value of axial command command acceleration acceleration

Data typ type

Inte Integ ger

Unit

%

In fil file



INT $ACC_ACT $ACC_ACT_MA=2 _MA=250 50 ;Grenzwert ;Grenzwert Sollbeschleun Sollbeschleunigung igung [%] [ %]

a ue

min. max.

Comments

$ACC_AXIS[n]

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Acceleration Acceleration of the axes in the advance advance run

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $ACC_AXIS[ $ACC_AXIS[n] Beschleunigung der Achsen [%] Vorlauf

Comments

[n] = [1] [1] ... [6] [6]

a ue

min. max.

axes axes A1 ... A6


2

A (Fort ortsetzun zung)

$ACC_AXIS_C[n]

Acceleration Acceleration of the axes in the main run

Data typ type

Inte Integ ger

Unit

%

In fil file

R1\Ma \Mada\$o \$operate.da .dat


INT $ACC_AXIS_ $ACC_AXIS_C[ C[n] Beschleunigun Beschleunigung g der Achsen [%] Hauptlauf Hauptlauf

Comments

[n] = [1] [1] ... [6] [6]

$ACC_C

a ue

min. max.

axes axes A1 ... A6

Path, swivel and rotational rotational accelerations accelerations in the main run

Data typ type

Str Structur ture

Unit

a ue

In fil file



DECL DECL CP $ACC_C $ACC_C

Commen Comments ts

Acceler Acceleratio ations ns in the main run CP = m/s2, ORI1 =  /s2, ORI2 =  /s2

$ACC_CAR_ACT

min. max.

The current current values of the acceleration acceleration components components and the total acceleration

Data typ type

Frame

Unit

m/s2

In fil file



DECL DECL ACC_ ACC_CAR CAR $ACC_CA $ACC_CAR_AC R_ACT T

Comme Comments nts

The X, Y and and Z compo compone nents nts of “$AC “$ACC_ C_CA CAR_ R_AC ACT” T” conta contain in theaccele theaccelerat ratio ion n comp compon onen ents ts alon along g the axes axes of “$ACC “$ACC_C _CAR_ AR_TOO TOOL” L”.. “$ACC “$ACC_C _CAR_ AR_ ACT.ABS” ACT.ABS” containsthe contains the associated associated total acceleration acceleration value. Components Components A, B and C are each set to “0”. This variable is write--protected. Acceleration Acceleration due to t o gravity (9.81 m/s2) is automatically calculated into the acceleration caused by the motion.

SysVar 08.02.03 en

a ue

min. max.

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System Variables

$ACC_CAR_LIMIT

Used to set the maximum maximum permissible permissible value for the acceleration acceleration components components and the total acceleration acceleration

Data typ type

Frame

Unit

m/s2

In fil file


Origina Originall line

DECL DECL ACC_CAR ACC_CAR $ACC $ACC_CA _CAR_L R_LIMIT={X IMIT={X 0.0,Y 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,B 0.0,C 0.0,ABS 0.0}

Comme Comments nts

If thevariab thevariable le “$ACC “$ACC_C _CAR AR_ST _STOP” OP” is set set to “TRUE” “TRUE”,, then then if theacceler theaccelerati ation on value value is exceed exceeded ed the robot robot is stopped stopped (ramp(ramp--down -down braking) braking) and an acknowledgement message is generated. The values can only be modified by editing the machine data.

$ACC_CAR_MAX Data typ type

a ue

Saves the greatest absolute values of “$ACC_CAR_ACT”

Frame

a ue

Unit

min. max.

In fil file



DECL DECL ACC_ ACC_CAR CAR $ACC_CA $ACC_CAR_MA R_MAX X

Commen Comments ts

This variabl variable e can can be set to “0” to determin determine e the maximum maximum valu values. es.

$ACC_CAR_STOP Data typ type

The robot can be stopped if “$ACC_CAR “$ACC_CAR_LIMIT” _LIMIT” is exceeded exceeded

Boo Boolea lean

Unit

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min. max.

a ue

min. max.

In fil file



BOOL $ACC_CAR $ACC_CAR_ST _STOP=F OP=FALSE ALSE

Comme Comments nts

Activ Activate ates s or deac deactiv tivate ates s the stop reactio reaction n when the value value speci specifie fied d in “$ACC_CAR_LIMIT” is exceeded. The values can only be modified by editing the machine data.

Options

Effect

TRU TRUE

Sto Stop reactio tion is activ tivated ted.

FALSE ALSE

Sto Stop reac reacti tio on is deac deacti tiva vate ted. d.


2


$ACC_CAR_TOOL Data typ type

A point on the tool mounted mounted on the robot at which the current current effective acceleration is measured

Frame

Unit

a ue

min. max.

In fil file



FRAME FRAME $ACC_CA $ACC_CAR_T R_TOOL={ OOL={x x 0.0,y 0.0,z 0.0,z 0.0,a 0.0,b 0.0,b 0.0,c 0.0,c 0.0}

Comme Comments nts

In the same same way way as “$TOOL “$TOOL”, ”, $ACC_ $ACC_CA CAR_ R_TOO TOOL L is is also also spec specifi ified ed relat relative ive to the the flan flange ge by mean meanss of the the X, Y and and Z coor coordi dina nate tes. s. The The angl angles es of rota rotati tion on A, B and C indicate the positions positions of the 3 axes of the coordinate coordinate system in which which the accele acceleratio ration n compon components ents are then specifie specified. d. The individ individual ual accele accelerati ration on compone components nts and the total accele acceleratio ration n are all evalua evaluated ted cyclically. Acceleration Acceleration caused by gear unit torsion or flexion of the robot is not taken into considera consideration tion.. These These values values can only only be modified modified by editing editing the machine data.

$ACC_EXTAX[6]

Acceleration Acceleration of the external external axes in the advance advance run

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $ACC_EXT $ACC_EXTAX[6] AX[6] ;Beschleunigung der externen Achsen [%] Vorlauf

a ue

min. max.

Comments

$ACC_EXTAX_C[6]

Acceleration Acceleration of the external external axes in the main run

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $ACC_EXT $ACC_EXTAX_C AX_C[6] [6] ;Beschleunigung der externen Achsen [%] Hauptlauf

a ue

min. max.

Comments

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System Variables

Maximum Maximum values for path acceleration, acceleration, swivel acceleration acceleration and rotational acceleration

$ACC_MA Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



DECL DECL CP $ACC_M $ACC_MA={CP A={CP 4.6,OR 4.6,ORI1 I1 200.0,ORI2 200.0,ORI2 200.0} 200.0}

Comm Commen ents ts

CP = Max. Max. path path acce accele lera rati tion on [m/s [m/s2], ORI1 = Max. Max. swiv swivel el accele acceleratio ration n [ /s2], ORI2 = Max. Max. rotation rotational al accel accelera eration tion [  /s2] When calculating the values, make sure that no axis goes to current limitation.

$ACC_OV

Data for acceleration acceleration with changes of override override

Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



DECL DECL CP $ACC_M $ACC_MA={CP A={CP 4.6,OR 4.6,ORI1 I1 200.0,ORI2 200.0,ORI2 200.0} 200.0}

Comme Comments nts

CP = Path Path acce accele lera ratio tion n with with chan change ge of over overrid ride e [m/s2], ORI1 = Swivel acceleration acceleration with change of override override [  /s2], ORI2 = Rotational acceleration acceleration with change change of override [  /s2]

$ACT_BASE

Number of the current BASE system

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $ACT_BASE $ACT_BASE ;Aktuelle Base--Nummer

a ue

min. max.

Comments

$ACT_EX_AX

Number Number of the current current external external base kinematic kinematic system

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $ACT_EX_ $ACT_EX_AX AX ;Aktuelle externe Kinematik

a ue

min. max.

Comments

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2


$ACT_TOOL

Number Number of the current current tool coordinate coordinate system

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $ACT_TO $ACT_TOOL OL ;Aktuelle Toolnummer

a ue

min. max.

Comments

Max. permissible permissible difference difference of encoder actual values when switching on system

$ACT_VAL_DIF Data typ type

Inte Integ ger

Unit

Increments

In fil file



INT $ACT_V $ACT_VAL_D AL_DIF IF ;Geberistwertdifferenz ;Geberistwertdifferenz [Inkr]

Commen Comments ts

If the limit limit valu values es are are exce exceede eded, d, the messag message e “Perform “Perform masterin mastering” g” appears.

$ADAP_ACC

a ue

min. max.

Activation of acceleration adaptation

Data type

Enum

Unit

a ue

min. max.

In fil file

R1\Ma \Mada\$r \$robcor.da .dat


DECL DECL ADAP_ ADAP_ACC ACC $ADAP_AC $ADAP_ACC=#S C=#STEP1 TEP1 ;Beschleunigungsanpassung (#NONE, #STEP1 )

Commen Comments ts

*) #STEP1 #STEP1 and #STEP2 #STEP2 requi require re valid valid dynamic dynamic data ($DYN_ ($DYN_DA DAT) T)

Options

Effect

#NONE

Not activ tivated ted

#STEP1 #STEP1

Dyna Dynamic mic model model witho without ut kineti kinetic c ener energy gy *)

#STEP2 #STEP2

Dyna Dynamic mic model model with with kine kinetic tic ener energy gy *)

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System Variables

$ADVANCE

Specification Specification of the advance advance run (max. 5 motion blocks)

Data typ type

Inte Integ ger

Unit

Motion blocks

In file

-- -- --


INT $ADVANC $ADVANCE E ;Vorlauf ;Vorlauf [max. 5 Bewegungssä Bewegungssätze] tze]

a ue

min. 0 max. 5

Comments

$ALARM_STOP

Signal declaration for short--circuit short--circuit braking (dynamic braking)

Data Data type type

Sign Signal al decl declar arat atio ion n

Unit

a ue

min. max.

In fil file

Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat


SIGNAL SIGNAL $ALAR $ALARM_ST M_STOP OP $OUT[1 $OUT[1013 013]]

Comments

$ANA_DEL_FLT

Analog output filter

Data type

Enum

Unit

a ue

min. max.

In fil file



DECL DECL SW_ONO SW_ONOFF FF $ANA_ $ANA_DEL_ DEL_FL FLT=#OFF T=#OFF

Comments Options

Effect

#ON

Switched on

#OFF

Switched off

$ANIN[n]

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Analog inputs

Data type

Real

Unit

V

In file

-- -- --


REAL REAL $ANIN[ $ANIN[n]

Comments

[n] = [1] ... [8] --1.0 ----> --10 V +1.0 ----> +10 V

a ue

min. --1.0 max. +1.0


2


$ANOUT[n]

Analog outputs

Data type

Real

Unit

V

In file

-- -- --


REAL $ANOUT[ $ANOUT[n]

Comments

[n] = [1] ... [16] --1.0 ----> --10 V +1.0 ----> +10 V

$APO_DIS_PTP[n]

a ue

min. --1.0 max. +1.0

Maximum approximation distance for PTP axis[n]

Data type

Real

Unit

mm, 

In fil file


Original line

REAL $APO_DIS_PTP[n]

Comments

[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6

a ue

min. max.

Motion input for asynchronous external axes E1 -- E6, negative or positive direction

$ASYNC_AX Data Data type type


Unit In fil file

a ue

min. max.


Original line Comments

$ASYNC_AX1_M ... $ASYNC_AX6_M Origina Originall line line

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Motion input for asynchronous external axes E1 -- E6, negative direction

SIGNAL SIGNAL $ASYN $ASYNC_A C_AX1_M X1_M $IN[1026 $IN[1026]] ... SIGNAL $ASYNC_AX6_M $ASYNC_AX6_M $IN[1026]

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System Variables

$ASYNC_AX1_P ... $ASYNC_AX6_P Origina Originall line line

$ASYNC_AXIS

Motion input for asynchronous external axes E1 -- E6, positive direction

SIGNAL SIGNAL $ASYN $ASYNC_A C_AX1_P X1_P $IN[1026 $IN[1026]] ... SIGNAL $ASYNC_AX6_P $ASYNC_AX6_P $IN[1026] $IN[1026]

Bit arrays arrays to switch external external axes to asynchronous asynchronous mode

Data typ type

Inte Integ ger

Unit

16 of 170 170

a ue

min. max.

In file

-- -- --


INT $ASYNC_AX $ASYNC_AXIS IS ;Aktive asynchrone asynchrone Zusatzachsen Zusatzachsen

Commen Comments ts

When When $ASYNC_AX $ASYNC_AXIS IS is assign assigned ed in a KRL KRL progra program, m, the newlynewly--defined -defined asynchronous axes are valid from this position until a new assignment is made. When When $ASYNC $ASYNC_AX _AXIS IS is defin defined ed,, the adva advanc nce e run run will be stopp stopped ed if the vavalue of $ASYNC_AXIS changes. Before a new value of $ASYNC_AXIS is saved, saved, the sys system tem will wait wait until until all synchr synchrono onous us motions motions (throug (through h advanc advance e run run stop) stop) and and all all asyn asynch chro rono nous us motion motionss have have been been compl complete eted, d, and and all axes axes are in position. Thus the instruction “$ASYNC_AXIS=...” can be used – along with the system variable $ASYNC_STATE – to synchronize in time synchronous and asynchronous motions. $ASY $ASYNC NC_A _AXIS XIS can can only only be modi modifi fied ed in the the KRL KRL prog progra ram, m, and and not not in the the ininterrupt or in the SUBMIT interpreter. The bits correspond to the external axes in ascending order: Bit 0 = external axis 1, Bit 1 = external axis 2, etc. If the bit is set, the external axis will be switched to asynchronous mode; if it is reset, the external axis will be switched back to synchronous mode.

Options

Effect

Bit = 1

The corr corresp espon ondi ding ng exter externa nall axis axis is switc switche hed d to async asynchr hron onou ous s mode mode

Bit = 0

The corr corresp espon ondi ding ng exter externa nall axis axis is switc switche hed d to synch synchro rono nous us mode mode


2


$ASYNC_FLT

Filter for asynchronous external axes

Data typ type

Inte Integ ger

Unit

ms

In file

-- -- --


INT $ASYNC_FL $ASYNC_FLT T

Commen Comments ts

The value value of of $ASYNC_FL $ASYNC_FLT T is the filter filter length length in millise millisecon conds ds for for all asynasynchronously coordinated motions; it corresponds to the system variable $FILTER for synchronous motions.

$ASYNC_MODE Data typ type

a ue

min. 0 max. 16

Mode for asynchronous external axes

Inte Integ ger

a ue

Unit

min. 0 max. 16

In fil file



INT $ASYNC_M $ASYNC_MODE=’ ODE=’B000 B0000’ 0’ ;Mode für asynchrone asynchrone Zusatzachsen

Commen Comments ts

In the mach machine ine data data of of the contro controlle ller, r, the the bit mask mask $ASYNC $ASYNC_MOD _MODE E can be used to set various asynchronous motion execution modes. It is not possible to change modes while the robot controller is running. The modes can be combined in any way desired. Certain modes must be set in order to use special applications. In the standard setting (default mode) no $ASYNC_MODE bits are set. Only bit 0 is used at this time: Bit 0 = 0 (1st bit): default mode Bit 0 = 1 (1st bit): mode 1 Bit 1 = (2nd bit): mode 2 block selection response

$ASYNC_OPT

Option flag for “Asynchronous “Asynchronous axes are possible” possible”

Data typ type

Boo Boolea lean

Unit In fil file

Ste Steu\Ma \Mada\$o \$optio tion.da .dat


BOOL $ASYNC_O $ASYNC_OPT=F PT=FALSE ALSE

a ue

min. max.

