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 ...............................................................
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C ...............................................................
34
5
D ...............................................................
41
6
E ................................................................
53
7
F ................................................................
63
8
G ...............................................................
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9
H ...............................................................
68
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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
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S ................................................................
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20
T ................................................................
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U ...............................................................
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V ................................................................
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W ...............................................................
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Z ................................................................
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System Variables
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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
Function of the variable variable
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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Function of the variable variable
Data type
Real
Unit
mm,
a ue
min. 0 max.
Function of the variable variable
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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
-- -- --
Origina Originall line line
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
Origina Originall line line
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
Origina Originall line line
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
-- -- --
Origi Origina nall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
INT $ACC_AXIS[ $ACC_AXIS[n] Beschleunigung der Achsen [%] Vorlauf
Comments
[n] = [1] [1] ... [6] [6]
a ue
min. max.
axes axes A1 ... A6
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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
Origina Originall line line
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
R1\Ma \Mada\$o \$operate.da .dat
Origina Originall line line
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
R1\Ma \Mada\$o \$operate.da .dat
Origina Originall line line
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.
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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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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.
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A (Fort ortsetzun zung)
$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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
INT $ACT_EX_ $ACT_EX_AX AX ;Aktuelle externe Kinematik
a ue
min. max.
Comments
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A (Fort ortsetzun zung)
$ACT_TOOL
Number Number of the current current tool coordinate coordinate system
Data typ type
Inte Integ ger
Unit In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origi Origina nall line line
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
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A (Fort ortsetzun zung)
$ANOUT[n]
Analog outputs
Data type
Real
Unit
V
In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
Sign Signal al decl declar arat atio ion n
Unit In fil file
a ue
min. max.
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
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
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a ue
min. max.
In file
-- -- --
Origina Originall line line
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
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A (Fort ortsetzun zung)
$ASYNC_FLT
Filter for asynchronous external axes
Data typ type
Inte Integ ger
Unit
ms
In file
-- -- --
Origina Originall line line
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
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
Origina Originall line line
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
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
INT $ASYNC_T1 $ASYNC_T1_F _FAST=’B AST=’B000 0000’ 0’ ;Geschw.--Red. Deaktiviert ( T1 )
min. max.
Comments
18 of 170 170
Options
Effect
0
Activated
1
Deactivated
SysVar SysVar 08.02.03 en
2
A (Fort ortsetzun zung)
$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
Sign Signal al decl declar arat atio ion n
Unit In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
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
Origina Originall line line
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.
SysVar 08.02.03 en
19 of 170 170
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
E6AXIS E6AXIS $AXIS_ACT $AXIS_ACTMOD MOD
a ue
min. max.
Comments
20 of 170 170
SysVar SysVar 08.02.03 en
2
A (Fort ortsetzun zung)
$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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
INT $AXIS_DIR[ $AXIS_DIR[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
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
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
2
A (Fort ortsetzun zung)
$AXIS_HOME[5] Data typ type
Definition Definition of the various home positions
Array
a ue
Unit In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
E6AXIS E6AXIS $AXIS_INT $AXIS_INT ;Unterbrechungsposition achsspezifisch [mm,Grad]
a ue
min. max.
Comments
SysVar 08.02.03 en
23 of 170 170
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
2
A (Fort ortsetzun zung)
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origi Origina nall line line
INT $AXIS_ $AXIS_SEQ SEQ[[n]
Comments
[n] = [1] [1] ... [6]: [6]: axis axis A1 ... ... A6 [n] = [7] ... [12]: external axis E1 ... E6
SysVar 08.02.03 en
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System Variables
$AXIS_TYPE[n]
Axis identification
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 $AXIS_TYPE[ $AXIS_TYPE[n]
Comments
[n] = [1] [1] ... [6]: [6]: axis axis A1 ... ... A6 [n] = [7] ... [12]: external axis E1 ... E6
Options
Effect
1
Linear
2
Spindle
3
Rotational
4
Finitely rotating
5
Infinitely rotating
$AXWORKSPACE[n] Data typ type
Definition of axis--specifi axis--specific c workspace monitoring
Str Structur ture
Unit
26 of 170 170
min. max.
a ue
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
DECL DECL AXBOX$AXWOR AXBOX$AXWORKSP KSPACE[ ACE[n]
Comments
[n] = [1] ... [8]
min. max.
