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System Variables List R J3ib

This document provides a summary of system variables for a Fanuc RJ3iB controller. It lists over 800 system variables, including their name, description, minimum and maximum values, default value, and other properties. The first few system variables discussed relate to the Allen-Bradley interface configuration, including variables for the link address, command byte, configuration settings, and more. These variables provide diagnostic information for service personnel.

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0% found this document useful (0 votes)

861 views

System Variables List R J3ib

Uploaded by

Péter Szarka

Available Formats

Download as PDF, TXT or read online on Scribd

You are on page 1/ 810

7/23/2019 System Variables List R-J3iB

The following information has been compiled from the RJ3iB Controller
Software Reference Manual from the Fanuc CRC web site
(https://crc.frc.com/Docs/eDocMain.asp) ....

2. SYSTEM VARIABLE LISTING

2.1 A
$AB_INT_CFG STRUCTURE

Name: Allen-Bradley Interface Configuration

Description: This variable structure contains configuration information for the R-

J3 style Allen-Bradley interface. It is intended to provide information to FANUC
Robotics service personnel and the Hot Line. You cannot modify this information
because it is read only. You cannot decode this information because it is packed
into the fields of this structure. If you suspect problems with the R-J3 style Allen-
Bradley interface, FANUC Robotics service personnel can use the information
contained in this structure to help diagnose the problem. If the R-H style Allen-
Bradley interface is installed, this structure is not used and should contain 0 in all
fields. The individual fields within this structure are described below.

Power Up: N/A

$AB_INT_CFG.$address

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Link Address

Description: This variable is the serial communications link address. Diagnostic

information for FANUC Robotics service personnel only.

Power Up: N/A

$AB_INT_CFG.$command

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

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Name: Command Byte

Description: This variable is the internal board configuration. Diagnostic

information for FANUC Robotics service personnel only.

Power Up: N/A

$AB_INT_CFG.$config

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Configuration

Description: This variable is the general board configuration information.

Diagnostic information for FANUC Robotics service personnel only.

Power Up: N/A

Power Up: N/A

$AB_INT_CFG.$rate

Minimum: 0 Maximum:
RO UIF: RO Default:
CRTL: RO255Data Type: 0 KCL/Data:
INTEGER RO Program:
Memory: CMOS

Name: Data Rate

Description: The serial communications data rate. Diagnostic information for

FANUC Robotics service personnel only.

Power Up: N/A

$AB_INT_CFG.$ser_flt

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Serial Fault Register

Description: Internal serial fault information. Diagnostic information for FANUC

Robotics service personnel only.

Power Up: N/A

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$AB_INT_CFG.$stat_reg

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO65535 0
Data Type: INTEGER RO CMOS
Memory:

Name: Status Register

Description: Internal board status register information. Diagnostic information for

FANUC Robotics service personnel only.

Power Up: N/A

$AC_CRC_ACCO[1-5]

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS

$AP_PLUGGED

Minimum: 0 Maximum: 4294967295 Default: 0 KCL/Data:

RO Program: RO UIF: FP CRTL: RW Data Type: ULONG Memory:
CMOS

Name:
Application Used Placeholder
Description: This variable is used by the system to determine which application
tools slots are occupied. You cannot change this variable.

Power Up: N/A

$AP_TOTALAX

Minimum: 0 Maximum: 4278190080 Default: 0 KCL/Data:

RO Program: RO UIF: FP CRTL: RW Data Type: INTEGER Memory:

CMOS
Name: Number of Tasks in the Application.

Description: Reserved for Internal use by FANUC Robotics. You cannot change
this variable.

Power Up: N/A

$AP_USENUM[1-32]

Minimum: 0 Maximum:
RO Program: UIF: FP Default:
4278190080
Not available CRTL: RW 1 KCL/Data:
Data Type:
UBYTE Memory: CMOS

Name: Application Utilization Number

Description: The number of devices that each application uses. Reserved for
Internal use by FANUC Robotics. You cannot change this variable.

Power Up: N/A

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$AP_USENUM[32]

Minimum: Maximum: Default: KCL/Data: Program:

RO UIF: Not0 available CRTL:
255 Not available
1 RO BYTE Memory:
Data Type:
Not available

Name: Application Utilization Number

Description: The number of devices that each application uses. Reserved for
Internal use by FANUC Robotics. You cannot change this variable.

Power Up: N/A

$APPLICATION[1]
Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Name of the APPLICATION/TOOL Software

Description: Displays the release time name of the software

APPLICATION/TOOL.

Power Up: N/A

Screen: STATUS Version IDs screen

$APPLICATION[2]

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Version of the APPLICATION/TOOL Software

Description: Displays the release time version of the software

APPLICATION/TOOL.

Power Up: N/A

Screen: STATUS Version IDs screen

$APPLICATION[3]

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Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Software Serial Number of the APPLICATION/TOOL Software

Description: Displays the software serial number of the software

APPLICATION/TOOL. Typically, this is the FANUC Robotics project number that
the robot was ordered against.

Power Up: N/A

Screen: STATUS Version IDs screen

$ARCLINK[1].$can_recv

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: CAN 2.0 B receive counter for the Arclink channel

Description: This counter represents the number of CAN 2.0 B messages

received by the Arclink interface. This counter is updated by the system when the
Arclink channel is online. This counter is provided for diagnostic purposes.

Power Up: Takes effect immediately

$ARCLINK[1].$comment

Minimum: "" Maximum: "" Default: "************************" KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
STRING Memory: CMOS

Name: User defined comment

Description:
each ArcLink The ArcLink
channel. TheSTATUS menu allows
string is stored you to enter
in the variable a comment for
$comment.

Power Up: N/A

$ARCLINK[1].$mbid

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Motherboard ID
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Description: The motherboard ID number indicates which interface board is

associated with an ArcLink channel.

Power Up: N/A

$ASCII_SAVE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program:

RW UIF: NO CRTL: NO Data Type: BOOLEAN Memory: CMOS

Name: Program Save Mode

Description: Saves programs in ASCII format when set to TRUE. The default is

to save program in binary format. The ASCII file save format can be edited off-
line.

Power Up: No

$AUTOINIT

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Automatic Initialize

Description: Reserved for Internal use by FANUC Robotics. Do not change this
variable. Modifying this will cause severe problems during a Controlled Start.

Power Up: N/A

$AUTOMESSAGE

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: AUTO MESSAGE TYPE

Description:

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM variable screen and SYSTEM configuration screen (on the
teach pendant)

$AUTORCV_ENB

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Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Auto error recovery enable parameter for customer condition

Description: This system variable is used by the customer. When the customer
condition isn’t satisfied, this parameter should be changed to FALSE using the
parameter instruction. This value should be TRUE if you do not use this system
variable.

Power Up: Takes effect by cold start.

$AWELEWC[1].$usr_def_di

Minimum: 0 Maximum: 0x7fffffff Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS

Name: User definable digital inputs

Description: $USR_DEF_DI is a bit map which allows you to override the

default settings of some digital input signals from the Lincoln Electric weld power
supply. Currently, only the GAS, WIRE, AND WATER FAULT input signals can
be reconfigured when using the ArcLink network connection. The bits correspond
to the order of the digital output fields in $AWEPRR. For example, to override the
ArcLink assignment of the $gas_fault and $water_fault, set $usr_def_di = 2 + 8 =
10 (the second bit and fourth bits ON). This is only possible for ArcLink
connections. It is not supported with the DeviceNet interface.

Power Up: On_Cold_Start

Name: User definable digital outputs

Description: $USR_DEF_DO is a bit map which allows you to override the

default settings of some digital output signals to the Lincoln Electric weld power
supply. Currently, only the GAS START output signal can be reconfigured when
using the ArcLink network connection. The bits correspond to the order of the

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digital input fields in $AWEPRR. For example, to override the ArcLink

assignment of the $gas_start, set $usr_def_do = 2 (the second bit ON).

Power Up: On_Cold_Start

Minimum: 4 Maximum: 100 Default: 50 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Wire meter time

Description: $WIR_MTR_TIM sets the rate at which the Lincoln Electric Wire
Feeder will send wire feed speed data to the robot when using ArcLink. The units
are milliseconds. The valid range is 4 to 100.

Power Up: On_Cold_Start

$AWEPCR[1].$awwv_mode

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Arc welding weave mode

Description: $awwv_mode controls weld and weave synchronization. If

$awwv_mode is 0, which is the default, there is no synchronization. If
$awwv_mode is 1, the weld schedule changes at the weave dwell. If
$awwv_mode is 2, the weld schedule changes gradually from the weave center
to the weave dwell.

Power Up: N/A

$AWEPOR[1].$error_code
Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:
RO Program: Not available UIF: RO CRTL: RO Data Type:
ULONG Memory: CMOS

Name: Error code

Description: This variable is a measure of the energy transferred per second

while welding. It is the product of the current and voltage feedback or it is the
power reported by the weld controller. The units are Watts, which are J/s.
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Power Up: N/A

$AWEPOR[1].$heat_input

Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
REAL Memory: CMOS

Name: Heat input

Description: $HEAT_INPUT is a measure of the energy transferred per unit

length of weld. It is calculated as the ratio of the power to the speed. The units
are Joules/mm.

Power Up: Takes effect immediately

$AWEPOR[1].$power

Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
REAL Memory: CMOS

Name: Power

Description:
while welding. This
It is variable is aofmeasure
the product of the
the current energy
and transferred
voltage feedbackper
or itsecond
is the
power reported by the weld controller. The units are Watts, which are
Joules/second (J/s).

Power Up: Takes effect immediately

$AWEPRODSTAT[1].$weld_dist

Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
REAL Memory: CMOS
Name: Weld distance

Description: The variable $aweprodstat[1].$weld_dist is updated while welding

to reflect the total distance welded. The units are millimeters. The variable will
"turnover" to zero at 1,000,000.0 mm. The weld distance can be RESET with the
RESET function key in the Weld Status screen. Note there is a $weld_stat field in
$aweweldstat[1] that reflects only the distance for the current weld. It is reset at
the start of each weld. The distance is not calculated for JOINT welding moves.

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Power Up: Takes effect immediately

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
ULONG Memory: CMOS

Name: Weld heat

Description: $WELD_HEAT contains the total heat energy input to the

workpiece
the while
heat input forwelding in Joules.
each weld $AWEWELDSTAT[1].$WELD_STAT
and $AWEPRODSTAT[1].$WELD_HEAT contains
contains
the heat input for alll welds. This variable will turnover to 0 wheh it reaches
1,000,000. This variable is RESET to 0 via the RESET function key in the Weld
Status screen.

Power Up: Takes effect immediately

$AWEPRR[1].$rmt_gas

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

Not
CMOSavailable UIF: RW CRTL: RW Data Type: AWDIO_T Memory:

Name: Remote gas

Description: This variable defines a digital input signal to control the welding gas
flow remotely.

Power Up: Takes effect immediately

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: AWDIO_T Memory:
CMOS

Name: Remote inch backward

Description: This variable defines a digital input signal to inch the wire backward
remotely. It should be set using the CONFIG function key in the Weld I/O Input
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screen. An input named "Remote Inch Bwd" appears in the Weld input screen if
"Remote wire inch" is enabled in the Weld System Setup screen.

Power Up: On_Cold_Start

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: AWDIO_T Memory:
CMOS

Name:
Remote inch forward
Description: This variable defines a digital input signal to inch the wire forward
remotely. It should be set using the CONFIG function key in the Weld I/O Input
screen. An input named "Remote Inch Fwd" appears in the Weld input screen if
"Remote wire inch" is enabled in the Weld System Setup screen.

Power Up: On_Cold_Start

Name: Strike Wire Feed Speed

Description: This variable is the initial wire feed speed used during an Arc Start
with the Lincoln Electric PowerWave power supplies.

Power Up: N/A

$AWERAMP[1].$ramp_crater

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Ramp crater

Description: $RAMP_CRATER enables and disables ramping during craterfill. If

TRUE, the craterfill time specified in an Arc End weld schedule will cause the
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welding analog outputs to ramp to their programmed values in the specified time.
If FALSE, the analog signals transition immediately to the programmed values.

Power Up: N/A

$AWERAMP[1].$time_factor

Minimum: 1 Maximum: 10 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Time factor

Description: $TIME_FACTOR controls the update frequency of the analog

parameters during ramping.The

$AWSCFG.$LOOP_TIME. It ismaximum
a multiplierfrequency
of the variable
is achieved when
$TIME_FACTOR is set to 1. Setting it to 2 doubles the ramping time interval
(halves the frequency), and so forth. The time duration specified in a weld
schedule for ramping is not affected by this variable.

Power Up: Takes effect immediately

$AWEUPR[1].$ae_pre_time

Minimum: 0 Maximum: 200 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Arc End Pre Time

Description: The variables $AE_PRE_TIME allow you to control the timing of

the weld start signal relative to motion termination. With $AE_PRE_TIME you
can begin craterfill while still moving to the Arc End position.

Power Up: Takes effect immediately

Minimum: 0 Maximum: 200 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Arc Start Pre Time

Description: The variable $AS_PRE_TIME allows you to control the timing of

the weld start signal relative to motion termination. With $AS_PRE_TIME you

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overlay the small delays in starting the wire feeder with the robot’s final motion to
the Arc Start position.

Power Up: Takes effect immediately

Minimum: 0 Maximum: 200 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Arc Start wire feed timing adjustment

Description: This variable is for FANUC Robotics Internal use only.

Power Up: Takes effect immediately

$AWSCFG.$weave_synch

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Weave synchronization

Description: $WEAVE_SYNCH enables and disables the ability to synchronize

the welding process with the weave profile.

Power Up: N/A

$AWSPCR.$rmt_gas_ena

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Remote gas enable

Description: This variable is used to ENABLE or DISABLE remote control of the
welding gas.

Power Up: Takes effect immediately

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Remote wire enable

Description: This variable is used to ENABLE or DISABLE remote wire inching.

Power Up: Takes effect immediately

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: TorchMate wire inch enable

Description: $tm_wire_ena enables and disables wire inch support for

TorchMate. When enabled ArcTool monitors the wire inch forward and backward
digital output signals. At the OFF to ON transition, ArcTool sets the wire inch
speed to the value specified in $awepcr[n].$inch_rate. At the ON to OFF
transition, ArcTool will set the inch speed to zero. This is supported for all wire
feeders including ServoTorch.

Power Up: N/A

2.2 B
$BACK_EDIT[1] STRUCTURE

Name: Background Edit

Description: Background Edit variable structure. Individual fields within this

structure are described below.
Power Up: N/A

$BACK_EDIT[1].$backup_name

Minimum: "" Maximum: "" Default: "-BACKUP- " KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: STRING Memory:
CMOS

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Name: Name of backup program

Description: The name of the backup program is always -BACKUP-.

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Background edit source program name

Description: Contains the name of the program currently being edited.

Power Up: N/A

$BACK_EDIT[1].$used_tp_crt
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Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Background edit internal status information

Description:

Power Up: N/A

$background

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Background edit mode

Description: If TRUE the system will allow Program "A" to be edited while
program "B" is executing. This implies that all TPE functions and select functions
such as create and copy can occur with the teach pendant disabled. Background
edit is an optional feature.

Power Up: N/A

$BACKUP_NAME

Minimum: "" Maximum: "" Default: "BACKUP" KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Backup name

Description: This is the root name for the .LDC files that will be created from the
Controller Backup feature. Default is "BACKUP," but you can change this from
the SYSTEM Variables screen or the Controlled Start File Menu by selecting
Controller Backup. This is a six character alphanumeric string. The files that are
created (if BACKUP is the root name) will be BACKUP01.LDC, BACKUP02.LDC,
etc.
Power Up: On_Cold_Start

Screen: SYSTEM Variables screen or the Controlled Start 2 File Menu

$BGE_PROGRAM

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available
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Name: Background Edit Program Mode

Description: If this string is not NIL it contains the name of the program which is
being edited in the background. This variable allows a KAREL program to
determine whether a program to be run will cause an error or not. This is a read
only variable written to by the system.

Power Up: N/A

$bge_unusend

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Background edit automatic exit

Description: If set to TRUE the system will automatically exit background mode
if a program is called for editing. If this is FALSE then the system will stop
program execution and display a prompt box.

Power Up: N/A

$BGEAUTOEXIT

Minimum:
RW UIF: 0Not Maximum:
available 1 Default:
CRTL: 0 KCL/Data:
Not available Type:Program:
Data RW
BOOLEAN Memory: Not available

Name: Background Edit Automatic Exit

Description: If set to TRUE the system will automatically exit background mode
if a program is selected for editing. If this is FALSE then the system will stop
program execution and display a prompt box.

Power Up: N/A

$BLAL_OUT STRUCTURE

Name: Low Voltage Alarm for Pulse Coder Backup Battery Output Function

Description: "BLAL" alarm (severity is WARNING) occurs when the pulse code
backup battery voltage becomes low, and can be used for preventing "BZAL"
(Battery zero alarm). The occurrence of "BLAL" is shown at the teach pendant
and it can also be shown as output signals such as DO[] or BATALM (UOP
output signal for CPU board backup battery alarm). The individual fields within

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this structure are described below. NOTE From KCL, a required dummy field,
$BLAL_OUT.$PS_BATALM_0, is displayed.

Power Up: N/A

$BLAL_OUT.$batalm_or

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: BATALM signal "OR" switch

Description: This switches the meaning of BATALM UO signal as follows: If

TRUE , alarm,
battery the BATALM UO signal
or if a BLAL is turned
or a BZAL on if An
occurs. thealarm
main message
CPU board
onbackup
the TP will
identify which battery alarm occurred. If FALSE , the BATALM UO signal is
turned on only if the main CPU board backup battery alarm occurs.

Power Up: Takes effect immediately

$BLAL_OUT.$do_index

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: BLAL digital output index

Description: If a non-zero value is specified, turn on DO[] of this index when
BLAL or BZAL occurs.

Power Up: Takes effect immediately

$BLT

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

CMOSProgram: RO
RO UIF: RO CRTL: RO Data Type: INTEGER Memory:

Name: System Build Date

Description: Displays the date when the system software was made. You
cannot change this variable.

Power Up: N/A

$BWD_ABORT
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Backward Abort

Description: This variable determines whether the program is aborted or paused

after a completion of a BWD execution at the 1st line of the program. The default
value of this variable is FALSE. If this variable is set to FALSE, the program will
pause after it completes a BWD execution at the 1st line of program. If this
variable is set to TRUE, the program will abort after it completes a BWD
execution at the 1st line of program if the program is the main program. Even if
the value is TRUE and BWD execution of 1st line is completed, if the program is
called from another program at that time, the called program pauses.

Power Up: Takes effect immediately

2.3 C
$CD_JOG_ENB

Minimum: 0 Maximum: 2 Default: 1 KCL/Data: RO Program: RO UIF:

FP CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Coordinated jogging function enable

Description: This variable is used to turn on/off the functions of coordinated

jogging. It has three values, 0, 1 and 2. 0--turn off all coordinated jogging
functions; 1--turn on all coordinated jogging functions (fixed orientation and
attached orientation jogging functions); 2--turn on attached orientation jogging
function only. The default value of this variable is 1 for the market in North
America and 2 for the market in Japan.

Power Up: On_Cold_Start

$CD_LDR_FRM[1].$origin[1-6]

Minimum: MIN_CD_POINT Maximum: 100000.0 Default:

DEF_CD_POINT KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: CD_POINT_T Memory: CMOS

Name: Leader Frame Origin.

Description: Leader frame origin teaching position. This variable include the
teach point of both the leader group position and the follower group position

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Power Up: N/A

Screen: SYSTEM Variables screen. Leader Frame menu of Coord menu of

SETUP menu.

$CD_LDR_FRM[1].$origin[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: RW Program: RW UIF: Not available CRTL:
Not available Data Type: CD_POINT_T Memory: Not available

Name: Leader Frame Origin.

Description:
teach point of Leader
both theframe origin
leader groupteaching
positionposition.
and theThis variable
follower groupinclude the
position

Power Up: N/A

Screen: SYSTEM Variables screen. Leader Frame menu of Coord menu of

SETUP menu.

$CD_LDR_FRM[1].$x_pos[1-6]

Minimum: MIN_CD_POINT Maximum: 100000.0 Default:

RW CRTL: RW KCL/Data:
DEF_CD_POINT Data Type:RW Program: Not
CD_POINT_T CMOSUIF:
available
Memory:

Name: Leader Frame Origin.

Description: Leader frame x-direction teaching position. This variables include

the teach point of both the leader group position and the follower group position.

Power Up: N/A

Screen: SYSTEM Variables screen. Leader Frame menu of Coord menu of

SETUP menu.
$CD_LDR_FRM[1].$x_pos[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: RW Program: RW UIF: Not available CRTL:
Not available Data Type: CD_POINT_T Memory: Not available

Name: Leader Frame Origin.

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Description: Leader frame x-direction teaching position. This variables include

the teach point of both the leader group position and the follower group position.

Power Up: N/A

Screen: SYSTEM Variables screen. Leader Frame menu of Coord menu of

SETUP menu.

$CD_LDR_FRM[1].$y_pos[1-6]

Minimum: MIN_CD_POINT Maximum: 100000.0 Default:

DEF_CD_POINT KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: CD_POINT_T Memory: CMOS

Name: Leader Frame Origin.

Description: Leader frame y-direction teaching position. This variables include

the teach point of both the leader group position and the follower group position.

Power Up: N/A

$CD_LDR_FRM[1].$y_pos[6]

$CD_PAIR.$ldr_frm_num

Minimum: 0 Maximum:
RW Program: RW UIF:MAX_LDR_FRM Default:
Not available CRTL: KCL/Data:
Not 1available Data Type:
LONG Memory: Not available

Name: Leader Frame number

Description: Indicates which leader frame will be used in LDR Coordinate frame
when use follower group jogging.

Power Up: N/A

Screen:
menu. SYSTEM Variables screen. Setup menu of Coord menu in SETUP

$CD_PAIR.$leader_frm[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: RW Program: RW UIF: Not available CRTL:
Not available Data Type: POSITION Memory: Not available

Name: Leader Frame

Description: The
Follower group framewhen
Jogging attached to theCOORD
the JOG leader group. Thiscoordinate.
is in LDR frame will be used for

Power Up: N/A

Screen: SYSTEM Variables screen. Leader Frame menu of Coord menu in

SETUP menu.

$CD_PAIR.$loc_jog

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$LOCTOL, and $ORIENTTOL are used in conjunction with the relational operator
``>=". Power Up:

$CMSCH[1].$cmc_type

Minimum: 0 Maximum: 3 Default: 2 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: IntelliTrak Type Switch

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: IntelliTrak Rotational Speed Limit

Description: Determines the maximum rotational speed for orientation control

when IntelliTrak is enabled.

Power Up: N/A

$CMSCH[1].$warnmessenb

Minimum: 0 Maximum: 4 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: IntelliTrak Warning Message Enable

Description: This variable allows you to enable/disable posting of the IntelliTrak

error message "Can’t blend corner." If set to 1, then error message will be posted.
If set to 0, then error message will not be posted.

Power Up: N/A

$CN_ADP_CNF[1].$cn_adpenab

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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Name: ControlNet Mode of Operation 0 - Adapter Mode - Default 1 - Scanner

Name: ControlNet Daughter-Board Product Code

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Description: Goes in the ControlNet ID object Product Code of the board

Power Up: N/A

$CN_ADP_CNF[1].$cn_bd_vndid

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Daughter-Board Vendor ID

Description: Goes in the ControlNet ID object Vendor ID of the Manufacturer of

the board

Power Up: N/A

$CN_ADP_CNF[1].$cn_class

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Connection Class for the target (adapter connection)

Description: Provides the Connection Path for the device

Power Up: N/A

$CN_ADP_CNF[1].$cn_conpt0

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Connection point 0 for the target (adapter connection)

Description: Provides the Connection Path for the device

Power Up: N/A

Screen: The System Variables screen

$CN_ADP_CNF[1].$cn_conpt1

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Connection point 1 for the target (adapter connection)

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Description: Provides the Connection Path for the device.

Power Up: N/A

Screen: The System Variables screen

$CN_ADP_CNF[1].$cn_insize

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Input Size in Words for adapter mode

Description:

Power Up: N/A

$CN_ADP_CNF[1].$cn_inst

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Connection Instance for the target (adapter connection)

Description: Provides the Connection Path for the device

Power Up: N/A

$CN_ADP_CNF[1].$cn_ist_sz

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Input Status size

Description:
Power Up: N/A

$CN_ADP_CNF[1].$cn_ost_sz

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Output Status size

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Description:

Power Up: N/A

$CN_ADP_CNF[1].$cn_outsize

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Output Size in Words for adapter mode

Description:

Power Up:
N/A
$CN_BD_INFO[1].$cn_bd_cmt

Minimum: "" Maximum: "" Default: "****************" KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: STRING Memory:
CMOS

Name: ControlNet Daughter-Board Comment

Description: Provides a short description field for the daughter-board/network.