Comments Options

Effect

TRU TRUE

Asyn Asynch chro rono nous us axes axes possi ossibl ble e

FALSE ALSE

Asyn Asynch chro rono nous us axes axes not not poss possib ible le

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System Variables

$ASYNC_STATE Data type

Current asynchronous motion execution state

Enum

a ue

Unit

min. max.

In file

-- -- --

Original line

DECL ASYNC_STA ASYNC_STATE $ASYNC_STA $ASYNC_STATE TE ;Zustand der asynchronen asynchronen Achsen

Comments Comments

$ASYNC_STA $ASYNC_STATE TE can can be used to check check the current asynchronou asynchronous s motion motion execution execution state. The value is read--only; no assignments are possible. Asynchronous Asynchronous and “normal” robot motions can be synchronized synchronized using this variable. variable.

Options

Effect

#BUSY #BUSY

Async Asynchr hron onou ous s motio motions ns activ active, e, stopp stopped ed or tempo tempora raril rily y stored stored..

#IDLE

No asynch asynchron ronous ous motions motions active active or stopped stopped (queue (queue is empty); empty); last last motion terminated without an interrupt.

#CANCELLED

No asynchro asynchronou nous s motions motions active or stopped stopped (queue (queue is empty); empty); last motion was canceled. canceled.

#PEND #PEND

Async Asynchr hron onou ous s motio motion n is plan planne ned, d, but but is not not curre currentl ntly y being being exec execute uted d

$ASYNC_T1_FAST Data typ type

Control Control of the velocity reduction reduction factor in Test1 mode

Inte Integ ger

Unit

a ue

In fil file



INT $ASYNC_T1 $ASYNC_T1_F _FAST=’B AST=’B000 0000’ 0’ ;Geschw.--Red. Deaktiviert ( T1 )

min. max.

Comments

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Options

Effect

0

Activated

1

Deactivated


2


$ASYS

Assignment Assignment of the jog keys

Data type

Enum

a ue

Unit

min. max.

In file

-- -- --

Origi Origina nall lin line e

DECL DECL ASYS ASYS $ASY $ASYS S ;Verfahrtastenbelegung (ROBOT = Roboter, EXTAX = Externe Achsen)

Comments Options

Effect

#ROB #ROBOT OT

Robot obot axes axes A1 -- A6

#EXT #EXTAX AX

Exte Extern rnal al axes axes E1 -- E6

#EXT #EXTAX2

Exter Externa nall kine kinemat matic ic sy syste stem m

$AUT

Signal declaration “Automatic mode”

Data Data type type


Unit In fil file



SIGNAL SIGNAL $AUT $AUT $OUT[995 $OUT[995]] ;Betriebsart ;Betriebsart Automatik

a ue

min. max.

Comments

$AUX_POWER

Signal declaration declaration for external external power supply

Data Data type type


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $AUX_POW $AUX_POWER ER $IN[1026 $IN[1026]] ;Externe Spannungsversorgung aktiv

Commen Comments ts

If “$AUX_POW “$AUX_POWER” ER” has has the value value “TRUE”, “TRUE”, the the extern external al power power supp supply ly is active; if the value is “FALSE”, the external power supply is not active.

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System Variables

Simulation Simulation of the closed speed control loop for the individual axes on a desktop PC

$AX_SIM_ON Data typ type

Inte Integ ger

a ue

Unit In fil file


Original line

INT $AX_SIM_ON=’B11 $AX_SIM_ON=’B111111’ ;Achssimulation

Comme Comments nts

Bit sequ sequen ence ce:: LSB: LSB: Axis Axis 1 MSB: Axis 12

$AXIS_ACT

min. max.

Current axis--specifi axis--specific c robot position posit ion

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6AXIS E6AXIS $AXIS_ACT $AXIS_ACT ;Aktuelle Roboterposition Roboterposition achsspezifisch achsspezifisch [mm,Grad]

a ue

min. max.

Comments

$AXIS_ACT.A1 ... $AXIS_ACT.A6

Current axis--specifi axis--specific c robot position, posi tion, axis 1 -- 6

Data type

Real

Unit

mm, 

a ue

min. 0 max.

$AXIS_ACT.E1 ... $AXIS_ACT.E6

Current axis--specif axis--specific ic robot position, posi tion, external axis 1 -- 6

$AXIS_ACTMOD

Display of axis angle modulo 180

Data typ type

Str Structur ture

Unit In file

-- -- --


E6AXIS E6AXIS $AXIS_ACT $AXIS_ACTMOD MOD

a ue

min. max.

Comments

20 of 170 170


2


$AXIS_BACK

Start position of the current motion blo ck, axis--specifi axis--specific c

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6AXIS E6AXIS $AXIS_BAC $AXIS_BACK K ;Anfangsposition des aktuellen Bewegungssatzes achsspezifisch [mm,Grad]

a ue

min. max.

Comments

$AXIS_BACK.A1 ... $AXIS_BACK.A6

Start position of the current motion block, axis A1 -- A6

Data type

Real

Unit

mm, 

a ue

min. 0 max.

$AXIS_BACK.E1 ... $AXIS_BACK.E6

Start position of the current motion block, external axis E1 -- E6

$AXIS_CAL

Display whether axis is referenced referenced

Data typ type

Str Structur ture

Unit In file

-- -- --


DECL DECL AXIS_CAL AXIS_CAL $AXIS_CAL $AXIS_CAL

Commen Comments ts

Displa Display y of referen referenced ced axes axes

$AXIS_CAL.A1 ... $AXIS_CAL.A6

a ue

min. max.

Display whether axis A1 ... A6 is referenced

Data typ type

Boo Boolea lean

Unit Options

Effect

TRUE

Axis is referenced

FALSE ALSE

Axi Axis is not refer ferenced

SysVar 08.02.03 en

a ue

min. max.

21 of 170 170

System Variables

$AXIS_CAL.E1 ... $AXIS_CAL.E6

Display whether external axis E1 ... E6 is referenced

$AXIS_DIR[n]

Direction Direction of rotation of axis[n]

Data typ type

Inte Integ ger

a ue

Unit

min. max.

In fil file



INT $AXIS_DIR[ $AXIS_DIR[n]

Comments


Options

Effect

1

Positive direction

-- 1

Negative direction

$AXIS_FOR

Target Target position of the current motion block, bl ock, axisaxis --specific -specifi c

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6AXIS E6AXIS $AXIS_FOR $AXIS_FOR ;Zielposition ;Zielposition des aktuellen aktuellen Bewegungssatze Bewegungssatzes s achsspezifisch achsspezifisch [mm,Grad] [ mm,Grad]

a ue

min. max.

Comments

$AXIS_FOR.A1 ... $AXIS_FOR.A6

$AXIS_FOR.E1 ... $AXIS_FOR.E6

22 of 170 170

Target position of the current motion block, axis A1 ... A6

Data type

Real

Unit

mm, 

a ue

min. 0 max.

Target position of the current motion block, external axis E1 ... E6


2


$AXIS_HOME[5] Data typ type

Definition Definition of the various home positions

Array

a ue

Unit In fil file



E6AXIS E6AXIS $AXIS_HOM $AXIS_HOME[5] E[5]

min. max.

Comments

$AXIS_INC

Incremental actual values of the axes

Data typ type

Str Structur ture

Unit

Increments

In file

-- -- --


DECL DECL AXIS_INC AXIS_INC $AXIS_INC $AXIS_INC

Commen Comments ts

Indicati Indication on of the the axis axis position position in incremen increments. ts.

$AXIS_INC.I1 ... $AXIS_INC.I6

a ue

min. max.

Incremental actual value, axis A1 ... A6

Data typ type

Inte Integ ger

Unit

Increments

a ue

min. 0 max.

$AXIS_INC.E1 ... $AXIS_INC.E6

Incremental actual value, external axis E1 ... E6

$AXIS_INT

Robot position at the time of an interrupt

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6AXIS E6AXIS $AXIS_INT $AXIS_INT ;Unterbrechungsposition achsspezifisch [mm,Grad]

a ue

min. max.

Comments

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System Variables

$AXIS_INT.A1 ... $AXIS_INT.A6

Robot position at the time of an interrupt, axis A1 ... A6

Data type

Real

Unit

mm, 

$AXIS_INT.E1 ... $AXIS_INT.E6

a ue

min. 0 max.

Robot position at the time of an interrupt, external axis E1 ... E6

Display whether axis is mastered mastered

$AXIS_JUS Data typ type

Str Structur ture

Unit In file

-- -- --


DECL DECL AXIS_CAL AXIS_CAL $AXIS_JUS $AXIS_JUS ;Anzeige justierter Achsen

a ue

min. max.

Comments

$AXIS_JUS.A1 ... $AXIS_JUS.A6

Display whether axis A1 ... A6 is mastered

Data typ type

Boo Boolea lean

Unit Options

Effect

TRUE

Axis mastered

FALSE

Axis not master tered

a ue

min. max.

$AXIS_JUS.E1 ... $AXIS_JUS.E6

Display whether external axis E1 ... E6 is mastered

$AXIS_RESO

Resolution Resolution of the position sensing system

24 of 170 170

Data typ type

Inte Integ ger

Unit

Increments / revolution

In fil file



INT $AXIS_RESO $AXIS_RESO[12] [12] ;Auflösung des Meßsystems Achse(i) (i=1:A1, i=7:E1) [Inkr]

Commen Comments ts

Number Number of puls pulses es per revoluti revolution on of the the enco encoder der

a ue

min. max.


2


Axis positions when leaving leavi ng the programmed path, axis--specifi axis--specific c

$AXIS_RET Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6AXIS E6AXIS $AXIS_RET $AXIS_RET ;Rückpositionier ;Rückpositionieren en achsspezifisch achsspezifisch [mm,Grad]

a ue

min. max.

Comments

$AXIS_RET.A1 ... $AXIS_RET.A6

Position of axis A1 ... A6 when leaving the programmed path

Data ata type type

Chara haract cter er

Unit

mm, 

a ue

min. 0 max.

$AXIS_RET.E1 ... $AXIS_RET.E6

Positio Position n of extern external al axis axis E1 ... E6 when leavi leaving ng the the progra programme mmed d path path

$AXIS_SEQ[n]

Change in sequence sequence of axis ... to axis ...

Data typ type

Inte Integ ger

Unit

a ue

min. max.

In fil file



INT $AXIS_ $AXIS_SEQ SEQ[[n]

Comments

[n] = [1] [1] ... [6]: [6]: axis axis A1 ... ... A6 [n] = [7] ... [12]: external axis E1 ... E6

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System Variables

$AXIS_TYPE[n]

Axis identification

Data typ type

Inte Integ ger

a ue

Unit In fil file



INT $AXIS_TYPE[ $AXIS_TYPE[n]

Comments


Options

Effect

1

Linear

2

Spindle

3

Rotational

4

Finitely rotating

5

Infinitely rotating

$AXWORKSPACE[n] Data typ type

Definition of axis--specifi axis--specific c workspace monitoring

Str Structur ture

Unit

26 of 170 170

min. max.

a ue

In fil file



DECL DECL AXBOX$AXWOR AXBOX$AXWORKSP KSPACE[ ACE[n]

Comments

[n] = [1] ... [8]

min. max.


2


$AXWORKSPACE[n].MODE Data type

Functional principle of the axis--specifi axis--specific c workspace monitoring function

Enum

a ue

Unit In fil file



DECL DECL AXBOX$AXWOR AXBOX$AXWORKSP KSPACE[ ACE[n]

Comments

[n] =

min. max.

[1] ... [8]

Options

Effect

#OFF

Work envelope monitor toring deactiv tivated ted

#INS #INSID IDE E

The The outp output ut is set set if the the TCP TCP is loca locate ted d insi inside de the the work work enve envelo lope pe

#OUT #OUTSI SIDE DE

The The outp output ut is set set if the the TCP TCP is loca locate ted d outs outsid ide e the the work work enve envelo lope pe

#INSIDE_STOP

The output output is set set and the the robot robot stopped stopped if the TCP is located located inside inside the work envelope

#OUTSIDE_STOP

The output is set and the robot stopped stopped if the TCP is located outside outside the work envelope

axis--specific c workspace $AXWORKSPACE[n].STATE Violation of the axis--specifi

Data typ type

Boo Boolea lean

a ue

Unit Options

Effect

TRU TRUE

The The works orkspa pace ce has has been been viol violat ate ed

FALSE ALSE

The The work worksp spac ace e has has not not been been viol violat ated ed

min. max.

axis--specific c workspace $AXWORKSPACE_NAME n[] Name of the particular axis--specifi

Data ata type type


Unit

a ue

min. max.

In fil file



CHAR CHAR $AXWORKSP $AXWORKSPACE_ ACE_NAME NAMEn[24] $AXWORKSPACE_NAMEn[]=”AXWORKSPACE_NAME n”

Comments

[n] =

SysVar 08.02.03 en

[1] ... [8]

27 of 170 170

System Variables

$AXWORKSTATE1 ... $AXWORKSTATE8 Data Data type type

Signal declaration “Violation of workspace”


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $AXWORK $AXWORKST STA ATE1 $OUT[9 $OUT[969] 69] . . SIGNAL $AXWORKSTATE8 $OUT[976] ; Ausgang der der Achsarbeitsraumübe Achsarbeitsraumüberwachu rwachung ng .

Comments

28 of 170 170

Options

Effect

$OUT[ n]

Output 1 ... 4096

FALSE

Outputs that are not required required can be set to “FALSE”, “FALSE”, e.g. SIGNAL $AXWORKSTA $AXWORKSTATE1 FALSE


3

3

B

B Offset and rotation of the base coordinate system in relation to the world coordinate system in the advance run

$BASE Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



FRAME FRAME $BASE $BASE ;Basis im Weltkoordinatensystem Vorlauf

Comments Rotation Rotation of the base coordinate coordinate system about the Z axis in relation relation to the world coordinate system in the advance run

$BASE.A Data type

Real

Unit



a ue

min. max.

$BASE.B

Rotation Rotation of the base coordinate coordinate system about the Y axis in relation relation to the world coordinate system in the advance run

$BASE.C

Rotation Rotation of the base coordinate coordinate system about the X axis in relation relation to the world coordinate system in the advance run

$BASE.X

Offset of the base coordinate coordinate system in the X direction direction in relation relation to the world coordinate system in the advance run

Data type

Real

Unit

mm

a ue

min. max.

$BASE.Y

Offset of the base coordinate coordinate system in the Y direction direction in relation relation to the world coordinate system in the advance run

$BASE.Z

Offset of the base coordinate coordinate system in the Z direction direction in relation to the world coordinate system in the advance run

Offset and rotation of the base coordinate system in relation to the world coordinate system in the main run

$BASE_C Data typ type

Str Structur ture

Unit

a ue

min. max.

In file

-- -- --


FRAME FRAME $BASE_C $BASE_C ;Basis im Weltkoordinatens Weltkoordinatensystem ystem Hauptlauf

Comments

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29 of 170 170

System Variables

Rotation Rotation of the base coordinate coordinate system about the Z axis in relation relation to the world coordinate system in the main run

$BASE_C.A Data type

Real

Unit



a ue

min. max.

$BASE_C.B

Rotation Rotation of the base coordinate coordinate system about the Y axis in relation relation to the world coordinate system in the main run

$BASE_C.C

Rotation Rotation of the base coordinate coordinate system about the X axis in relation relation to the world coordinate system in the main run

$BASE_C.X

Offset of the base coordinate coordinate system in the X direction direction in relation relation to the world coordinate system in the main run

Data type

Real

Unit

mm

a ue

min. max.