SysVar SysVar 08.02.03 en
2
A (Fort ortsetzun zung)
$AXWORKSPACE[n].MODE Data type
Functional principle of the axis--specifi axis--specific c workspace monitoring function
Enum
a ue
Unit In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
DECL DECL AXBOX$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
Chara haract cter er
Unit
a ue
min. max.
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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”
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
Origina Originall line line
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
SysVar SysVar 08.02.03 en
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
R1\Ma \Mada\$o \$operate.da .dat
Origi Origina nall line line
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
-- -- --
Origina Originall line line
FRAME FRAME $BASE_C $BASE_C ;Basis im Weltkoordinatens Weltkoordinatensystem ystem Hauptlauf
Comments
SysVar 08.02.03 en
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
Chara haract cter er
Unit
a ue
In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
INT $BRK_DE $BRK_DEL_E L_EX X ;Bremsverzögerun ;Bremsverzögerungszeit gszeit für Zusatzachsen Zusatzachsen
a ue
min. max.
Comments
SysVar 08.02.03 en
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
SysVar SysVar 08.02.03 en
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origi Origina nall line line
E6AXIS E6AXIS $CALP $CALP ;Referenzpunktverschiebung
a ue
min. 0 max.
Comments
34 of 170 170
SysVar SysVar 08.02.03 en
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
35 of 170 170
System Variables
$CMD
Display assignment assignment number (handle) for command command channel
Data typ type
Inte Integ ger
a ue
Unit In file
-- -- --
Origi Origina nall line line
INT $CMD $CMD
min. max.
Comments
$COM_NAME
Command Command which is to be processed processed after next start
Data ata type type
Chara haract cter er
a ue
Unit
min. max.
In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $COM_V $COM_VAL_M AL_MI[ I[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$CONF_MESS
min. max.
Signal declaration “Reset acknowledgement messages”
Data Data type type
Sign Signal al decl declar arat atio ion n
Unit
36 of 170 170
a ue
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
SIGNAL SIGNAL $CONF_M $CONF_MESS ESS $IN[1026 $IN[1026]]
Comme Comments nts
Exter Externa nall confi confirma rmatio tion n
min. max.
SysVar SysVar 08.02.03 en
4
C (Fort ortsetzun zung)
$COSYS
Coordinate Coordinate system for jogging
Data type
Enum
a ue
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
SysVar 08.02.03 en
37 of 170 170
System Variables
$CP_VEL_TYPE Data type
Reduction Reduction of the CP path velocity
Enum
Unit
min. max.
In fil file
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
4
C (Fort ortsetzun zung)
$CURR_CAL
Current Current calibration calibration in the power module
Data type
Real
a ue
Unit
min. max.
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
INT $CURR_ $CURR_LIM[ LIM[n]
Comments
[n] = [1] [1] ... [6]: [6]: axis axis A1 ... ... A6 [n] = [7] ... [12]: external axis E1 ... E6
$CURR_MAX
a ue
min. max.
Maximum Maximum effective effective current current on power module output
Data type
Real
Unit
A
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Chara haract cter er
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
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
-- -- --
Origina Originall line line
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
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
Chara haract cter er
Unit In file
-- -- --
Original line
CHAR $DATAP $DATAPATH ATH[16] [16] ;Kommandocompiler--Suchpfad
a ue
min. max.
Comments
SysVar 08.02.03 en
41 of 170 170
System Variables
$DATE
System time and system date
Data typ type
Str Structur ture
Unit In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
SysVar SysVar 08.02.03 en
5
D (Fort ortsetzun zung)
$DEF_FLT_CP
Default filter for CP motion
Data typ type
Inte Integ ger
Unit In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
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
Rotation about the Z axis
Real
Unit
$DEF_LA3_CM.B
Rotation about the Y axis
$DEF_LA3_CM.C
Rotation about the X axis
$DEF_LA3_CM.X
Offset in the X direction direction
$DEF_LA3_CM.Y
Offset in the Y direction direction
$DEF_LA3_CM.Z
Offset in the Z direction direction
44 of 170 170
a ue
min. max.