Power Up: Takes effect immediately

Screen: ControlNet Board List screen

$CN_BD_INFO[1].$cn_bd_dtype

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Daughter-Board Device Type

Description: Goes in the ControlNet ID object Device Type of the board

Power Up: N/A

$CN_BD_INFO[1].$cn_bd_erst

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Error state of Input and Output Ports

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Description: This sets what the last state of the input/output ports should be. 0 :
Keep last state 1 : Set to zero 2 : Use individual device settings

Power Up: On_Cold_Start

$CN_BD_INFO[1].$cn_bd_kprst

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet Daughter-Board ControlNet Keeper State

Description: Contains Keeper State of the Card

Power Up: N/A

$CN_BD_INFO[1].$cn_bd_macid

Minimum: 1 Maximum: 99 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Daughter-Board MAC-Id

Description: The Media Access Control Identifier (MAC-Id) for the ControlNet

daughter-board. Must be in the and

Id between the daughter-board range [1..99].
any There
devices cannot be
connected a duplicate
to the MAC-
daughter-board.

Power Up: On_Cold_Start

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_bd_majrv

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Major Revision

Description: Goes in the ControlNet ID object Major Revision of the Product

Power Up: N/A

$CN_BD_INFO[1].$cn_bd_mb_id

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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Name: ControlNet Motherboard ID

Description: Identifies what type of motherboard the ControlNet daughtercard is

Name: DeviceNet Daughter-Board Status

Description: Indicates the status of the DeviceNet daughter-board:

• 0: board is offline and has not been initialized

• 1: board is offline and cannot be initialized
•
• 2: board is offline but has been initialized
• 3: board is in an error state and has not been initialized
• 4: board is in an error state and cannot be initialized
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• 5: board is in an error state but has been initialized

• 6: board is online
• 7: board is currently being initialized
• 99: no ControlNet variables have been initialized

Power Up: N/A

$CN_BD_INFO[1].$cn_bd_vndid

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Daughter-Board Vendor ID

Description: Goes in the ControlNet ID object Vendor ID of the Manufacturer of

the board

Description: This sets where the CNET firmware file resides. should be. 0 :
CN_FLASH_BIN - Run BIN file from flash - Default Setting 1 : CN_LOAD_BIN -
Load BIN file from FRSU:

Power Up: Takes effect immediately

$CN_BD_INFO[1].$cn_firmfile
Minimum: "" Maximum: "" Default: "******************" KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: STRING Memory:
CMOS

Name: ControlNet Configuration Firmware File (.BIN)

Description: This indicates firmware file to be loaded. The extension of this file
is .BIN. If no file is supplied, the file in flash is run.

Power Up: N/A

$CN_BD_INFO[1].$cn_flshfile

Minimum: "" Maximum: "" Default:

"******************************************" KCL/Data: RW Program: RW UIF:
RW CRTL: RW Data Type: STRING Memory: CMOS

Name: ControlNet Flash Programming file (.SS1)

Description: This indicates firmware file to be loaded. The extension of this file
is .SS1. This is required to update the FPGA Flash EPROM.
Power Up: N/A

$CN_BD_INFO[1].$cn_gbcntr

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet Network Guard-band Center

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Description: Identifies the guard-band center network parameter. This value

cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_gbpre

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet Network Guard-band Prestart

Description: Identifies the guard-band prestart network parameter. This value

cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_gbstrt

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet Network Guard-band Start

Description: Identifies the guard-band start network parameter. This value

cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_netchang
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Specifies action to be taken when Network Parameter Change event is

received

Description: This specifies action to be taken when Network Parameter Change

event is received should be. 0 : CN_NETCHNG_WARN - Allow Network Change

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with Warning Post - Default 1 : CN_NETCHNG_STOP - Post Stop error on

Network Change

Power Up: Takes effect immediately

$CN_BD_INFO[1].$cn_nut

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet Network Update Time

Description: Identifies the network update time (NUT) of the ControlNet Network.

This value cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_or_ersv

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Error Severity for device error

Description: Specifies Error severity for errors posted runtime errors remote
device connections

Power Up: N/A

Screen: The System Variables screen

$CN_BD_INFO[1].$cn_pgafile

Minimum: "" Maximum: "" Default: KCL/Data: RW Program: RW

"******************************************" UIF:
RW CRTL: RW Data Type: STRING Memory: CMOS

Name: ControlNet FPGA Source file (.SSP)

Description: This indicates firmware file to be loaded. The extension of this file
is .SSP. This is required to update the FPGA Flash EPROM. This is the file which
will be loaded by the FPGA

Power Up: N/A

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$CN_BD_INFO[1].$cn_stat2

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

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Name: ControlNet Sys Var for Internal Purposes

Description: This value cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_stat3

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name:
ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_stat4

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Sys Var for Internal Purposes

Description: This value cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_BD_INFO[1].$cn_stat5

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Sys Var for Internal Purposes

Description: This value cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

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$CN_BD_INFO[1].$cn_tg_ersv

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW32767 0
Data Type: INTEGER RW CMOS
Memory:

Name: ControlNet Error Severity for device error

Description: Specifies Error severity for errors posted runtime errors adapter
mode connections

Power Up: N/A

Screen: The System Variables screen

$CN_BD_INFO[1].$cn_umax

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet network maximum unscheduled MAC ID

Description: Identifies maximum unscheduled MAC ID (smax) of the ControlNet

network. This value cannot be changed

Power Up: N/A

Screen: ControlNet Board Detail screen

$CN_DEBUG

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Continuous Turn Debug

Description: The Continuous Turn Debug variable is a bit-mapped variable that

is used to locate potential problems in continuous turn. It is not a user variable
and should never be set to any value other than 0. Any other values will slow and
possibly stop robot motion.

Power Up: Takes effect on next motion.

Screen: Set only from KCL or the SYSTEM Variables screen.

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Minimum: "" Maximum: "" Default: "****************" KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: STRING Memory:
CMOS

Name: ControlNet Device Comment

Description: Provides a short description field for the Device

Power Up:
Effective immediately.
Screen: ControlNet Device List screen

$CN_DV_LIST[1].$cn_dv_ihdln

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ControlNet Device Input Header Length

Description: This reflects

size of data exchanged the ControlNet
is equal to 2 bytesConnection Header
of Sequence, Length.
header lengthThe
andtotal
the
I/O size

Power Up: N/A

$CN_DV_LIST[1].$cn_dv_macid

Minimum: 1 Maximum: 99 Default: 1 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: ControlNet Device MAC-Id

Description: The MAC-Id (Media Access Control Identifier) of the ControlNet

device. It may not be a duplicate of the MAC-Id for any other device connected to
the same daughter-board or of the MAC-Id of the daughter-board itself. The
MAC-Id is set when a device is first added to a daughter-board’s device list.

Power Up: N/A

Screen: ControlNet Device List screen

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Screen: ControlNet Device Detail screen

$CN_DV_LIST[1].$cn_dv_ohdln

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: ControlNet Device Output Header Length

Description: This reflects the ControlNet Connection Header Length. The total
size of data exchanged is equal to 2 bytes of Sequence, header length and the
I/O size

Power Up: N/A

$CN_DV_LIST[1].$cn_dv_pcode

Minimum: 0 Maximum:
RO UIF: Not Default:
32767 Not
available CRTL: 0 KCL/Data:
available Data Type:RO Program:
INTEGER Memory: Not available

Name: ControlNet Product Code

Description: Identifies Product Code of the device. This ID is assigned by the

manufacturer of the device.

Power Up: N/A

Screen: ControlNet Device Detail screen

$CN_DV_LIST[1].$cn_dv_stat

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: ControlNet Device Status

Description: The status of the ControlNet device. 0: device is Not used 1: device
is offline 2: device is in an error state 3: device is online
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Power Up: N/A

Screen: ControlNet Device List screen

$CN_DV_LIST[1].$cn_dv_type

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: ControlNet Device Type code

Description: Identifies device type code. This ID is assigned by the

manufacturer of the device as governed by the ControlNet specification

Power Up: N/A

Screen: ControlNet Device Detail screen

$CN_DV_LIST[1].$cn_dv_vndid

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: ControlNet Device Vendor ID

Description: Identifies Vendor ID of the manufacturer of this device This ID is

assigned by ControlNet International.

Power Up: N/A

Screen: ControlNet Device Detail screen

$CN_TRG_INF_T.$size

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: This specifies the I/O size of this instance

Description:

Power Up: N/A

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$CN_TRG_INF_T.$start_pt

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RO UIF: Not 32767 Not available
0 Data Type:RO
INTEGER Memory: Not available

Name: This specifies the starting point of this instance for a given slot

the robot acceleration is coordinated with the continuous turn axis. When FALSE
(default), the group axes’ (robot and extended axes) acceleration time is
independent of the continuous turn axis acceleration time. When TRUE, then all
the axes in the group accelerate at the same rate as the continuous turn axis.
This is in effect only during continuous rotation.

Power Up: On_Cold_Start

Screen: Can be changed from a KAREL program, KCL, or the SYSTEM

Variables screen

See Also: FANUC Robotics Controller Continuous Turn User Guide for more
information

$CN_USR_GRP[1].$cn_same_dir

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Continuous Turn rotate in Same Direction.

Description: This variable controls the direction of rotation of the continuous turn
axis when ending continuous rotation. If TRUE (default), then when ending
continuous rotation, the continuous turn axis will stop and then rotate in the same
direction as continuous rotation until it reaches the taught position. If FALSE,
then the continuous turn axis will stop and move the shortest rotational distance
to the taught position, even if this means rotating in a direction that this opposite
to the continuous rotation.

Power Up: On_Cold_Start

Screen: Can be changed from a KAREL program, KCL, or the SYSTEM

Variables screen

See Also: FANUC Robotics Continuous Turn User Guide for more information

$CN_USR_GRP[1].$cn_step_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Continuous turn step enable

Description: 1 = continuous turn axis will not move during step mode. 0 =
continuous turn axis will move to the taught position during step mode.

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Power Up: Takes effect immediately

$CN_USR_GRP[1].$cn_turn_no

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Continuous Turn Continuous Rotation Turn Number.

Description: This variable indicates the number of complete turns the

continuous turn axis has made since the start of continuous rotation. It is reset to
zero at the start of each motion that contains continuous rotation and will

maintain the value even after motion ends.

Power Up: N/A

Screen: Can be read from a KAREL program, KCL, or SYSTEM Variables

screen.

See Also: FANUC Robotics Continuous Turn User Guide for more information.

$CONT_R_NUM

Minimum:
RW UIF: 0Not Maximum:
available 32 Default:
CRTL: 32 KCL/Data:
Not available RW
Data Type: Program:
INTEGER Memory: Not available

Name: Contact report register number

Description: This variable is valid only when $pause_ncont is set to TRUE. This
variable specifies a register that is set to 0 when the robot makes a contact with a
part. The register is set to 1 if the robot does not touch a part.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

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Name: Name and Version Application and Core Software

Description: Displays the release time name and version of the software
application and core.

Power Up: N/A

Screen: STATUS Version IDs screen

$CORE[2]

Minimum: "" Maximum: " " Default: " " KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type:
Memory:
STRING Not available
Name: Reserved

Description: Reserved for future use.

Power Up: N/A

Screen: STATUS Version IDs screen

$CR_AUTO_DO

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: AUTO mode DO number

Description: If this variable is non-zero, this specifies the DOUT signal which will
be set if the controller is in AUTO mode.

Power Up: On_Cold_Start

$CR_T1_DO
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: T1 mode DO number

Description: If this variable is non-zero, this specifies the DOUT signal which will
be set if the controller is control reliable and is in T1 mode.

Power Up: On_Cold_Start

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$CR_T2_DO

Minimum: Maximum: Default: KCL/Data: Program:

available 0UIF: RW CRTL:
32767 0 INTEGER RW
RW Data Type: Memory: CMOSNot

Name: T2 mode DO number

Description: If this variable is non-zero, this specifies the DOUT signal which will
be set if the controller is control reliable and is in T2 mode. This can be set in the
SYSTEM/CONFIG screen.

Power Up: On_Cold_Start

$CRCFG STRUCTURE
Name: Circular softpart configuration data structure.

Description: This data structure shows the circular motion configuration and its
dependency with other motion options. Individual fields within this structure are
defined below.

Power Up: N/A

$CRCFG.$cr_enhanced

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enhanced circular motion

Description: Internal use only.

Power Up: N/A

$CRCFG.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Debug flag

Description: Internal use only.

Power Up: N/A

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$CRCFG.$group_mask

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW31 Data Type:
1 INTEGER Memory:
RW CMOS

Name: group mask

Description: Internal use only.

Power Up: N/A

$CRCFG.$lgorn_az_sp

Minimum: 0 Maximum:
RW Program: RW UIF:0x7FFFFFFF Default:
RW CRTL: RW Data 120 KCL/Data:
Type:
INTEGER Memory: CMOS

Name: Azimuth and Spin Angles.

Description: Internal use only.

Power Up: N/A

$CRCFG.$lgorn_dbg

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

$CRCFG.$lgorn_rad

Minimum: 0 Maximum: 0x7FFFFFFF Default: 200 KCL/Data:

RW Program:
INTEGER UIF: RW
RW CMOS
Memory: CRTL: RW Data Type:

Name: Small Circle Radius in mm.

Description: This specifies the maximum radius of a small circle. Detection of

large orientation change will only be performed for circles whose radius is less
than this radius. Default is 30mm.

Power Up: On_Cold_Start

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$CRCFG.$mb_conflict

Minimum: Maximum: Default: KCL/Data:

0
RW Program: RW UIF:0x7FFFFFFF
RW CRTL: RW Data 0 Type:
INTEGER Memory: CMOS

Name: sid_mb conflict mask

Description: Internal use only.

Power Up: N/A

$CRCFG.$mb_required

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: sid_mb required mask

Description: Internal use only.

Power Up: N/A

$CRT_DEFPROG
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: CRT Default Program

Description: Identifies the default program name used by KCL commands that
do not specify a program name. It is also the default program that is used on the
CRT/KB screens.

Power Up: No

Screen: SYSTEM Variables screen, set using KCL’s SET DEF command or the
CRT’s SELECT menu.

$CRT_INUSER

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: CRT is in USER Menu

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Description: $CRT_INUSER indicates the USER menu is displayed on the

CRT/KB. It is used in conjunction with $CRT_LCKUSER to tell a program when
the CRT menu has been locked to the USER menu. $CRT_INUSER
automatically is set to TRUE whenever the USER menu is displayed on the
CRT/KB.

Power Up: N/A

$CRT_KEY_TBL[1-256]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not

available UIF: RW CRTL: RO Data Type: BYTE Memory: CMOS

Name:
Table used to Map CRT/KB Input Keys
Description: This table maps keyboard keys into teach pendant equivalent
keycodes. This allows you to map a simple keyboard to perform CRT/KB
functions. NOTE: The system software automatically maps VT-compatible
function key sequences into a single character. Key sequences which are not
VT-compatible will generate multiple input characters. The default setting for this
table will map VT-220 and FANUC Robotics’ built-in CRT/KB function keys to
teach pendant equivalent function keys. If a KAREL program uses the READ_KB
built-in for the CRT/KB, ’raw’ CRT/KB characters will be returned. In order to
retrieve teach pendant equivalent key codes, the KAREL program must perform
the following function: tp_key = $CRT_KEY_TBL[crt_key + 1] This mapping
allows a KAREL program to use common software between the CRT/KB and
teach pendant devices.

Power Up: N/A

See Also: READ_KB built-in in the FANUC Robotics SYSTEM R-J3 Controller
KAREL Reference Manual

$CRT_KEY_TBL[256]

Minimum:
RO 0 Maximum:
UIF: Not 255 Default:
available CRTL: 255 KCL/Data:
Not available Data Type:RO Program:
BYTE Memory:
Not available

Name: Table used to Map CRT/KB Input Keys

Description: This table maps keyboard keys into teach pendant equivalent
keycodes. This allows you to map a simple keyboard to perform CRT/KB
functions. NOTE: The system software automatically maps VT-compatible
function key sequences into a single character. Key sequences which are not
VT-compatible will generate multiple input characters. The default setting for this
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table will map VT-220 and FANUC Robotics’ built-in CRT/KB function keys to
teach pendant equivalent function keys. If a KAREL program uses the READ_KB
built-in for the CRT/KB, "raw" CRT/KB characters will be returned. In order to
retrieve teach pendant equivalent key codes, the KAREL program must perform
the following function: tp_key = $CRT_KEY_TBL[crt_key + 1] This mapping
allows a KAREL program to use common software between the CRT/KB and
teach pendant devices.

Power Up: N/A

See Also: READ_KB built-in in the FANUC Robotics SYSTEM R-J3 Controller
KAREL Reference Manual

$CRT_LCKUSER

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: CRT Lock USER Menu

Description: Setting $CRT_LCKUSER = TRUE will allow the KAREL program

specified by $CRT_DEFPROG to lock the USER menu on the CRT while the
program is running. When the USER menu is locked, all function keys are
accessible by the program. However, they will be blank unless the program
writes to them using the CRTFUNC predefined FILE variable. While the USER
menu is locked, the MENUS hardkey will not be active. Therefore, the program
has control over which menu is being displayed. If $CRT_LCKUSER is FALSE,
or the program is paused or aborted, all system-defined function keys will be
displayed and active. If the USER menu is not being displayed when
$CRT_LCKUSER is first set to TRUE, the lock function does not take effect until
you select the USER menu on the CRT/KB. The value of $CRT_INUSER
indicates whether or not the USER menu has been selected.

Power Up: N/A

$CRT_USESTAT
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: CRT Status Line in USER Menu

Description: Setting $CRT_USESTAT = TRUE will allow the KAREL program

specified by $CRT_DEFPROG to control the status line in the USER menu on
the CRT while the program is running. The status line will be blank unless the
program writes to it using the CRTSTATUS predefined FILE variable. If
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$CRT_USESTAT is FALSE or the program is paused or aborted, the system-

defined status line will be displayed and updated.

Power Up: N/A

$CSTOP

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Cycle-stop Flag

Description: Intended for use in applications to signal the robot to exit from

production mode at the end of the current cycle.

Power Up: N/A

$CT_CURSCRN[1].$scrn_id

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: Current CRT/KB Menu Number

Description: Indicates the menu number of the current menu. Some softparts
can handle multiple menus (for example the SYSTEM System Variable menu
and the KAREL Variable menu are the same softpart id). The menu number
determines the current menu of a given softpart.

Power Up: N/A

See Also: FORCE_SPMENU built-in in the FA NUC Robotics SYSTEM R-J3

Controller KAREL Reference Manual which lists the constants for each menu.

$CT_CURSCRN[1].$sp_id
Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:
RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: Softpart identifier of the current menu

Description: This softpart identifier can be used to determine exactly which

softpart menu is being displayed on the CRT/KB at any time.

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Power Up: N/A

See Also: FORCE_SPMENU built-in in the FA NUC Robotics SYSTEM R-J3

Controller KAREL Reference Manual which lists the constants for each menu.

$CT_CURSCRN[4] STRUCTURE

Name: Current CRT Menu Descriptor

Description: Contains information for the KAREL user to determine which menu
is currently being displayed on the CRT/KB. $CT_CURSCRN[1]: Used during
normal operations $CT_CURSCRN[2]: Used during normal operations when
$CT_QUICKMEN = TRUE $CT_CURSCRN[3]: Not used $CT_CURSCRN[4]:

Not used
Power Up: N/A

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: CRT/KB Quick Menu

Description: Determines whether the user interface displays the quick menu or
the full menu when the MENUS key is pressed. When set to TRUE the quick
menu will be displayed. When set to FALSE, the full menu is displayed. The
quick menu can list up to 16 menus.

Power Up: N/A

Screen: FCTN key - QUICK/FULL MENUS, SYSTEM Variables screen

$CT_SCREEN
Minimum: "" Maximum: "" Default: "ctsc" KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: CRT screen

Description: The name of the current screen on the CRT/KB.

Power Up: N/A

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$CT_USERSCRN

Minimum: Maximum: Default: KCL/Data: Program:

""
RW UIF: RW CRTL: RW"" "c_sc"
Data Type: STRING Memory:RWCMOS

Name: CRT/KB Screen Displayed in USER Menu

Description: Indicates the name of the screen which will be activated when the
USER menu is selected. The ACT_SCREEN built-in will set this system variable.
It will be reset to"c_sc" when the KAREL program, which called ACT_SCREEN,
is aborted.

Power Up: N/A

Minimum: 0 Maximum: 2 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Delete Controlled Start Program

Description: If set to 1,

and must be reloaded atthe controlled
each start
controlled program
start. is deleted
Otherwise, after it is start
the controlled used
program is left in CMOS.

Power Up: N/A

$CUSTOMMENU[1-31]

Minimum: MIN_CUSTOMMENU Maximum: MAX_DYN_BRK Default:

Name: Custom Menu Title

Description: This is the title of the custom menu.

Power Up: N/A

See Also: The Customizing User Menus section in the application-specific Tool
Setup and Operations Manual.

$CY_CONFIG

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Minimum: MIN_CY_CONFIG Maximum: MAX_CY_CONFIG Default:

DEF_CY_CONFIG KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: CY_CONFIG_T Memory: CMOS

Name: Cycle tracking configuration settings

Description: This variable along with $bin_red and $bin_green determine the

colorcorresponding
The of the bar displayed in the
category display
is the index.menu for theofcorresponding
The value category. by
the index is determined
the following system defined constants: CYBIN_MOTION = 1; CYBIN_PROCES
= 2; CYBIN_APPL = 3; CYBIN_SP1 = 4; CYBIN_SP2 = 5; CYBIN_WAIT = 6;
CYBIN_DELAY = 7; CYBIN_KAREL = 8; CYBIN_LOGIC = 9; CYBIN_HOMIO =
10; CYBIN_IDLE = 11; CYBIN_FAULT = 12;

Power Up: N/A

$CY_CONFIG.$bingreen[1-12]

Minimum: Maximum:
available 0UIF: Default:
16 RW
RW CRTL: Data215 KCL/Data:
Type: UBYTE RW Program:
Memory: CMOSNot

Name: Green color value for bin display

Description: The variable along with $bin_red and $bin_blue determine the color
of the bar displayed in the display menu for the corresponding category. The
corresponding category is the index. The value of the index is determined by the
following system defined constants: CYBIN_MOTION = 1; CYBIN_PROCES = 2;
CYBIN_APPL = 3; CYBIN_SP1 = 4; CYBIN_SP2 = 5; CYBIN_WAIT = 6;
CYBIN_DELAY = 7; CYBIN_KAREL = 8; CYBIN_LOGIC = 9; CYBIN_HOMIO =

10; CYBIN_IDLE = 11; CYBIN_FAULT = 12;

Power Up: N/A

$CY_CONFIG.$binred[1-12]

Minimum: 0 Maximum: 16 Default: 000 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Red color value for displayed bins

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name the bins according to some other dictionary. A user dictionary must be
structured like the system default dictionary, as follows: $2, tpcytm_label_c
"TOTAL" $- "SAMPLES" $- "MOTION" $- "PROCESS" $- "APPL" $- "SP1" $-
"SP2" $- "WAIT" $- "DELAY" $- "KAREL" $- "LOGIC" $- "HOMIO" $- "IDLE" $-
"FAULT" $- "\a"

Power Up: N/A

$CY_CONFIG.$lable_elem

Minimum: 0 Maximum: 0x7FFF Default: 2 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name:
Element number of label dictionary
Description: This variable is the element number of the dictionary for the labels.

Power Up: N/A

$CY_CONFIG.$lablimit

Minimum: 0 Maximum: 0x7FFF Default: 30 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Minimum width in pixels of a label

Description: This variable tells the system when to NOT try and display a value
label along with a bar. For example in hundred (100) cycle mode, the bars are
about 5 pixels wide. This is not sufficient room in which to display a time-oriented
label. In ten (10) cycle mode, the width is about 50 pixels wide so that the label
can be displayed given the default value of 30.

Power Up: N/A

$CY_CONFIG.$lineenable

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Line data enable

Description: This variable enables the collection of line by line data during
execution. Since this data is saved to a database at each line, it does take some
time to save the data. The line accumulation is also not enabled unless you
explicitly set $CY_CONFIG.$NUMLINES AND select Clear line data from the
[UPDATE] menu on the screen.
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Power Up: N/A

$CY_CONFIG.$min_track

Minimum: -1.0 Maximum: 1000000. Default: -1.0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
REAL Memory: CMOS

Name: Minimum tracking time

Description: The cycle time tracking system will NOT track any cycle time which
is less than this value. This is a floating point number of seconds so 0.001 would
be 1 ms.

Power Up: N/A

$CY_CONFIG.$numaverages

Minimum: 0 Maximum: 0x7FFF Default: 100 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Number of averages kept in the database

Description: This variable determines the size of the database for saving hourly

averages. Averages
the database are saved
is a function every
of how manyhour on theparts
different hour.you
Therun
number of hours
and how many in
hours you actually run cycles. This variable specifies only the number of
averages. NOTE: The system will round up to the nearest kbyte of data.
Therefore, it might actually store more than the number specified.