$BASE_C.Y

Offset of the base coordinate coordinate system in the Y direction direction in relation relation to the world coordinate system in the main run

$BASE_C.Z

Offset of the base coordinate coordinate system in the Z direction direction in relation to the world coordinate system in the main run

$BASE_KIN

External External kinematic kinematic / axes in base

Data ata type type


Unit

a ue

In file

-- -- --


CHAR CHAR $BASE_KIN $BASE_KIN[29] [29] ;Externe Kinematik / Achsen in Base

min. max.

Comments

$BOUNCE_TIME

30 of 170 170

Bounce time for EMT signals

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $BOUNCE $BOUNCE_TIME _TIME ;Prellzeit für EMT--Taster [ms]

Commen Comments ts

The sign signal al is only only accepte accepted d if it remain remains s stable stable over over the the entire entire time time period defined in $BOUNCE_TIME.

a ue

min. max.


3

B (Fort ortsetzun zung)

$BRAKE_SIG

Bit array array for axis brakes, brakes, A1 ... A6 and E1 ... E6

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $BRAKE_S $BRAKE_SIG IG ;Bit--Feld Bremsensignale

a ue

min. max.

Comments Options

Effect

0

Brake closed

1

Brake open

$BRK_DEL_COM

Time after which the axis brakes brakes are closed on completion completion of positioning during jogging

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $BRK_DE $BRK_DEL_C L_COM OM ;Bremsverzögerungszeitkommando--Modus [ms]

a ue

min. max.

Comments

$BRK_DEL_EX

Brake Brake delay time for external external axes

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $BRK_DE $BRK_DEL_E L_EX X ;Bremsverzögerun ;Bremsverzögerungszeit gszeit für Zusatzachsen Zusatzachsen

a ue

min. max.

Comments

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31 of 170 170

System Variables

$BRK_DEL_PRO

Time after which the axis brakes brakes are closed on completion completion of positioning in the program

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $BRK_DE $BRK_DEL_P L_PRO RO ;Bremsverzögerun ;Bremsverzögerungszeit gszeit im Programm [ms]

a ue

min. max.

Comments

$BRK_MAX_TM

Maximum deceleration time for path--maintai path--maintaining ning Emergency Stop

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $BRK_MAX $BRK_MAX_TM _TM

a ue

min. max.

a ue

min. max.

Comments

$BRK_MODE

Brake control mode

Data typ type

Inte Integ ger

Unit In fil file



INT $BRK_MOD $BRK_MODE=’B0 E=’B0101 101’’

Commen Comments ts

The bits are counted counted from right right to left. Bit 0: 0: Axes Axes A 1 – A 6 close close at at comma command nd end end (bit (bit 0 = 1) / do not close (bit 0 = 0) Bit 1: 1: Axes Axes A 1 – A 6 close close indivi individu dual ally ly1) (bit 1 = 1) / together (bit 1 = 0) Bit 2: Axes A 1 – A 6 close close during during paus pauses es in the motion motion (bit 2 = 1) / do not close (bit 2 = 0) Bit 3: External External axis axis brakes brakes clos close e during during motion motion pause pauses s individually (bit 3 = 1) / together with axes A 1 – A 6 (bit 3 = 0) 1)Special case

32 of 170 170


3

B (Fort ortsetzun zung)

$BRK_OPENTM

Time delay of command command value output after axis brakes brakes have been opened

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $BRK_OPE $BRK_OPENTM NTM ;Bremsöffnungszei ;Bremsöffnungszeitt [ms]

a ue

min. max.

a ue

min. max.

Comments

$BUS_PAR

L2 bus interface interface (KRC32) (KRC32)

Data typ type

Str Structur ture

Unit In fil file


Original line

DECL BUS $BUS_P $BUS_PAR={PROTO AR={PROTO 1,PROC 5,RCO 5,BL 128,PT 128,PT 0,TS 0,TS 1,BAUD 187500,TSL --1,MIN_TDSR --1,MAX_TDSR --1,TTR --1,HSA --1,G --1,DFLT_SAP --1}

Comments

SysVar 08.02.03 en

33 of 170 170

System Variables

4

C

$CABLE2_MON

Additional Additional motor cable monitoring monitoring

Data typ type

Boo Boolea lean

a ue

Unit

min. max.

In fil file



BOOL $CABLE2 $CABLE2_MON _MON=FA =FALSE LSE

Commen Comments ts

Specifie Specifies s whether whether the the connec connection tion of of the second second motor motor cable cable shoul should d be monitored (TRUE for special machines)

Options

Effect

TRUE

Monitor toring activ tivated ted

FALSE ALSE

Moni Monito tori ring ng deac deacti tiva vate ted d

$CAL_DIFF

Mastering Mastering difference difference for EMT mastering mastering with check run

Data typ type

Inte Integ ger

a ue

Unit In file

-- -- --


INT $CAL_DIFF $CAL_DIFF ;Justage--Differenz

min. max.

Comments

Reference Reference point offset between mathematical mathematical zero point and encoder zero point

$CALP Data typ type

Str Structur ture

Unit In file

-- -- --


E6AXIS E6AXIS $CALP $CALP ;Referenzpunktverschiebung

a ue

min. 0 max.

Comments

34 of 170 170


4

C (Fort ortsetzun zung)

$CALP.A1 ... $CALP.A6

Reference Reference point offset between mathematical mathematical zero point and encoder zero point, axis A1 ... A6

Data type

Real

Unit



a ue

min. 0 max.

$CALP.E1 ... $CALP.E6

Reference Reference point offset between mathematical mathematical zero point and encoder zero point, external axis E1 ... E6

$CIRC_TYPE

Orientation Orientation control control with CIRC blocks in the advance advance run

Data type

Enum

Unit

a ue

min. max.

In file

-- -- --


DECL DECL CIRC_TYPE CIRC_TYPE $CIRC_T $CIRC_TYPE YPE ;Bezugssystem für die Orientierungsinterpolation bei CIRC--Sätzen (Vorlauf)

Comments Options

Effect

#BAS #BASE E

Spac Spacee--rela -relate ted d orie orient ntat atio ion n cont contro roll

#PA #PATH

PathPath--rela - relate ted d orie orient ntat atio ion n cont contro roll

$CIRC_TYPE_C

Orientation Orientation control control with CIRC blocks in the main run

Data type

Enum

Unit

a ue

min. max.

In file

-- -- --


DECL DECL CIRC_TYPE CIRC_TYPE $CIRC_T $CIRC_TYPE_C YPE_C ;Bezugssystem für die Orientierungsinterpolation bei CIRC--Sätzen (Hauptlauf)

Comments Options

Effect

#BAS #BASE E

Spac Spacee--rela -relate ted d orie orient ntat atio ion n cont contro roll

#PA #PATH

PathPath--rela - relate ted d orie orient ntat atio ion n cont contro roll

SysVar 08.02.03 en

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System Variables

$CMD

Display assignment assignment number (handle) for command command channel

Data typ type

Inte Integ ger

a ue

Unit In file

-- -- --


INT $CMD $CMD

min. max.

Comments

$COM_NAME

Command Command which is to be processed processed after next start

Data ata type type


a ue

Unit

min. max.

In file

-- -- --


CHAR CHAR $COM_NA $COM_NAME[48 ME[486] 6] ;Kommando, welches beim nächsten Start abgearbeitet wird

Comments

$COM_VAL_MI[ n]

Limitation Limitation of command command speed, axis[n]

Data type

Real

Unit

%

In fil file



REAL $COM_V $COM_VAL_M AL_MI[ I[n]

Comments


$CONF_MESS

min. max.

Signal declaration “Reset acknowledgement messages”

Data Data type type


Unit

36 of 170 170

a ue

a ue

In fil file



SIGNAL SIGNAL $CONF_M $CONF_MESS ESS $IN[1026 $IN[1026]]

Comme Comments nts

Exter Externa nall confi confirma rmatio tion n

min. max.


4


$COSYS

Coordinate Coordinate system for jogging

Data type

Enum

a ue

Unit In file

-- -- --


DECL DECL COSYS $COSYS $COSYS

min. max.

Comments Options

Effect

#AX #AX

Moti Motion ons s are are rela relati tive ve to the the axisaxis--spec - specif ific ic coor coordi dina nate te syst system em..

#CAR #CAR

Motio Motions ns are are relat relative ive to the Carte Cartesia sian n coor coordin dinate ate sy syste stem. m.

$COUNT_I[n]

Freely usable integer variables

Data typ type

Inte Integ ger

a ue

Unit In file

-- -- --


INT $COUNT_I[ $COUNT_I[n]

Comments

[n]=[1] ... [32] Used as counters in the VW package

$COUP_COMP[N,D] Data typ type

min. max.

Axis coupling factors factors

Str Structur ture

Unit

a ue

min. max.

In fil file



DECL DECL FRA $COUP_C $COUP_COMP[6, OMP[6,6] 6]

Commen Comments ts

Axis couplin coupling g factor factor:: N = numera numerator; tor; D = denomin denominator ator

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System Variables

$CP_VEL_TYPE Data type

Reduction Reduction of the CP path velocity

Enum

Unit

min. max.

In fil file


Original line

DECL CP_VEL_TYPE $CP_VEL_TYPE=#CONST $CP_VEL_TYPE=#CONSTANT ANT

Commen Comments ts

If the axis axis limit limit valu values es are are excee exceeded ded,, the CP CP velocit velocity y is reduc reduced. ed. Reduction is always active in Cartesian jogging.

Options

Effect

#Con #Const stan antt

No redu reduct ctio ion n

#VAR_ #VAR_T1 T1

Redu Reducti ction on in jog jog mode mode SStep( SStep(T1) T1)

#VAR_A #VAR_ALL LL

Reducti Reduction on in all modes modes

$CPVELREDMELD Data type

Generation Generation of message message if path velocity reduced reduced

Real

Unit

a ue

min. max.

In file

-- -- --


INT $CPVELR $CPVELREDME EDMELD LD

Commen Comments ts

The mess message age conta contains ins the the point point name name and and the maxi maximum mum reduc reduction tion in in the specific motion command. command.

Options

Effect

0

Generation of message deactivated.

1

Gen Generat eratio ion n of mess messag age e in the the even eventt of bloc block k chan change ge in jog jog mode mode..

100 100

Gene Genera rati tion on of mess messag age e in the the even eventt of bloc block k chan change ge in all all mode modes. s.

$CURR_ACT

38 of 170 170

a ue

Actual current of axes 1 -- 12

Data type

Real

Unit

%

In file

-- -- --


REAL $CURR_ $CURR_ACT[1 ACT[12] 2] ;Aktueller Motorstrom in %

Commen Comments ts

Curren Currentt value value of curren currentt of axes axes 1 ---- 12 in % of of maximum maximum servo servo drive drive module current $CURR_MAX (--100% to +100%)

a ue

min. max.


4


$CURR_CAL

Current Current calibration calibration in the power module

Data type

Real

a ue

Unit

min. max.

In fil file



REAL $CURR_ $CURR_CAL CAL[12] [12] ;Stromkalibrierung Powermodul (Stromwandler)

Commen Comments ts

For KRC 1a and KRC 2, calibra calibration tion =1

Options

Effect

1

High power

2

Medium / low power

4

Low power

$CURR_COM_EX Data type

Current Current limitation for external external axes in jog mode

Real

a ue

Unit

min. max.

In fil file



REAL $CURR_ $CURR_COM_ COM_EX[6] EX[6] ;Stromgrenze ;Stromgrenze externer Achsen für f ür Handverfahren Handverfahren

Comments

$CURR_LIM[n]

Current limitation, axis[n]

Data typ type

Inte Integ ger

Unit

%

In fil file



INT $CURR_ $CURR_LIM[ LIM[n]

Comments


$CURR_MAX

a ue

min. max.

Maximum Maximum effective effective current current on power module output

Data type

Real

Unit

A

In fil file



REAL $CURR_ $CURR_MAX[1 MAX[12] 2]

Commen Comments ts

Effective Effective curren currentt must be presen presentt

SysVar 08.02.03 en

a ue

min. max.

39 of 170 170

System Variables

$CURR_MON[ n]

Permissible rated current

Data type

Real

a ue

Unit

min. max.

In fil file



REAL $CURR_ $CURR_MON[ MON[n] ;Zulässiger Nennstrom

Comme Comments nts

Defin Defines es the limit limit for i2t monitoring for 55 C [n] = [1] [1] ... [6]: [6]: axis axis A1 ... ... A6 [n] = [7] ... [12]: external axis E1 ... E6

$CURR_RED

Current Current limitation of axes 1 -- 12 in % of maximum maximum current current

Data type

Real

Unit

%

In file

-- -- --


REAL $CURR_ $CURR_RED RED[12,2 [12,2]]

Comments

1st digit: 2nd digit:

$CYC_DEF1 $CYC_DEF1 ... 32 Data ata type type

a ue

min. max.

axis 1 = positi itive limit mit 2 = negative limit

Input text for the corresponding corresponding cyclical cyclical flag


Unit In file

-- -- --


CHAR CHAR $CYC_D $CYC_DEF1[4 EF1[470] 70] ... CHAR $CYC_DEF32[470]

a ue

min. max.

a ue

min. max.

Comments

$CYCFLAG[ n]

Cyclical flags

Data typ type

Boo Boolea lean

Unit

40 of 170 170

In file

-- -- --


BOOL $CYCFLAG[3 $CYCFLAG[32] 2]

Comm Commen ents ts

[n]=[ [n]=[1] 1] ... [256 [256]] There are 32 cyclical flags available; these flags are cyclically updated independently of program execution. The default value is FALSE.


5

5

D

D

$DATA_SERx

Number Number of serial serial receive receive messages messages read in the channel x buffer

Data typ type

Inte Integ ger

a ue

Unit

min. max.

In file

-- -- --


INT $DAT $DATA_SER1 A_SER1 ;Zähler für Datenpakete die über: SER1 eintreffen

Comments

$DATA_INTEGRITY Data typ type

A variable variable of type “Signal” is output either as groups of bits or one bit at a time

Boo Boolea lean

a ue

Unit

min. max.

In fil file



BOOL $DAT $DATA_INTEGRIT A_INTEGRITY=F Y=FALSE ALSE ;Signal--Datenkonsistenz Ein/Aus

Comments Comments

If the signal variable variable is is output output as groups groups of bits, the the signal signal must be defined in one of the defined data objects “OUTB”, “OUTW” or “OUTDW”

Options

Effect

TRU TRUE

Data are outpu tput as grou roups of bits

FALSE ALSE

Data ata are outpu utputt one one bit bit at a time time

Name Name of the SRC SRC file file whose whose vari variab ables les in the data data list list are are to be accessed accessed using the variable variable modification modification function

$DATAPATH Data ata type type


Unit In file

-- -- --

Original line

CHAR $DATAP $DATAPATH ATH[16] [16] ;Kommandocompiler--Suchpfad

a ue

min. max.

Comments

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41 of 170 170

System Variables

$DATE

System time and system date

Data typ type

Str Structur ture

Unit In file

-- -- --


DECL DECL DATE DATE $DATE $DATE ;Interne Systemzeit

a ue

min. max.

Comments

$DECEL_MB

Deceleration time during maximum braking

Data type

Real

Unit

ms

In fil file



REAL $DECEL $DECEL_MB[1 _MB[12] 2]

Commen Comments ts

Braking Braking ramp for dynamic dynamic braking braking [ms]. In maximum braking, the current actual speed value is taken as the command speed value and run down the ramp set in the machine datum $DECEL_MB to zero.

$DEF_A4FIX

a ue

Fixing of axis 4 when palletizing palletizing

Data typ type

Boo Boolea lean

Unit

42 of 170 170

min. max.

a ue

min. max.