SysVar SysVar 08.02.03 en
5
D (Fort ortsetzun zung)
$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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
DECL DECL DEVICE DEVICE $DEVICE $DEVICE ;Bediengerätezustand (ACTIVE, BLOCK, PASSIVE, OFF)
Comments Options
Effect
#ACTIVE #BLOCK #PASSIVE #OFF
SysVar 08.02.03 en
45 of 170 170
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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.
SysVar SysVar 08.02.03 en
5
D (Fort ortsetzun zung)
$DIGIN1 ... $DIGIN6
Signal declaration defining the input to which the digital input “$DIGIN1 ... 6” is assigned
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
Origina Originall line line
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
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
SysVar 08.02.03 en
47 of 170 170
System Variables
Direction Direction of the start key – program is executed either forwards or backwards
$DIRECTION Data type
Enum
Unit
a ue
In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $DIS_WR $DIS_WRP2 P2 ;Mittlerer Abstand Handpunkt zur Singularitaet2
Comments
48 of 170 170
SysVar SysVar 08.02.03 en
5
D (Fort ortsetzun zung)
$DISPLAY_REF
New form output when “$DISPLAY_V “$DISPLAY_VAR” AR” is changed
Data typ type
Boo Boolea lean
a ue
Unit
min. max.
In file
-- -- --
Origina Originall line line
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
Chara haract cter er
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
-- -- --
Origina Originall line line
REAL $DIST_NE $DIST_NEXT XT
a ue
min. max.
Comments
SysVar 08.02.03 en
49 of 170 170
System Variables
$DISTANCE
Curve length, CP motion
Data type
Real
Unit
mm
In file
-- -- --
Origina Originall line line
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
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
SysVar SysVar 08.02.03 en
5
D (Fort ortsetzun zung)
$DRIVES_OFF
Signal declaration declaration “Drives “Drives OFF”
Data Data type type
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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.)
SysVar 08.02.03 en
51 of 170 170
System Variables
52 of 170 170
SysVar SysVar 08.02.03 en
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
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
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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
SysVar SysVar 08.02.03 en
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
Origina Originall line line
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
-- -- --
Origina Originall line line
INT $ERROFFMAS $ERROFFMASK[12] K[12] ;Abschaltung ;Abschaltung einzelner einzelner Fehlerbits Fehlerbits
min. max.
Comments
56 of 170 170
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E (For Fortse tsetzu tzung) ng)
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
Chara haract cter er
Unit
a ue
min. max.
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
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E (For Fortse tsetzu tzung) ng)
$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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
SysVar SysVar 08.02.03 en
6
E (For Fortse tsetzu tzung) ng)
$EXT
Signal declaration “External mode”
Data Data type type
Sign Signal al decl declar arat atio ion n
Unit In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
7
7
F
F
$FAN_FOLLOW_UP_TIME Data Data type type
Signal declaration declaration “Fan “Fan monitorin monitoring” g”
Sign Signal al decl declar arat atio ion n
Unit
a ue
5.0 min. max. 1000.0
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $FOL_ER $FOL_ERR_M R_MA[12] A[12] ;Faktor fuer Schleppfehlerueberwachung
Comments
64 of 170 170
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F (Fo (Fortsetzung ung)
$FOL_ERROR[n]
Velocity--related Velocity--related axis following error
Data type
Real
Unit
ms
In file
-- -- --
Origina Originall line line
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.
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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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
INT $G_COE_C $G_COE_CUR[ UR[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$G_VEL_CAL[n] Data type
min. max.
Real
a ue
100
min. max.
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $G_VEL_C $G_VEL_CAL[ AL[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $G_VEL_C $G_VEL_CP[ P[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $G_VEL_P $G_VEL_PTP[ TP[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
SysVar SysVar 08.02.03 en
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
R1\Ma \Mada\$m \$machin chine e.da .dat
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
Chara haract cter er
Unit
a ue
min. max.