Power Up: N/A

$CY_CONFIG.$numcycles

Minimum: 0 Maximum: 0x7FFF Default: 100 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Size of cycle by cycle data base

Description: This variable determines the size of the data base for saving cycles.
NOTE: The system will round up to the nearest kbyte of data. Therefore, it might
actually store more than the number specified. For example the default setting is
100 but the system might actually store 102 cycles after the rounding has
occurred.

Power Up: N/A

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$CY_DATA[1-16]

Minimum: MIN_CY_DATA Maximum: MAX_CY_CONFIG Default:

DEF_CY_DATA KCL/Data: RW Program: Not available UIF: RW CRTL:
RW Data Type: CY_DATA_T Memory: RAM
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Name: Current cycle data

Description: This system variable saves the cycle time accumlations for the
current cycle. The index is the task number for which data is being accumulated.

Power Up: N/A

$CY_DATA[1].$accumulator[1-12]

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name:
Cycle time accumulation area
Description: This array holds the accumulated cycle time for a particular task.
This is the data which is saved for display in the menu.

Power Up: N/A

$CY_DATA[1].$auxno

Minimum: 0x8000 Maximum: 0x7FFF Default: 0x0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
SHORT Memory: CMOS
Name: Auxiliary number

Description: This variable is a number that is saved with the data and can be
used to store any information that is necessary for the application.

Power Up: N/A

$CY_DATA[1].$numsamp

Minimum: 0x8000
RW Program: Maximum: 0x7FFF
Not available UIF: RW Default:
CRTL: RW KCL/Data:
0x0 Data Type:
SHORT Memory: CMOS

Name: Number of data samples

Description: In the case of cycle by cycle data, the accumulation is one cycle by
default. In the case of hourly averages, the data could be the average of many
samples.

Power Up: N/A

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$CY_DATA[1].$progname

Minimum: Maximum: Default: KCL/Data: Program:

available ""UIF: RW CRTL:
"" RW Data " "Type: STRINGRWMemory: CMOS
Not

Name: Program name

Description: This variable indicates the program name which was running when
the cycle data was accumulated.

Power Up: N/A

$CY_DATA[1].$styleno

Minimum: 0x8000 Maximum: 0x7FFF Default: 0x0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
SHORT Memory: CMOS

Name: Style number

Description: This variable indicates the style number associated with the data
being accumulated. This is typically maintained by the application shell and
saved with the data.

Power Up: N/A

$CY_DATA[1].$termcond

Minimum: 0x8000 Maximum: 0x7FFF Default: 0x0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
SHORT Memory: CMOS

Name: Termination condition for the program

Description: When used, this variable holds the termination condition of the
program. The system does not set this but relies on the application shell to set it.
Power Up: N/A

$CY_DATA[1].$walltime

Minimum: 0x0000 Maximum: 0x7FFFFFFF Default: 0x0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name: Wall clock cycle time

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Description: This is the clock time in MSDOS format. The software converts this
to a time string.

Power Up: N/A

2.4 D
$DAQ_GFD_USE

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Data Acquisition Global File Descriptor Usage Tracker

Description: A bitmap for the 16 global file descriptors. When a particular bit is
on, the GFD is being used.

Power Up: Takes effect immediately

Screen: This variable must not be changed by the user.

$DEFLOGIC[1].$func_title

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Function Key Titles

Description: The function key titles in the teach pendant editor can be user-
defined. Each title can be from 0-8 characters. The default logic titles are
displayed below: | [TYPE] LOGIC1 LOGIC2 LOGIC3 [EDCMD]>| F1 F2 F3 F4 F5
$DEFLOGIC[1].$FUNC_TITLE is displayed on F2.
$DEFLOGIC[2].$FUNC_TITLE is displayed on F3.
$DEFLOGIC[3].$FUNC_TITLE is displayed on F4. The default value of each of
these variables is *uninit*. Therefore, if you do not set these variables, the key
will not work.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, SYSTEM config screen.

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Description: Specifies the length of a PULSE if it is not specified by the user.

Power Up: N/A

$DEV_INDEX

Minimum: 0 Maximum: 100 Default: 4 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: System device index

Description: This read-only system variable defines the device index. This is a
number that the system uses to define $DEVICE. To change the default device,

$DMONSCH[1-5]

Minimum: MIN_SCH Maximum: MAX_CFG Default: 1 KCL/Data:

RW Program: Not available UIF: FP CRTL: RW Data Type:
DMON_SCH_T Memory: CMOS

Name: Data Monitor Schedule Array

Description: $DMONSCH is an array of structures. Each structure defines a

Data Monitor schedule. Fields within the structure are set from the Data Monitor
schedule SETUP menus.

Power Up: N/A

$DMONSCH[1].$item[1-10]

Minimum: 0 Maximum: 10000000.0 Default: 1 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:

CMOS
Name: Item Number

Description: $ITEM is an array which specifies the item numbers to be

monitored during the execution of this particular Data Monitor schedule.

Power Up: N/A

$DMONSCH[1].$nominal[1-10]

Minimum: -10000000.0
RW Program: Maximum:
Not available 10000000.0
UIF: RW Default:
CRTL: RW Data KCL/Data:
0.0Type:
REAL Memory: CMOS

Name: Nominal Value

Description: $NOMINAL specifies a nominal value for the monitored data item.
The $WARN and $PAUS values are considered deltas from this nominal.

Power Up: N/A

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Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default:

0 KCL/Data: RW Program: RW UIF: Not available CRTL: Not
available Data Type: INTEGER Memory: Not available

Name: Mastering Count

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Overtravel Minus

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Description: $OT_MINUS is an array with each element representing the

overtravel condition for the respective axis. If an element is set TRUE, the
corresponding axis has a minus overtravel condition and can be jogged only in
the positive direction. When an overtravel does not exist, all of the array
elements are reset to FALSE. The appropriate array elements in $OT_MINUS
are automatically set to TRUE when an overtravel occurs in the minus direction,
and automatically set back to FALSE when the condition is corrected. This
variable is saved to the SYSMAST.SV system file automatically every time its
value is changed and is automatically loaded into the system at power up. This
information is displayed if the axis of each joint is in the state of overtravel of
negative direction. When the joint axis enters the state of overtravel of negative
direction, the system will change this variable automatically.

Power Up: N/A

Screen: MANUAL OT Release

$DMR_GRP[1].$ot_plus[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Overtravel Plus

Description: $OT_PLUS is an array with each element representing the

overtravel condition for the respective axis. If an element is set TRUE, the
corresponding axis has a plus overtravel condition and can be jogged only in the
negative direction. When an overtravel does not exist, all of the array elements
are FALSE. The appropriate array elements in $OT_PLUS are automatically set
to TRUE when an overtravel occurs in the plus direction, and automatically set
back to FALSE when the condition is corrected. This variable is saved to the
SYSMAST.SV system file automatically every time its value is changed and is
automatically loaded into the system at power up. This information is displayed if
the axis of each joint is in the state of overtravel of positive direction. When the
joint axis enters the state of overtravel of positive direction, the system will
change automatically.

Power Up: N/A

Screen: MANUAL OT Release

$DMR_GRP[1].$ref_count[9]

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Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default:

0 KCL/Data: RW Program: RW UIF: Not available CRTL: Not
available Data Type: INTEGER Memory: Not available

Name: Reference Count

Description: The encoder pulses at the reference position.

Power Up: N/A

Screen: SYSTEM Master/Cal

$DMR_GRP[1].$ref_done

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Reference Position Set

Description: Set by the system when the reference position and reference count
have been set. It is used for quick mastering.

Power Up: N/A

Screen:
SYSTEM Master/Cal
$DMR_GRP[1].$ref_pos[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Reference Position

Description: Indicates the reference position, in joint angles, for use with quick

mastering
the system,feature.
and notWhen mastering
due to is lost due to
motor replacement, battery
the quick backup problems
mastering featurewith
can
be used by moving the robot to be very close to the reference position using
witness marks or other means. The mastering data can be recovered if the
motors are within 1/2 revolution of the reference position.

Power Up: N/A

Screen: SYSTEM Master/Cal

$DMR_GRP[1].$shift_error
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Name: Serial Pulse Coder Move

Description: This system variable adds another protection for unexpected pulse
coder reset. If the machine pulse at power down and power up are different, an
alarm occurs. In order to implement this feature, the following new system
variables are required. $DMR_GRP.$spc_move[]: FLTR task stores motion
status (if motion is in progress or not) every ITP to determine the tolerance at the
next power up.

Power Up: N/A

$DMR_GRP[1].$spc_st_hist[9]

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 0 0
Not available Data RW
Type:
SHORT Memory: Not available

Name: Serial Pulse Coder Status History

Description: SPC (serial pulse coder) status history.

Power Up: Set by the system.

$DN_BD_INF2[1].$dn_bd_autrs

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter Board Autorestart

Description: For future use.

Power Up: N/A

$DN_BD_INF2[1].$dn_bd_ipres

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter Board Default Input Resume State

Description: For future use.

Power Up: N/A

$DN_BD_INF2[1].$dn_bd_mb_id
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Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter-Board Explicit Message Response Status

Description: The status of an explicit message response made by the

DeviceNet daughter-board. Currently not used.

Power Up: N/A

$DN_BD_INFO[1].$dn_bd_error

Minimum: "" Maximum: "" Default:

KCL/Data:
"****************************************************************"
RO Program: RO UIF: RO CRTL: RO Data Type: STRING Memory:
CMOS

Name: DeviceNet Daughter-Board Error Buffer

Description: Contains error messages returned by the DeviceNet daughter-

board.

Power Up: N/A

$DN_BD_INFO[1].$dn_bd_intvl
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter-Board Periodic Transmission Interval

Description: The interval for periodic transmission of slave data to the remote
master. Currently unused.

Power Up: N/A

$DN_BD_INFO[1].$dn_bd_macid

Minimum: 0 Maximum: 63 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter-Board MAC-Id

Description: The Media Access Control Identifier (MAC-Id) for the DeviceNet
daughter-board. Must be in the range [0..63]. There cannot be a duplicate MAC-
Id between the daughter-board and any devices connected to the daughter-board.
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Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter-Board Slave Output Buffer Size

Description: The number of bytes provided as a buffer for slave output data (to
the controller from the remote host).

Power Up: On_Cold_Start

Screen: DeviceNet Board Detail screen

$DN_BD_INFO[1].$dn_bd_slvoo

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter-Board Slave Output Offset

Description: The offset in shared RAM of the slave output area.

Power Up: N/A

$DN_BD_INFO[1].$dn_bd_slvst

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: This Indicates the status of the slave connection of the board

Description: The value is set if the board slave mode is enabled.

Power Up: N/A

Screen: Board Detail Screen

$DN_BD_INFO[1].$dn_bd_stat

Minimum: 0 Maximum: 99 Default: 99 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Daughter-Board Status

Description: Indicates the status of the DeviceNet daughter-board: 0: board is

offline and has not been initialized 1: board is offline and cannot be initialized 2:
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Description: The number of analog outputs present on the DeviceNet device.

Used internally to configure communications to multi-module devices on the
MPC860.

Power Up: N/A

Screen: Device Definition Detail screen or Standard Definition Detail screen.

$DN_DEV_LIST[1].$dn_dv_ndin

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name:
DeviceNet Device Digital Inputs Count (Maximum)
Description: The number of digital inputs present on the DeviceNet device.
Used internally to configure communications to multi-module devices on the
MPC860.

Power Up: N/A

Screen: Device Definition Detail screen or Standard Definition Detail screen.

$DN_DEV_LIST[1].$dn_dv_ndout

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Device Digital Outputs Count (Maximum)

Description: The number of digital outputs present on the DeviceNet device.

Used internally to configure communications to multi-module devices on the
MPC860.

Power Up: N/A

Screen: Device Definition Detail screen or Standard Definition Detail screen.

$DN_DEV_LIST[1].$dn_dv_pdt

Minimum: -32767 Maximum: 32766 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Device Type

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Description: A numeric identifier of the DeviceNet device type. Values less than
zero indicate an installation-defined device; values greater than zero indicate a
user-defined device.

Power Up: N/A

$DN_DEV_LIST[1].$dn_dv_prdcd

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Device Product Code

Description:
does not have The product
access code
to the of the
device DeviceNet
definitions, device.
this Because
information the MPC860
is stored in the
device system variable structure and transferred to the MPC860 by the PPC603e
at startup.

Power Up: N/A

Screen: Device Definition Detail screen or Standard Definition Detail screen.

$DN_DEV_LIST[1].$dn_dv_stat

Minimum:
RO CRTL: Maximum:
0 RO 0 Default:
Data Type: 0 KCL/Data:
BYTE Memory: CMOS RO Program: RO UIF:

Name: DeviceNet Device Status

Description: The status of the DeviceNet device. 0: device is offline 1: device is

in an error state 2: device is online

Power Up: N/A

Screen: DeviceNet Device List screen

$DN_DEV_LIST[1].$dn_dv_vndid

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Device Vendor ID

Description: The vendor ID of the DeviceNet device. Because the MPC860

does not have access to the device definitions, this information is stored in the

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device system variable structure and transferred to the MPC860 by the PPC603e
at startup.

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Power Up: The user cannot change this value.

Screen: System variables screen.

$DN_DVDEF_IO[1].$dn_dd_polai

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Polled I/O Analog Input Size

Description: The number of polled analog input ports for this device definition.

Power Up:
Changes take effect immediately. I/O is assigned at power-up.
Screen: DeviceNet Device Definition Detail screen

$DN_DVDEF_IO[1].$dn_dd_polao

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Polled I/O Analog Output Size

Description: The number of polled analog output ports for this device definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

Screen: DeviceNet Device Definition Detail screen

$DN_DVDEF_IO[1].$dn_dd_poldi

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Polled I/O Digital Input Size

Description: The number of polled digital input ports for this device definition.

Power Up: Changes take effect immediately. I/O is assigned at power-up.

Screen: DeviceNet Device Definition Detail screen

$DN_DVDEF_IO[1].$dn_dd_poldo

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Screen: System Variables screen.

$DN_LAST_PDT

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: DeviceNet Last Used PDT Value

Description: The last PDT value used by a user-defined device. When new
device definitions are added, $DN_LAST_PDT is incremented. PDT values less
than $DN_LAST_PDT cannot be re-used even if the associated definitions are
deleted.

Power Up: N/A

$DN_MOD_LIST[1-64] STRUCTURE

Name: DeviceNet Module List

Description: The list of all DeviceNet modules connected to multi-module device

across all daughter-boards. Each record contains configuration and operational
information. Fields are individually described below. Viewable/editable fields are
displayed on the DeviceNet Module List screen.

Power Up: Changes take effect immediately.

Screen: DeviceNet Module List screen

$DN_MOD_LIST[1].$dn_ml_commt

Minimum: "" Maximum: "" Default: "****************" KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: STRING Memory:
CMOS

Name: DeviceNet Module List Comment

Description: A comment associated with the particular DeviceNet module; may
be used to indicate the use of the module.

Power Up: Changes take effect immediately.

Screen: DeviceNet Module List screen

$DN_MOD_LIST[1].$dn_ml_nxtix

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Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Module List Next-Module Index

Description: Used to link to the next DeviceNet module in the module list of the
current device. A value of 255 indicates the end of the module list.

Power Up: N/A

$DN_MOD_LIST[1].$dn_ml_pmt

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

UIF: CRTL: Data Type: Memory:
RO RO RO SHORT CMOS
Name: DeviceNet Module List PMT

Description: The PMT (Permanent Module Type) of the DeviceNet module.

Power Up: N/A

$DN_MOD_LIST[1].$dn_ml_slot

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: DeviceNet Module Slot Number

Description: The number of the slot on the device to which the DeviceNet
module is connected.

Power Up: N/A

Screen: DeviceNet Module List screen

$DN_MOD_LIST[64]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
DN_MOD_LNK_T Memory: Not available

Name: DeviceNet Module List

Description: The list of all DeviceNet modules connected to a multi-module

device. Each record contains configuration and operational information. Fields

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Description: $DUAL DRIVE [Group number with dual drive]. $POS_GAP [Dual
drive number] EXAMPLE: Group 2 has 1 dual drive axis. To monitor pos_gap the
user should look at $DUAL DRIVE [2]. $POS_GAP [1]

Power Up: N/A

$DUAL_DRIVE[1].$m_axis_num[1-3]

Minimum: 0 Maximum: 0x7F Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: The software axis of the master motor.

Description:
Sets the software axis of the master motor.
Power Up: N/A

$DUAL_DRIVE[1].$pos_gap[1-3]

Minimum: 0 Maximum: 0x7F Default: 0 KCL/Data: RO Program: Not

available UIF: RW CRTL: RO Data Type: LONG Memory: CMOS

Name: Positioning gap between motors

Description:
master and a This
slaveindicates thepulses
in machine start/stop position
(1motor rev inconsistency
= 2^19 machinebetween a
pulses).
DMDR-005: Large position gap will be reported if $dual_drive.$pos_gap grows
too large(larger than $dual_drive.$pos_gaptol).

Power Up: N/A

$DUAL_DRIVE[1].$pos_gaptol[1-3]

Minimum: 0 Maximum: 0x7F Default: 1000000000 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS
Name: Positioning gap tolerance

Description: Tolerance set in motor pulses for $dual_drive.$pos_gap. The alarm,

"DMDR-005: Large position gap" will be reported if $dual_drive.$pos_gap grows
larger than $dual_drive.$pos_gaptol.

Power Up: N/A

$DUAL_DRIVE[1].$s_axis_num[1-3]
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Description: Contains information about how the offset is being applied.

Individual fields within this structure are described below.

Power Up: This variable is read only.

Screen: Can be read from a KAREL program, KCL, or from the SYSTEM
Variables screen.

Minimum: MIN_POS Maximum: MAX_POS Default:

KCL/Data: Program: UIF: CRTL: Data
DEF_POS
Type: RO CMOS
POSITION Memory: RO RO RO

Name:

Description: Reserved for future use. Do not change this variable.

Power Up: N/A

$DXMOR[1].$deltatool

Minimum: KCL/Data: Maximum:

DEF_POS MIN_POS MAX_POS
RO Program: Default:
RO UIF: RO CRTL: RO Data
Type: POSITION Memory: CMOS

Name: DeltaTool Offset of Group 1

Description: This variable is updated when the APPLY_OFFSET(sch_num) is

called and is the latest offset to be applied to the nominal trajectory.

Power Up: This variable is read only.

Screen:
Variables Can be read from a KAREL program, KCL, or from the SYSTEM
screen.

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

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Minimum: MIN_EIP_CFG_T Maximum: MAX_EIP_CFG_T Default:

DEF_EIP_CFG_T KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: EIP_CFG_T Memory: CMOS

Name: EtherNet IP I/O configuration variables

Description: This variable structure indicates the EtherNet IP I/O configuration

variables.

Power Up: N/A

$EIP_CFG.$keep_io_adp

Minimum: Maximum: Default: KCL/Data: Program:

available 0UIF: RW CRTL:
1 RW Data 0 Type: BOOLEAN
RW Memory:Not
CMOS

Name: EtherNet I/O data when adapter connection times out

Description: Indicates whether EtherNet I/O data will be persistent when a

connection in which the robot is acting as an adapter times out. If set to FALSE,
all I/O associated with the connection will be set to zero.

Power Up: N/A

$EIP_CFG.$keep_io_scn
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: EtherNet IP I/O data when adapter connection times out.

Description: Indicates whether EtherNet I/O data will be persistent when a

connection in which the robot is acting as an adapter times out. If set to FALSE,
all I/O associated with the connection will be set to zero.

Power Up: N/A

$EIP_SC[1].$cn_path

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: EtherNet IP connection path

Description: This variable indicates the EtherNet IP connection path as an array

of bytes.
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Minimum: 1 Maximum: ENC_BUFFSIZE Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Encoder Rate Averaging Number

Description: This is the number of consecutive encoder instantaneous velocity

values to be averaged together when computing the $ENC_STAT[].$enc_rate
value. This determines the number of elements within the
$ENC_STAT[1].$enc_buffer[] array which are used within the encoder rate
computation.

Power Up: 0

Screen: SYSTEM Variables screen and SETUP Encoders screen

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Encoder Velocity Storage Buffer

Description: This buffer is used for storage of consecutive values of the

instantaneous encoder velocity (not $ENC_STAT[].$enc_rate) which are required
for the encoder rate averaging. Only the first $ENC_STAT[1].$enc_average
elements are used for averaging.

Power Up: 0

Name: Encoder Count (Counts)

Description: This contains the encoder count value which was computed during
the most recent encoder access as determined by the system ITP_TIME and the
$ENC_STAT[1].$multipl encoder read interval multiplier value. This value is the
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total accumulated value of encoder counts which results from summing each
consecutive value ($ENC_STAT[1].$enc_value) of an incremental encoder.

Power Up: 0

Screen: SYSTEM Variables screen and SETUP Encoders screen

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
Memory:
INTEGER Not available
Name: Encoder DSP Status Flag

Description: This is a Digital Signal Processor (DSP) alarm status flag for the
DSP channel associated with this encoder.

Power Up: 0

$ENC_STAT[1].$enc_enable

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW1 Default: KCL/Data: RW
0 BOOLEAN
Data Type: Program:
Memory: CMOS

Name: Encoder Enable

Description: This value determines whether or not the encoder is active. A value
of TRUE indicates that this encoder is being updated at the prescribed interval
(either by reading the encoder or by simulating encoder counts). Note: This value
must also be TRUE in order to simulate the encoder.

Power Up: 0

$ENC_STAT[1].$enc_exists

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program:

RW UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Encoder Exists Status Flag

Description: This is a status flag which indicates that the required external
encoder hardware exists and is usable.

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Power Up: You must perform a cold start for the changes to take effect.

Screen: SYSTEM Variables Screen

$ER_NOAUTO.$noauto_num

Minimum: 0 Maximum: 20 Default: 6 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Number of specified error codes

Description: The number of error codes specified in

$ER_NOAUTO.$noauto_code must be the same as this value.

Power Up: You must perform a cold start for the changes to take effect.

Screen: SYSTEM Variables Screen

$ER_NOHIS

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Error storage.

Description: This variable indicates whether or not warnings will be stored in an

error history file. 0 = All posted errors and RESET are recorded in the error
queue. 1 = WARNING errors are not recorded in the error queue. Other errors
and RESET are still recorded in error queue. 2 = RESET is not recorded in error
queue. Errors are still recorded in the error queue. 3 = WARNING error and
RESET are not recorded in the error queue. Other errors are still recorded in the
error queue.

Power Up: N/A

$ER_OUT_PUT.$plcwarn
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: PLCWARN severity from Error Severity Table

Description: This System has to be set to TRUE in order to get PLCWARN

severity selection from Error Severity Table

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$FAULT_CONFG.$reset_time[4]

Minimum: 0 Maximum: 0xffffff Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Running time

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Power Up: NA

Screen: The System Variables screen.

$FAULT_DATA[1].$htime1

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Total Time

Description: This indicates the total time (in tenths of minutes) for historical data

that this error has been active.

Power Up: NA

Screen: The System Variables screen.

$FAULT_DATA[1].$htime2

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Max Time

Description: This indicates the max time (in tenths of minutes) for historical data
that this error has been active.

Power Up: NA

Screen: The System Variables screen.

$FAULT_DATA[1].$htime3

Minimum: 0.0 Maximum: 10000000.0 Default: 10000000.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Min Time

Description: This indicates the min time (in tenths of minutes) for historical data
that this error has been active.

Power Up: NA

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$FBSTSK[1].$sid

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFFFF 75
Data Type: INTEGER Memory: RO
CMOS

Name: Softparts ID

Description: For internal use only. Do not modify this system variable. Task
Softparts ID of field bus task.

Power Up: N/A

$FBSTSK[1].$tid

Minimum: 0 Maximum: 0xFFFF Default: 167 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: TASK ID

Description: For internal use only. Do not modify this system variable. Task ID
of field bus task.

Power Up: N/A

$FC_CONFIG.$data_num
Minimum: 1 Maximum: 100 Default: 2 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: NUMBER OF PROFILE DATA

Description: The element number of pressure profile data. You can change the
element of $FC_DATA[] by this variable.

Power Up: You must perform a COLD START for the change to take effect.

Screen: SYSTEM varaible screen (on the teach pendant)

$FC_DATA[1].$fcmd_trq[10]

Minimum: -7282 Maximum: 7282 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Pressure control target value in each step

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: File Backward Compatibility Switches

Description: Compatibility switches can be set so that older versions of software

(V4.40 and earlier) can read variables and TPP programs written for V5.11 and
later. There are two switches: $TPP - If set to TRUE, TP programs are backward
compatible. $VARIABLE - If set to TRUE, variable files (.VR) are backward
compatible.

Power Up: Changes take effect immediately.

Screen: File Menu

$FILECOMP.$variable

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: File Backward Compatibility Switches

Description: Compatibility switches can be set so that older versions of software

Power Up: Changes take effect immediately.

Screen: File Menu

$FILTSK[1] STRUCTURE

Name: PROFIBUS task ID

Description: This system variables are used to create the task.

Power Up: You must perform a cold or hot start for the change to take effect.