In fil file



BOOL $DEF_A4F $DEF_A4FIX=F IX=FALSE ALSE ;Achse 4 fixiert

Commen Comments ts

Defines Defines whether whether the robot robot has has 5 or 6 axes. axes. When a program is loaded or reset, $PAL_MODE = $DEF_A4FIX is set, i.e. palletizing mode is thus automatically activated for a 5--axis robot and not for a normal 6--axis robot.

Options

Effect

TRU TRUE

5--axi - axis s robo robott (axi (axis s 4 fixe fixed) d)

FALSE

6--ax -axis robot


5

D (Fort ortsetzun zung)

$DEF_FLT_CP

Default filter for CP motion

Data typ type

Inte Integ ger

Unit In fil file



INT $DEF_FL $DEF_FLT_CP T_CP ;Defaultfilter CP

a ue

min. max.

a ue

min. max.

Comments

$DEF_FLT_PTP

Default filter for PTP motion

Data typ type

Inte Integ ger

Unit In fil file



INT $DEF_FL $DEF_FLT_PTP T_PTP ;Defaultfilter PTP

Comments

Center of mass frame for the default load on the flange in the flange coordinate system

$DEF_L_CM Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



FRAME FRAME $DEF_L_C $DEF_L_CM={x M={x 230.0,y 230.0,y 0.0,z 0.0,z 210.0,a 210.0,a 0.0,b 0.0,b 0.0,c 0.0,c 0.0} ;Massenschwerpunkt--Frame

Comments

$DEF_L_CM.A

Rotation about the Z axis

Data type

Real

Unit

$DEF_L_CM.B

Rotation about the Y axis

$DEF_L_CM.C

Rotation about the X axis

$DEF_L_CM.X

Offset in the X direction direction

$DEF_L_CM.Y

Offset in the Y direction direction

$DEF_L_CM.Z

Offset in the Z direction direction

SysVar 08.02.03 en

a ue

min. max.

43 of 170 170

System Variables

Default moment moment of inertia of the load on the flange in the default center of mass coordinate system of the load

$DEF_L_J Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



DECL DECL INERTIA INERTIA $DEF_L_ $DEF_L_J={X J={X 17,5,Y 17,5,Y 17,5,Z 17,5,Z 17,5} 17,5} ;Eigentraegheitsmomente der Last

Comments

$DEF_L_M

Default mass of the load on the flange

Data type

Real

a ue

Unit In fil file



REAL $DEF_L_ $DEF_L_M M

min. max.

Comments

Center of mass frame for the default mass of the supplementary load on axis 3 in the flange coordinate system

$DEF_LA3_CM Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file


Original line

FRAME $DEF_LA3_CM={x $DEF_LA3_CM={x --505.0,y 505.0,y 0.0,z --11 --1110.0,a 10.0,a 0.0,b 0.0,c 0.0,c 0.0} ;Massenschwerpunkt--Frame A3

Comments

$DEF_LA3_CM.A Data type


Real

Unit

$DEF_LA3_CM.B


$DEF_LA3_CM.C


$DEF_LA3_CM.X


$DEF_LA3_CM.Y


$DEF_LA3_CM.Z


44 of 170 170

a ue

min. max.


5


$DEF_LA3_J

Default moment moment of inertia of the supplementar supplementary y load on axis 3

Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



DECL DECL INERTIA INERTIA $DEF_LA3 $DEF_LA3_J={ _J={X X 16,8,Y 16,8,Y 16,8,Z 16,8,Z 16,8}

Comments

$DEF_LA3_M

Default mass of the supplementary supplementary load on axis 3

Data type

Real

a ue

Unit In fil file



REAL $DEF_LA $DEF_LA3_M 3_M

min. max.

Comments

$DEF_OV_JOG

Default value for override override in jog mode

Data typ type

Inte Integ ger

Unit In fil file



INT $DEF_OV_ $DEF_OV_JOG JOG

a ue

min. max.

Comments

$DEVICE

Operator control device status

Data type

Enum

Unit

a ue

min. max.

In file

-- -- --


DECL DECL DEVICE DEVICE $DEVICE $DEVICE ;Bediengerätezustand (ACTIVE, BLOCK, PASSIVE, OFF)

Comments Options

Effect

#ACTIVE #BLOCK #PASSIVE #OFF

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System Variables

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist (frame between axes 4 and 5)

$DH_4 Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file


Original line

DECL DHART DHART $DH_4={DHAR $DH_4={DHART_A T_A 0.0,DHART_ 0.0,DHART_D D 0.0,DHAR 0.0,DHART_ALPHA T_ALPHA 90.0} ;A = Länge A, D = Länge D, ALPHA = Winkel ALPHA

Commen Comments ts

Defines Defines the frame between between axes axes 4 and 5.

$DH_4.DHART_A

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist – Length A

Data type

Real

Unit

mm

a ue

min. max.

$DH_4.DHART_D

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist – Length D

$DH_4.DHART_ALPHA

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist – Angle alpha

Data type

Real

Unit



a ue

min. max.

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist (frame between A5 and A6)

$DH_5 Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file


Original line

DECL DHART DHART $DH_5={DHAR $DH_5={DHART_A T_A 0.0,DHART_ 0.0,DHART_D D 0.0,DHAR 0.0,DHART_ALPHA T_ALPHA --90.0} ;A = Laenge A, D = Laenge D, ALPHA = Winkel ALPHA

Commen Comments ts

Defines Defines the frame between between axes axes 5 and 6.

$DH_5.DHART_A

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist – Length A

Data type

Real

Unit

mm

a ue

min. max.

$DH_5.DHART_D

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist – Length D

$DH_5.DHART_ALPHA

Denavit--Hartenberg Denavit--Hartenberg parameters for the wrist – Angle alpha

46 of 170 170

Data type

Real

Unit



a ue

min. max.


5


$DIGIN1 ... $DIGIN6

Signal declaration defining the input to which the digital input “$DIGIN1 ... 6” is assigned

Data Data type type


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $DIGIN1 $DIGIN1 $IN[1026 $IN[1026]] TO $IN[1026 $IN[1026]] ... SIGNAL $DIGIN6 $DIGIN6 $IN[1026] $IN[1026] TO $IN[1026] $IN[1026]

Commen Comments ts

Assignme Assignment nt of digital digital inputs inputs 1 to 6

$DIGIN1CODE ... $DIGIN6CODE

Defines whether or not the value for “$DIGIN1 ... 6” is preceded by a sign

Data type

Enum

a ue

Unit

min. max.

In fil file



DECL DECL DIGINCO DIGINCODE DE $DIGIN $DIGIN1CO 1CODE=# DE=#UNS UNSIGNED IGNED ... DECL DIGINCODE DIGI NCODE $DIGIN6CODE=#UNSIGNED

Comme Comments nts

Sign Sign assi assign gnme ment nt for $DIGIN $DIGIN1 1 ... ... 6

Options

Effect

#SIGN IGNED

With sign

#UNSIGNE #UNSIGNED D Without Without sign sign

$DIR_CAL

Defines the referencing referencing direction direction for each axis

Data typ type

Inte Integ ger

Unit In fil file


Original line

INT $DIR_CAL=’B0001111 $DIR_CAL=’B00011111 1111 1111’ ;Referier--Richtung

a ue

min. max.

Comments Options

Effect

Bit (n)= 0

Referen Reference ce point point of axis axis n is is appr approac oached hed in the positiv positive e direc direction tion

Bit (n)= 1

Referen Reference ce point point of axis axis n is is appr approac oached hed in the negativ negative e direc direction tion

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System Variables

Direction Direction of the start key – program is executed either forwards or backwards

$DIRECTION Data type

Enum

Unit

a ue

In file

-- -- --


DECL DECL DIRECTION DIRECTION $DIRECTION $DIRECTION

min. max.

Comments Options

Effect

#FORW #FORWAR ARD D

Forwa Forwards rds exec executi ution on

#BACKW #BACKWARD ARD Backwar Backwards ds executi execution on

Average Average distance of wrist point from singularity singularity 1 (Alpha 1 singularity) singularity)

$DIS_WRP1 Data type

Real

Unit

a ue

min. max.

In fil file



REAL $DIS_WR $DIS_WRP1 P1 ;Mittlerer Abstand Handpunkt zur Singularitaet1

Comments

Average Average distance of wrist point from singularity singularity 2 (Alpha 5 singularity)

$DIS_WRP2

Data type

Real

Unit

a ue

min. max.

In fil file



REAL $DIS_WR $DIS_WRP2 P2 ;Mittlerer Abstand Handpunkt zur Singularitaet2

Comments

48 of 170 170


5


$DISPLAY_REF

New form output when “$DISPLAY_V “$DISPLAY_VAR” AR” is changed

Data typ type

Boo Boolea lean

a ue

Unit

min. max.

In file

-- -- --


BOOL $DISPLA $DISPLAY_R Y_REF EF ;Formularneuausgabe bei Aenderung von $DISPLAY_VAR

Comments

$DISPLAY_VAR.NAME[32] Data typ type

Name of observable variables

Str Structur ture

Unit

a ue

min. max.

In file

-- -- --

Original line

DECL DISPLAY_V DISPLAY_VAR AR $DISPLAY_V $DISPLAY_VAR[32] AR[32] ;Beobachtbare Variablen

Comments

$DISPLAY_VAR[1]...[32]

Observable variables

$DISPLAY_VAR.PATH[12]

Correspondin Corresponding g file list name

Data ata type type


Unit

a ue

min. max.

$DISPLAY_VAR.TITLE[12]

Name to be displaye displayed d for the variable variable

$DIST_NEXT

Distance Distance still to be covered covered to the next point

Data type

Real

Unit In file

-- -- --


REAL $DIST_NE $DIST_NEXT XT

a ue

min. max.

Comments

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System Variables

$DISTANCE

Curve length, CP motion

Data type

Real

Unit

mm

In file

-- -- --


REAL $DIST $DISTANCE ANCE ;Bogenlaenge CP--Bewegung in [mm]

a ue

min. max.

Comments

$DRIVE_CART

Option bit: PTP points with Cartesian Cartesian coordinates coordinates

Data typ type

Boo Boolea lean

Unit

a ue

In fil file



BOOL $DRIVE_C $DRIVE_CART ART=TRU =TRUE E ;PTP mit kartesischen Koordinaten

min. max.

Comments Optio tions

Effec fect

TRUE TRUE

PTP poin points ts can can have have Carte Cartesi sian an coor coordi dina nates tes

FALS FALSE E

PTP poin points ts cann cannot ot have have Carte Cartesia sian n coord coordina inates tes

$DRIVE_CP

Option bit: Cartesian Cartesian robot motion possible (LIN, CIRC)

Data typ type

Boo Boolea lean

Unit In fil file



BOOL $DRIVE_C $DRIVE_CP=TRU P=TRUE E

a ue

min. max.

Comments

50 of 170 170

Optio tions

Effec fect

TRUE TRUE

Cart Cartes esia ian n robo robott moti motion on poss possib ible le

FALS FALSE E

Carte Cartesi sian an robo robott motio motion n not not poss possib ible le


5


$DRIVES_OFF

Signal declaration declaration “Drives “Drives OFF”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $DRIVES_ $DRIVES_OFF OFF $IN[1025 $IN[1025]]

Comm Commen ents ts

Driv Drives es OFF

$DRIVES_ON

min. max.

Signal declaration declaration “Drives “Drives ON”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $DRIV $DRIVES_ON ES_ON $IN[1026 $IN[1026]]

Comm Commen ents ts

Driv Drives es ON

min. max.

Assignment Assignment of axes to channels of the digital servoelectr servoelectronics onics (DSE)

$DSECHANNEL Data typ type

Inte Integ ger

Unit In fil file



INT $DSECHA $DSECHANNE NNEL[12 L[12]] ;Achszuordnung ;Achszuordnung auf DSE

a ue

min. max.

Comments

Model data of the robot for acceleration acceleration adaptation, adaptation, higher motion profile and kinetic energy

$DYN_DAT[350] Data type

Real

Unit

a ue

min. max.

In fil file



REAL $DYN_D $DYN_DA AT[350] T[350]

Commen Comments ts

Contain Contains s the model model data data of the the robot, robot, which which are are requi required red for for accele acceleratio ration n adaptation, the higher motion profile and the calculation of kinetic energy (moments of inertia, friction values, etc.)

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System Variables

52 of 170 170


6

6

E

E

$EMSTOP_ADAP Data typ type

Model--based Model--based Emergency Stop

Boo Boolea lean

Unit

a ue

min. max.

In fil file



BOOL $EMSTOP_AD $EMSTOP_ADAP=F AP=FALSE ALSE ;NOT--AUS mit Dynamikmodell

Comme Comments nts

The sy syste stem m varia variabl ble e “$ADA “$ADAP_A P_ACC CC”” must must not not be set set to “#NON “#NONE” E” (dyna (dynamic mic model for the kinematic system must be present). The path--maintaining EMERGENCY STOP motion for PTP and CP paths is exec execute uted d with with maxim maximum um dece decele lerat ratio ion; n; this this is deter determin mined ed bythe motorand motorand gear torques calculated in the dynamic model. External axes are still braked as before, thus affecting the robot axes. Intern Internall allyy, both both the new new and and the old old functi function onal ality ity are calcu calcula lated ted and and compare compared d with one another another.. If this compari comparison son indica indicates tes signifi significan cantly tly higher higher deceleration using the old method (e.g. due to completely incorrect model or load data), braking is carried out using the old functionality.

Options

Effects

TRUE TRUE

Mode Modell--base -based d Emer Emerge genc ncy y Stop Stop activ activat ated ed

FALS FALSE E

Mode Modell--based -based Emerg Emergen ency cy Stop Stop not not activ activate ated d (old (old functi function onal ality ity))

$EMSTOP_GEARTORQ[ n] Data type

Maximum gear torque for Emergency Stop

Real

Unit

a ue

min. max.

In fil file



REAL $EMSTOP_ $EMSTOP_GEAR GEARTOR TORQ[n] Q[n] ;Max. Getriebemoment Getriebemoment bei modellbasiertem modellbasiertem NOT--AUS NOT--AUS [Nm]

Comm Commen ents ts

[n] [n] = [1] [1] ... [6] [6]

$EMSTOP_MOTTORQ[ n] Data type

Maximum motor torque for Emergency Stop

Real

Unit

a ue

min. max.

In fil file



REAL $EMSTOP_ $EMSTOP_MOTT MOTTORQ[n ORQ[n]] ;Max. Motormomente Motormomente bei modellbasiertem modellbasiertem NOT--AUS NOT--AUS [Nm]

Comm Commen ents ts

[n] [n] = [1] [1] ... [6] [6]

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System Variables

$EMSTOP_PATH Data typ type

Configuration of path--maintai path--maintaining ning Emergency Stop for operating modes T1, T2, AUT, EX

Str Structur ture

Unit

a ue

min. max.

In fil file


Original line

DECL EMSTOP_PA EMSTOP_PATH $EMSTOP_P $EMSTOP_PATH ATH={T1 ={T1 #ON,T2 #ON,T2 #ON,AUT #ON,AUT #ON,EX #ON} ;Projektierung des bahntreuen NOT--AUS für T1, T2, AUT, EX

Comments Options

Effects

#ON

Path--maintaining Path--maintaining emergency emergency stop for the corresponding corresponding operating mode is on

#OFF

Path--maintaining Path--maintaining emergency emergency stop for the corresponding corresponding operating mode is off off

$EMSTOP_PATH.AUT Data type

Configuration of path--maintain path--maintaining ing Emergency Stop for operating mode “AUT”

Enum

Unit

a ue

min. max.