In file
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
9
H (Fort ortsetzun zung)
$HW_WARNING
Signal declaration “Hardware warning”
Data Data type type
Sign Signal al decl declar arat atio ion n
Unit
a ue
min. FALSE, 1 max. 4096
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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”
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
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $I_VEL_C $I_VEL_CP[ P[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $I_VEL_P $I_VEL_PTP[ TP[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
SysVar SysVar 08.02.03 en
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
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
Origina Originall line line
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
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
Origi Origina nall line line
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
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
Origi Origina nall line line
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
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
SysVar 08.02.03 en
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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
R1\Ma \Mada\$o \$operate.da .dat
Origina Originall line line
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
Ste Steu\Ma \Mada\$o \$operate rate.d .da at
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
-- -- --
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
10
I (For (Forts tset etzu zung ng))
$IN_HOME
Signal declaration declaration “Robot in home position”
Data Data type type
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Steu teu\Ma \Mada\$m \$machine.d
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $IN_POS_M $IN_POS_MA[ A[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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.
SysVar 08.02.03 en
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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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
10
I (For (Forts tset etzu zung ng))
$INTERPRETER Data typ type
Selection Selection of the Submit or robot interpreter interpreter
Inte Integ ger
a ue
Unit In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$o \$operate.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
SysVar 08.02.03 en
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System Variables
$IPO_MODE
Advance run interpolation mode
Data type
Enum
a ue
Unit In file
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origi Origina nall line line
INT $ITER $ITER ;Anzahl der Iterationen
a ue
min. max.
Comments
76 of 170 170
SysVar SysVar 08.02.03 en
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
Ste Steu\Ma \Mada\$o \$operate rate.d .da at
Origina Originall line line
INT $JUS_T $JUS_TOOL_ OOL_NO NO
a ue
min. max.
Comments
SysVar 08.02.03 en
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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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
STRUC STRUC KEYMOVE KEYMOVE INT INT T1,T2,T3 T1,T2,T3,T4,T5 ,T4,T5,T6 ,T6
Comments
78 of 170 170
SysVar SysVar 08.02.03 en
12
K (For (Forts tset etzu zung ng))
$KINCLASS
Kinematic classes
Data type
Enum
Unit
a ue
min. max.
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $KT0_MOT[ $KT0_MOT[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
SysVar SysVar 08.02.03 en
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
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
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
REAL $LENGTH $LENGTH_A _A ;Grundachslaenge A
a ue
min. max.
Comments
SysVar 08.02.03 en
81 of 170 170
System Variables
$LENGTH_B
Main axis length B, link arm length
Data type
Real
a ue
Unit In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Chara haract cter er
Unit
a ue
min. max.
In fil file
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
Origina Originall line line
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
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System Variables
84 of 170 170
SysVar SysVar 08.02.03 en
14
14
M
M
$MAIN_AXIS
Main axis identification identification
Data type
Enum
a ue
Unit
min. max.
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origi Origina nall line line
REAL REAL $MAME $MAMES[ S[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
$MEAS_PULSE
a ue
min. max.
Activate Activate rapid gauging
Data typ type
Boo Boolea lean
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Chara haract cter er
Unit
86 of 170 170
In fil file
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
CHAR CHAR $MODEL_N $MODEL_NAME[32 AME[32]]
Comme Comments nts
Defin Defines es the robot robot type. type.
SysVar SysVar 08.02.03 en
14
M (For (Forts tset etzu zung ng))
$MOUSE_ACT
Status of the Space Mouse
Data typ type
Boo Boolea lean
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
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System Variables
$MOUSE_TRA
Space Mouse – set translational translational motions to active
Data typ type
Boo Boolea lean
a ue
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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”
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
SIGNAL SIGNAL $MOVE_ $MOVE_ENAB ENABLE LE $IN[1025 $IN[1025]] ;Fahrfreigabe gesamt
min. max.
Comments
88 of 170 170
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M (For (Forts tset etzu zung ng))
$MOVE_ENA_ACK Data Data type type
Move enable signal feedback feedback signal
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
Origina Originall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origi Origina nall line line
INT $MS_D $MS_DA[ A[n]
Comments
[n] = [1] [1] ... ... [6] [6]:: axis axis A1 ... A6 [n] = [7] ... [12]: [12]: externa externall axis axis E1 ... E6
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System Variables
$MSG_T
Structure for message display
Data typ type
Str Structur ture
Unit
a ue
min. max.