$FILTSK[1].$lun

Minimum: 0 Maximum: 0xFFFF Default: 158 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

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$FILTSK[1].$tid

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RO UIF: Not 0xFFFFNot available182Data Type: RO
INTEGER Memory: Not available

Name: TASK ID

Description: For internal use only. Do not modify this system variable. Task ID
of task.

Power Up: N/A

$fn_grp[1].$motion.$qstop_enb
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Quick stop enable

Description: This enables the servo quick stop during search motion.

Power Up: On_CNTL_Start

$FORCE_SENSE.$comm_reg1
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory:
CMOS

Name: Force sensor communication register #1

Description: For FANUC Robotics internal use only.

Power Up: This variable is set by the system

Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$comm_reg2

Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:

RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory:
CMOS

Name: Force sensor communication register #1

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Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Force sensor filter type

Description: For FANUC Robotics internal use only.

Power Up: This variable is set by the system

Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$force

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RO CRTL: RO0 0 VECTOR Memory:
Data Type: RO CMOS

Name: Force sensor force value

Description: Force sensor force values in force sensor coordinates units are kgf
for FANUC integral force sensor

Power Up: This variable is set by the system

Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$force_data[1-6]

Minimum: 0x80000000 Maximum: 0 Default: 0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
INTEGER Memory: CMOS

Name: Force sensor raw data

Description: Force sensor raw data, [1..3] : force xyz, [4..6] : moment xyz units
are gf and gfcm for FANUC integral force sensor

Power Up: N/A

Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$force_data[6]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

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Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$sensor_data[1-6]

Minimum: 0x80000000 Maximum: 5 Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name: Non-integral Force sensor raw data

Description: Values read from non-integral force sensor

Power Up: N/A

Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$sensor_data[6]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
LONG Memory: Not available

Name: Non-integral Force sensor raw data

Description: Values read from the non-integral force sensor.

Power Up: This variable is set by the system

Screen: This variable is not directly assessible by menu

$FORCE_SENSE.$sensor_port[1-6]

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS

Name: Sensor port number

Description: Sensor I/O port number as define by setup menu

Power Up: N/A

Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]

$FORCE_SENSE.$sensor_port[6]

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Power Up: This variable is set by the system

Screen: This variable is not directly assessible by menu

$FQINT_RES[1-4]

Minimum: MIN_FQINT_RES Maximum: 1 Default:

DEF_FQINT_RES KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: FQIN_RES_T Memory: RAM

Name: Frequency Interface Channel Results and Readings Array

Description: $FQINT_RES is an array of structures. Each structure provides the

current results or readings for one of four frequency inputs.

Power Up: N/A

$FQINT_RES[1].$freq_read

Minimum: 0 Maximum: INT_MAX Default: 123 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Frequency Reading

Description: The Frequency Reading is supplied as an integer in units of .001

Hz. 1000 equals 1 Hz. For example, a value of 12345 indicates a frequency of
12.345 Hz. The maximum frequency input that is supported is 1,000 Hz. The
minimum frequency input that is supported is determined by the setting of
$FQINT_SETUP[].$FREQ_THRESH. This defaults to 2.0 Hz. The minimum
is .05 Hz. The frequency is limited by the HDI Pulse Module hardware. Switch
settings will limit the frequency to approximately 1,000 Hz., or 640 Hz. Any
change to the Total Pulses value will indicate that there is a new Frequency
Reading available. This system variable is read only to any application tool or
user. Optionally, this frequency reading is smoothed or filtered using a sampling

algorithm. See also $FQINT_SETUP[].$SAMPLE_AMT.

Power Up: N/A

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

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Name: Frequency Interface Channel Setup Array

Description: $FQINT_SETUP is an array of structures. Each structure defines

one of 4 frequency inputs. THAT ARE USED FOR WHAT?

Power Up: N/A

$FQINT_SETUP[1].$disable_avg

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Disable Internal Averaging

Description: This variable is a setup configuration byte. Setting it to a value of 1

will disable internal averaging of the available frequency readings. The averaging
increases the accuracy of frequency readings by as much as 50%. This does
however cause a lag in response of 4 to 8 milliseconds. This internal averaging is
completely separate from the sample amount averaging.

Power Up: N/A

$FQINT_SETUP[1].$fast_on

$FRM_CHKTYP

Minimum: -2 Maximum: 2 Default: -1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Switch Frame Check Type

Description: -1 = Prohibits FWD/BWD between two points which have different
frame numbers. -2 = System does not check frame number at FWD and BWD.
System does not change the frame number ($MNUFRAME_NUM,
$MNUTOOL_NUM) when user FWD/BWD execute past a frame change. 2 =
System does not check frame number at FWD and BWD. System changes the
frame number ($MNUFRAME_NUM, $MNUTOOL_NUM) when user FWD/BWD
execute past a frame change.

Power Up: Changes to this variable take effect immediately.

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Minimum: MIN_FSAC_LST Maximum: MAX_FSAC_LST Default:

DEF_FSAC_LST KCL/Data: RW Program: RW UIF: Not available CRTL:
Not available Data Type: FSAC_LST_T Memory: Not available

Name: FTP Server Access Control Default Access Level

Description: See $FSAC_ENABLE. (Saved in SYSFSAC.SV)

Power Up: Effective immediately

See Also: SYSTEM R-J2 ECBR-FTP Interface Setup and Operations Manual

$FSAC_LIST[1].$ACCESS_LVL

Minimum: 0 Maximum: 8 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: FTP Server Access Control List Access Level

Description: This contains a list of hosts which can use FTP server on robot
based on associated Access Level. Access Levels can be:

• -1: No Access (useful if you are using $FSAC_DEF_LVL but want to

exclude one)
•
• 0: Operator
1: ProgrammerLevel (read only)
Level
• 2: Setup Level
• 3-7: User Defined Levels (read only)
• 8: Install Level (full write access)

This variable is saved as part of SYSFSAC.SV.

Power Up: Takes effect immediately

$FSAC_LIST[1].$APPS

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0xFF KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: FANUC Server Access Control applications

Description: $FSAC_LIST[x].$apps - ULONG - bitmask of which applicationsuse

the xth entry in the table for authentication. This field defaults to 255 ( bits in last
byte set to all 1’s. which means that the table entry is used by all applications
using the FSAC feature )Applications using this field will interpret this field
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: FTP Default Overwrite behavior

Description: Defines whether FTP server on robot will allow file overwrites on
robot or not.

Power Up: Requires cold start to take effect

See Also: SYSTEM R-J2 ECBR-FTP Interface Setup and Operations Manual

$FX_6DOF_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Six Degrees of Freedom Enable

Description: This variable enables the ability to shim all six degrees of freedom.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM varaible screen

$FX_CLRSH_EN

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Clear Shim Enable

Description: This varible controls if the shim that is to be applied to a position,

will be erased after the APPLY key is pressed.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM varaible screen

$FX_MAX_DIM

Minimum: 0 Maximum: 100.0 Default: 9.9 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Maximum Dimension

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Description: This variable defines the maximum value allowed for a single shim,
that can be applied to a position.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM varaible screen

$FX_MAX_NUM

Minimum: 0 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Maximum Number of Shims

Description: This variable defines the maximum number of shims allowed to be

applied to a position.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM varaible screen

$FX_TPSH_ENB

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Teach Pendant Shim Enable

Description: If this variable is FALSE, the shim utility will not adjust TP positions.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM varaible screen

2.7 G
$GE_INT_CFG STRUCTURE

Name: Genius Interface Configuration

Description: This variable structure contains configuration information for the

Genius interface option. This system variable has no effect and might be left at
the default value if the Genius interface option is not installed. Individual fields
within this structure are described below.

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Power Up: N/A

$GE_INT_CFG.$clr_last_st

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Clear Last State

Description: This field is used in conjunction with the

$GE_INT_CFG.$PC_BUS_ADDR system variable. If the PC at the bus address
specified in $GE_INT_CFG.$PC_BUS_ADDR is no longer communicating on the
bus, the state of the inputs received from that PC are either zeroed or left at their

last state, depending on the setting

$GE_INT_CFG.$CLR_LAST_ST of $GE_INT_CFG.$CLR_LAST_ST.
= TRUE, the inputs will be set to zero. IfIf
$GE_INT_CFG.$CLR_LAST_ST = FALSE, the inputs will be left at their last
state.

Power Up: Changes to this variable take effect immediately.

Name: PC Bus Address

Description: This system variable is used in conjunction with the

$GE_INT_CFG.$clr_last_st to provide fail safe functionality in the event of a
communication loss with the GEFanuc PC. $GE_INT_CFG.$PC_BUS_ADDR is
set to the bus address of the GEFanuc PC that is sending output data to the
robot. Accepted settings for this system variable are -1 through 31. However, 0
through 31 are valid bus addresses for the PC. The value -1 is an invalid address

which
in this is used to
system disableisthe
variable functionality.
no longer If the PC at
communicating onthe
thebus
bus,address specified
the state of the
inputs received from that PC are either zeroed or left at their last state,
depending on the setting of $GE_INT_CFG.$clr_last_st.

Power Up: Changes to this variable take effect immediately.

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Description: Running the same taught program at different speed overrides will
produce the same path if $cnstnt_path is set to TRUE. This is called the constant
path feature. This feature can be turned off by setting $cnstnt_path to FALSE,
which means the robot path will vary as speed override changes. If this feature is
enabled, be careful when changing the speed override after the program has
started. In this case the path will not be the same as the taught path. If a change
in override setting is required during program run, pause the program (HOLD or
release the SHIFT key), change the speed override setting, and then resume the
program.

Power Up: Effective with next motion

$GROUP[1].$cnt_accel1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Continuous Acceleration Time 1

Description: Reserved for Internal use by FANUC Robotics. Used for Cartesian
Filter Softpart. This is the time in msec of the first stage Cartesian Filter for
motions with CNTxx termtype. Not supported in this release.

Power Up: Effective immediately.

$GROUP[1].$cnt_accel2

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Continuous Acceleration Time 2

Description: Reserved for Internal use by FANUC Robotics. Used for Cartesian
Filter Softpart. This is the time in msec of the second stage Cartesian Filter for
motions with CNTxx termtype.

Power Up: Effective immediately

$GROUP[1].$cnt_dyn_acc

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Continuous dynamic acceleration.

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Description: Allow long filter to short filter switching for a sequence of

continuous motions. 0: For continuous motions, the planner only allows short to
long filter switching, and it does not allow long filter lengths to become shorter. 1:
Allows long filter length to short filter length switching.

Power Up: Effective with next motion

$GROUP[1].$cnt_shortmo

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Continuous Short Motion Enable

Description: Enables/disables acceleration time optimization for NODECEL or

VARDECEL termtype moves.

Power Up: Effective with next motion

$GROUP[1].$cnt_speedup

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enable/Disable speedup

Description: This is switch to enable/disable maxaccel function (fast
acceleration/ deceleration feature) for Turbo move and standard short motion. If
termination type of the motion is cnt 0..100 and $cnt_shortmo = TRUE and the
motion is not short motion and $cnt_speedup is TRUE, max acceleration function
for Turbo move /Standard short motion is applied.

Power Up: Effective with next motion

Screen: No

$GROUP[1].$contaxisvel

Minimum: 0.001 Maximum: 100. Default: 100. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Continuous Axis Velocity (Used by the Continuous Turn Axis option)

Description: For systems installed with continuous turn axis, $contaxisvel

indicates the velocity of continuous turn motion in percentage. $contaxisvel can
have values between -100.0 and +100.0. The magnitude is a percentage of
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Name: Orientation Type

Description: In a Cartesian move, $ORIENT_TYPE specifies the type of

orientation control to be used. When $MOTYPE is LINEAR. The choices are: 1 =
RSWORLD, two angle orientation control 2 = AESWORLD, three angle
orientation control (default) 3 = WRISTJOINT, wrist-joint orientation control For
CIRCULAR motion, three angle orientation planning is used regardless of the
value of $orient_type. The appropriate default value of $orient_type is set each
time a program is executed.

Power Up: Effective with next motion

$GROUP[1].$pathres_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: (Original) Path resume enable

Description: Reserved for Internal use by FANUC Robotics. Softpart options

sets $pathres_enb. If set to TRUE, when a stopped motion is resumed, robot
moves to stopped position first before proceeding to destination position. If set to
FALSE, robots moves directly from its current position to the destination position.

Power Up: Effective with next motion

$GROUP[1].$payload

Minimum: 0 Maximum: 10000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Weight of Payload

Description: Weight of payload during current motion in Kg.

Power Up: N/A

$GROUP[1].$reserve1

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data:

NO Program: RW UIF: NO CRTL: NO Data Type: INTEGER Memory:
CMOS

Name: Reserved for future use.

Description: A void variable reserved for future use by FANUC Robotics.

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Power Up: Effective with next motion

$GROUP[1].$rotspeed

Minimum: 0.001 Maximum: 1440. Default: 90. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Rotational Speed

Description: The command speed for orientation change in Cartesian motion. If

the orientation change dominates, the rotation of the orientation axes as defined
by $GROUP.$orient_ty pe is commanded to this value in deg/sec. This variable
is only used for KAREL motion. For TPE motion it is replaced by the deg/sec

speed unit in the motion instruction.

Power Up: Effective with next motion

$GROUP[1].$seg_time

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Segment Time

Description: For KAREL

compute segment time (thesystems
time toonly.
move$seg_time controls
from a start thetomethod
position used to
a destination
position). Unit is millisecond. Default $seg_time is 0. Also each time a program is
executed, $seg_time is set to 0. When $seg_time is 0, system uses $SPEED to
plan for the segment time. This is the normal (default) mode of the operation for
the system, where the speed remains constant but the travel time varies based
on segment distance. For the special case where the user wants to have a direct
control over segment time, $seg_time can be used. By setting $seg_time is a
positive value in units of msec, the system ignore $SPEED and set the segment
time equal to the specified $seg_time. this means that the speed will vary
depending on segment distance.

Power Up: Effective with next motion

$GROUP[1].$segtermtype

Minimum: TT_STOP Maximum: TT_CONTINUOUS Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
TERMTYPE_E Memory: CMOS

Name: Segment Termination Type (for KAREL paths only)

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Name: Time Distance Profile

Description: Time distance acceleration/deceleration profile.

Power Up: Effective with next motion

$GROUP[1].$termtype

Minimum: TT_STOP Maximum: TT_CONTINUOUS Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
TERMTYPE_E Memory: CMOS

Name: Termination Type

Description: Defines the type of KAREL motion termination at the end of an

interval using the following values: 1 = FINE 4 = NODECEL 2 = COARSE 5 =
VARDECEL 3 = NOSETTLE The default value of $TERMTYPE is set each time
a program is executed.

Power Up: Effective with next motion

$GROUP[1].$time_shift

Minimum: 0 Maximum: 10000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Time Shift (for local condition handlers)

Description: If option is installed, when $USETIMESHFT is TRUE: $time_shift

specifies the time, in milliseconds, to shift the triggering of local condition handler
(from where the system would normally triggers).

Power Up: N/A

$GROUP[1].$uframe

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: POSITION Memory: CMOS

Name: User Coordinate Frame

Description: $uframe is used by KAREL system only. For the teach pendant
programmer, the corresponding variable is $MNUFRAME. $uframe is the
position of a user frame of reference. All programmed positions are defined with
respect to $uframe. Any value you assign to $uframe is defined with respect to
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Power Up: Effective with next motion

$GROUP[1].$use_shortmo

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Use/unused of Short Motion

Description: $use_shortmo enables or disables the optional JOINT motion

mincycle algorithm. (TurboMove option). If $use_shortmo is TRUE, minimum
motion time is planned making use of motor information in $TSR_GRP and
current configuration of the robot. This feature is used in conjunction with sliding

mode servo control option.

Power Up: Effective with next motion

$GROUP[1].$use_turns

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Use Position Turn Numbers

Description: For JOINT

turn number specified motion,
in the if $USE_TURNS
destination is true (default),
position configuration stringthen
will the exact
be used
for the motion. If $USE_TURNS is false, for JOINT motion, the turn number of
the destination position is ignored and the system moves along the shortest joint
angle path to the destination.

Power Up: Effective with next motion

$GROUP[1].$use_wjturns

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use Wristjoint Turn Number

Description: If set to TRUE, then use specified destination turn number for
wristjoint motion. If set to TRUE, the wristjoint may `wrap’ or `unwrap’ more than
180 degrees during the motion. If set to FALSE, the wristjoint motion will be the
same as OR_RSWORLD orient type and take the shortest rotational path.

Power Up: Effective with next motion

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Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: POSITION Memory: CMOS

Name: Tool Coordinate System

Description: $utool is used by KAREL system only. For TPE user, the
corresponding variable is $MNUTOOL. $utool defines the location and
orientation of the tool that is attached to the faceplate. The position in $utool is
defined with respect to a fixed coordinate system on the robot faceplate and is
the origin of the TOOL FRAME. By default, the value of $utool is set to $NILP,
which means the position of the TCP is identical to the location and orientation of
the faceplate coordinate system. You must change the value of $utool to define
the specific tool you are using.

Power Up: Effective with next motion

2.8 H
$HBK_IO_IDX

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Mapped HBK (Hand broken signal) I/O index number

Description: Not used

Power Up: Changes to this variable take effect immediately.

$HBK_IO_TYPE

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available
Name: Mapped HBK (Hand broken signal) I/O type

Description: Not used

Power Up: Changes to this variable take effect immediately.

$HBK_MAP_ENB

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Host Shared

Description: Not usedArray of structures defining the Internet node name to

address mapping on the controller. This array is used for the same purpose as
the /etc/hosts file on BSD UNIX systems. Individual members of structure are
described below.

Power Up: Changes to this variable take effect immediately.Requires a cold start
if the element corresponding to $HOSTNAME is changed. Changes to other
elements which correspond to Client connections take effect immediately. This
should not include HOSTNAME or ROUTERNAME entries. This structure is
saved in the SYSHOST.SV file, and can be shared between robots.

Screen: SYSTEM Variables screen $HOST_SHARED STRUCTURE SETUP

MOTET screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOST_ERR

Minimum: ERR_MASK_MIN Maximum: ERR_MASK_MAX Default:

ERR_MASK_DEF KCL/Data: RW Program: RW UIF: RW CRTL:
RW Data Type: ERR_MASK_T Memory: CMOS

Name: HOST ERROR Structure

Description: Variable used to set the Facility Mask and Severity Mask for host
communications error reporting such as by the MMS InformationReport service.
Available only if the KSL, MOTET or MAP option has been installed.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM System Variables screen or KCL

See Also: SYSTEM R-J KSL Interface Setup and Operations Manual SYSTEM
R-J MAP Interface Setup and Operations Manual SYSTEM R-J MOTET Interface
Setup and Operations Manual

$HOST_ERR STRUCTURE

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Name: Host Error Structure

Description: Variable used to set the Facility Mask and Severity Mask for host
communications error reporting such as by the MMS Information Report service.
Available only if the KSL, MOTET or MAP options have been installed.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen or KCL

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOST_ERR.$ssc_mask[1-4]

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
ULONG Memory: Not available

Name:

Description: An array containing the Facility Mask and Severity Mask for host
communications error reporting. Available only if the KSL, MOTET, or MAP
options have been installed.

Power Up: Effective immediately.

Screen: SYSTEM Variables screen or KCL

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOST_PDUSIZ

Minimum: 94 Maximum: 4093 Default: 574 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name:

Description: Specifies the maximum number of octets or bytes that can be used
on one message Protocol Data Unit (PDU). Available only if the KSL, MOTET or
MAP options have been installed.

Power Up: Requires a cold start to take effect.

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Screen: SYSTEM Variables screen or KCL

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOST_PWRD[1]

Minimum: "" Maximum: "" Default: " " KCL/Data: NO Program:

NO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name:

Description: An array containing the passwords associated with each

USERNAME.

Power Up: Effective immediately.

Screen: SYSTEM FTP Host Comm Setup Screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOST_SHARED[1].$h_addr

Minimum: "" Maximum: "" Default: "" KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Node Address

Description: This is the Internet (IP) address of the node defined by the first
element of $HOST_SHARED array. It should be unique across the network. It is
a
is string and should
a decimal number,have
0 <=the
DDDfollowing format: DDD.DDD.DDD.DDD where DDD
<= 255.

Power Up: See $HOST_SHARED.

Screen: SETUP MOTET screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

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$HOST_SHARED[1].$h_addrtype

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 99 0
Not available RW
Data Type:
INTEGER Memory: Not available

Name: Address Type

Description: An integer Internet variable whose value is 2 by default and should
not be changed.

Power Up: See $HOST_SHARED.

See Also:
Operations FANUC
Manual,Robotics SYSTEM SYSTEM
FANUC Robotics R-J2 Controller KSL Interface
R-J3 Controller MOTETSetup and
Interface
Setup and Operations Manual

$HOST_SHARED[1].$h_length

Minimum: 0 Maximum: 17 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Length

Description: An integer Internet variable whose value is 4 by default and should
not be changed.

Power Up: See $HOST_SHARED.

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOST_SHARED[1].$h_name

Minimum: "" Maximum: "" Default: "" KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Node Name

Description: A string of up to 32 characters representing the node name of the

first element in $HOST_SHARED array. Example: KCL>set var
$HOST_SHARED[1].$H_NAME=’MICKEY’

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Power Up: See $HOST_SHARED.

Screen: SETUP MOTET screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[1].$PWRD_TIMOUT

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: Host Client Tag Password Timeout

Description: Specifies the default timeout value, after which an existing

connection’s user name will be set to "anonymous," and password will be set to
"guest."

Power Up: Requires a cold start to take effect.

Screen: SETUP Tags screen

See Also:
Operations FANUC
Manual,Robotics SYSTEM SYSTEM
FANUC Robotics R-J2 Controller KSL Interface
R-J3 Controller MOTETSetup and
Interface
Setup and Operations Manual

$HOSTC_CFG[1].$SERVER_PORT

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Server Port Number

Description: Specifies
is the porton the foreignthe TCP or For
computer. UDPSn:
port number
this on the
is the port onserver. Forcontroller.
the robot Cn: this

Power Up: Effective immediately.

Screen: None for R-J3 V5.22. Accessed using System Varibles Display Screen.

See Also: SYSTEM R-J3 V5.22 Socket Messaging Interface Setup and
Operations Manual

$HOSTC_CFG[1].$STRT_PATH
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Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Host Client Tag Path (Startup)

Description: Specifies the startup Host path.

Power Up: This variable takes effect at cold start. Upon power-up, the startup
Host path is copied into the current Host path, where you can modify it as
necessary.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[1].$STRT_REMOTE

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Power Up: Requires a cold start to take effect.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[1].$USERNAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Host Client Tag User Name

Description: Specifies the default user name to be used when establishing

communications with a remote Host.

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Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Host Client Tag Mode

Description: Not currently used.

Power Up: Not currently used.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[n].$oper

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Host Client Tag Operation

Description:
powerup. Specifies the state to which the tag will attempt to be set at

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[n].$path
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Host Client Tag Path (Current)

Description: Specifies the current (default) Host path. When a file-spec does not
include the path, this default value is used.

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Power Up: Changes to this variable take effect immediately. Upon power-up, the
startup Host path is copied into the current Host path, where you can modify it as
necessary.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[n].$port

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

UIF: CRTL: Data Type:
RW
STRING Not available
Memory: Not availableNot available

Name: Host Client Tag Port

Description: Specifies the serial port over which this tag will operate. This is not
required on network based protocols such as MAP and MOTET.

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[n].$protocol

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Host Client Tag Protocol

Description: Specifies the name of the protocol that will be used with the tag.

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual
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$HOSTC_CFG[n].$remote

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF:""Not available ""CRTL: Not available
"" Data RW
Type:
STRING Memory: Not available

Name: Host Client Tag Remote Host Name

Description: Specifies the remote host name to which a connection will be made.
This is used by certain host communications services such as Information Report.

Power Up: Requires a cold start to take effect.

Screen:
SETUP Tags screen
See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTC_CFG[n].$reperrs

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Host Client Tag Error Reporting Flag

Description: When set to TRUE, indicates that errors sent to the ERROR LOG
will also be sent to this tag via the MMS Information Report service.

Power Up: Requires a cold start to take effect.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and

Operations Manual, FANUC

Setup and Operations Robotics SYSTEM R-J3 Controller MOTET Interface
Manual

$HOSTC_CFG[n].$state

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Host Client Tag State

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See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTENT[1].$H_ADDR

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Node Address

Description: This is the Internet (IP) address of the node defined by the first
element of $HOSTENT array. It should be unique across the network. It is a

string
a and number,
decimal should have
0 <=the
DDDfollowing
<= 255.format: DDD.DDD.DDD.DDD where DDD is

Power Up: See $HOSTENT.

Screen: SETUP MOTET screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTENT[1].$H_ADDRTYPE
Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Address Type

Description: An integer Internet variable whose value is 2 by default and should
not be changed.

Power Up: See $HOSTENT.

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTENT[1].$H_LENGTH

Minimum: 0 Maximum: 17 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Length
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$HOSTS_CFG[8] STRUCTURE

Name:
Host Server Tag Configuration Structure
Description: Variable structure containing configuration information for Host
Server Tags. This information is used to define how they are used in the R-J3
controller. These variables are arrays of 8 elements and are available only if the
KSL, MOTET or MAP option has been installed.