Options

Effects

#ON

PathPath--mainta -maintain ining ing emerg emergen ency cy stop stop for oper operati ating ng mode mode “AUT” “AUT” is on

#OFF #OFF

PathPath--mainta -maintain ining ing emerg emergen ency cy stop stop for oper operati ating ng mode mode “AUT” “AUT” is off off

$EMSTOP_PATH.EX

Configuration of path--maintain path--maintaining ing Emergency Stop for operating mode “EX”

Options

Effects

#ON #ON

PathPath--main - mainta tain inin ing g emer emerge genc ncy y stop stop for for oper operat atin ing g mode mode “EX” “EX” is on

#OFF #OFF

PathPath--mainta -maintain ining ing emerg emergen ency cy stop stop for oper operati ating ng mode mode “EX” “EX” is off off

$EMSTOP_PATH.T1

Configuration of path--maintain path--maintaining ing Emergency Stop for operating mode “T1”

Options

Effects

#ON #ON

PathPath--main - mainta tain inin ing g emer emerge genc ncy y stop stop for for oper operat atin ing g mode mode “T1” “T1” is on

#OFF #OFF

PathPath--mainta -maintain ining ing emerg emergen ency cy stop stop for oper operati ating ng mode mode “T1” “T1” is off off

$EMSTOP_PATH.T2

54 of 170 170

Configuration of path--maintain path--maintaining ing Emergency Stop for operating mode “T2”

Options

Effects

#ON #ON

PathPath--main - mainta tain inin ing g emer emerge genc ncy y stop stop for for oper operat atin ing g mode mode “T2” “T2” is on

#OFF #OFF

PathPath--mainta -maintain ining ing emerg emergen ency cy stop stop for oper operati ating ng mode mode “T2” “T2” is off off


6

E (For Fortse tsetzu tzung) ng)

$EMSTOP_TIME

Time monitoring for path--maintai path--maintaining ning Emergency Stop

Data typ type

Inte Integ ger

Unit

ms

In fil file



INT $EMSTOP_TIM $EMSTOP_TIME E ;Zeitueberwachung für bahntreuen NOT--AUS [ms]

a ue

min. max.

Comments

$EMSTOP_TORQRATE Data type

Maximum Maximum changing changing of motor and gear torques torques

Real

a ue

Unit

min. max.

In fil file



REAL $EMSTOP_ $EMSTOP_TORQ TORQRA RATE TE ;Max. Aenderung der Momente bei NOT--AUS mit Dynamikmodell [Nm/ms]

Commen Comments ts

For setting setting jolt jolt limitati limitation on in the the event event of a modelmodel--based -based Emergen Emergency cy Stop

$EMT_MODE

Method for EMT mastering mastering

Data typ type

Str Structur ture

Unit

a ue

In file

-- -- --


DECL DECL EMT_MODE EMT_MODE $EMT_MODE $EMT_MODE

min. max.

Comments Options

Effects

#FIR #FIRST_ ST_CA CAL L

Firs Firstt mast master erin ing g

#TOOL_T #TOOL_TEACH EACH Learn Learn tool #CHE #CHECK CK_C _CAL AL

Chec Checkk

#RECALC #RECALC_CA _CAL L

Restore Restore

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System Variables

$ENDLESS

Flag for infinitely rotating rotating axes

Data typ type

Boo Boolea lean

Unit In fil file



BOOL $ENDLESS= $ENDLESS=TRUE TRUE ;Endlos drehende Achsen

a ue

min. max.

Comments Options

Effects

TRU TRUE

Infi Infin nite itely rota rotati ting ng axe axes poss possib ible le

FALSE ALSE

Infin Infinite itely ly rota rotati ting ng axes axes not not poss possib ible le

$ENERGY_MON Data typ type

Nominal energy monitoring (kinetic energy)

Boo Boolea lean

Unit

a ue

min. max.

In fil file

R1\Ma \Mada\$R \$Robcor.da .dat


BOOL $ENERGY_ $ENERGY_MON=F MON=FALSE ALSE ;Ueberwachun ;Ueberwachung g kinetische kinetische Energie bei Crash

Comments Options

Effects

TRU TRUE

Ener Energy gy moni monito tori ring ng acti activa vate ted d

FALSE ALSE

Ener Energy gy moni monito tori ring ng deac deacti tiva vate ted d

$ERROFFMASK Data typ type

Removal Removal of individual individual error error bits

Inte Integ ger

Unit

a ue

In file

-- -- --


INT $ERROFFMAS $ERROFFMASK[12] K[12] ;Abschaltung ;Abschaltung einzelner einzelner Fehlerbits Fehlerbits

min. max.

Comments

56 of 170 170


6


Offset and orientation orientation of the robot when external external axes are present, present, with reference to the world coordinate system

$ERSYSROOT Data typ type

Str Structur ture

Unit

mm, 

In fil file



FRAME FRAME $ERSYSROO $ERSYSROOT={x T={x 0.0,y 0.0,y 0.0,z 0.0,a 0.0,a 0.0,b 0.0,b 0.0,c 0.0} 0.0} ;Roboterfußpunktkin ;Roboterfußpunktkinematik ematik im Weltkoordinatens Weltkoordinatensystem ystem [mm,Grad]

Commen Comments ts

Only valid valid when when exter external nal axes axes are are prese present. nt. If “$ERSYSR “$ERSYSROOT” OOT” is valid, valid, then “$ROBROOT” will be ignored.

$ET1_AX ... $ET6_AX

a ue

min. max.

Assignment Assignment of external external axes to external axis kinematic kinematic system ET1 ... ET6

Data type

Enum

a ue

Unit

min. max.

In fil file


Original line

DECL ET_AX $ET1_AX={TR_A1 $ET1_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ... DECL ET_AX $ET6_AX={TR_A1 #NONE,TR_A2 #NONE,TR_A3 #NONE} ;Externe Achsen #NONE, #E1, #E2, #E3, #E4, #E5, #E6

Commen Comments ts

List List of externa externall axes axes used used in the the 1st ... 6th 6th externa externall transfor transformatio mations ns ET1 ... ET6.

Options

Effects

#NONE #E1 -- #E6

$ET1_NAME ... $ET6_NAME

Name of external axis kinematic system ET1 ... ET6

Data ata type type


Unit

a ue

min. max.

In fil file



CHAR CHAR $ET1_NA $ET1_NAME[20 ME[20]] ... CHAR $ET6_NAME[20] $ET6_NAME[20]

Commen Comments ts

The name name can can have have a maximu maximum m length length of 20 20 chara character cters. s.

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System Variables

$ET1_TA1KR ... $ET6_TA1KR

Offset between axis 1 and the root of the external axis kinematic system ET1 ... ET6

Data typ type

Str Structur ture

Unit

mm, 

In fil file



FRAME FRAME $ET1_T $ET1_TA1KR={x A1KR={x 0.0,y 0.0,y 0.0,z 0.0,a 0.0,a 0.0,b 0.0,b 0.0,c 0.0} 0.0} ... FRAME $ET6_TA1KR={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}

Commen Comments ts

FRAME FRAME betwee between n A1 and root root point point of KIN KIN in transform transformatio ation n ET1 ... ET6.

$ET1_TA2A1 ... $ET6_TA2A1

a ue

min. max.

Offset between axis 2 and axis 1 of the external axis kinematic system ET1 ... ET6

Data typ type

Str Structur ture

Unit

mm, 

In fil file



FRAME FRAME $ET1_T $ET1_TA2A1={x A2A1={x 0.0,y 0.0,y 0.0,z 0.0,a 0.0,a 0.0,b 0.0,b 0.0,c 0.0} 0.0} ... FRAME $ET6_TA2A1={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}

a ue

min. max.

Comments

$ET1_TA3A2 ... $ET6_TA3A2

Offset between axis 3 and axis 2 of the external axis kinematic system ET1 ... ET6

Data typ type

Str Structur ture

Unit

mm, 

In fil file



FRAME FRAME $ET1_T $ET1_TA3A2={x A3A2={x 0.0,y 0.0,y 0.0,z 0.0,a 0.0,a 0.0,b 0.0,b 0.0,c 0.0} 0.0} ... FRAME $ET6_TA3A2={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}

a ue

min. max.

Comments

58 of 170 170


6


$ET1_TFLA3 ... $ET6_TFLA3

Offset between flange and axis 3 of the external axis kinematic system ET1 ... ET6

Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



FRAME FRAME $ET1_TFLA3 $ET1_TFLA3={x ={x 0.0,y 0.0,y 0.0,z 0.0,a 0.0,a 0.0,b 0.0,b 0.0,c 0.0,c 0.0} ... FRAME $ET6_TFLA3={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}

Comments

$ET1_TPINFL ... $ET6_TPINFL

Offset between reference point and flange of the external axis kinematic system ET1 ... ET6

Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



FRAME FRAME $ET1_TPINFL $ET1_TPINFL={x ={x 0.0,y 0.0,y 0.0,z 0.0,a 0.0,a 0.0,b 0.0,b 0.0,c 0.0} 0.0} ... FRAME $ET6_TPINFL={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}

Comments

$EX_AX_ASYNC Data typ type

Switch external external axes to asynchronous asynchronous motion

Inte Integ ger

Unit

a ue

In fil file



INT $EX_AX_AS $EX_AX_ASYNC= YNC=’B00 ’B00000 0000’ 0’ ;Externe Achsen asynchron asynchron

min. max.

Comments Options

Effects

Bit = 1

Axis Axis asyn asynch chron ronou ous, s, Bit 0 exter externa nall axis axis E1 to Bit 5 exter externa nall axis axis E6

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System Variables

$EX_AX_NUM

Number of external axes

Data typ type

Inte Integ ger

a ue

Unit In fil file



INT $EX_AX_N $EX_AX_NUM=0 UM=0 ;Anzahl externer Achsen (0--6)

min. 0 max. 6

Comments

Assignment Assignment of external external base coordinate coordinate system to external external axis kinematic system

$EX_KIN Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file



DECL DECL EX_KIN $EX_KIN $EX_KIN={ET1 ={ET1 #NONE,ET #NONE,ET2 2 #NONE,ET3 #NONE,ET3 #NONE,E #NONE,ET4 T4 #NONE,ET5 #NONE,ET6 #NONE} ;Externe Kinematiken Kinematiken #NONE,#EASYS,#EBS #NONE,#EASYS,#EBSYS,#ECSYS,#EDYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS

Comments

$EXCOUP_COMP Data typ type

Coupling factors factors of axes 7 (index 1) to 12 (index 6)

Array

Unit

60 of 170 170

a ue

min. max.

In fil file



DECL DECL FRA $EXCOUP_ $EXCOUP_COMP COMP[6,6] [6,6] ;Kopplungsfaktoren Achse 7 (Index 1) bis Achse 12 (Index12), N = Zaehler, D =Nenner

Comme Comments nts

N = nume numera rator tor;; D = den denom omina inator tor


6


$EXT

Signal declaration “External mode”

Data Data type type


Unit In fil file



SIGNAL SIGNAL $EXT $OUT[996 $OUT[996]] ;Betriebsart ;Betriebsart extern

a ue

min. max.

Comments Options

Effects

TRU TRUE

Ope Operati ratin ng mod mode EXTE EXTER RNAL

FALSE ALSE

Oth Other operati ratin ng mod mode

$EXT_AXIS

Display whether external axes are present

Data typ type

Boo Boolea lean

a ue

Unit In fil file



BOOL $EXT_AXIS=F $EXT_AXIS=FALSE ALSE

min. max.

Comments Options

Effects

TRUE

Exter ternal axes present

FALSE ALSE

No exte extern rnal al axes axes pres presen entt

$EXT_START

Signal declaration “External start active”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $EXT_S $EXT_ST TART $IN[1026 $IN[1026]] ;Externer Start

min. max.

Comments

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System Variables

$EXTSTARTTYP Data typ type

Flag for automatic automatic mode without external external signals

Boo Boolea lean

Unit In file

-- -- --


BOOL $EXTST $EXTSTARTTYP ARTTYP

a ue

min. max.

Comments

62 of 170 170

Options

Effects

TRU TRUE

Auto Automa mati tic c mod mode possible

FALSE ALSE

Auto Automa mati tic c mode mode not not poss possib ible le


7

7

F

F

$FAN_FOLLOW_UP_TIME Data Data type type

Signal declaration declaration “Fan “Fan monitorin monitoring” g”


Unit

a ue

5.0 min. max. 1000.0

In fil file



REAL $FAN_F $FAN_FOLLO OLLOW_U W_UP_TIM P_TIME E

Commen Comments ts

FollowFollow--up time for fan control control.. When a defined temperature is reached, the external fan is activated for a preset length of time. If the follow--up time is set to “1000.0”, the fan runs continuously.

$FFC_TORQ

Torque Torque feed forward control

Data typ type

Boo Boolea lean

Unit

a ue

In fil file



BOOL $FFC_TOR $FFC_TORQ=F Q=FALSE ALSE ;Momentenvorsteuer ;Momentenvorsteuerung ung EIN/AUS

min. max.

Comments Options

Effects

TRUE TRUE

Torqu orque e feed feed forw forwar ard d cont contro roll acti activa vate ted d

FALSE ALSE

Torqu orque e feed feed forw forwar ard d cont contro roll not not acti activa vate ted d

$FFC_VEL

Velocity feed forward control

Data typ type

Inte Integ ger

Unit

a ue

min. max.

In fil file



INT $FFC_VEL $FFC_VEL=’B0 =’B0000 00000’ 00’ ;Geschwindigkeitsvorsteuerung EIN/AUS

Comments Options

Effects

0

Off, LSB: axis 1, MSB: axis 12

1

On

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System Variables

$FILTER

Smooth ramp in advance advance run

Data typ type

Inte Integ ger

a ue

Unit

min. max.

0 16

In file

-- -- --


INT $FILTER $FILTER

Comments Comments

The filter prevents prevents abrupt abrupt acceleration acceleration to the maximum acceleration acceleration value of 16 interpolation cycles.

$FILTER_C

Smooth ramp in main run

Data typ type

Inte Integ ger

a ue

Unit In file

-- -- --


INT $FILTER_ $FILTER_C C

Commen Comments ts

The curren currentt filter filter value value is display displayed. ed.

$FLAG[1]...[1024] Data typ type

min. max.

0 16

Flags 1 to 1024 as global markers markers

Boo Boolea lean

Unit

a ue

min. 0 max.

In file

-- -- --


BOOL $FLAG[102 $FLAG[1024] 4]

Commen Comments ts

Are used used as as globa globall marke markers rs and and initia initializ lized ed with with FALSE FALSE

Options

Effects

TRUE FALSE

$FOL_ERR_MA

Factor for following error monitoring monitoring

Data type

Real

Unit

a ue

min. max.

In fil file



REAL $FOL_ER $FOL_ERR_M R_MA[12] A[12] ;Faktor fuer Schleppfehlerueberwachung

Comments

64 of 170 170


7

F (Fo (Fortsetzung ung)

$FOL_ERROR[n]

Velocity--related Velocity--related axis following error

Data type

Real

Unit

ms

In file

-- -- --


REAL $FOL_ER $FOL_ERROR ROR[[ n] ;Bezogener Schleppfehler

Comments

[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 n [ ] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6

SysVar 08.02.03 en

a ue

min. 0 max.

65 of 170 170

System Variables

8

G

$G_COE_CUR[n]

Proportional Proportional gain of the current current controller controller

Data typ type

Inte Integ ger

Unit

%

In fil file



INT $G_COE_C $G_COE_CUR[ UR[n]

Comments


$G_VEL_CAL[n] Data type

min. max.