In fil file
Ste Steu\Ma \Mada\$o \$optio tion.da .dat
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
Chara haract cter er
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
SysVar SysVar 08.02.03 en
14
M (For (Forts tset etzu zung ng))
$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)
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
Origina Originall line line
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
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
15
N (For (Forts tset etzu zung ng))
$NULLFRAME.A
Rotation about the Z axis
Data type
Real
Unit
mm,
$NULLFRAME.B
Rotation about the Y axis
$NULLFRAME.C
Rotation about the X axis
$NULLFRAME.X
Offset in the X direction direction
$NULLFRAME.Y
Offset in the Y direction direction
$NULLFRAME.Z
Offset in the Z direction direction
$NUM_AX
Number Number of robot axes
Data typ type
Inte Integ ger
Unit In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origi Origina nall line line
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
-- -- --
Origina Originall line line
INT $NUM_OU $NUM_OUT T ;Anzahl der Ausgaenge Ausgaenge
a ue
min. max.
Comments
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System Variables
$NUMSTATE
State of the Num Lock key
Data typ type
Boo Boolea lean
Unit In file
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
16
16
O
O Signal declaration declaration “Path check” check” – robot is on the programmed path
$ON_PATH Data Data type type
Sign Signal al decl declar arat atio ion n
Unit In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
R1\Ma \Mada\$r \$robcor.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
INT $OPT_V $OPT_VAR_IDX AR_IDX ;Index Korr.--Var. in der Var.--Liste $OPT_VAR[]
Comments
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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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
INT $OV_ASYN $OV_ASYNC C ;OVERRIDE asynchrone asynchrone Zusatzachsen Zusatzachsen
a ue
min. max.
0 100
Comments
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System Variables
$OV_JOG
Jog override
Data typ type
Inte Integ ger
Unit
%
In file
-- -- --
Origi Origina nall line line
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
-- -- --
Origi Origina nall line line
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
-- -- --
Origi Origina nall line line
INT $OV_PR $OV_PRO1 O1
Comments
$OV_ROB
Robot override
Data typ type
Inte Integ ger
Unit
%
In file
-- -- --
Origi Origina nall line line
INT $OV_R $OV_ROB OB
Comments
98 of 170 170
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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
-- -- --
Origi Origina nall line line
INT $OV_R $OV_ROB1 OB1
a ue
min. max.
Comments
SysVar 08.02.03 en
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System Variables
17
P
$PAL_MODE
Activate Activate palletizing mode
Data typ type
Boo Boolea lean
a ue
Unit
min. max.
In file
-- -- --
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
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
-- -- --
Origina Originall line line
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
Chara haract cter er
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origi Origina nall line line
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
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
INT $PMCHAN $PMCHANNEL[ NEL[n] ;Antriebsschnittstellen--Nr. auf dem Powermodul
Comments
[n] = [1] [1] ... [6]: [6]: axis axis A1 ... ... A6 [n] = [7] ... [12]: external axis E1 ... E6
SysVar 08.02.03 en
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System Variables
$POS_ACT
Current robot position, Cartesian
Data typ type
Str Structur ture
Unit
mm,
In file
-- -- --
Origina Originall line line
E6POS E6POS $POS_ACT $POS_ACT ;Aktuelle Roboterposition Roboterposition kartesisch kartesisch [mm,Grad]
a ue
min. max.
Comments
$POS_ACT.A
Rotation about the Z axis
Data type
Real
Unit
mm,
a ue
min. max.
$POS_ACT.B
Rotation about the Y axis
$POS_ACT.C
Rotation about the X axis
$POS_ACT.X
Offset in the X direction direction
$POS_ACT.Y
Offset in the Y direction direction
$POS_ACT.Z
Offset in the Z direction direction
$POS_ACT_MES
Measured actual position, Cartesian
Data typ type
Str Structur ture
Unit In file
-- -- --
Origina Originall line line
E6POS E6POS $POS_ACT_ $POS_ACT_MES MES
a ue
min. max.
Comments
102 102 of of 170 170
SysVar SysVar 08.02.03 en
17
P (For (Forts tset etzu zung ng))
$POS_BACK
Start position of the current motion block, Cartesian
Data typ type
Str Structur ture
Unit
mm,
In file
-- -- --
Origina Originall line line
E6POS E6POS $POS_BACK $POS_BACK ;Anfangsposition ;Anfangsposition des aktuellen Bewegungssatzes Bewegungssatzes kartesisch [mm,Grad]
a ue
min. max.