Power Up: Determined on a per-field basis. See individual fields for specifics.

Screen: SETUP Tags screen

See Also:
Operations FANUC
Manual,Robotics SYSTEM SYSTEM
FANUC Robotics R-J2 Controller KSL Interface
R-J3 Controller MOTETSetup and
Interface
Setup and Operations Manual

$HOSTS_CFG[n].$comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Host Server Tag Comment

Description: Provides an area to include up to 16 characters of information used

to describe the communications tag being defined.

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTS_CFG[n].$mode

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Host Server Tag Mode

Description: Not currently used.

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Power Up: Not currently used.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTS_CFG[n].$oper

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Host Server Tag Operation

Description: Specifies the state to which the tag will attempt to be set at
powerup.

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and

Operations
Setup Manual, FANUC
and Operations Robotics SYSTEM R-J3 Controller MOTET Interface
Manual

$HOSTS_CFG[n].$port

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

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$HOSTS_CFG[n].$protocol

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF:""Not available ""CRTL: Not available
"" Data RW
Type:
STRING Memory: Not available

Name: Host Server Tag Protocol

Description: Specifies the name of the protocol that will be used with the tag.

Power Up: Changes to this variable take effect immediately.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HOSTS_CFG[n].$remote

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Host Server Tag Remote Host Name

Description: Specifies the remote host name to which a connection will be made.
This is used by certain host communications services such as Information Report.

Power Up: Requires a cold start to take effect.

Screen: SETUP Tags screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual
$HOSTS_CFG[n].$reperrs

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Host Server Tag Error Reporting Flag

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See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$HSCDMNGRP[1-2]

Minimum: MIN_HSCDMNGRP Maximum: "" Default:

DEF_HSCDMNGRP KCL/Data: RW Program: Not available UIF:
RO CRTL: RW Data Type: HSCD_MNG_T Memory: CMOS

Name: Menu data for COL GUARD SETUP menu

Description: These variables store internal and user data associated with the

COL GUARD setupand

$HSCDMNGRP[1] menu. See individual descriptions
$HSCDMNGRP[2] for details. of the members of

Power Up: N/A

$HSCDMNGRP[1].$auto_reset

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not

$HSCDMNGRP[1].$macro_reg
Minimum: 0 Maximum: 32 Default: 0 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Register number used by the teach pendant instruction COL ADJUST for
group 1.

Description: This variable contains the register number that the COL ADJUST
teach pendant instruction uses to set the collision guard sensitivity for group 1.
This variable is set by the COL GUARD SETUP menu and should not be set
directly by the user.
Power Up: N/A

$HSCDMNGRP[1].$param_verid

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Collision guard servo parameter ID for group 1.

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Power Up: N/A

$HSCDMNGRP[2].$auto_reset

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Automatically reset sensitivity on program abort for group 2.

Description: This variable is a flag that, when set to 1, causes the collision
guard sensitivity to be reset for group 2 to the value stored in
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See Also: Refer to the Web Server chapter of the Internet Options Setup and
Operations Manual for futher details.

$HTTP_AUTH[1].$LEVEL

Minimum: 0 Maximum: 3 Default: 3 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: HTTP Authentication Access Level Field

Description: This variable is no longer used. The default level required for all
resources is INSTALL level. It can only be changed by importing a password
configuration file using SETUP Passwords menu. Refer to the Setup Passwords

section of the Setup and Operations manual for more information.

Power Up: Takes effect immediately

See Also: Refer to the Web Server Chapter of the Internet Options Setup and
Operations Manual for more details.

$HTTP_AUTH[1].$NAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Username associated with a protected HTTP resource.

Description: This variable is set on the HTTP Authentication SETUP Screen.

Power Up: Takes effect immediately

See Also: Refer to the Web Server Chapter in the Internet Options Setup and
Operations Manual for further details.

$HTTP_AUTH[1].$OBJECT

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Protected HTTP (Web Server) Resource

Description: This variable is set through the HTTP Authentication SETUP

Screen.

Power Up: Takes effect immediately

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Power Up: Requires a cold start to take effect.

Screen: None

See Also: Ethernet Options Setup and Operations Manual

$HTTP_CTRL.$HITCOUNT

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: HTTP Hitcount

Description: HTTP Hitcount increments each time a request is made of the web
server.

Power Up: Takes effect immediately

Screen: None

$HTTP_CTRL.$KRL_TIMOUT

Minimum: 0 Maximum: 32767 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: HTTP Karel Timeout

Description: HTTP Timeout to run a karel program invoked through the browser.
This is thetime the server will wait for a karel program to complete before
sendingan error back to the browser.

Power Up: Takes effect immediately

Screen: None

See Also: Ethernet Options Setup and Operations Manual

2.9 I
$IBS_CONFIG[1].$ai_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

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Power Up: N/A

$IBS_CONFIG[1].$an_data1[8]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: 1st Process data

Description: Analog device is set according to this process data

Power Up: N/A

$IBS_CONFIG[1].$an_data2[8]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: 2st Process data

Description: Analog device is set according to this process data

Power Up: N/A

$IBS_CONFIG[1].$an_exchg

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Exchange Analog byte order

Description: Exchange Analog byte order

Power Up: N/A

$IBS_CONFIG[1].$an_mode

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RO UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Analog Input mode setting

Description: Analog Input mode setting for 8 Analog input device

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$an_sel_ch

Minimum: 0 Maximum: 0xFF Default: 0x04 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Analog CH check data

Description: Analog CH check data

Power Up: N/A

$IBS_CONFIG[1].$ao_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: AO byte number

Description: AO byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$ao_mask

Minimum: 0 Maximum: 0xFFFF Default: 0x1FFF KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: USHORT Memory:
CMOS

Name: Analog output mask

Description: Set these elements with a decimal representation of the word data
in which thevalid analog output bits are 1. For example, if 12 bits are valid, set
them with 4095 (decimal), which corresponds to FFF (hexadecimal) where bits 0
to 11are 1.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

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Power Up: N/A

Screen: INTERBUS-S SETUP screen

$IBS_CONFIG[1].$id

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Slave station ID

Description: Slave station ID

Power Up:
effect. You mast perform a COLD or HOT START for the change to take

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$interface1

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Interface 1 alternative grouping capable

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: slave parameter loading status

Description: For internal use only, Don’t modify this system variable.slave
parameter loading status

Power Up: N/A

$IBS_CONFIG[1].$real_len

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Slave length code

Description: Slave length code

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Name: valid

Description: Set this element with a value to indicate whether this slave
parameter set is valid.0: Invalid1: Valid;

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wi_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

UIF: CRTL: Data Type: Memory:
RO RO RO USHORT CMOS
Name: WI byte number

Description: WI byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wi_offset
Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: WI offset

Description: Set this element with the offset (in bytes) of the device input data
area

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wo_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: WO byte number

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Description: WO byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wo_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: WO offset

Description: Set this element with the offset (in bytes) of the slave output data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wstk_in_off

Minimum: 0 Maximum:
RO UIF: RO CRTL: RO0xFFFF Default:
Data Type: 0 KCL/Data:
USHORT Memory: Program:
ROCMOS

Name: WSK Input offset

Description: Set this element with the offset (in bytes) of the device input data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wstk_in_por

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: WSK byte number

Description: WSK byte number of device

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wstk_out_of

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: WST offset

Description: Set this element with the offset (in bytes) of the slave output data

area
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wstk_out_p

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ADDRESS Memory:

CMOS
Name: Pointer to I/O sram which is got from IOUTL

Description: For internal use only, Don’t modify this system variable.Pointer to
I/O sram which is got from IOUTL

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_CONFIG[1].$wstk_out_po

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: WST DO byte number

Description: WST DO byte number of device

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_DIAG[1].$length_code
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Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Device real length code

Description: Device real length code which is read out from Device

Power Up: N/A

Screen: INTERBUS-S STATUS SLAVE DIAG screen

$IBS_DIAG[1].$no_of_error

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFF 0
Data Type: UBYTE RO CMOS
Memory:

Name: Number of error entries

Description: Number of error entries

Power Up: N/A

Screen: INTERBUS-S STATUS SLAVE DIAG screen

$IBS_DIAG[1].$onl_error
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Online error counter

Description: Online error counter

Power Up: N/A

Screen: INTERBUS-S STATUS SLAVE DIAG screen

$IBS_DIAG[1].$status1

Screen: INTERBUS-S SETUP screen

$IBS_GROUP[1].$group

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: group number

Description: group number

Power Up: N/A

Screen: INTERBUS-S SETUP screen

$IBS_GROUP[1].$status

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Minimum: 0 Maximum: 0x7FFFFFFF Default: 1 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: LONG Memory:
CMOS

Name: GROUP status

Description: Set this element with a value to indicate whether this group is
enabled.0: DISABLE1: ENABLE

Power Up: N/A

Screen: INTERBUS-S SETUP MASTER GROUP LIST screen

$IBS_MASTER.$ai_id[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 126 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: AI device ID

Description: AI device ID

Power Up: On_Cold_Start

$IBS_MASTER.$ai_id[32]
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: AI device ID

Description: AI device ID

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
$IBS_MASTER.$ai_len[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 4 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: AI device length code

Description: AI device length code

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Power Up: N/A

$IBS_MASTER.$ai_len[32]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: AI device length code

Description: AI device length code

Power Up: N/A

$IBS_MASTER.$aio_id[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 51 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: AI/AO device ID

Description: AI/AO device ID

Power Up: N/A

$IBS_MASTER.$aio_id[32]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: AI/AO device ID

Description: AI/AO device ID

Power Up: N/A

$IBS_MASTER.$aio_len[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 4 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: AI/AO device length code

Description: AI/AO device length code

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Power Up: N/A

$IBS_MASTER.$aio_len[32]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: AI/AO device length code

Description: AI/AO device length code

Power Up: N/A

$IBS_MASTER.$ao_id[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 125 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: AO device ID

Description: AO device ID

Power Up: N/A

$IBS_MASTER.$ao_id[32]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: AO device ID

Description: AO device ID

Power Up: N/A

$IBS_MASTER.$ao_len[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 4 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Minimum: 0 Maximum: 0xFFFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Auto_Clear parameter

Description: For Download Message of the Auto_Clear of Master

ParameterThis Auto_Clear parameter fixes the behavior of the firmware ifone or
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many devices are defective in the network or reportingan error.0 : Auto Clear
OFF1 : Auto Clear ON (missing error)2 : Auto Clear ON (module error)3 : Auto
Clear ON (missing error and module error)

Power Up: N/A

$IBS_MASTER.$auto_segpos

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Auto set seg_no and pos_no of IBS_CONFIG

Description:
Auto set seg_no and pos_no of IBS_CONFIG
Power Up: N/A

$IBS_MASTER.$auto_sl_dis

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Auto Slave diable setup

Description: Auto Slave diable setup when sw_cfg Less Than - 1

Name: Max_Num_Of_BundledError

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Description: For Download Message of the Bus Parameter

Power Up: N/A

$IBS_MASTER.$bus_fault

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

$IBS_MASTER.$cycle_time

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: cycletime

Description:
cycletime of transferred process data
Power Up: On_Cold_Start

$IBS_MASTER.$cyclecnt

Minimum: 0x80000000 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: LONG Memory:
CMOS

Name: number of driven data cycle

Description: number of driven data cycle

Power Up: N/A

$IBS_MASTER.$dagcyclecnt

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: number of driven diagno. cycle

Description: number of driven diagno. cycle

Power Up: N/A

$IBS_MASTER.$datacycle

Minimum: 0 Maximum: 0xFFFF Default: 100 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

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Name: Timeout datacycle

Power Up: N/A

$IBS_MASTER.$defect_cyc

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Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Defective Datacycle

Description: number of defective data cycle

Power Up: N/A

$IBS_MASTER.$delay_time

Minimum: 0 Maximum: 0xFFFFFFFF Default: 250 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:

CMOS
Name: Delay time for IBM_Set_Configuration (Tick)

Description: Delay time for IBM_Set_Configuration (Tick)Wait this time after

download the bus parameterAnd send the IBM_Set_Configuration command

Power Up: N/A

$IBS_MASTER.$deverrorcnt

Minimum: 0 Maximum:
RW Program: RW UIF:0xFFFFFFFF Default:
RW CRTL: RW Data KCL/Data:
0 Type: ULONG Memory:
CMOS

Name: number of reported device errors

Description: number of reported device errors

Power Up: N/A

$IBS_MASTER.$di_id[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 186 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: DI device ID

Name: DI device length code

Description: DI device length code

Power Up: N/A

$IBS_MASTER.$dio_id[1-32]

Minimum: 0 Maximum:
Not available CRTL: RODefault:
UIF: RO 0xFFFF 11 KCL/Data:
Data Type: RO Program:
UBYTE Memory: CMOS

Name: DI/DO device ID

Description: DI/DO device ID

Power Up: N/A

$IBS_MASTER.$dio_id[32]

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$IBS_MASTER.$dis_dio_cle

Minimum: 0 Maximum:
RO UIF: RO DataDefault:
CRTL: RO0xFF 3 KCL/Data:
Type: UBYTE Program:
RO CMOS
Memory:

Name: DI/DO clear

Description: If the slave is disabled, clear DI areaBIT 0 : DI clearBIT 1 : DO

clear

Power Up: N/A

$IBS_MASTER.$do_id[1-32]
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Minimum: 0 Maximum: 0xFFFF Default: 189 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: DO device ID

Description: DO device ID

Power Up: N/A

$IBS_MASTER.$do_id[32]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:

Not available
Name: DO device ID

Description: DO device ID

Power Up: N/A

$IBS_MASTER.$do_len[1-32]

Minimum: 0 Maximum: 0xFFFF Default: 1 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: DO device length code

Description: DO device length code

Power Up: On_Cold_Start

$IBS_MASTER.$do_len[32]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available
Not available CRTL: Not available Data Type: UBYTE Memory:

Name: DO device length code

Description: DO device length code

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_MASTER.$enb_rst_eve
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Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Enable reset Network re-init and Defective data cycle counter and EVE
bit

Description: Enable reset Network re-init and Defective data cycle counter and
EVE bit

Power Up: N/A

$IBS_MASTER.$err_dev_adr

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFF 0
Data Type: UBYTE RO CMOS
Memory:

Name: Error device address

Description: error source and location

Power Up: N/A

$IBS_MASTER.$err_event

Minimum: 0 Maximum:
RO UIF: RO DataDefault:
CRTL: RO0xFF 0 KCL/Data:
Type: UBYTE Program:
RO CMOS
Memory:

Name: Error event

Description: corresponding error number

Power Up: N/A

$IBS_MASTER.$format

Minimum: 0 Maximum:
RO UIF: RO DataDefault:
CRTL: RO0xFF 1 KCL/Data:
Type: UBYTE Program:
RO CMOS
Memory:

Name: Setup configuration list

Description: strage format of process data 0 : INTEL 1 : MOTOROLA

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_MASTER.$gbit_mask
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Minimum: 0 Maximum: 0xFF Default: 0x01 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Global_bits is masked by this value.

Description: Global_bits is masked by this value.

Power Up: N/A

$IBS_MASTER.$getdiag_enb

Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Get diag data by using Mailbox1: Get diag data2: Get diag data and
check CRC counter

Description: For internal use only, Don’t modify this system variable.Get diag
data by using Mailbox

Power Up: N/A

$IBS_MASTER.$grp_edit

Minimum: 0 Maximum:
RW Program: RW UIF:0xFFFFFFFF Default:
RW CRTL: RW Data KCL/Data:
0 Type: ULONG Memory:
CMOS

Name: Edit Group or alternative on TP

Description: Inform Edit Group or Alternative on TP to IBS Task from

TPMMInternal use only

Power Up: N/A

$IBS_MASTER.$ibm_state
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: IBM status

Description: IBM main state of the master system

Power Up: N/A

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$IBS_MASTER.$ibm_static[1-16]

Minimum: Maximum: Default: KCL/Data:

0
RW Program: 0xFFFFFFFF
Not available UIF: RW CRTL: RW0 Data Type:
ULONG Memory: CMOS

Name: number of reported device errors

Description: number of reported device errors

Power Up: N/A

$IBS_MASTER.$ibm_static[16]

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
ULONG Memory: Not available

Name: number of reported device errors

Description: number of reported device errors

Power Up: N/A

$IBS_MASTER.$idscan
Minimum: 0 Maximum: 0xFFFF Default: 10 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Num_Of_IDScan_AfterError

Description: For Download Message of the Bus Parameter

Power Up: N/A

$IBS_MASTER.$ign_event[1-32]
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Ignored Error Event number

Description: Ignored Error Event number

Power Up: N/A

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$IBS_MASTER.$ign_event[32]

Minimum: Maximum: Default: KCL/Data: Program:

RO UIF: Not0 available CRTL:
0xFF Not available
0 ROUBYTE Memory:
Data Type:
Not available

Name: Ignored Error Event number

Description: Ignored Error Event number

Power Up: N/A

$IBS_MASTER.$img_do_p

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ADDRESS Memory:
CMOS

Name: Copy the process data of Master DPRAM

Description: The master task copied the process data of Master

DPRAM.Internal use only

Power Up: N/A

$IBS_MASTER.$init_cfg

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Initalize IBS_CONFIG system variable at power-on

Description: Initalize IBS_CONFIG system variable at power-on

Power Up: N/A

$IBS_MASTER.$mode

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Mode number

Description: Mode number for I/O data exchange. Refer to ibs_user.h

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_MASTER.$net_rescan

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Network Rescans

Description: number of necessary network rescans and network reinitialization

Power Up: N/A

$IBS_MASTER.$new_sl_idx[1-48]

Minimum: 0 Maximum: 0xFFFF Default: 0xFF KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Slave Parameter loading status (current)

Description: Slave Parameter loading status (current)

Power Up: N/A

$IBS_MASTER.$new_sl_idx[48]

Minimum: 0 Maximum: 0xFF Default: 0xFF KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: Slave Parameter loading status (current)

Description: Slave Parameter loading status (current)

Power Up: N/A

$IBS_MASTER.$no_def_slav

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: No define slave parameter

Description: For internal use only, Don’t modify this system variable.If No define
slave parameter at power-on, then = 1.
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Power Up: N/A

$IBS_MASTER.$old_sl_idx[1-48]

Minimum: 0 Maximum: 0xFFFF Default: 0xFF KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Slave Parameter loading status (prvious)

Description: Slave Parameter loading status (prvious)

Power Up: N/A

$IBS_MASTER.$old_sl_idx[48]
Minimum: 0 Maximum: 0xFF Default: 0xFF KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: UBYTE Memory:
Not available

Name: Slave Parameter loading status (prvious)

Description: Slave Parameter loading status (prvious)

Power Up: N/A

$IBS_MASTER.$pc104_sel

Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Select PC104 board

Description: Select PC104 board 0 : Auto select 1 : IBSM 2 : IBM

Power Up: You mast perform a COLD or HOT START for the change to take
effect.
$IBS_MASTER.$rst_bus

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Set the NotReady in the cell DevFlags and then clear it.

Description: For internal use only, Don’t modify this system variable.Re-start the
network again.
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Power Up: N/A

$IBS_MASTER.$rst_eve

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Reset Network re-init and Defective data cycle counter and EVE bit

Description: For internal use only, Don’t modify this system variable.Reset
Network re-init and Defective data cycle counter and EVE bit

Power Up: N/A

$IBS_MASTER.$scan_time

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Scan time interval value

Description: For Download Message of the Bus Parameter (800 ms)

Power Up: N/A

$IBS_MASTER.$set_cfg

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: Download slave configuration list

Description: if this flag is set 1, the robot controller download configuration list. 1:
Slave parameter only 2: Slave parameter and bus parameter 3: Bus parameter
only 4: Reload all slave parameter
Power Up: N/A

$IBS_MASTER.$set_cfg_val

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: This value set to set_cfg when reset signal is inputed.

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Description: This value set to set_cfg when reset signal is inputed.

Power Up: N/A

$IBS_MASTER.$sl_cfg[1-16]

Minimum: 0 Maximum: 0xFFFF Default: 0x0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Slave config status

Name: Counter of slave module for IBSM

Description: This variable indicates the number of slave which are conected
tothe master of robot controller.

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Power Up: N/A

$IBS_MASTER.$stopbits

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Num_Of_StopBits

Description: For Download Message of the Bus Parameter

Power Up: N/A

$IBS_MASTER.$sw_cfg
Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: Switch on/off specific slave device

Description: Switch on/off specific slave deviceBit0 : Switch on/off requestBit1 :

Not error post

Power Up: N/A

$IBS_MASTER.$sycon_enb

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: SyCon data enable

Description: SyCon downloads the data base data into PC104.

Power Up: N/A

$IBS_MASTER.$wdog_time

Minimum: 0 Maximum: 0xFFFF Default: 1000 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: HOST supervision time in multiples of a msec.

Description: HOST supervision time in multiples of a msec.

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$aci

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: Acyclic Control Interval

Description: For internal use only, Don’t modify this system variable.Acyclic
Control Interval

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$ali_time

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS

Name: ALI time

Description: For internal use only, Don’t modify this system variable.ALI time
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$attr_type

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Connection Type

Description: For internal use only, Don’t modify this system variable.Connection
Type0 : ATTR_D, defined connection2 : ATTR_O, open connection for default
management

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$client[4]

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Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
UBYTE Memory: Not available

Name: Service Client 1 - 3 and reserve

Description: For internal use only, Don’t modify this system variable.Service
Client 1

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$comm_ref

Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Communication Reference

Description: For internal use only, Don’t modify this system

variable.Communication Reference Number

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$conn_type

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Connection Type

Description: For internal use only, Don’t modify this system variable.MMAZ
(Master - Master acyclic)

Power
effect. Up: You mast perform a COLD or HOT START for the change to take

$IBS_SL_CRL[1].$enable

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: This CRL is enable

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Description: For internal use only, Don’t modify this system variable.Set this
element with a value to indicate whether this CRL is enable.0: Disable1: Enable

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$ind_pdu_h

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: max. PDU length indication/confirmation high

Description:
For internal use high
length indication/confirmation only, Don’t modify this system variable.max. PDU

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$ind_pdu_l

Minimum: 0 Maximum: 0xFF Default: 246 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: max. PDU length indication/confirmation high

Description: For internal use only, Don’t modify this system variable.max. PDU
length indication/confirmation high

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$lli_sap

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: LLI SAP

Description: For internal use only, Don’t modify this system variable.LLI SAP0 :
PMS1 : PNM7

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$local_sap
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Minimum: 0 Maximum: 0xFF Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Local SAP

Description: For internal use only, Don’t modify this system variable.Local SAP
not used in PCP 2.0

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$max_rac

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW0xFFData Type: UBYTE
1 RW CMOS
Memory:

Name: max. RAC

Description: For internal use only, Don’t modify this system variable.max. RAC
(Receive Ack. Req. Count.)1 : for PMS connection0 : for PNM7 connection

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$max_rcc
Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: max. RCC

Description: For internal use only, Don’t modify this system variable.max. RCC
(Receive Conf. Req. Count.)1 : for PMS connection0 : for PNM7 connection

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
$IBS_SL_CRL[1].$max_sac

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: max. SAC

Description: For internal use only, Don’t modify this system variable.max. SAC
(Send Ack. Req. Count.)1 : for PMS connection0 : for PNM7 connection
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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$max_scc

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: max. SCC

Description: For internal use only, Don’t modify this system variable.max. SCC
(Send Conf. Req. Count.)1 : for PMS connection0 : for PNM7 connection

Power Up:
effect. You mast perform a COLD or HOT START for the change to take

$IBS_SL_CRL[1].$multiplier

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: multiplier

Description: For internal use only, Don’t modify this system variable.multiplier

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$remote_adr

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Remote Address

Description: For internal

Address, Address usedevice
of remote only, Don’t
for thismodify
CR this system variable.Remote

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$remote_sap

Minimum: 0 Maximum: 0xFF Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

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Name: Remote SAP

Description: For internal use only, Don’t modify this system variable.Remote
SAP not used in PCP 2.0

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$req_pdu_h

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name:
max. PDU length request/responce high
Description: For internal use only, Don’t modify this system variable.max. PDU
length request/responce high

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$req_pdu_l

Minimum: 0 Maximum: 0xFF Default: 246 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: max. PDU length request/responce high

Description: For internal use only, Don’t modify this system variable.max. PDU
length request/responce high

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$server[4]

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
UBYTE Memory: Not available

Name: Service Server 1 - 3

Description: For internal use only, Don’t modify this system variable.Service
Server 1

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$vfd_pointer

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: VFD Pointer of CRL Header

Description: VFD Pointer of CRL Header, No (for PCP 2.0)For internal use only,
Don’t modify this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$code

Minimum: 0 Maximum: 0xFF Default: 7 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Object Code

Description: For internal use

Code7 : For SYMPLE_VAR only, Don’t
object8 modify this
: For ARRAY system variable.Object
object

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$data_type

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Data Type

Description: For internal use only, Don’t modify this system variable.Data
Type1 : BOOL2 : INT83 : INT164 : INT325 : UINT86 : UINT169 : VISIBLE
STRING10 : OCTET STRING

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$enable

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Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: This OD is enable

Description: For internal use only, Don’t modify this system variable.Set this
element with a value to indicate whether this OD is enable.0: Disable1: Enable

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$group

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW0xFFData Type: UBYTE
0 RW CMOS
Memory:

Name: Access Group

Description: For internal use only, Don’t modify this system variable.Access
Group, not supported

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$index
Minimum: 0 Maximum: 0xFFFF Default: 0x1000 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: USHORT Memory:
CMOS

Name: Object Index

Description: For internal use only, Don’t modify this system variable.Object
Index

Power
effect. Up: You mast perform a COLD or HOT START for the change to take

$IBS_SL_OD[1].$length

Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Object Length

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Description: For internal use only, Don’t modify this system variable.Object
Length, length of element

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$local_adr

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Local Address

Description:
Address, not For internal use only, Don’t modify this system variable.Local
supported

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$password

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Password
Description: For internal use only, Don’t modify this system variable.Password,
not supported

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$right

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: Access Right

Description: For internal use only, Don’t modify this system variable.Access
Right, not supported

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$sub_index
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Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Sub Index

Description: For internal use only, Don’t modify this system variable.Sub Index,
length of element

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$abort_cr

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW0xFFData Type: UBYTE
2 RW CMOS
Memory:

Name: Abort Communication Reference

Description: Abort Communication ReferenceFor internal use only, Don’t modify

this system variable.