Real

a ue

100

min. max.

In fil file



REAL $G_VEL_C $G_VEL_CAL[ AL[n]

Comments


$G_VEL_CP[n]

1

Velocity factor for speed controller gain

Unit

Velocity factor for speed controller gain

Data type

Real

Unit

a ue

min. max.

In fil file



REAL $G_VEL_C $G_VEL_CP[ P[n]

Comments


$G_VEL_PTP[n] Data type

Proportional Proportional gain of the speed controller controller for PTP motion

Real

Unit

66 of 170 170

a ue

a ue

min. max.

In fil file



REAL $G_VEL_P $G_VEL_PTP[ TP[n]

Comments



8

G (Fo (Fortse tsetzu tzung) ng)

$GEARTORQ_MON Data typ type

Control Control of gear torque monitoring monitoring

Boo Boolea lean

Unit

a ue

In fil file



BOOL $GEARTOR $GEARTORQ_MON Q_MON=FA =FALSE LSE

min. max.

Comments Options

Effects

TRUE

Activ Activate ated d usin using g the limits limits (% of the maxim maximum um acce accele lera ratin ting g torqu torques es)) defin defined ed in the data $DYN_DAT[231] ... $DYN_DAT[236] in $robcor.dat

FALSE

Controller OFF

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System Variables

9

H

$H_POS

Home position of the robot

Data typ type

Str Structur ture

Unit

mm, 

In fil file


Original line

E6AXIS $H_POS={a1 $H_POS={a1 0.0,a2 --90.0,a3 90.0,a3 90.0,a4 90.0,a4 0.0,a5 0.0,a5 0.0,a6 0.0,a6 0.0,e1 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}

a ue

min. max.

Comments

$H_POS_TOL

Permissible Permissible tolerance tolerance for “Robot in home position”

Data typ type

Str Structur ture

Unit

mm, 

In fil file


Original line

E6AXIS $H_POS_T $H_POS_TOL={a1 OL={a1 2.0,a2 2.0,a3 2.0,a4 2.0,a5 2.0,a6 2.0,e1 2.0,e2 2.0,e3 2.0,e4 2.0,e5 2.0,e6 2.0}

a ue

min. max.

Comments

$HOME[3]

HOME directory directory setting of the compiler compiler

Data ata type type


Unit

a ue

min. max.

In file

-- -- --


CHAR CHAR $HOME[3] $HOME[3] ;HOME--Einstellung (/ = Steuerungsspezifisch, /R1 = Rob.System 1, /R2 = Rob.System 2 )

Comments

68 of 170 170

Options

Effects

/R1

Robot system 1

/R2

Robot system 2


9

H (Fort ortsetzun zung)

$HW_WARNING

Signal declaration “Hardware warning”

Data Data type type


Unit

a ue

min. FALSE, 1 max. 4096

In fil file



SIGNAL SIGNAL $HW_ $HW_WA WARNIN RNING G $OUT[14 $OUT[148] 8] ;Projektierbare ;Projektierbare Systemvariable Systemvariable

Commen Comments ts

As soon soon as as a hardw hardware are warn warning ing occu occurs, rs, the configu configured red outpu outputt is set set Reacts to 268: 268: Warni Warning ng:: PC fan spee speed d 284: 284: Warnin Warning: g: battery battery voltage voltage 1066: Warning: Warning: motherboard motherboard temperature

Options

Effects

FALSE

No output is set

1 ... 4096 4096

The The rele releva vant nt outp output ut is set set

$HWEND

Signal declaration declaration “Limit switch tripped” tripped”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $HWEND $HWEND $IN[1002 $IN[1002]] ;HW--Endschalter für alle Achsen

min. max.

Comments

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System Variables

10

I

$I_O_ACT

Signal declaration declaration “I/O interfaces interfaces active” active”

Data Data type type


Unit In fil file



SIGNAL SIGNAL $I_O_ACT $I_O_ACT $IN[1025 $IN[1025]] ;E/A--Schnittstelle aktiv

a ue

min. max.

Comments

$I_O_ACTCONF Data Data type type

Signal declaration “External device active”


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $I_O_ $I_O_ACTC ACTCONF ONF $OUT[100 $OUT[1009] 9] ;E/A--Schnittstelle ;E/A--Schnittstelle aktiv Quittung

Comments

$I_VEL_CP[n]

Integral Integral factor of the speed controller controller for CP motion

Data type

Real

Unit

min. max.

In fil file



REAL $I_VEL_C $I_VEL_CP[ P[n]

Comments


$I_VEL_PTP[n]

Integral Integral factor of the speed controller controller for PTP motion

Data type

Real

Unit

70 of 170 170

a ue

a ue

min. max.

In fil file



REAL $I_VEL_P $I_VEL_PTP[ TP[n]

Comments



10

I (For (Forts tset etzu zung ng))

$IBS_SLAVEIN[10] Data typ type

Controller Controller input words assigned assigned by the Interbus Interbus slave

Inte Integ ger

a ue

Unit In fil file



INT $IBS_SLA $IBS_SLAVEIN[1 VEIN[10] 0]

min. max.

Comments

$IBUS_OFF

Switches off alternative alternative Interbus Interbus groups

Data typ type

Inte Integ ger

a ue

Unit In fil file



INT $IBUS $IBUS_OF _OFF F

min. max.

Comments

$IBUS_ON

Switches on alternative alternative Interbus Interbus groups

Data typ type

Inte Integ ger

a ue

Unit In fil file



INT $IBUS $IBUS_ON _ON

min. max.

Comments

$IDENT_OPT

Query whether load data determination determination can be carried carried out

Data typ type

Boo Boolea lean

Unit In fil file



BOOL $IDENT_OPT= $IDENT_OPT=FAL FALSE SE

a ue

min. max.

Comments Options

Effects

TRU TRUE

Load Load data data dete determ rmin inat atio ion n is poss possib ible le

FALSE ALSE

Load Load data data dete determ rmin inat atio ion n is not not poss possib ible le

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System Variables

$IDENT_STARTP Data typ type

Start position for load data determination determination

Str Structur ture

Unit In fil file



E6AXIS E6AXIS $IDENT_S $IDENT_ST TARTP ARTP

a ue

min. max.

Comments

$IDENT_STATE

Status of load data determination determination

Data type

Enum

a ue

Unit

min. max.

In fil file


Original line

DECL IDENT_STATE IDENT_STATE $IDENT_STA $IDENT_STATE

Comments

$IN[n]

Options

Effects

#I_E #I_END ND

Load Load data data dete determ rmin inat atio ion n term termin inat ated ed

#I_REA #I_READY DY

Read Ready y for load load data data deter determin minati ation on

#I_ #I_TEST TEST

Test run run is bein being g carr carrie ied d out out

#I_M #I_MEA EAS S

Meas Measur urem emen entt is bein being g carr carrie ied d out out

#I_MEAS_OK

Measurement Measurement was error--free

#I_C #I_CAL ALC C

Calc Calcul ulat atio ion n is bein being g carr carrie ied d out out

Data typ type

Inputs

Boo Boolea lean

Unit

72 of 170 170

a ue

min. max.

In file

-- -- --


BOOL $IN[4096 $IN[4096]] ;Eingang [1 bis 4096]

Comments

[n]=[1] ... [4096] [4096] The The numb number er of inpu inputs ts can can be incr increa ease sed d to max. max. 4096 4096 by setti setting ng $SET_IO_SIZE accordingly.


10


$IN_HOME

Signal declaration declaration “Robot in home position”

Data Data type type


Unit

a ue

In fil file

Steu teu\Ma \Mada\$m \$machine.d


SIGNAL SIGNAL $IN_HOME $IN_HOME $OUT[100 $OUT[1000] 0]

min. max.

Comments

$IN_HOME1 ... $IN_HOME5

Signal declaration “Home position1 ... 5”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $IN_HOME $IN_HOME1 1 $OUT[977 $OUT[977]] ... SIGNAL $IN_HOME5 $OUT[981]

min. max.

Comments

$IN_POS_MA[n]

Positioning Positioning window for following error monitoring monitoring

Data type

Real

Unit

mm, 

In fil file



REAL $IN_POS_M $IN_POS_MA[ A[n]

Comments


$IN_STILL_MA

a ue

min. max.

Factor for calculating calculating the standstill standstill window

Data typ type

Inte Integ ger

Unit

a ue

min. max.

In fil file



INT $IN_STILL $IN_STILL_MA _MA

Comme Comments nts

If all axes axes are in posit positio ion n and no new new setpoi setpoint nt is defin defined ed,, the axes are are monitored to make sure they do not wander out of position.

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System Variables

$INC_AXIS[1]...[6] Data type

Incremental Incremental dimension, dimension, axis--specific – for axes A1 ... A6

Real

a ue

Unit In fil file



REAL $INC_AXIS $INC_AXIS[6] [6]

min. max.

Comments

$INC_CAR[1]...[6]

Incremental Incremental dimension, Cartesian, Cartesian, relative to the tool, for axes A1 ... A6

Data type

Real

Unit

mm, 

In fil file



REAL $INC_CA $INC_CAR[6] R[6]

a ue

min. max.

Comments

$INC_EXTAX

Incremental dimension (axis--specifi (axis--specific) c) for external axes

Data type

Real

Unit

mm, 

In fil file



REAL $INC_EXT $INC_EXTAX[6] AX[6]

a ue

min. max.

Comments

$INPOSITION

Bit array array for “Axis in position” of all axes, A1 ... A6, E1 ... E6

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $INPOSITION $INPOSITION

a ue

min. max.

Comments

74 of 170 170

Options

Effects

Bit=0

Axis in motion

Bit= Bit=1 1

Axi Axis in positio tioning ing window


10


$INTERPRETER Data typ type

Selection Selection of the Submit or robot interpreter interpreter

Inte Integ ger

a ue

Unit In file

-- -- --


INT $INTERPR $INTERPRETER ETER

min. max.

Comments Options

Effects

0

Submit interpreter

1

Robot interpreter

$INTERRUPT

Program is processing an interrupt

Data typ type

Boo Boolea lean

Unit In fil file



BOOL $INTERRU $INTERRUPT PT ;Interruptbearbeitung

a ue

min. max.

a ue

min. max.

Comments

$IOSIM_OPT

Simulation Simulation of inputs/outputs inputs/outputs

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $IOSIM_OPT $IOSIM_OPT

Comments Options

Effects

TRU TRUE

I/O I/O simu imulati latio on activa tivate ted d

FALSE ALSE

I/O I/O simu simula lati tion on deac deacti tiva vate ted d

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System Variables

$IPO_MODE

Advance run interpolation mode

Data type

Enum

a ue

Unit In file

-- -- --


DECL DECL IPO_MODE IPO_MODE $IPO_MODE $IPO_MODE ;Interpolationsart Vorlauf

min. max.

Comments Options

Effects

#BASE #TCP

$IPO_MODE_C

Main run interpolation interpolation mode

Data type

Enum

a ue

Unit

min. max.

In file Origina Originall line line

DECL DECL IPO_MODE IPO_MODE $IPO_MODE $IPO_MODE_C _C ;Interpolationsart ;Interpolationsart Hauptlauf Hauptlauf

Comments Options

Effects

#BASE #TCP

Number Number of iterations iterations for path planning with activated activated acceleration acceleration adaptation adaptation and higher motion profile

$ITER Data typ type

Inte Integ ger

Unit In fil file



INT $ITER $ITER ;Anzahl der Iterationen

a ue

min. max.

Comments

76 of 170 170


11

11

J

J

$JUS_TOOL_NO Data typ type

Number Number of the current current tool for EMT mastering mastering

Inte Integ ger

Unit In fil file



INT $JUS_T $JUS_TOOL_ OOL_NO NO

a ue

min. max.

Comments

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System Variables

12

K

$KCP_CONNECT Data typ type

Display whether the KCP is connected connected to the controller controller

Boo Boolea lean

a ue

Unit In file

-- -- --


BOOL $KCP_CO $KCP_CONNE NNECT CT

min. max.

Comments Options

Effects

TRUE

KCP is connected

FALSE ALSE

KCP KCP is not connected ted

$KEYMOVE

Assignment of jog keys to axes

Data typ type

Str Structur ture

Unit

a ue

min. max.

In file

-- -- --


DECL DECL KEYMOVE KEYMOVE $KEYMOVE $KEYMOVE

Comm Commen ents ts

Thes These e six six fiel fields(T1 ds(T1 to T6) T6) are are usedto usedto stor store e whic which h axisis axisis move moved d usin using g whic which h of the corresponding plus--minus rockers. Whether or not the jog keys are active depends on the state of the system variable variable $KEYMOVE.

$KEYMOVE.T1 ... $KEYMOVE.T6

Status of plus/minus key 1 ... 6 (from top on the KCP)

Data typ type

Inte Integ ger

Unit

a ue

min. max.

In file

-- -- --


STRUC STRUC KEYMOVE KEYMOVE INT INT T1,T2,T3 T1,T2,T3,T4,T5 ,T4,T5,T6 ,T6

Comments

78 of 170 170


12

K (For (Forts tset etzu zung ng))

$KINCLASS

Kinematic classes

Data type

Enum

Unit

a ue

min. max.

In fil file


Original line

DECL KINCLASS $KINCLASS=#STAN $KINCLASS=#STANDARD DARD ;Kinematikklassen (STANDARD,SPECIAL,TEST,NONE)

Comments Options

Effects

#STANDARD #SPECIAL #TEST #NONE

$KPS_CURR_MAX[8] Data type

Maximum Maximum current current of a KPS over 1 second

Real

Unit

a ue

In fil file



REAL $KPS_CU $KPS_CURR_ RR_MAX[8 MAX[8]] ;Maximalstrom eines KPS über 1 s

Comm mme ents

KPS KPS = K UKA UKA P ower S upply

$KPS_CURR_RATED[8] Data type

Rated current current of KPS KPS for a duration duration of 60 seconds seconds

Real

Unit

a ue

In fil file



REAL $KPS_CU $KPS_CURR_ RR_RA RATED[8 TED[8]] ;Nennstrom eines KPS über 60 s

Comm mme ents

KPS KPS = K UKA UKA P ower S upply

SysVar 08.02.03 en

min. max.

min. max.

79 of 170 170

System Variables

$KR_SERIALNO Data typ type

Serial Serial number of the robot

Inte Integ ger

Unit In file

-- -- --


INT $KR_SERIAL $KR_SERIALNO NO ;Roboter--Seriennummer

a ue

min. max.

Comments

$KT_MOT

KT factor of motors motors (relationship (relationship between current current and torque) torque)

Data type

Real

Unit In fil file



REAL $KT_MOT[1 $KT_MOT[12] 2] ;KT--Faktor der Motoren

a ue

min. max.

Comments

KT0 factor of servomotors (defined at working point with speed=0)

$KT0_MOT[n] Data type

Real

Unit

80 of 170 170

a ue

min. max.

In fil file



REAL $KT0_MOT[ $KT0_MOT[n]

Comments



13

13

L

L

$L_EMT_MAX[n]

Maximum Maximum length of EMT mastering mastering travel travel

Data type

Real

Unit

mm, 

In fil file



REAL $L_EMT_M $L_EMT_MAX[ AX[n]

Comments

[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6 If the travel length is exceeded, an error message will be displayed.

a ue

min. max.

message” $LAST_BUFFERING_NOTOK Signal declaration “Battery message”

Data Data type type


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $LAST_B $LAST_BUFFER UFFERING_ ING_NOTO NOTOK K $OUT[100 $OUT[1003] 3] ;Ausgang signalisiert eine anstehende Akkumeldung

Commen Comments ts

If the vari variabl able e “$LAST_ “$LAST_BUFFE BUFFERING RING_NOT _NOTOK” OK” has has the the value value “TRUE”, “TRUE”, the battery voltage was too low the last time the system was shut down. Otherwise, the value is “FALSE”.