Comments
$POS_BACK.A
Rotation about the Z axis
Data type
Real
Unit
$POS_BACK.B
Rotation about the Y axis
$POS_BACK.C
Rotation about the X axis
$POS_BACK.X
Offset in the X direction direction
Data type
Real
Unit
mm
$POS_BACK.Y
Offset in the Y direction direction
$POS_BACK.Z
Offset in the Z direction direction
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
-- -- --
Origina Originall line line
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
Rotation about the Z axis
Data type
Real
Unit
$POS_FOR.B
Rotation about the Y axis
$POS_FOR.C
Rotation about the X axis
$POS_FOR.X
Offset in the X direction direction
$POS_FOR.Y
Offset in the Y direction direction
$POS_FOR.Z
Offset in the Z direction direction
104 104 of of 170 170
a ue
min. max.
SysVar SysVar 08.02.03 en
17
P (For (Forts tset etzu zung ng))
$POS_INT
Position when interrupt interrupt is triggered, triggered, Cartesian Cartesian
Data typ type
Str Structur ture
Unit
mm,
In file
-- -- --
Origina Originall line line
E6POS E6POS $POS_INT $POS_INT ;Unterbrechungs ;Unterbrechungsposition position kartesisch kartesisch [mm,Grad]
a ue
min. max.
Comments
$POS_INT.A
Rotation about the Z axis
Data type
Real
Unit
$POS_INT.B
Rotation about the Y axis
$POS_INT.C
Rotation about the X axis
$POS_INT.X
Offset in the X direction direction
Data type
Real
Unit
mm
$POS_INT.Y
Offset in the Y direction direction
$POS_INT.Z
Offset in the Z direction direction
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
-- -- --
Origina Originall line line
E6POS E6POS $POS_RET $POS_RET ;Rückpositionier ;Rückpositionieren en kartesisch kartesisch [mm,Grad]
a ue
min. max.
Comments
$POS_RET.A
Rotation about the Z axis
Data type
Real
Unit
$POS_RET.B
Rotation about the Y axis
$POS_RET.C
Rotation about the X axis
$POS_RET.X
Offset in the X direction direction
Data type
Real
Unit
mm
$POS_RET.Y
Offset in the Y direction direction
$POS_RET.Z
Offset in the Z direction direction
$POWER_FAIL
Display of power failure
Data typ type
Boo Boolea lean
Unit In file
-- -- --
Origina Originall line line
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
SysVar SysVar 08.02.03 en
17
P (For (Forts tset etzu zung ng))
$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
-- -- --
Origina Originall line line
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
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System Variables
time before shutting shutting down the system system $POWEROFF_DELAYTIME Wait time
Data type
Real
Unit
s
In file
-- -- --
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
Ste Steu\Ma \Mada\$ma \$mach chin ine e.da .dat
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
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.
SysVar SysVar 08.02.03 en
17
P (For (Forts tset etzu zung ng))
$PRO_I_O
External program for controller node
Data ata type type
Chara haract cter er
Unit
a ue
min. max.
In fil file
Ste Steu\Ma \Mada\$c \$custom tom.da .dat
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Chara haract cter er
a ue
min. max.
Name of the block in the main run
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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
Chara haract cter er
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
-- -- --
Origina Originall line line
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
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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.
SysVar SysVar 08.02.03 en
17
P (For (Forts tset etzu zung ng))
$PRO_MODE0
Process Process run mode of the Submit interpreter interpreter
Data type
Enum
a ue
Unit In file
-- -- --
Origina Originall line line
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
-- -- --
Origina Originall line line
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
Sign Signal al decl declar arat atio ion n
Unit
a ue
In fil file
R1\Ma \Mada\$m \$machin chine e.da .dat
Origina Originall line line
SIGNAL SIGNAL $PRO_MOV $PRO_MOVE E $OUT[102 $OUT[1022] 2] ;Programmbewegung aktiv
min. max.
Comments
SysVar 08.02.03 en
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