Power Up: N/A

$IBS_SLAVE.$add_param

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Additional Parameter

Description: Some of the error events have an additional parameter.

Power Up: N/A

$IBS_SLAVE.$ai_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: AI byte number

Description: AI word number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

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Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$ai_mask

Minimum: 0 Maximum: 0xFFFF Default: 0xFFFF KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: USHORT Memory:
CMOS

Name: Analog input mask

Description: Set these elements with a decimal representation of the word data
in which thevalid analog input bits are 1. For example, if 14 bits are valid, set
them with 16383 (decimal), which corresponds to 3FFF (hexadecimal) where bits

0 to13 are 1.
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ai_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: AI offset

Description: Set this element with the offset (in bytes) of the device input data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$ai_start_bi

Minimum: 0 Maximum:
RO UIF: RO DataDefault:
CRTL: RO0xFF 0 KCL/Data:
Type: USHORT Program:
RO CMOS
Memory:

Name: Analog input start bit

Description: The analog input is one word per channel. Set these elements with
the first bit in the valid portion of the word data.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

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$IBS_SLAVE.$ai_unit

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFF 1
Data Type: UBYTE RO CMOS
Memory:

Name: 1 CH byte number 0 : 1byte 1 : 2byte

Description: 1 CH byte number

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$an_exchg

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Exchange Analog byte order

Description: Exchange Analog byte order

Power Up: N/A

$IBS_SLAVE.$ao_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: AO byte number

Description: AO byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$ao_mask

Minimum: 0 Maximum: 0xFFFF Default: 0xFFFF KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: USHORT Memory:
CMOS

Name: Analog output mask

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ao_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name:
Input offset
Description: Set this element with the offset (in bytes) of the slave output data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$ao_start_bi

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Analog output start bit

Description: The analog output is one word per channel. Set these elements
with the first bit in the valid portion of the word data.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ao_unit

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: 1 CH byte number 0 : 1byte 1 : 2byte

Description: 1 CH byte number

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$asguop

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Assign UOP

Description: Whether to assign InterBus-S Slave DI/DO to UOP

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
$IBS_SLAVE.$cntrl_inter

Minimum: 0 Maximum: 0xFFFFFFFF Default: 1000 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: Control Interval of CRL Header

Description: Control Interval of CRL Header (in 10 ms) max 60 * 10**6For

internal use only, Don’t modify this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$dbm_enb

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: DBM is enable

Description: DBM is enable then the PCP parameter is not downloaded

Name: DI byte number

Description: DI byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$di_byte2

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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Name: DI byte number

Description: DI byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$di_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Input offset

Description: Set this element with the offset (in bytes) of the device input data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$di_offset2
Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Input offset

Description: Set this element with the offset (in bytes) of the device input data
area

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$di_p

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ADDRESS Memory:
CMOS

Name: InterBus-S Slave DI IOSRAM address

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Description: For internal use only, Don’t modify this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$dio_swap

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: swap low/high byte

Description: swap low/high byte

Power Up: N/A

$IBS_SLAVE.$disp_cnt

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS

Name: display counter of send/receive data of InterBus-S Slave

Description: For internal use only, Don’t modify this system variable.display

counter of send/receive data of InterBus-S Slave

Power Up: N/A

$IBS_SLAVE.$disp_mbox

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Display mailbox data

Description: Display mailbox data

Power Up: N/A

$IBS_SLAVE.$do_byte

Minimum: 0 Maximum: 0xFFFF Default: 20 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: DO byte number

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Description: DO byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$do_byte2

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: DO byte number

Description: DO byte number of device

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$do_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Input offset

Description: Set this element with the offset (in bytes) of the slave output data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$do_offset2

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Input offset

Description: Set this element with the offset (in bytes) of the slave output data
area

Power Up: You mast perform a COLD or HOT START for the change to take
effect.
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Screen: INTERBUS-S SETUP MASTER CONFIG LIST screen

$IBS_SLAVE.$do_p

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ADDRESS Memory:
CMOS

Name: InterBus-S Slave DO IOSRAM address

Description: For internal use only, Don’t modify this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
$IBS_SLAVE.$down_crl

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Request to send Download CRL request to device

Description: Request to send PCP parameter download request to deviceFor

internal use only, Don’t modify this system variable.

Power Up: N/A

$IBS_SLAVE.$down_od

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Request to send Download OD request to device

Description: Request to send PCP parameter download request to deviceFor

internal use only, Don’t modify this system variable.
Power Up: N/A

$IBS_SLAVE.$down_vfd

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Request to send Download VFD request to device

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Setup configuration list

Description: strage format of process data 0 : INTEL 1 : MOTOROLA

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$get_od

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Request to send GET_OD_LOCAL request to device

Description: Request to send GET_OD_LOCAL request to deviceFor internal

use only, Don’t modify this system variable.

Power Up:
N/A
$IBS_SLAVE.$id_code

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: ID code of slave module

Description: ID code of InterBus-S Slave

Power Up: N/A

$IBS_SLAVE.$info_code

Minimum: 0 Maximum: 0xFF Default: 7 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Information Report Object Code

Description: Information Report Object CodeFor internal use only, Don’t modify
this system variable.

Power Up: N/A

$IBS_SLAVE.$info_cr

Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: InformationReport Communication Reference

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Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Information Report Object Length

Description: Information Report Object LengthFor internal use only, Don’t

modify this system variable.

Power Up: N/A

$IBS_SLAVE.$info_sub

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW UBYTE CMOS
Name: Information Report Sub Index

Description: Information Report Sub IndexFor internal use only, Don’t modify
this system variable.

Power Up: N/A

$IBS_SLAVE.$init_pcp

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW Default:
0xFFData 1 KCL/Data:
Type: UBYTE Program:
RW CMOS
Memory:

Name: Initialize PCP system variable

Description: Initialize PCP system variableFor internal use only, Don’t modify
this system variable.

Power Up: N/A

$IBS_SLAVE.$length_code

Minimum: 0 Maximum: 0xFF Default: 21 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Length code of slave module

Description: Length code of InterBus-S Slave

Power Up: N/A

$IBS_SLAVE.$max_dig_prt
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Minimum: 16 Maximum: 1024 Default: 1024 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Number of digital ports displayed

Description: This value is copied to $MAX_DIG_PRT at power-on.This controls

the number of DIN and DOUT ports for which the status is is diaplayed in the
Digital I/O TP MONITOR screens and which can be configured in the DIGITALA
I/O CONFIG screen.

Power Up: The change to this system variable takes effect at the next power-up.

Screen: The System Variables screen.

$IBS_SLAVE.$mode

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Mode number

Description: Mode number for I/O data exchange. Refer to ibs_user.h

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
$IBS_SLAVE.$pcp_dio

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Exchange DI/DI when ID code = PCP

Description: Exchange DI/DI when ID code = PCP

Power Up: N/A

$IBS_SLAVE.$poll_sap

Minimum: 0 Maximum: 0xFF Default: 128 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Poll-Lists SAP, not used for PCP 2.0

Description: Poll-Lists SAP, not used for PCP 2.0For internal use only, Don’t
modify this system variable.
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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$reason_code

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Abort Reason Code (1:Disconnect)

Description: Abort Reason CodeFor internal use only, Don’t modify this system
variable.

Power Up:
N/A
$IBS_SLAVE.$rg_exchg

Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Exchange register byte order

Description: Exchange register byte order

Power Up: N/A

$IBS_SLAVE.$ri_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Register IN byte number

Description: Register IN byte number

Power
effect. Up: You mast perform a COLD or HOT START for the change to take

$IBS_SLAVE.$ri_number

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Register IN start number

Description: Register IN start number

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ri_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Register IN byte offset

Description: Set this element with the offset (in bytes) of the slave output data
area

Power Up:
effect. You mast perform a COLD or HOT START for the change to take

$IBS_SLAVE.$ri_type

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Input register type

Description: Input register type

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ro_byte

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Register IN byte number

Description: Register IN byte number

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ro_number

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Register OUT start number

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Description: Register OUT start number

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ro_offset

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Register OUT byte offset

Description: Set this element with the offset (in bytes) of the slave output data

area
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ro_type

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Output register type

Description: Output register type

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$send_abort

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Send Abort.Request

Description: Send Abort.RequestFor internal use only, Don’t modify this system
variable.

Power Up: N/A

$IBS_SLAVE.$send_info

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
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Name: Send InformationReport.Request

Description: Send InformationReport.RequestFor internal use only, Don’t modify

this system variable.

Power Up: N/A

$IBS_SLAVE.$stat_err

Minimum: 0 Maximum: 0xFF Default: 0xE0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Station Error Indication

Description: Station Error Indication. Refer to ibs_user.h.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$symbol_len

Minimum: 0 Maximum: 0xFF Default: 0x0B KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Symbol Length of CRL Header

Description: Symbol Length of CRL HeaderFor internal use only, Don’t modify
this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$vfd_support

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: VFD pointer supported

Description: VFD pointer supported, No (for PCP 2.0)For internal use only,
Don’t modify this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$wait_slinit
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Minimum: 0 Maximum: 0xFFFF Default: 260 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: wait time for start I/O data read/write

Description: wait time for start I/O data read/write

Power Up: N/A

Screen: Internal use

$IBS_SLAVE.$wdog_time

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFFFF 1000
Data Type: USHORT RO
Memory: CMOS

Name: HOST supervision time in multiples of a msec.

Description: HOST supervision time in multiples of a msec.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$cpuid

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Logical slot ID number

Description: For internal use only, Don’t modify this system variable.PC104
MOTHER PCB Module ID.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$dbm_down

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Download InterBus-S database file switch

Description: Download InterBus-S database file switch

Power Up: N/A

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$IBS_SYS[1].$dbm_down_er

Minimum: Maximum: Default: KCL/Data: Program:

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Device flag status

Description: Device flag status of Dual Port RAM

Power Up: N/A

$IBS_SYS[1].$dio_clear

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Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: DI/DO clear

Description: If error or disable, clear DI/DO areaBIT 0 : DI clearBIT 1 : DO clear

Power Up: N/A

$IBS_SYS[1].$dpr_address

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ADDRESS Memory:

CMOS
Name: Dual Port RAM top address

Description: For internal use only, Don’t modify this system variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$err_code[16]

Minimum: 0 Maximum:
RO Program: RO UIF:0xFFFFFFFF
Not available Default:
CRTL: Not KCL/Data:
0x0available Data Type:
ULONG Memory: Not available

Name: Error code

Description: For internal use only, Don’t modify this system variable.the error
code can not be reset.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$error_1post

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Error 1 post

Description: If 1, error is posted once and can reset.

Power Up: N/A

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$IBS_SYS[1].$error_cnv

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFF 0
Data Type: UBYTE RO CMOS
Memory:

Name: Error severity convert

Description: If T1 or T2, severity is converted STOP -> WARN

Power Up: N/A

$IBS_SYS[1].$erwaitim

Minimum: 0 Maximum:
RO UIF: RO Data Default:
CRTL: RO65535 1250 KCL/Data:
Type: ULONG RO Program:
Memory: CMOS

Name: Error check start wait time

Description: Error check start wait time

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$firm_down

Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Download InterBus-S firmware switch

Description: Download InterBus-S firmware switch

Power Up: N/A

$IBS_SYS[1].$firm_down_e

Minimum: 0 Maximum: 0xRO Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Download InterBus-S firmware error

Description: Download InterBus-S firmware error

Power Up: N/A

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$IBS_SYS[1].$global_bit

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO0xFF 0
Data Type: USHORT RO CMOS
Memory:

Name: Global status bit

Description: InterBus-S Slave comminication status

Power Up: N/A

$IBS_SYS[1].$global_p

Minimum: 0 Maximum:
RO Program: RO UIF:0xFFFFFFFF Default:
RO CRTL: RO KCL/Data:
Data0Type: ADDRESS Memory:
CMOS

Name: Pointer to task global variable.

Description: For internal use only, Don’t modify this system variable.Pointer to
task global variable.

Power Up: N/A

$IBS_SYS[1].$host_flag
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Host flag status

Description: Host flag status of Dual Port RAM

Power Up: N/A

$IBS_SYS[1].$module_id
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Module ID

Description: For internal use only, Don’t modify this system variable.PC104
MOTHER PCB Module ID.

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$rst_bus_tim

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: wait time for bus fault reset

Description: For internal use only, Don’t modify this system variable.After the
controller waits this time for bus fault reset by spcall SID_DIO,the controller

checks the error event of INTERBUS-S Master.

Power Up: N/A

$IBS_SYS[1].$rst_gtime

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: wait time for bus fault reset

Description: For internal use only, Don’t modify this system variable.After the
controller waits this time for bus fault reset by spcall SID_DIO,the controller
checks the error event of INTERBUS-S Master.

Power Up: N/A

$IBS_SYS[1].$rst_spcall

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS
Name: spcall by IOFC_RESET_C

Description: For internal use only, Don’t modify this system variable.spcall by
IOFC_RESET_C

Power Up: N/A

$IBS_SYS[1].$sub_code[16]

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Minimum: 0 Maximum: 0xFFFFFFFF Default: 0x0 KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
ULONG Memory: Not available

Name: Error number

Description: Error number of InterBus-S Slave

Power Up: N/A

$IBS_SYS[1].$sub_type[16]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program:

UIF: CRTL: Data Type: Memory:
RO available
Not Not available Not available UBYTE

Name: Error sub code type (0 : none sub_code)

Description: For internal use only, Don’t modify this system variable.the error
code can not be reset.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$tskcnt
Minimum: 0 Maximum: 500 Default: 1 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: TASK counter

Description: For internal use only, Don’t modify this system variable.the interval
time which PROFIBUS task runs.

Power Up: You mast perform a COLD or HOT START for the change to take

effect.
$IBS_SYS[1].$tskenb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Task enable/disable

Description: Task enable/disable 0 : Disable 1 : Enable

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Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$wait_init

Minimum: 0 Maximum: 65535 Default: 1000 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Wait READY_FLAG of firmware

Description: For internal use only, Don’t modify this system variable.Indicate the
time which the main waits for the READY_FLAG of firmware.

Power Up:
effect. You mast perform a COLD or HOT START for the change to take

$IBS_SYS[1].$wait_task

Minimum: 0 Maximum: 0xFFFFFFFF Default: 50 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: Wait other task for access Dual Port Memory

Description:
Don’t modify Wait other task
this system for access Dual Port MemoryFor internal use only,
variable.

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$waitcount

Minimum: 0 Maximum: 65535 Default: 100 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Wait flag count max

Description: Wait DEVICE flag count max

Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$warn_code[16]

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Minimum: 0 Maximum: 0xFFFFFFFF Default: 0x0 KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
ULONG Memory: Not available

Name: These Error code which is convert to WARNING severity

Description: These Error code which is convert to WARNING severity

Power Up: N/A

$IBS_SYS[1].$wdog_chk

Minimum: 0 Maximum: 65535 Default: 200 KCL/Data: RO Program:

UIF: CRTL: Data Type: Memory:
RO RO RO ULONG CMOS
Name: Counter max for watch dog

Description: Counter max for watch dog

Power Up: N/A

$IBS_SYS[1].$wdog_cnt

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

CMOSProgram: RO
RO UIF: RO CRTL: RO Data Type: ULONG Memory:

Name: Real count max for watch dog

Description: For internal use only, Don’t modify this system variable.Real count
max for watch dog for internal use

Power Up: N/A

$IDL_CPU_PCT

Minimum: 0.0 Maximum: 100.0 Default: 50.0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL Memory: CMOS

Name: Idle CPU time

Description: Percent of MAIN CPU time which is currently idle

Power Up: Updated automatically

Screen: This can be displyed in the System/Variables screen.

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$IDL_MIN_PCT

Minimum: Maximum: Default: KCL/Data: Program:

0.0 CRTL: RW100.0
RW UIF: RW 50.0 Memory: CMOS
Data Type: REAL RW

Name: Minimum Idle CPU time

Description: This indicates the smallest percentage of CPU time, measured

over intervals of about 30 seconds, since power-up. If this is set to 100, it will be
updated as smaller percentages idle of CPU time are observed.

Power Up: Values are updated automatically as required.

Screen:
This can be displayed or set in the System/Variables screen.
$IMSAVE_DONE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Indicator that IMAGE memory has been saved to FROM.

Description: During controlled start the system image area can be saved just
one time. Typically, this is done on the transition from controlled to cold start.
When $IMSAVE_DONE
variables are loaded intoisimage.
FALSE during
Also, controlled
system optionsstart,
can KAREL programs
be loaded before and
the
imsave is done. All system options and KAREL program elements can be
permanently saved to FROM when the image save is done.

Power Up: No

Screen: SYSTEM Variables screen, function pull up for cold start.

$INCL_ADJUST STRUCTURE

Name: Setup of torch posture adjustment function

Description: These system variables are used by torch posture adjustment
function. Individual fields within this structure are described below.

Power Up: Changes to these variables take effect immediately.

Screen: Torch posture adjustment screen

$INCL_ADJUST.$part_of_prg

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: WHOLE/PART of converted range

Description: This system variable is used to select the range of conversion in

program where WHOLE : an entire program is converted; PART : a specified
range is only converted

Power Up: Changes to this variable take effect immediately

Screen: Torch posture adjustment screen

$INCL_ADJUST.$stick_out

Minimum: -10 Maximum: 10 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Stick out value

Description: This system variable is stick out value for adjustment.

Power Up: Changes to this variable take effect immediately

Screen:
Torch posture adjustment screen
$INCL_ADJUST.$travel_angl

Minimum: -5 Maximum: 5 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Travel angle value

Description: This system variable is travel angle value for adjustment.

Power Up: Changes to this variable take effect immediately

Screen: Torch posture adjustment screen

$INCL_ADJUST.$work_angl

Minimum: -5 Maximum: 5 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Work angle value

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Description: This system variable is work angle value for adjustment.

Power Up: Changes to this variable take effect immediately

Screen: Torch posture adjustment screen

$INTP_PRTY

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Interpreter Priority

Description:
should be as Priority
follows: which interpreter
0:interrupt routineexecutes as interruption
runs at higher routine.
priority than path Values
planner.
This might result in the robot slowing down during path motion. 0 90: Interrupt
routine runs at lower priority than teach pendant user interface logic.

Power Up: N/A

$INTPMODNTOL

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Early Motion Completion Time

Description: Specifies the time, in milliseconds, by which the interpreter the

motion ends early.

Power Up: N/A

$IO_AUTO_CFG

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Automatic I/O configuration

Description: If $IO_AUTO_CFG is TRUE, at power-up, any digital or analog

ports that have not been assigned will have assignments generated automatically.
If set to FALSE, these assignments will not be made. Note that this does not
affect automatic assignment of process I/O board DIN’s and DOUT’s as user
operator panel signals.

Power Up: Requires cold start to take effect

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$IO_CYCLE

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: Start SLC-2 Cycling even if no SLC-2 I/O devices

Description: This feature is not supported.

Power Up: This is only effective at cold start.

$IO_SCRN_UPD

Minimum:
RW UIF: 8RWMaximum:
CRTL: RW Default:
250 Data Type:32 KCL/Data:
INTEGER RW Program:
Memory: CMOS

Name: I/O Dynamic Screen Update Time

Description: This is the time, in milliseconds, between dynamic updates of the

the I/O related menus on the teach pendant. The shorter this time is made, the
more likely it is to affect other system performance areas.

Power Up: No

$IOLNK[1].$input_n
Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: I/O link input number.

Description: I/O link number of input points. Currently not supported.

Power Up: N/A

$IOLNK[1].$output_n
Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: I/O link output number.

Description: I/O link number of output points. Currently not supported.

Power Up: N/A

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$IOLNK[1].$rack

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW15 Data Type:
0 UBYTE Memory:
RW CMOS

Name: I/O link rack.

Description: I/O link rack number. Currently not supported.

Power Up: N/A

$IOLNK[1].$slot

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW Default:
40 Data KCL/Data:
0 UBYTE
Type: RW Program:
Memory: CMOS

Name: I/O link slot.

Description: I/O link slot number. Currently not supported.

Power Up: N/A

$IOLNK[16] STRUCTURE

Name: I/O Link

Description: I/O link variables. Currently not supported.

Power Up: N/A

$IS_DMR STRUCTURE

Name: Integral Servo Driven Tool (ISDT) Dynamic Master Record Variable
Structure

Description: This set of variables provide dynamic mastering information of

ESDT Process Axes. See the descriptions of the individual fields below.

Power Up: N/A

$IS_DMR.$ignore_motn

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program:

RW UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

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Name: ISDT System Variable: FLTR task update this variable to disable process
axes motion.

Description: This variable is set to TRUE when $IS_DMR.$master_done is set

to 0. At that time, all process axes speed commands are ignored. An error is
posted to inform Application Tool. You must set $IS_DMR.$ignore_motn to
FALSE so that process axes can be controlled again.

Power Up: This value is initialized to FALSE and maintains its previous value
over subsequent power cycles.

$IS_DMR.$master_done

Minimum: Maximum: Default: KCL/Data: Program:

-1
RW UIF: RO CRTL: RO1 Data Type:-1 INTEGER Memory:
RO CMOS

Name: ISDT System Variable: FLTR task update this variable to inform
application.

Description: When this variable is set to -1 (default) the master_done function is

disabled. Application Tool should set master_done to 1 after mastering process
axes. When sever servo errors occur, the ISDT Softpart sets master_done to 0.
When Application Tool detects master_done = 0, it should remaster the process
axes and set master_done to 1 after mastering.

Power Up: This value is initialized to -1 and maintains its previous value over
subsequent power cycles.

$IS_ERROR STRUCTURE

Name: Integral Servo Driven Tool (ISDT) System Error Buffer Structure

Description: IS_ERROR is a ring buffer, which stores the error codes and the
associated axis#that are posted by ISDT and FLTR tasks. See the descriptions
of the individual fields below.

Power Up: N/A

$IS_ERROR.$bufindx

Minimum: 0 Maximum: ERR_BUF_SIZE Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: ISDT System Variable: the current index of the $IS_ERROR ring buffer

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Name: ISDT System Variable: stores error code which was posted for a process
axis

Description: Updated by ISDT and FLTR task.

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Power Up: N/A

Screen: None

$IS_MCR STRUCTURE

Name: Integral Servo Driven Tool (ISDT) Motion Control System Variable
Structure

Description: This set of variables provide motion control and error handling for
ISDT Process Axes. See the descriptions of the individual fields below.

Power Up: N/A

$IS_MCR.$err_stopall

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Stop process axis switch

Description: When it is set to TRUE, any severe servo error of process axis will
stops all process axes. When it is set to FALSE, only the process axes that has
severe servo error stops.

Power Up: This value is initialized to TRUE and maintains its previous value
over subsequent power cycles.

Screen: System global variable screen

$IS_MCR.$hold_stop

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Hold process axis switch

Description: When it is set to TRUE, Hold stops all process axes. When it is set
to FALSE, Hold is ignored.

Power Up: This value is initialized to TRUE and maintains its previous value
over subsequent power cycles.

Screen: System global variable screen

$IS_MCR.$machinelock
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: ISDT System Variable: lock process axes motion

Description: If this variable is set to TRUE, ISDT process axes will not move
when motion command is issued.

Power Up: This value is initialized to FALSE at every power cycles.

$IS_MCR.$no_stop_err

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
1 BOOLEAN RWMemory: CMOS

Name: ISDT System Variable: revise process axis error severity

Description: When this variable is set to TRUE, the ISDT Softpart and process
axes servo errors will not stop robot motion or applications. If it is set to FALSE,
process axes servo error will stop robot and all applications.

Power Up: This value is initialized to TRUE and maintains its previous value
over subsequent power cycles.