$LENGTH_A

Main axis length A, eccentricity eccentricity of axis 2 relative relative to axis 1

Data type

Real

Unit In fil file



REAL $LENGTH $LENGTH_A _A ;Grundachslaenge A

a ue

min. max.

Comments

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System Variables

$LENGTH_B

Main axis length B, link arm length

Data type

Real

a ue

Unit In fil file



REAL $LENGTH $LENGTH_B _B ;Grundachslaenge B

min. max.

Comments

$LG_CP

Proportional Proportional gain of the position controller controller for CP motion

Data type

Real

Unit

1/ms

In fil file



REAL $LG_CP[1 $LG_CP[12] 2] ;KV--Faktor Bahn--fahren [1/ms]

a ue

min. max.

Comments

$LG_PTP

Proportional Proportional gain of the position controller controller for PTP motion

Data type

Real

Unit

1/ms

In fil file



REAL $LG_PTP[12 $LG_PTP[12]] ;KV--Faktor PTP Achse [I] (i=1:A1,i=7:E1) [1/ms]

a ue

min. max.

Comments

$LINE_SEL_OK Data typ type

Display whether block selection selection was successful successful

Boo Boolea lean

Unit In file

-- -- --


BOOL $LINE_SEL $LINE_SEL_OK _OK

a ue

min. max.

Comments

82 of 170 170

Options

Effects

TRU TRUE

Blo Block selectio tion too took place

FALSE ALSE

Bloc Block k sele select ctio ion n did did not not take take plac place e


13

L (For (Forts tset etzu zung ng))

$LINE_SELECT

Editing with or without implicit block selection selection

Data typ type

Boo Boolea lean

a ue

Unit In file

-- -- --


BOOL $LINE_SEL $LINE_SELECT ECT

min. max.

Comments Options

Effects

TRU TRUE

Edit Editiing with block select lectio ion n

FALSE ALSE

Editi Editing ng with withou outt bloc block k sele select ctio ion n

$LOOP_CONT

Results of simulation simulation for loop termination termination condition

Data typ type

Boo Boolea lean

a ue

Unit

min. max.

In file

-- -- --


BOOL $LOOP_CO $LOOP_CONT=F NT=FALSE ALSE

Commen Comments ts

Simulati Simulation on resul resultt which which can can be used used as as loop loop termina termination tion cond conditio ition. n. $LOOP_C $LOOP_CONT ONT receive receives s the value value FALSE FALSE as soon soon as the simulati simulation on key is pres presse sed. d. Thevalue Thevalue must must be set set to TRUE TRUE befor before e usin using g $LOOP $LOOP_M _MSG SG to start start a simulation. simulation.

Options

Effects

TRU TRUE

Simu Simullatio tion key key pres ressed

FALSE ALSE

Simu Simula lati tion on key key not not pres presse sed d

$LOOP_MSG

Start simulation simulation if value not equal to blank string

Data ata type type


Unit

a ue

min. max.

In fil file



CHAR CHAR $LOOP_MS $LOOP_MSG[128 G[128]]

Commen Comments ts

Starts the simula simulation tion as soon soon as as the valu value e is not not equal equal to blank blank string string,, and causes the text contained and the simulation key to be displayed. To end the simulation, the value must be reset to blank string.

SysVar 08.02.03 en

83 of 170 170

System Variables

84 of 170 170


14

14

M

M

$MAIN_AXIS

Main axis identification identification

Data type

Enum

a ue

Unit

min. max.

In fil file



DECL DECL MAIN_AXIS MAIN_AXIS $MAIN_AXIS $MAIN_AXIS=#NR =#NR ;Grundachsenkennung (SS = Portal, CC = Scara, NR = Gelenkroboter)

Comments Options

Effect

#SS

Gantry robot

#CC

SCARA robot

#NR

Jointed--ar -arm robot

$MAMES[n]

Offset between mechanical mechanical and mathematical mathematical zero of axis n

Data type

Real

Unit

mm, 

In fil file



REAL REAL $MAME $MAMES[ S[n]

Comments


$MEAS_PULSE

a ue

min. max.

Activate Activate rapid gauging

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $MEAS_PU $MEAS_PULSE[5 LSE[5]] ;Messpuls

a ue

min. max.

Comments

SysVar 08.02.03 en

85 of 170 170

System Variables

$MODE_MOVE

Motion type in jog mode

Data type

Enum

a ue

Unit

min. max.

In file

-- -- --


DECL DECL MODE_MOVE MODE_MOVE $MODE_MO $MODE_MOVE VE

Comments Options

Effect

#MM

Jogging

#MC

Manual referencing

#MI

Incremental motion

$MODE_OP

Display current operating mode

Data type

Enum

Unit In file

-- -- --


DECL DECL MODE_OP MODE_OP $MODE_OP $MODE_OP ;Betriebsart (T1, T2, AUT, EX)

a ue

min. max.

a ue

min. max.

Comments Options

Effect

#T1

Test 1

#T2

Test 2

#AUT

Automatic

#EX

Automatic External

$MODEL_NAME Data ata type type

Robot type


Unit

86 of 170 170

In fil file



CHAR CHAR $MODEL_N $MODEL_NAME[32 AME[32]]

Comme Comments nts

Defin Defines es the robot robot type. type.


14

M (For (Forts tset etzu zung ng))

$MOUSE_ACT

Status of the Space Mouse

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $MOUSE_A $MOUSE_ACT CT

a ue

min. max.

Comments Options

Effect

TRUE

Space Mouse active

FALSE ALSE

Spa Space Mou Mouse not activ tive

Mode for Space Mouse Dominant Dominant coordinate coordinate / All coordinates

$MOUSE_DOM Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $MOUSE_D $MOUSE_DOM OM

a ue

min. max.

Comments Options

Effect

TRUE TRUE

Spac Space e Mous Mouse e in mode mode “Dom “Domin inan antt coor coordi dina nate te acti active ve””

FALSE ALSE

Spac Space e Mous Mouse e in mode mode “All “All coor coordi dina nate tes s acti active ve””

$MOUSE_ROT

Space Mouse – set rotational rotational motions to active

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $MOUSE_R $MOUSE_ROT OT

a ue

min. max.

Comments Options

Effect

TRUE TRUE

Spac Space e Mous Mouse e “r “rot otat atio iona nal” l” moti motion ons s swit switch ched ed on

FALS FALSE E

Space Space Mouse Mouse “rotati “rotation onal al”” motio motions ns switc switche hed d off off

SysVar 08.02.03 en

87 of 170 170

System Variables

$MOUSE_TRA

Space Mouse – set translational translational motions to active

Data typ type

Boo Boolea lean

a ue

Unit In file

-- -- --


BOOL $MOUSE_TR $MOUSE_TRA A

min. max.

Comments Options

Effect

TRUE TRUE

Spac Space e Mous Mouse e “tran “transl slat atio iona nal” l” moti motion ons s swit switch ched ed on

FALS FALSE E

Space Space Mouse Mouse “tran “transl slati ation onal al”” motio motions ns switc switche hed d off off

$MOVE_BCO

Block coincidence coincidence run (BCO)

Data typ type

Boo Boolea lean

a ue

Unit In file

-- -- --


BOOL $MOVE_BC $MOVE_BCO O ;Aktuelle Bewegung ist SAK--Fahrt

min. max.

Comments Options

Effect

TRUE

Current motio tion is BCO run

FALSE

No BCO run

$MOVE_ENABLE Data Data type type

Signal declaration “Move enable”


Unit

a ue

In fil file



SIGNAL SIGNAL $MOVE_ $MOVE_ENAB ENABLE LE $IN[1025 $IN[1025]] ;Fahrfreigabe gesamt

min. max.

Comments

88 of 170 170


14


$MOVE_ENA_ACK Data Data type type

Move enable signal feedback feedback signal


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $MOVE_ $MOVE_ENA_ ENA_ACK ACK $OUT[150 $OUT[150]] ;Rueckmeldung $MOVE_ENABLE an PLC

Comments

$MOVE_STATE

Current Current status of motion

Data type

Enum

a ue

Unit

min. max.

In file

-- -- --

Original line

DECL MOVE_STA MOVE_STATE $MOVE_STATE $MOVE_STATE

Commen Comments ts

$MOVE_ST $MOVE_STA ATE is used used in path path plannin planning g to identify identify the the individ individual ual motio motion n path sections. sections. In the case of of RESET, RESET, CANCEL, block selection and no program program selected, selected, $MOVE_STATE has the value #NONE. $MOVE $MOVE_ST _STA ATE is comp compos osed ed of two parts parts.. The first first is the desig designa natio tion n of the spec specifi ificc type type of motion motion (PTP (PTP, LIN, LIN, CIRC), CIRC), and and the seco second nd is the iden identifi tifier er of the current section of the path. #xxx_SINGLE designates a motion outside an approximate positioning range; #xxx_APO1 #xxx_APO1 designates a motion inside an approximate approximate positioning positioning range up to the middle of the block; #xxx_APO2 #xxx_APO2 designates a motion inside an approximate approximate positioning positioning range after the middle of the block; #NONE designates the state with no program selected, in the case of RESET or CANCEL.

$MS_DA[n]

Status of position control control monitoring monitoring

Data typ type

Inte Integ ger

Unit

a ue

min. max.

In fil file



INT $MS_D $MS_DA[ A[n]

Comments


SysVar 08.02.03 en

89 of 170 170

System Variables

$MSG_T

Structure for message display

Data typ type

Str Structur ture

Unit

a ue

min. max.

In fil file


Original line

DECL MSG_T $MSG_T={VALID $MSG_T={VALID FALSE,RELEASE FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL[] ” ”,KEY[] ” ”,PARAM_TYP #VALUE,PARAM[] ” ”,DLG_FORMAT[] ” ”,ANSWER 0}

Comments

$MSG_T.ANSWER Data typ type

Number Number of the softkey pressed pressed

Inte Integ ger

Unit

$MSG_T.DLG_FORMAT Data ata type type

a ue

min. max.

a ue

min. max.

Label of the softkeys softkeys


Unit

$MSG_T.KEY

Key to the message message text in the data bank

$MSG_T.MODUL

Module identifier for access access to database database

$MSG_T.PARAM

Additional Additional parameter parameter displayed displayed with the message message text

$MSG_T.PARAM_TYP

“PARAM” “PARAM” type definition

Data type

Enum

Unit Options

a ue

min. max.

a ue

min. max.

Effect

#VALUE #WORDS #KEY

$MSG_T.RELEASE Data typ type Unit

90 of 170 170

Deletion Deletion of status message message

Boo Boolea lean


14


$MSG_T.TYP

Definition Definition of message message type

Data type

Enum

Unit Options

Effect

#NOTI #NOTIFY FY

Noti Notific ficat atio ion n mess messag age e

#STA STATE

Sta Status tus mes message

#QU #QUIT

Ackn Acknow owle ledg dgme men nt mess messag age e

#DIA #DIALO LOG G

Dialo ialog g quer queryy

$MSG_T.VALID

a ue

min. max.

a ue

min. max.

Output of message message text

Data typ type Unit

SysVar 08.02.03 en

Boo Boolea lean

91 of 170 170

System Variables

15

N

$NEAR_POSRET Data Data type type

Robot is within a sphere about “$POS_RET” “$POS_RET” (tolerance (tolerance window)


Unit

a ue

min. max.

In fil file



SIGNAL SIGNAL $NEAR $NEAR_POS _POSRET RET $OUT[997 $OUT[997]] ;Roboter in Toleranzfenster

Commen Comments ts

Signal Signal is set set if the robot robot is posi position tioned ed within within a sphe sphere re about about $POS_R $POS_RET ET.. The radius of this sphere is defined in $NEARPATHTOL.

$NEARPATHTOL Data type

Radius of the sphere about “$POS_RET” “$POS_RET”

Real

a ue

Unit

min. max.

In fil file



REAL $NEARP $NEARPA ATHTOL THTOL ;Toleranz für die Abweichung von $POS_RET

Comments

Null frame

$NULLFRAME Data typ type

Str Structur ture

Unit

92 of 170 170

a ue

min. max.

In file

-- -- --


FRAME FRAME $NULLFR $NULLFRAME AME

Commen Comments ts

All valu values es for offset offset (X, Y, Y, Z) and and rotation rotation (A, (A, B, C) are are set set to zero. zero.


15

N (For (Forts tset etzu zung ng))

$NULLFRAME.A


Data type

Real

Unit

mm, 

$NULLFRAME.B


$NULLFRAME.C


$NULLFRAME.X


$NULLFRAME.Y


$NULLFRAME.Z


$NUM_AX

Number Number of robot axes

Data typ type

Inte Integ ger

Unit In fil file



INT $NUM_AX= $NUM_AX=6 6 ;Achsen des Robotersystems Robotersystems

a ue

min. max.

a ue

min. max.

Comments

$NUM_IN

Maximum Maximum number of digital inputs ($IN)

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $NUM $NUM_IN _IN ;Anzahl der Eingaenge Eingaenge

a ue

min. max.

Comments

$NUM_OUT

Maximum Maximum number of digital outputs ($OUT)

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $NUM_OU $NUM_OUT T ;Anzahl der Ausgaenge Ausgaenge

a ue

min. max.

Comments

SysVar 08.02.03 en

93 of 170 170

System Variables

$NUMSTATE

State of the Num Lock key

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $NUMST $NUMSTA ATE

a ue

min. max.

Comments

94 of 170 170

Options

Effect

TRUE

Num Lock key on

FALSE

Num Lock key off


16

16

O

O Signal declaration declaration “Path check” check” – robot is on the programmed path

$ON_PATH Data Data type type


Unit In fil file



SIGNAL SIGNAL $ON_ $ON_P PATH $OUT[9 $OUT[997] 97]

a ue

min. max.

Comments

$OPT_MOVE

Activation Activation of the higher motion profile

Data type

Enum

a ue

Unit

min. max.

In fil file



DECL DECL ADAP_ ADAP_ACC ACC $OPT_MOVE=# $OPT_MOVE=#NONE NONE

Comments Options

Effect

#NON #NONE E

High Higher er moti motion on prof profilile e deac deacti tiva vate ted d

#STEP1 #STEP1

Higher Higher motion motion profile profile without without energy energy planni planning ng activated activated

#STEP2 #STEP2

High Higher er motio motion n profi profile le with with ener energy gy plan planni ning ng activ activate ated d

$OPT_VAR_IDX Data typ type

Index of selected correction variables from the list “$OPT_VAR[]”

Inte Integ ger

Unit

a ue

min. max.

In file

-- -- --


INT $OPT_V $OPT_VAR_IDX AR_IDX ;Index Korr.--Var. in der Var.--Liste $OPT_VAR[]

Comments

SysVar 08.02.03 en

95 of 170 170

System Variables

$ORI_CHECK

Orientation Orientation check at CP end points (only with five--axis five--axis robots) robots)

Data typ type

Inte Integ ger

Unit In fil file



INT $ORI_CHE $ORI_CHECK CK

a ue

min. max.

Comments

$ORI_TYPE

Orientation control for CP instructions instructions (LIN, CIRC) in the advance run

Data type

Enum

Unit

a ue

min. max.