$IS_MCR.$spc_reset

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: ISDT System Variable: serial pulsecoder reset

Description: This system variable is used for performing serial pulsecoder reset.
User sets its value to TRUE, and then perform Cold start sequence to reset serial
pulsecoder. Note: This is the only way to reset pulsecoder for a process axis.

Power Up: This value is initialized to FALSE. It will automatically reset its value
back to FALSE after it has been changed to TRUE.

$IS_MOR STRUCTURE

Name: Integral Servo Driven Tool (ISDT) Motion Output System Variable
Structure

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Description: This set of variables provide system information for ISDT Process
Axes. These variables set by FLTR task to reflect the state of the ISDT system.
See the descriptions of the individual fields below.

Power Up: N/A

Screen: System global variable screen.

$IS_MOR.$brk_status

Minimum: 0x00000000 Maximum: 0x000000FF Default: 0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
INTEGER Memory: CMOS

Name: Process Axes Brake Status

Description: When this variable is set to TRUE, it indicates that the brakes on all
process axes are released. When it is set to FALSE, it indicates that the brakes
on all process axes are engaged.

Power Up: N/A

$IS_MOR.$error_cnt[1-4]

Minimum: 0 Maximum:
Not available Default:Data
CRTL: Not 0available 0 KCL/Data: RO Program:
Type: INTEGER Memory: Not UIF:
RO
available

Name: ISDT System Variable: process axes error count

Description: This variable indicates current error count of each axis. It is set by
FLTR at every ITP. (For internal use only. Do not modify this system variable.)

Power Up: The change to this system variable takes effect immediately.

Screen: None
$IS_MOR.$num_itp_cnt[1-8]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not

available UIF: RW CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Number of ITP Counts Remaining

Description:

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Power Up: N/A

$IS_MOR.$post_error

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: ISDT System Variable: indicate if there is any ISDT system error or
process axis servo error has been posted

Description: This flag indicates when TRUE that there has been a ISDT error
posted. It can only be reset to FALSE when all errors are cleared and servo
power is on.

Power Up: This value is set to FALSE at every power cycles if servo power is on
and there is no other ISDT system error.

Screen: None

$IS_MOR.$servo_ready

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: ISDT System Variable: indicate if servo power is on

Description: This flag indicates when TRUE that ISDT process axes servo
power is on and is ready to move. When FALSE, it indicates that process axes
servo has error and the servo power is off. It is updated by ISDT and FLTR task.

Power Up: This value is set to TRUE at every power cycles if servo power is on.

Screen: None

$IS_MRR STRUCTURE
Name: Integral Servo Driven Tool (ISDT) Motion Reset System Variable
Structure

Description: Static variables which are copied on power up from the ISDT User
Motion Reset Record. See the descriptions of the individual fields below.

Power Up: N/A

$IS_MRR.$endmotn_enb
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: ISDT System Variable: enable process axes to stop when INTR end
motion occurs

Description: When it is set to TRUE. All process axes stop when any robot
stops or robot application programs are finished. If it is set to FALSE, process
axes motion is independent of robot.

Power Up: This value is initialized to FALSE and maintains its previous value
over subsequent power cycles.

$IS_MRR.$exp_accel[1-4]

Minimum: 0 Maximum: 32767 Default: 120 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: ISDT System Variable: acceleration time constant for each process axis
exponential filter

Description: This exponential filter acceleration time constant can be set at

Process Axes Setup menu or by revising this system variable.

Power Up: The change to this variable takes effect over subsequent power
cycles.

Screen: Process Axes Setup Menu or SYSTEM Variables screen

$IS_MRR.$gear_ratio[1-4]

Minimum: -10000000000. Maximum: 10000000000. Default:

0. KCL/Data: RW Program: RW UIF: Not available CRTL: Not
available Data Type: REAL Memory: Not available

Name: ISDT System Variable: gear ratio for each process axis

Description: This value should only be changed at Process Axes Setup Menu.

Power Up: N/A

Screen: Process Axes Setup Menu.

$IS_MRR.$jntvellim[1-4]

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Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: ISDT System Variable: specify joint speed limit for each process axis

Description: This variable specifies the joint speed limit in revolution per
minute(RPM). If the issued motion command is greater than this value, a warning
message is posted to inform that the joint speed exceeds this limit. And this joint
speed limit value is used for that motion. This value should only be changed at
the Process Axes Setup Menu.

Power Up: N/A

Screen: Process Axes Setup Menu.

$IS_SCR STRUCTURE

Name: Integral Servo Driven Tool (ISDT) System Configuration Variable

Structure

Description: IS_SCR record consists of all motion environment set up

parameters for process axes. It is set up at the Process Axes Setup Menu. See
the descriptions of the individual fields below.

Power Up: N/A

Screen: System global variable screen.

$IS_SCR.$axisorder[1-4]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: ISDT System Variable: mapping between software and servo axis order
Description: This variable is set during process axes setup. If a particular axis’
axisorder is set to zero, there will be no servo support for that axis.

Power Up: N/A

Screen: None

$IS_SCR.$axs_amp_num[1-8]

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Minimum: 0 Maximum: "" Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Amplifier number of process axis

Description: For internal use only. This value defines the amplifier number for
each process axis.

Power Up: This value is initialized to 0 and maintains its previous value over
subsequent power cycles.

Screen: For hardware setup only. It should be only set from process axis setup
program at installation or CTRL maintenance.

$IS_SCR.$brk_number[1-4]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BYTE Memory: Not
available

Name: ISDT System Variable: indicates the brake number assigned for each
process axis

Description: This variable is set at Process Axes Setup Menu or set by revising
this system variable.

Power Up: The change to this variable takes effect over subsequent power
cycles.

Screen: None

$IS_SCR.$hw_config

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER_SK Memory: CMOS

Name: Process Axes hardware configuration

Description: For internal use only. This value specifies the R-J3 hardware
configuration, that is used to set up axis parameter for bringing up process axis
servo correctly.

Power Up: This value is initialized to 0 and maintains its previous value over
subsequent power cycles.

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Screen: This variable is set by process axes setup routine. User should not
change it.

$IS_SCR.$hw_strt_axs

Minimum: 0 Maximum: 16 Default: 7 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: ISDT System Variable: hardware start axis number for process axes

Description: This variable should only be set during process axes setup.

Power Up: N/A

Screen: None

$IS_SCR.$motor_curnt[1-8]

Minimum: 0 Maximum: "" Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Select CURRENT LIMIT FOR AMPLIFIER

Description: For internal use only. Do not modify this system variable.

Power Up: This value is initialized to 0 and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$IS_SCR.$motor_size[1-8]

Minimum: 0 Maximum: "" Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Select MOTOR SIZE

Description: For internal use only. Do not modify this system variable.

Power Up: This value is initialized to 0 and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$IS_SCR.$motor_type[1-8]

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Minimum: 0 Maximum: "" Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Select MOTOR TYPE

Description: For internal use only. Do not modify this system variable.

Power Up: This value is initialized to 0 and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$IS_SCR.$num_tot_axs

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: ISDT System Variable: total number of process axes installed

Description: This variable is updated by ISDT during process axes setup. You
should not set this value.

Power Up: N/A

Screen:
None
$IS_SCR.$rotary_axs[1-4]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: ISDT System Variable: indicates if the axis is rotary or linear axis

Description: For process axis, it is rotary axis, this value should be TRUE. User

should not set this value.

Power Up: N/A

Screen: None

2.10 J
$JCR STRUCTURE

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Name: Jog configuration record

Description: Assorted system variables that define the jog environment.

Individual fields within this structure are described below.

Power Up: Reset to default value on very cold start.

$JCR.$jog_dct_ele[1-2]

Minimum: MIN_INT Maximum: 1 Default: 0 KCL/Data: RO Program:

Not available UIF: RW CRTL: RO Data Type: INTEGER Memory:
CMOS

Name:

Description: The entries in this array are used to display the element in jog
coordinate of the teach pendent. For internal use only.

Power Up: N/A

$JCR.$jog_dct_ele[1]

Minimum: MIN_INT Maximum: MAX_INT Default: 0 KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available
Name:

Description: The entries in this array are used to display the element in jog
coordinate of the teach pendent. For internal use only.

Power Up: N/A

$JCR.$jog_dct_nam[1-2]

Minimum: MIN_INT
Not available Maximum:
UIF: RW CRTL: 1RO Default: 0 KCL/Data:
Data Type: Program:
INTEGERROMemory:
CMOS

Name:

Description: The entries in this array are used to determine the softpart name
that supports the jog softpart. For internal use only.

Power Up: N/A

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$JCR.$jog_dct_nam[1]

Minimum: Maximum: Default: KCL/Data:

MIN_INT
RO Program: MAX_INT
RO UIF: Not available 0
CRTL: Not available Data Type:
INTEGER Memory: Not available

Name:

Description: The entries in this array are used to determine the softpart name
that supports the jog softpart. For internal use only.

Power Up: N/A

$JCR.$jog_gp
Minimum: 1 Maximum: 255 Default: 1 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Jog group

Description: Specify which group will be jogged from the teach pendant.

Power Up: Reset to default value on very cold start.

$JCR.$jog_subgp
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Jog sub-group

Description: Specifies whether the sub-group (extended axis) will be jogged

using the teach pendant.

Power Up: Reset to default value on cold start.

$JCR_GRP[1] STRUCTURE

Name: Group 1 Jog configuration record

Description: Assorted system variables define the jog environment for robot
group 1.

Power Up: Reset to default value on every cold start.

$JCR_GRP[1].$cd_jog
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Coordinate jogging

Description: Specified whether or not current jogging mode is coordinate

jogging. In the Coordinate jogging mode when the leader group (current group) is
moving.

Power Up: Reset to default value on every cold start.

$JCR_GRP[1].$fix_ornt

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: Fixed Orientation

Description: This variable indicate whether or not the follower will maintain its
orientation when user did a cd jog of leader.

Power Up: Reset to the default value on every cold start.

$JCR_GRP[1].$follower

Minimum: 0 Maximum: 32 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Follower group mask

Description: Specifies which groups should follow the current group when
coordinate jog mode.

Power Up: Reset to the default value on every cold start.

$JCR_GRP[1].$jog_coord
Minimum: jog_joint Maximum: jog_aux2 Default: 0 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type:
JOG_COORD_T Memory: CMOS

Name: Selection of manual feed coordinate system

Description: When you do jog from the teach pendant, specify the kind of jog
(manual feed) $JOG_COORD indicates the currently selected jog coordinate
system for the teach pendant, using the following values: 0 = JOINT 1 =
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JOGFRAME 2 = WORLDFRAME 3 = TOOLFRAME 4 = USER FRAME ( if option

purchased ) $JOG_COORD is automatically set by the teach pendant COORD
key on the teach pendant.

Power Up: Reset to default value on every cold start.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name:
Jog fine mode
Description: Specify the fine jogging mode. When in fine jogging mode, the
robot will not move continuously, it moves only a fixed distance for one press. To
get another move, release and press jog key again. The speed used is 1% times.
$JOG_GROUP[1].$fine_ovrd times $SCR_GRP[1].$fine_pcnt. If set to TRUE,
the Speed override is 1%. If set to FALSE, the Speed override is 1%-100%.

Power Up: Reset to default value on every cold start.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Jog very fine mode

Description: When $JOG_FINE_MD is TRUE, this flag specify a very fine mode.
In this mode the distance and speed is one tenth of the distance and speed of
fine mode.
Power Up: Reset to default value on every cold start.

$JCR_GRP[1].$jog_wrstjnt

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Wrist Joint Jog

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Description: Specifies the orientation method used in the Cartesian jogging is

wrist joint. $JOG_WRSTJNT indicates the currently selected orientation method
for the teach pendant. If set to TRUE, wrist joint orientation is used. If set to
FALSE, two-angle orientation is used.

Power Up: N/A

$JCR_GRP[1].$leader

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Leader

Description: When this variable is other than 0, it means the follower group will
jog in leader’s frame when select jog frame regardless the leader’s position.

Power Up: Reset to the default value on every cold start.

$JCR_GRP[1].$prg_run

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Program running

Description: Specified whether or not program has been run since last jog.

Power Up: Reset to default value on very cold start.

$JCR_GRP[1].$rtcp_jog

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Remote TCP jogging

Description: Specified whether or not current jogging mode is RTCP jogging. In

the RTCP jogging mode, when user do the orientation jogging the robot hand will
revolve around the remote TCP frame point along the coordinate axis.

Power Up: Reset to default value on very cold start.

$JOBPROC_ENB

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Job and Process of program sub type

Description: When the value of this variable is 1, you will be able to specify the
sub type of a teach pendant program by this value. The sub types are Job and
Process. The sub type is displayed at the SELECT screen as the follows. Job
program : .JB Process program : .PR n generally, Job program is used as main
program. Process program is used as sub program. In the SELECT screen, you
can display the program list which has the same sub type if you press F1, [TYPE].

Power Up: The change takes effect immediately.

Screen: Appears on the SYSTEM Variables screen.

$JOG_GROUP STRUCTURE

Name: Jog Group System Variables

Description: System variable you can modify specifically for your own jog
environment. Individual fields within this structure are described below.

Power Up: Changes to this variable take effect immediately.

$JOG_GROUP[1].$fine_dist

Minimum: 0. Maximum: 1. Default: 0.5 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Distance used in Fine Jog Mode

Description: Specifies the distance used in Cartesian fine jog mode. The unit is
millimeters.

Power Up: Changes to this variable take effect immediately.

$JOG_GROUP[1].$fine_ovrd

Minimum: 1 Maximum: 500 Default: 100 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Percentage at Fine Jog Mode

Description: This system variable is a percentage of 1% speed override. This is

used to calculate the jog speed used in the fine jog mode.
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Power Up: Changes to this variable take effect immediately.

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: POSITION Memory: CMOS

Name: Jog Coordinate System

Description: Specifies the current jog coordinate system being used. The

system
for updates
jogging whenit``JGFRM’’
automatically. $JOGFRAME
is selected is used
on the teach as the frame
pendant. of reference
For most cases, it
is convenient to set it to the same value as $UFRAME. It will allow you to jog the
robot along the x,y,z direction defined by $UFRAME. In some cases you might
want to set $JOGFRAME to a different value than $UFRAME. This will allow you
to jog the robot independently of $UFRAME and still permit you to RECORD
positions in reference to $UFRAME.

Power Up: Changes to this variable take effect immediately.

$JPOSREC_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Record Position Type

Description: Specifies the position type with which to record positions using the
RECORD key. If set to 0, the position will be recorded in xyzwpr representation If
set to 1, the position will be recorded in JOINT representation

Power Up: N/A

2.11 K
$KAREL_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Enable Display of KAREL Programs in SELECT menu

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Description: Enables the display of KAREL programs in the SELECT menu.

Setting: 1: Display KAREL programs in the SELECT menu 0: Do not display
KAREL programs

Power Up: N/A

Screen: SYSTEM Variables screen. The TPE application sets this to 1 during
software installation on the SETUP APPLICATION screen

$KCL_LIN_NUM

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Line numbers for KCL command file output files

Description: Enables the addition of line numbers for KCL command files. If
$KCL_LIN_NUM is set to FALSE, no line numbers appear in output. If set to
TRUE, line numbers appear.

Power Up: Changes take effect immediately.

2.12 L
$LANGUAGE
Minimum: "" Maximum: "" Default: "DEFAULT#####" KCL/Data:
RO Program: RO UIF: RO CRTL: RO Data Type: STRING Memory:
CMOS

Name: Language

Description: Identifies the current dictionary element. To read, write, or check a

dictionary element, the dictionary name and element number are specified. The
dictionary is found by searching for it in the language specified by

Power Up: No

Screen: SYSTEM Variables screen. Set using the KCL SET LANG command.

$lastpauspos[1-5]

Minimum: MIN_JPOS Maximum: 1 Default: DEF_JPOS KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
JOINTPOS9 Memory: CMOS

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Name: Last Robot Position When Program is Paused

Description: When the program is paused, the robot position is recorded in this
system variable automatically. This position is used to move robot back to the
stopped position when a program is resumed. This variable should be maintained
by the system only. Do not change this variable.

Power Up: Takes effect immediately

$LASTPAUSPOS[5]

Minimum: MIN_JPOS Maximum: MAX_JPOS Default:

DEF_JPOS KCL/Data: RW Program: RW UIF: Not available CRTL: Not
Data Type: Memory:
available JOINTPOS9 Not available
Name: Last Robot Position When Program is Paused

Power Up: Changes to this variable take effect immediately.

$LDCFG
Minimum: MIN_LDCFG Maximum: MAX_LDCFG Default:
DEF_LDCFG KCL/Data: RW Program: Not available UIF: FP CRTL:
RW Data Type: LDCFG_T Memory: CMOS

Name: Linear Distance configuration.

Description: This variable indicates the linear distance configuration for the
linear distance function. It contains several individual fields for you to specify how
the Linear Distance function should behave.

Power Up: N/A

$LDCFG.$group_msk

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Linear Distance Group mask.

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Description: This is a bit map variable. When the bit is turned on, the Linear
Distance is enabled for that group. For example when the value is 1, bit one is
turned on, so the Linear Distance function is enabled for group 1. When the value
is 3 ( bit 1 and bit 2 are turned on), then the Linear distance is enabled for both
group 1 and group 2.

Power Up: N/A

$LDCFG.$rsm_proj

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name:
Projection position as stop pos for resume motion.
Description: When this variable is true and you specify org-path-resume by
setting application specific variable (such as $MH_ORGRSM.$RET_PTH_ENA
for HandlingTool), the org-path-resume will use the projection position as the
stop position. The robot will move to this projected position before it moves to its
destination.

Power Up: N/A

$LDCFG.$tb_spdup

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Turbo move speed up for AP_LD motion

Description: This variable is used to speed up the AP_LD motion planned by

TurboMove. When this is true, TurboMoe will use a shorter acceleration for this
motion. In most cases when this is true, the cycle time for this motion will be
reduced.

Power Up: N/A

$LIBRARY[1-5]

Minimum: "" Maximum: " " Default: " " KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Name and of the ROBOT LIBRARY Software

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Description: Displays the release time name and version of the software
ROBOT LIBRARY.

Power Up: This variable cannot be changed.

Screen: STATUS Version IDs screen

$LNCFG STRUCTURE

Name: Line Track Configuration System Variable Structure

Description: This set of variables controls the mode of operation of Line

Tracking. See the descriptions of the individual fields below.

Power Up: N/A

$LNCFG.$cart_lntk

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Cartesian filter line tracking

Description: This variable when TRUE indicates that line tracking support the

Cartesian filter scheme.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen.

$LNCFG.$cont_enable

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Continue tracking after fault function enable flag

Description: This variable when TRUE indicates that the continue tracking
function is turned on. This value initializes to FALSE and maintains its previous
value over subsequent power cycles.

Power Up: N/A

Screen: System global variable screen.

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$LNCFG.$debug

Minimum: Maximum: Default: KCL/Data:

0x80000000
RW Program: 0x7FFFFFFF
RW UIF: RW CRTL: RW Data Type: 0
INTEGER Memory: CMOS

Name: Line Tracking Debug Level (Bit mapped)

Description: For internal debugging use only. Setting this variable might
drastically change the functionality of this system option.

Power Up: This value initializes to 0 and maintains its previous value over
subsequent power cycles.

$LNCFG.$entry_xtrm

Minimum: 0x8000 Maximum: 0x7FFF Default: 0x7FFF KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: SHORT Memory:
CMOS

Name: Line Tracking Entry Extreme Limit

Description: This variable indicates an upstream limit beyond which tracking of

the part will not be permitted. A value of 32767 decimal indicates that the feature
is disabled. This
subsequent powervalue initializes to 32767 and maintains its previous value over
cycles.

Power Up: N/A

Screen: SYSTEM Variables screen.

Name: Line Tracking Exit Extreme Limit

Description: This variable indicates a downstream limit beyond which tracking of

the part will not be permitted. A value of 32767 decimal indicates that the feature
is disabled. This value initializes to 32767 and maintains its previous value over
subsequent power cycles.

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Power Up: N/A

Screen: SYSTEM Variables screen.

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Line Tracking Group Mask

Description:
This system variable specifies which motion groups can perform
the line tracking.

Power Up: This value initializes to allow group 1 tracking, and will maintain its
value over subsequent power cycles.

Screen: System global variable screen.

$LNCFG.$group_num

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: Not
INTEGER available
Memory: CRTL: Not available
Not available Data Type:

Name: Line Tracking Group Number

Description: This system variable specifies which motion group will perform the
line tracking. Currently this value is restricted to group 1.

Power Up: This value initializes to group 1 and will maintain its value over
subsequent power cycles.

$LNCFG.$int_no_gone
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Line Tracking INTR Track Destination Gone Error Posting

Description: This variable when TRUE indicates that Track Destination GONE
errors which occur during robot motion should NOT be posted. When FALSE,

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these errors will be posted (causing all robot motion to STOP) any time that the
current tracking position moves past the current DOWN Boundary window.

Power Up: This value initializes to TRUE and maintains its previous value over
subsequent power cycles.

$LNCFG.$no_header

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Line Tracking Program Header Display Flag

Description:
This variable
header data screen should when
not beTRUE
shownindicates that
within the the Line
program Tracking
DETAIL program
screens.
This value it set by applications such as PaintTool which supply their own header
data menu screens. (Note that this value only determines whether or not the data
is displayed. The data MUST always be present for tracking programs.)

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

$LNCFG.$pln_no_gone

Minimum:
RW UIF: 0Not Maximum:
available 1 Default:
CRTL: 0 KCL/Data:
Not available Type:Program:
Data RW
BOOLEAN Memory: Not available

Name: Line Tracking PLAN Track Destination Gone Error Posting

Description: This variable when TRUE indicates that Track Destination GONE
errors which occur during motion planning should NOT be posted. When FALSE,
these errors will be posted, and all robot motion will STOP.

Power Up: This value initializes to FALSE and maintains its previous value over

subsequent power cycles.

$LNCFG.$rstr_bnds

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Line Tracking Restore Selected Boundary Value

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Description: This variable when TRUE indicates that the previously-selected

boundary value will be restored upon returning to a tracking program from a call
to another (tracking or non-tracking) program. This works in conjunction with the
Select Bounds value set within the program Detail header data to set a default
boundary pair. When FALSE, the current boundary value remains set.

Power Up: This value initializes to TRUE and maintains its previous value over
subsequent power cycles.

$LNCFG.$slc_pt_trig

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Use SLC interrupt service to detect the part detect switch.

Description: This variable when TRUE indicates that line tracking will use the slc
interrupt service routine to detect the part detect. This provide a more accurate
trigger value of part and the fast line tracking feature.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen.

$LNCFG.$soft_delay

Minimum: 16 Maximum: 1000 Default: 96 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Line Track Soft (Adjustable) Delay Time (in ROS TICKs)

Description: This system variable adjusts the tracking prediction delay to

account for system delays other than those due to the servo system.

Power Up: This value initializes to 96 (TICKS) and maintains its previous value
over subsequent power cycles.

$LNCFG.$srvo_delay

Minimum: 16 Maximum: 1000 Default: 48 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Line Track Servo Delay Time (in ROS TICKs)

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Description: This system variable adjusts the tracking prediction delay to

account for the servo system delays.

Power Up: This value initializes to 48 (TICKS) and maintains its previous value
over subsequent power cycles.

$LNCFG.$stand_alone

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Line Tracking Stand Alone (TPP+ Line Tracking)

Description:
using the full This
TPP+variable indicates
Line Tracking whenItTRUE
feature. shouldthat
be the
set current
FALSE application is
by PaintTool
and other application which do not use the standard TPP+ Line Tracking SETUP
menu’s.

Power Up: This value initializes to TRUE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen.

$LNCFG.$sync_timout

Minimum: 1 Maximum: 600 Default: 120 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Line Tracking Conveyor (Re)Synchronization Time-Out Period

Description: This variable represents the time (in seconds) that the line tracking
system will wait for a part to be detected during the automatic conveyor
synchronization sequence. Upon time-out you will be warned that a time-out
occurred and will be automatically returned to the Program Select menu.

Power Up:subsequent
value over This value initializes to 120 (2 minutes) and maintains its previous
power cycles.

$LNCFG.$t2s_pst_ccn

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Line Tracking Track-To-Stationary Position Post Continuous Tracking

Cancel

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Description: This variable when TRUE indicates that a continuous tracking

cancel will be automatically issued at the first program CALL to a non tracking
program after returning from a tracking program. However, when TRUE the
cancel routine will cause the robot to pause briefly before moving to the next
stationary position.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$LNCFG_GRP STRUCTURE

Name:
Line Tracking Configuration Group Structure
Description: This set of variables controls the mode of operation of Line
Tracking. See the descriptions of the individual fields below.

Power Up: N/A

$LNCFG_GRP.$int_no_gone

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available
Name: Line Tracking INTR Track Destination Gone Error Posting

Description: This variable when TRUE indicates that Track Destination GONE
errors which occur during robot motion should NOT be posted. When FALSE,
these errors will be posted (causing all robot motion will STOP) any time that the
current tracking position moves past the current DOWN Boundary window.