In file

-- -- --


DECL DECL ORI_TYPE ORI_TYPE $ORI_TYPE $ORI_TYPE ;Orientierungsfuehrung bei CP--Saetzen (Vorlauf)

Comments Options

Effect

#VAR #VAR

Variab ariable le orien orientat tatio ion n with with poss possibl ible e redu reducti ction on of velo velocit city y and and acce accele lerat ration ion

#CONSTANT #CONSTANT

Constant Constant orientation orientation

#JOIN #JOINT T

Variab ariable le orien orientat tatio ion n witho without ut redu reducti ction on of veloc velocity ity and and acce acceler lerati ation on

$ORI_TYPE_C

Orientation Orientation control control for CP instructions instructions (LIN, CIRC) in the main run

Data type

Enum

Unit

a ue

min. max.

In file

-- -- --


DECL DECL ORI_TYPE ORI_TYPE $ORI_TYPE $ORI_TYPE_C _C ;Orientierungsfuehrung bei CP--Saetzen (Hauptlauf)

Comments

96 of 170 170

Options

Effect

#VAR #VAR

Variab ariable le orien orientat tatio ion n with with poss possibl ible e redu reducti ction on of velo velocit city y and and acce accele lerat ration ion

#CONSTANT #CONSTANT

Constant Constant orientation orientation

#JOIN #JOINT T

Variab ariable le orien orientat tatio ion n witho without ut redu reducti ction on of veloc velocity ity and and acce acceler lerati ation on


16

O (For (Forts tset etzu zung ng))

$OUT[n]

Outputs

Data typ type

Boo Boolea lean

Unit

a ue

min. 1 max. 4096

In file

-- -- --


BOOL $OUT[409 $OUT[4096] 6] ;Ausgang [1 bis 4096] )*

Comments

[n] = [1] ... [4096] )* 1024, 2048 or 4096 outputs can be set by setting the variable “$SET_IO_SIZE” accordingly.

$OUT_C[n]

Outputs

Data typ type

Boo Boolea lean

Unit

a ue

1 min. max. 4096

In file

-- -- --


BOOL $OUT_C[4 $OUT_C[4096 096]] ;Ausgang [1 bis 4096] )*

Comments

[n] = [1] ... [4096] For setting outputs at the end point for motions with exact positioning and at the vertex for approximate positioning motions. )* 1024, 2048 or 4096 outputs can be set by setting the variable “$SET_IO_SIZE” accordingly.

$OV_ASYNC

Override for asynchronous external axes

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $OV_ASYN $OV_ASYNC C ;OVERRIDE asynchrone asynchrone Zusatzachsen Zusatzachsen

a ue

min. max.

0 100

Comments

SysVar 08.02.03 en

97 of 170 170

System Variables

$OV_JOG

Jog override

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $OV_J $OV_JOG OG ;Einricht--OVERRIDE

a ue

min. max.

a ue

min. max.

a ue

min. max.

a ue

min. max.

0 100

Comments

$OV_PRO

Program override

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $OV_PR $OV_PRO O

0 100

Comments

$OV_PRO1

Internal Internal use in the controller controller

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $OV_PR $OV_PRO1 O1

Comments

$OV_ROB

Robot override

Data typ type

Inte Integ ger

Unit

%

In file

-- -- --


INT $OV_R $OV_ROB OB

Comments

98 of 170 170


16

O (For (Forts tset etzu zung ng))

$OV_ROB1

Internal Internal use in the controller controller

Data typ type

Inte Integ ger

Unit In file

-- -- --


INT $OV_R $OV_ROB1 OB1

a ue

min. max.

Comments

SysVar 08.02.03 en

99 of 170 170

System Variables

17

P

$PAL_MODE

Activate Activate palletizing mode

Data typ type

Boo Boolea lean

a ue

Unit

min. max.

In file

-- -- --


BOOL $PAL_ $PAL_MODE MODE ;Achse A4 wird auf null Grad fixiert

Comm Commen ents ts

Axis Axis 4 is fixe fixed d at 0. $PAL_MODE = $DEF_A4FIX is set during loading and program reset. Palletizing mode is automatically activated for a 5--axis robot and not for a normal 6--axis robot.

Options

Effect

TRUE

Palletiz tizing mode on

FALSE ALSE

Pall Palle etiz tizing ing mod mode off

$PERI_RDY

Signal declaration declaration “Drives “Drives ON”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $PERI_ $PERI_RDY RDY $OUT[101 $OUT[1012] 2]

min. max.

Comments

$PHGBRIGHT

Set display brightness brightness

Data typ type

Inte Integ ger

Unit

100 100 of of 170 170

a ue

min. max.

0 15

In file

-- -- --


INT $PHGBRIGH $PHGBRIGHT T

Commen Comments ts

The valu value e set set is lost lost if the the robot robot contr controll oller er is switche switched d off off

Options

Effect

0

Display is dark

15

Display is bright


17

P (For (Forts tset etzu zung ng))

$PHGCONT

Set display contrast

Data typ type

Inte Integ ger

a ue

Unit

min. 0 max. 15

In file

-- -- --


INT $PHGCON $PHGCONT T

Commen Comments ts

The valu value e set set is lost lost if the the robot robot contr controll oller er is switche switched d off off

Options

Effect

0

Lower contrast, dark

15

Higher contrast, bright

$PHGINFO

Serial Serial number of the KCP CPU and software software version version

Data ata type type


Unit In file

-- -- --


CHAR CHAR $PHGINFO[2 $PHGINFO[24] 4]

a ue

min. max.

Comments

$PHGTEMP

Current temperature inside the KCP

Data typ type

Inte Integ ger

Unit



In file

-- -- --


INT $PHGTE $PHGTEMP MP

C

a ue

min. max.

Comments

$PMCHANNEL[n] Data typ type

Assignment Assignment of the axes to the drive interfaces interfaces in the power module

Inte Integ ger

Unit

a ue

min. max.

In fil file



INT $PMCHAN $PMCHANNEL[ NEL[n] ;Antriebsschnittstellen--Nr. auf dem Powermodul

Comments


SysVar 08.02.03 en

101 101 of of 170 170

System Variables

$POS_ACT

Current robot position, Cartesian

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6POS E6POS $POS_ACT $POS_ACT ;Aktuelle Roboterposition Roboterposition kartesisch kartesisch [mm,Grad]

a ue

min. max.

Comments

$POS_ACT.A


Data type

Real

Unit

mm, 

a ue

min. max.

$POS_ACT.B


$POS_ACT.C


$POS_ACT.X


$POS_ACT.Y


$POS_ACT.Z


$POS_ACT_MES

Measured actual position, Cartesian

Data typ type

Str Structur ture

Unit In file

-- -- --


E6POS E6POS $POS_ACT_ $POS_ACT_MES MES

a ue

min. max.

Comments

102 102 of of 170 170


17


$POS_BACK

Start position of the current motion block, Cartesian

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6POS E6POS $POS_BACK $POS_BACK ;Anfangsposition ;Anfangsposition des aktuellen Bewegungssatzes Bewegungssatzes kartesisch [mm,Grad]

a ue

min. max.

Comments

$POS_BACK.A


Data type

Real

Unit



$POS_BACK.B


$POS_BACK.C


$POS_BACK.X


Data type

Real

Unit

mm

$POS_BACK.Y


$POS_BACK.Z


SysVar 08.02.03 en

a ue

min. max.

a ue

min. max.

103 103 of of 170 170

System Variables

$POS_FOR

Target position of the current motion block, Cartesian Cartesian

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6POS E6POS $POS_FOR $POS_FOR ;Zielposition ;Zielposition des aktuellen aktuellen Bewegungssatze Bewegungssatzes s kartesisch [mm,Grad]

a ue

min. max.

Comments

$POS_FOR.A


Data type

Real

Unit



$POS_FOR.B


$POS_FOR.C


$POS_FOR.X


$POS_FOR.Y


$POS_FOR.Z


104 104 of of 170 170

a ue

min. max.


17


$POS_INT

Position when interrupt interrupt is triggered, triggered, Cartesian Cartesian

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6POS E6POS $POS_INT $POS_INT ;Unterbrechungs ;Unterbrechungsposition position kartesisch kartesisch [mm,Grad]

a ue

min. max.

Comments

$POS_INT.A


Data type

Real

Unit



$POS_INT.B


$POS_INT.C


$POS_INT.X


Data type

Real

Unit

mm

$POS_INT.Y


$POS_INT.Z


SysVar 08.02.03 en

a ue

min. max.

a ue

min. max.

105 105 of of 170 170

System Variables

$POS_RET

Position when leaving the path, Cartesian

Data typ type

Str Structur ture

Unit

mm, 

In file

-- -- --


E6POS E6POS $POS_RET $POS_RET ;Rückpositionier ;Rückpositionieren en kartesisch kartesisch [mm,Grad]

a ue

min. max.

Comments

$POS_RET.A


Data type

Real

Unit



$POS_RET.B


$POS_RET.C


$POS_RET.X


Data type

Real

Unit

mm

$POS_RET.Y


$POS_RET.Z


$POWER_FAIL

Display of power failure

Data typ type

Boo Boolea lean

Unit In file

-- -- --


BOOL $POWER_F $POWER_FAIL AIL

a ue

min. max.

a ue

min. max.

a ue

min. max.

Comments

106 106 of of 170 170

Options

Effect

TRUE

Power failure

FALSE

No power fai failure


17


$POWERMODUL1 ... $POWERMODUL4 Data typ type

Internal register of power module 1 ... 4 for diagnostic purposes

Str Structur ture

Unit

a ue

min. max.

In file

-- -- --


DECL DECL POWERM POWERMODUL ODUL $POWERMOD $POWERMODUL1 UL1 ... DECL POWERMODUL $POWERMODUL4 $POWERMODUL4

Comments

$POWERMODUL1.BUSVOLTAGE Intermediate circuit voltage, power module 1 ... 4 ... $POWERMODUL4.BUSVOLTAGE Data typ type

Inte Integ ger

Unit

a ue

min. max.

$POWERMODUL1.CURRCAL ... $POWERMODUL4.CURRCAL

Current calibration, power module 1 ... 4

$POWERMODUL1.CURRERROR ... $POWERMODUL4.CURRERROR

Current error, power module 1 ... 4

$POWERMODUL1.PMERROR ... $POWERMODUL4.PMERROR

Register for error messages, power module 1 ... 4

$POWERMODUL1.PMSTATE ... $POWERMODUL4.PMSTATE

State of power module 1 ... 4

SysVar 08.02.03 en

107 107 of of 170 170

System Variables

time before shutting shutting down the system system $POWEROFF_DELAYTIME Wait time

Data type

Real

Unit

s

In file

-- -- --


INT $POWEROFF_ $POWEROFF_DEL DELA AYTIME

a ue

min. max.

0

30000

Comments Options

Effect

0

The The con control trolle lerr is shut shut dow down desp despit ite e exte extern rnal al powe powerr supp supply ly..

1...30000 1...30000

Wait Wait time in second seconds s before before the sys system tem is shut shut down. down.

NOTE On controllers of type KR C3A, KR C3E or COBRA, the variable $POWEROFF_DELAYTIME may be set to no more than 180 s. Otherwise, there is a risk of data loss.

$PR_MODE

Signal declaration “Test mode”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $PR_MOD $PR_MODE E $OUT[9 $OUT[998] 98]

min. max.

Comments

$PRO_ACT

Signal declaration “Program status”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $PRO_AC $PRO_ACT T $OUT[1 $OUT[1021 021]]

min. max.

Comments

108 108 of of 170 170

Options

Effect

TRUE

Process is active.

FALSE ALSE

Pro Process is not activ tive.


17


$PRO_I_O

External program for controller node

Data ata type type


Unit

a ue

min. max.

In fil file



CHAR CHAR $PRO_I_O $PRO_I_O[64] [64]

Comme Comments nts

Deter Determin mines es which which exter externa nall progra program m is autom automati atica cally lly started started for the controller controller node after download. download.

$PRO_IP

Process Process pointer to current KRL process process

Data typ type

Str Structur ture

Unit

a ue

min. max.

In file

-- -- --


DECL DECL PRO_IP PRO_IP $PRO_IP $PRO_IP

Commen Comments ts

Name Name = block block name name in in adva advance nce run and main run SNR = block number in advance run and main run

$PRO_IP.I_EXECUTED Data typ type

KRL instruction executed

Boo Boolea lean

a ue

Unit Options

Effect

TRU TRUE

KRL KRL instru tructio ction n executed ted

FALSE ALSE

KRL KRL inst instru ruct ctio ion n not not execu xecute ted d

$PRO_IP.NAME[32] Data ata type type Unit

$PRO_IP.NAME_C[32]

SysVar 08.02.03 en

min. max.

Name of the block in the advance advance run


a ue

min. max.

Name of the block in the main run

109 109 of of 170 170

System Variables

$PRO_IP.P_ARRIVED Data typ type

Path status for the programme programmed d point

Inte Integ ger

a ue

Unit

$PRO_IP.P_NAME[24] Data ata type type

Name or aggregate aggregate of the end or auxiliary auxiliary point


Unit

$PRO_IP.SNR

min. max.

a ue

min. max.

Block number in the advance advance run

Data typ type

Inte Integ ger

Unit

a ue

min. max.

$PRO_IP.SNR_C

Block number in the main run

$PRO_MODE

Program run mode dependent on “$INTERPRETER”

Data type

Enum

Unit

a ue

min. max.

In file

-- -- --


DECL DECL PRO_MODE PRO_MODE $PRO_MOD $PRO_MODE E

Commen Comments ts

Program Program run run modes modes:: ISTEP, ISTEP, PSTEP, PSTEP, MSTEP, MSTEP, CSTEP, CSTEP, GO, BSTEP

Options

Effect

#ISTEP

Incremental Incremental Step: Block--by--block -by--block processing processing with a stop after each instruction (without advance advance run processing).

#PSTEP #MSTEP #CSTEP

Program Program Step: Step:

Comple Complete te process processing ing of subpro subprogra grams ms (without (without advance advance run processing). processing).

Motion Motion Step: Step:

Step--by--step -by--step process processing ing with a stop after each each motion instruction (without advance advance run processing).

Continuous Continuous Step: Step--byStep--by--step -step processing processing with a stop after each motion instruction (with advance run processing).

#GO #BSTEP

110 of of 170

Continuous execution to the end of the program. Back Back Step: Step:

Cont Contin inuo uous us exec execut utio ion n back backwa ward rds s to the the star startt of the program.


17


$PRO_MODE0

Process Process run mode of the Submit interpreter interpreter

Data type

Enum

a ue

Unit In file

-- -- --


DECL DECL PRO_MODE PRO_MODE $PRO_MOD $PRO_MODE0 E0

Commen Comments ts

Internal Internal use in the controll controller er..

Options

Effect

min. max.

#ISTEP #PSTEP #MSTEP #CSTEP #GO #BSTEP

$PRO_MODE1

Process Process run mode of the robot interpreter interpreter

Data type

Enum

a ue

Unit In file

-- -- --


DECL DECL PRO_MODE PRO_MODE $PRO_MOD $PRO_MODE1 E1

Commen Comments ts

Internal Internal use in the controll controller er..

Options

Effect

min. max.

#ISTEP #PSTEP #MSTEP #CSTEP #GO #BSTEP

$PRO_MOVE

Signal declaration declaration “Motion status”

Data Data type type


Unit

a ue

In fil file



SIGNAL SIGNAL $PRO_MOV $PRO_MOVE E $OUT[102 $OUT[1022] 2] ;Programmbewegung aktiv

min. max.

Comments

SysVar 08.02.03 en

111 of 170

KR-C-System-Variables 05Jul2005.pdf

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