Power Up: This value initializes to TRUE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$LNCFG_GRP.$pln_no_gone

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Line Tracking PLAN Track Destination Gone Error Posting

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Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$LNCFG_GRP.$rstr_bnds

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
Memory:
BOOLEAN Not available
Name: Line Tracking Restore Selected Boundary Value

Description: This variable when TRUE indicates that the previously-selected

Power Up: This value initializes to TRUE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen

$LNCFG_GRP.$soft_delay

Minimum: 16 Maximum: 1000 Default: 96 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Line Track Soft (Adjustable) Delay Time (in milliseconds)

Description: This system variable adjusts the tracking prediction delay to

account for system delays other than those due to the servo system.

Power Up: This value initializes to 96 (in millisecond). It can be adjusted on the
fly to tune line tracking accuracy.

Screen: System global variable screen

$LNCFG_GRP.$srvo_delay

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Minimum: 16 Maximum: 1000 Default: 48 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Line Track Servo Delay Time (in milliseconds)

Description: This value initializes to 96 (in milliseconds). It can be adjusted on

the fly to tune line tracking accuracy.

Power Up: This value initializes to 48 (in milliseconds) its previous value over
subsequent power cycles.

Screen: System global variable screen

$LNEDTMOD

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Linetracking Editing Mode

Description: When linetracking program is selected and if $LNEDTMOD is 0:

user must set trigger value. 1: user can select whether he sets trigger value or
not.

Power Up: Change of this variable takes effect immediately

Screen: System global variable screen

Name: Line Track Process Control System Variable Structure

Description: This set of variables provide a process control interface into the
Line Tracking system. Individual fields within the structure are defined below.

Power Up: This value initializes to 48 (TICKS) and maintains its previous value
over subsequent power cycles.

$LNLPR.$ln_holdmotn

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Line Track Process Hold Motion

Description: This variable can be set by an application process to cause Line

Tracking to hold all program motion at the next Extreme Position WAIT-FOR-
WINDOW event. In this way the robot can be made to complete only the current
motion path rather than all reachable paths under such circumstances as when a
conveyor stops moving.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

$LNLPR_GRP STRUCTURE

Name: Line Track Process Control Group System Variable Structure

Description: This set of variables provide a process control interface into the
Line Tracking system. Individual fields within the structure are defined below.

Power Up: N/A

$LNLPR_GRP.$ln_holdmotn
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Line Track Process Hold Motion

Description: This variable can be set by an application process to cause Line

Tracking to hold all program motion at the next Extreme Position WAIT-FOR-
WINDOW event. In this way the robot can be made to complete only the current

motion path
conveyor rather
stops than all reachable paths under such circumstances as when a
moving.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen.

$LNLPR_GRP.$seg_predtim

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Minimum: 0 Maximum: 10 Default: 4 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Line Track Motion Segment Prediction Time

Description: This variable can be adjusted by an application process to modify

the prediction time that line tracking uses for intercept position computations.
This is an internal variable used during tracking motion planning. It is in units of
ITP time intervals.

Power Up: This value initializes to 4 and maintains its previous value over
subsequent power cycles.

Screen: System global variable screen.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Group synchronization flag

Description: This flag is used in multiple group line tracking system. When this
flag is set, this line tracking group would always wait until this flag is reset. If the
robot is tracking at the time it is waiting, the robot will continue tracking. If the
robot is stop at the time it is waiting, the robot will not move until the flag is reset.

Power Up: This value initializes to false. When user abort program this flag will
resetto false.

Screen: System global variable screen.

$LNSCH.$teach_ufm

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RW Program: RW UIF: Not available CRTL: Not
available Data Type: POSITION Memory: Not available

Name: Tracking User frame: teach user frame

Description: Stores Tracking User frame at teach time for internal use.

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Power Up: Changes to this variable take effect immediately

Screen: SYSYTEM variables screen

$LNSCH.$trk_uframe

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RW Program: RW UIF: Not available CRTL: Not
available Data Type: POSITION Memory: Not available

Name: Tracking User frame

Description: Stores Tracking User frame for internal use.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM variables screen

$LNSCH.$ufrm_rt_lim

Minimum: 0.0 Maximum: 180.0 Default: 5.0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: real Memory:
Not available

Name: Tracking User frame rotation limit

Description: This variable sets the rotation limit (in degrees) between tracking
user frames at the program teaching and playback time.

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM variables screen

Name: Use Tracking User frame flag

Description: Indicates if Tracking User frame will be used in the schedule.

Power Up: Changes to this variable take effect immediately

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Screen: SYSTEM variable screen

$LNSCH.$visufm_dist

Minimum: -3.0E38 Maximum: 3.0E38 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
real Memory: Not available

Name: Tracking User frame: Vision User farme distance

Description: This variable is taking effect when Tracking User frame instruction
VISUFRAME is used. The value represents the distance (in mm) between part
detact switch and the part location in which the snapshot is taken by the vision

system.
Power Up: Changes to this variable take effect immediately

Screen: SYSTEM variable screen

Minimum: -3.0E38 Maximum: MAX_BND_SETS Default: 0.0 KCL/Data:

CMOSProgram: RW
RW UIF: RW CRTL: RW Data Type: REAL Memory:

Name: Boundary Position 1 (Up-Stream) Array

Description: This specifies the up-stream boundary of the workspace window of

operation. Values stored here are used as position offsets (in millimeters) relative
to either the nominal tracking frame X-axis (for LINE Tracking), or the zero
position of the extended axis indicated by the track axis number (for RAIL
Tracking). Values stored here MUST be farther up-stream than the
corresponding values found in $LNSCH[1].$bound2 (indexed by

$LNSCH[1].$sel_bound). During
up-stream than the selected window checking,value
$LNSCH[1].$bound1 positions which are farther
are considered to be IN-
BOUND (not yet within the work window), and those which are down-stream of
these values are considered to be IN-WINDOW or GONE (depending upon the
position’s comparison with the corresponding $LNSCH[1].bound2 value).

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

Minimum: Maximum: Default: KCL/Data:

-3.0E38
RW Program: RW UIF: RW MAX_BND_SETS 0.0
CRTL: RW Data Type: REAL Memory:
CMOS

Name: Boundary Position 2 (Down-Stream) Array

Description: This specifies the down-stream boundary of the workspace window

of operation. Values stored here are used as position offsets (in millimeters)
relative to either the nominal tracking frame X-axis (for LINE Tracking), or the
zero position of the extended axis indicated by the track axis number (for RAIL
Tracking). Values stored here MUST be farther down-stream than the
corresponding values found in $LNSCH[1].$bound1 (indexed by
$LNSCH[1].$sel_bound). During window checking, positions which are farther
up-stream than the selected $LNSCH[1].$bound2 value are considered to be
either IN-BOUND or IN-WINDOW (depending upon the position’s comparison
with the corresponding $LNSCH[1].$bound1 value), and those which are down-
stream of these values are considered to be GONE (beyond the work window).

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Vision tracking use part queue

Description: This variable indicates whether or not Vision setup the part queue
for the trigger value. This variable is set by vision tracking. All the part queue

data also stored by vision tracking.

Power Up: Reset to False.

Screen: SYSTEM System Variable screen

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Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Record Shift (Encoder Counts)

Description: The Line Tracking record shift value is the offset distance (in units
of sensor or encoder counts) between the current conveyor (or other external
tracking equipment) position and the position which is associated with the teach
distance. This number is combined with the number stored in
$LNSCH[1].$teach_dist and multiplied by the scale factor ($LNSCH[1].$scale) to
compute the part position offset to use during all position teaching and motion
execution. This number is automatically set by the Line Track system at the time
that the tracking positions are recorded or updated.

Power Up: Maintains its previous value.

Minimum: -3.0E38 Maximum: 3.0E38 Default: 1.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Encoder Scale Factor (in counts/millimeter)

Description: The Line Track scale factor is a SIGNED value which defines the
relationship between the conveyor (or other external tracking equipment)
FORWARD motion and the encoder (or other sensor) counts. For a typical line
tracking application, this scale factor should be a number of encoder counts per
millimeter of FORWARD conveyor motion. For example, for a forward counting
encoder the number might be: 45.579 counts/mm. For a backward counting
encoder the number might be: -59.321 counts/mm. This number might also be
used when determining the proper number for the teach distance such that the
distance might be measured in millimeters and converted using the scale factor
into encoder counts. Note : This value CANNOT be 0.0.

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

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Minimum: 1 Maximum: MAX_BND_SETS Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Select Boundary Pair Number

Description: Specifies which of the boundary pairs (each pair has an IN-BOUND
and an OUT-BOUND position) within this schedule will be used during any
window boundary checking.

Power Up: Maintains its previous value.

Screen: SYSTEM Variable screen, SETUP Tracking screen

Minimum: -3.0E38 Maximum: 3.0E38 Default: 1.0E6 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Tool Center Point (TCP) Extreme Position

Description:
Defines the
A value of 1,000,000.0 position
(1.0E6) to be used
indicates for extreme
that no all window boundary
position checking.
checking will -
be performed. Instead, each program position will be checked individually to
determine its boundary status. - Any other value is used as a position offset (in
millimeters) along the tracking axis (the X-axis of the tracking frame for LINE
tracking, or the extended axis indicated by the track axis number for RAIL
tracking) which will be used during window boundary checking. The TCP extreme
position should indicate the farthest upstream position (the most negative X-axis
position relative to the tracking frame for LINE tracking systems) of a path such
that the entire path motion is prevented from execution until after the TCP
extreme position becomes IN-BOUNDS, thus indicating that all position along the
path are reachable.

Power Up: Maintains its previous value.

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Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Teach Distance (Encoder Counts)

Description: The Line Tracking teach distance is the distance (in units of sensor
or encoder counts) which is used to define a reference position during path
teaching. In many cases this is the measurement from the zero position of the
robot to the part detect sensor, measured along the conveyor (or other tracking
equipment). This number gets combined with the number stored in
$LNSCH[1].$rec_shift and multiplied by the scale factor ($LNSCH[1].$scale) to
compute the part position offset to use during all position teaching and motion
execution. This number must be set by the application (or manually by the user)
prior to any part teaching. This number is most important for systems which
include multiple robots where paths taught on one robot must be copied to
another robot. In this way, any cell-to-cell placement adjustments (for the relative
placement of the part detect switch, for example) can be made.

Power Up: Maintains its previous value.

Screen: SYSTEM Variable screen, SETUP Tracking screen

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Trigger Digital Input Number

Description: Specifies to which digital input the part detect switch (sensor) will
be connected.

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

$LNSCH[1].$trig_value

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

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Name: Trigger Value (Encoder Counts)

Description: This is the value of the Line Track encoder (or other sensor) which
was recorded (by a user application program) when an associated part detect
sensor was activated by a passing part. This value must be filled in by an
application program prior to attempting any tracking motions (either teaching or
playback).

Power Up: Set to UNINITIALIZED at every cold start.

Screen: SYSTEM Variables screen, SETUP Tracking screen

$LNSCH[1].$trk_axs_dir

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Tracking Axis Direction

Description: For RAIL tracking (ONLY), this is used to indicate the coordination
between the Tracking Axis and the conveyor. When set to TRUE, this indicates
that FORWARD conveyor (or other external tracking equipment) motion is in the
POSITIVE direction of the Tracking Axis. When FALSE, this indicates that
FORWARD conveyor motion is in the NEGATIVE direction of the Tracking Axis.
(Note : This variable has no meaning for LINE tracking configurations and should
thus be set to TRUE since the X-axis of the nominal tracking frame should
always point in the direction of forward conveyor motion.) NOTE: The Tracking
Axis for RAIL tracking systems MUST be parallel to the direction of travel of the
conveyor (or other external tracking equipment).

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Tracking (Extended) Axis Number

Description: For RAIL tracking (ONLY). This specifies the extended axis number
(from 1 to 3) to be used for all tracking motions. (Note : This variable has no
meaning for LINE tracking configurations and should thus be set to 0.) NOTE:
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The Tracking Axis for RAIL Tracking systems MUST be parallel to the direction of
travel of the conveyor (or other external tracking equipment).

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

Minimum: 1 Maximum: 2 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Tracking Encoder Number

Description: Specifies which external tracking encoder data will be used during
all tracking position computations and motions within programs which use the
specified tracking schedule. One of two external sensor channels can be
selected by specifying a value of either 1 or 2. (Note : On some hardware
configurations, only one external tracking sensor channel is provided.) This
number corresponds with the $ENC_STAT[x], $SCR.$enc_axis[x], and
$SCR.$enc_type[x] system variables where x is the sensor (encoder) number
specified by the value of this variable ($LNSCH[1].$trk_enc_num).

Power Up: Maintains its previous value.

Screen: SYSTEM Variable screen, SETUP Tracking screen

$LNSCH[1].$trk_frame

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: POSITION Memory: CMOS

Name: Nominal Tracking Reference Frame

Description: This is the stationary coordinate frame which describes the
conveyor direction and orientation for Line Tracking systems. (Note : This is NOT
used during Rail Tracking.) The X-axis of this frame MUST be the direction of
FORWARD conveyor motion. This frame is automatically used as the UFRAME
during all tracking operations (teach and execution). All boundaries and taught
positions are stored and referenced relative to this frame. This frame should be
set up using the 3-point method to precisely establish the conveyor line (or other
external tracking equipment) direction and orientation.

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Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Track Group Number

Description:
Specifies
tracking schedule. the
(Note: motion group
Currently number
tracking is onlytosupported
be associated with 1.)
for group this

Power Up: This value initializes to Group 1 and maintains its previous value over
subsequent power cycles.

Screen: SYSTEM Variables screen, SETUP Tracking screen

$LNSCH[1].$trk_type

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Line Tracking Type (Mode)

Description: Allows you to specify either LINE or RAIL Tracking. (0 = LINE, 1 =

RAIL) LINE tracking specifies that the robot Tool Center Point (TCP) position be
adjusted to follow along (track) a conveyor or other external environment by
changing the robot arm configuration (robot joint angles) in accordance with
tracking information provided by an external sensor. All extended axis positions
(eg. integrated rail positions) remain as programmed. RAIL tracking specifies that
the robot TCP position be adjusted to follow along (track) a conveyor or other
external environment
(the integrated by changing
rail positions, ONLY the
for example) specified extended
in accordance axis positions
with tracking information
provided by an external sensor. All other robot joint positions and arm
configurations remain as programmed.

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen, SETUP Tracking screen

$LNSCH[1].$vision_trk

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Tracking with vision trigger

Description: This variable indicate whether or not Vision is used for the trigger
mechanism. When Vision CPU exist and this schedule is set for vision tracking,
the vision CPU will do the part snap shot and find out what is the encoder value
at the time the snap shot is taken. The vision CPU will then calculate the trigger
value accordingly and set the trigger value for this part.

Power Up: Maintains its previous value.

Screen: SYSTEM Variables screen and the SETUP Tracking screen

Name: Line Track Schedule Structures

Description: The Line Tracking Schedule contains a set of setup and storage
parameters for the Line Tracking system (LINE and RAIL tracking). Up to six (6)
different schedules can simultaneously exist on the system ($LNSCH[1], ...
$LNSCH[6]). These are selected within user and application (teach pendant)
programs to set up and run LINE (and/or RAIL) tracking. Each schedule can
contain completely different information to allow you to select between different
Line Track environments. Examples include specifying choices for tracking
sensors (for a multi-conveyor environment), tracking modes (LINE or RAIL),
boundaries, and so forth. One schedule must be associated with each tracking
program as part of its program header data. (Currently programs are limited to
teach pendant programs only, but a KAREL version of Line Track will be included
within a future software release.) Program schedule numbers are currently
specified using the DETAIL screen during teach pendant program creation.
Individual fields within this structure are described below.

Power Up: N/A

Screen: SYSTEM Variables screen, teach pendant program DETAIL screen, and
the SETUP Tracking screen

$LNSNRSCH[1].$average

Minimum: 0 Maximum: LONG_MAX Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
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Name: Sensor Average Number

Description: This is the initialization value which specifies the number of

previous sensor (encoder) readings to average (sum and divide) when
determining the current sensor rate values.

Power Up: Maintains its previous value.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW BOOLEAN CMOS
Name: Sensor Enable

Description: This is the initialization value which specifies the ON/OFF state of
the sensor. (NOTE : The ON/OFF state can also be changed using the Line
Track TPE LINE instruction.)

Power Up: Maintains its previous value.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Sensor Simulation Enable

Description: This is the initialization value which specifies the sensor simulation
ON/OFF state. (NOTE : The ON/OFF state can also be changed using the Line
Track TPE LINESIM instruction. Note also: The sensor MUST be enabled in
order to simulate sensor input.)
Power Up: Maintains its previous value.

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
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Name: Sensor Simulation Speed

Description: This is the initialization value which specifies the sensor simulation
speed (in encoder counts per encoder update). (NOTE : The simulation speed
can also be changed using the Line Track TPE LINESIM instruction.)

Power Up: Maintains its previous value.

Minimum: 0 Maximum: LONG_MAX Default: 1 KCL/Data:

Program: UIF: CRTL: Data Type: Memory:
RW
CMOS RW RW RW LONG

Name: Sensor Stop Threshold

Description: This is the initialization value which specifies the sensor stop
threshold in units of sensor counts per sensor update. This value is used by the
TPE LINESTOP instruction to determine whether or not the line (conveyor) has
stopped moving. Line rates which are LESS than the stop threshold value are
considered to indicate that the line has stopped.

Power Up: Maintains its previous value.

Minimum: 0 Maximum: LONG_MAX Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Sensor Update Rate

Description: This is the initialization value which specifies the sensor update
rate (in ITP_TIME intervals). The sensor (encoder) is ready once every
$LNSNRSCH[1].$update_rate itp_time intervals.

Power Up: Maintains its previous value.

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Name: Line Track Sensor (Encoder) Schedule Structure

Description: The Line Tracking Sensor Schedule contains a set of setup

variables for a tracking sensor (encoder). Up to 3 different sensor schedules can
simultaneously exist on the system ($LNSNRSCH[1], ... $LNSNRSCH[3]). These
are selected within user and application programs to set up the tracking
sensor(s). Each schedule can contain completely different information to allow
you to select between several sensor (encoder) configurations. Examples include
specifying different sensor averaging (signal filtering), update rates, and
enabling/disabling sensor simulation. Values within a sensor setup schedule
must be transferred into the $ENC_STAT[1] structure using the Line Tracking
TPE DEFENC instruction. These values have NO effect except when used to
configure a sensor (encoder) using the above instruction. Individual fields within
this structure are described below.

Power Up: N/A

Name: Line Track Continuous Tracking Status Group structure

Description: This structure provides line tracking continuous tracking functions.

The individual fields are described below.

Power Up: N/A

$LNSTAT_GRP.$cont_trk_on

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Line Track Continuous Tracking Status

Description: This flag contains an internal status value. It has no external

meaning.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

$LNSTAT_GRP.$trig_diff

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Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name: Line count difference between accutrig and non accutrig.

Description: This is the line count difference between accutrig and non accutrig.

Power Up: This is a monitor variable.

$LNSTAT_GRP.$wait_4_wndw

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

CRTL: Data Type: Memory:
Not available
available Not available BOOLEAN Not

Name: Line Track Wait-For-Window Boundary Check Status Flag

Description: This flag indicates when TRUE that the motion system is waiting for
a position (or extreme position) to enter the currently-selected boundary window
prior to planning the new motion.

Power Up: This value initializes to FALSE and maintains its previous value over
subsequent power cycles.

$LOCTOL

Minimum: 0. Maximum: 1000. Default: 10. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Location Tolerance

Description: When position values are compared with the approximately equal
operator >=.

Power Up: N/A

$LOG_BUFF[1]

Minimum: MIN_LOG_BUFF Maximum: 1 Default:

DEF_LOG_BUFF KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: LOG_BUFF_T Memory: CMOS

Name: Log Book buffers

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Description: This variable structure defines the buffer which holds the data for
each Log Book.

Power Up: N/A

$LOG_BUFF[1].$mem_type

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Log Book buffer memory type

Description: This variable indicates the memory type of each buffer. If it is set to

0, in SRAM,
DRAM, theislog
the log is keptwhen
cleared whenthe
thecontroller
controllerisisturned
turnedoff.
off. If it is set to 1, in

Power Up: N/A

$LOG_BUFF[1].$size

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0x7FFFFFFF KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name: Log Book buffer size

Description: This variable indicates the size of each Log Book buffer in Kbytes.
One record takes about 300 bytes If this value is too big, the maximum available
size for the Log Book buffer is allocated. If there is not enough memory to make
a Log Book buffer the alarm, SYST - 188 WARN “book(%d) was not created,” is
posted and the book is not created.

Power Up: N/A

$LOG_BUFF[1].$title

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Log Book buffer title

Description: Title of each Log Book buffer. This string is displayed on the top
line of the Log Book menu. It is also displayed in the pull up menu of F2,([BOOK])
in the Log Book menu. If the value is ‘’, a default title is displayed. The default
title of BOOK1 is ‘Operation’. The default title of‘BOOK2 is ‘I/O”. The default title
of BOOK3 is ‘BOOK 3’
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Power Up: N/A

$LOG_BUFF[1].$visible

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Log Book buffer visible

Description: If this variable is set to TRUE, the buffer is displayed in the pull up
menu of F2([BOOK]) in the Log Book menu. If this variable is set to FALSE, the
buffer is not displayed.

Power Up:
N/A
$LOG_DIO[1-32]

Minimum: MIN_LOG_DIO Maximum: 1 Default:

DEF_LOG_DIO KCL/Data: RW Program: Not available UIF: RW CRTL:
RW Data Type: LOG_DIO_T Memory: CMOS

Name: Logbook I/O configuration

Description: This variable structure configures I/O logging for Operation

Logbook.
Power Up: N/A

$LOG_DIO[1].$port_type

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: -1 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name: Physical port type

Description: This variable indicates the phisical port type of the port to trace.
When this variable is set to -1, all port types of the specified rack, slot and
module type are traced.
Digital input = 1
•

Digital output = 2
•

Analog input = 3
•

Analog output = 4
•

Weld input = 16
•

Weld output = 17
•

Weld stick input = 26

•

Weld stick output = 27

•

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Power Up: N/A

$LOG_DIO[1].$rack

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default:

0x7FFFFFFF KCL/Data: RW Program: Not available UIF: RW CRTL:
RW Data Type: LONG Memory: CMOS

Name: Rack number

Description: This variable indicates the rack number of the port to trace. When
this variable is -1, all racks except the internal devices are traced. Internal
devices are PMC internal relays, etc. To trace internal devices, specify the

individual rack number.

Name: Filter by severity of error

Description: When a bit in this variable structure is TRUE, the corresponding

errors are logged.

• Bit 0 (1): Log warning errors.

• Bit 1 (2): Log pause errors.
• Bit 2 (4): Log abort errors.

For example, if a 6 is specified, pause and abort errors are logged. The priority of
this variable is lower than $LOG_ER_TYP and $LOG_ER_ITM.

Power Up: N/A

$LOG_ER_TYP[1]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name: Filter by error type

Description: This variable filters the logging of alarms based on the alarm type.
Type is the same as facility code. See the Software Error Code Manual for a full
list of facility codes. If a positive value is specified, alarms of the specified type
are logged. If a negative value is specified, alarms of the specified type are not
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logged. For example, 11 is the facility code for SRVO alarms. If 11 is specified,
SRVO alarms are logged. If -11 is specified, SRVO alarms are not logged. The
priority of this variable is higher than $LOG_ER_SEV but lower than
$LOG_ER_ITM.

Power Up: N/A

$LOG_REC_RST

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Record RESET message

Description: If this variable is set to TRUE, a reset of alarms is recorded as

“RESET”. This is valid only when $LOGBOOK.$LOG_ER is not 0.

Power Up: N/A

$LOG_SCRN_FL[1-20]

Minimum: MIN_LOG_SCRN_FL Maximum: 1 Default:

DEF_LOG_SCRN_FL KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: LOG_SCRN_FL_T Memory: CMOS

Name: Screen filter

Description: This variable structure defines the softpart and screen IDs used in
screen filtering for Operation Logbook.

Power Up: N/A

$LOG_SCRN_FL[1].$scrn_id

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program:
ULONG Not CMOS
Memory: available UIF: RW CRTL: RW Data Type:

Name: Screen ID of screen for filter

Description: This variable contains the screen ID of screens to be filtered by

Operation Logbook.

Power Up: N/A

$LOG_SCRN_FL[1].$sp_id
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Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS

Name: Softpart ID of screen for filter

Description: This variable contains the softpart ID of screens to be filtered by

Operation Logbook.

Power Up: N/A

$LOG_TPKEY[1-4]

Minimum: Maximum: Default: KCL/Data: Program:

available 0x0
UIF: RW CRTL:1 RW Data 0x6
Type: ULONG RWMemory: CMOS Not

Name: For FANUC Robotics Internal Use Only

Description: For FANUC Robotics Internal Use Only

Power Up: N/A

$LOGBOOK

Minimum:
DEF_LOGBOOK KCL/Data:Maximum:
MIN_LOGBOOK Not available Default:
MAX_LOGBOOK
RW Program: UIF: FP CRTL:
RW Data Type: LOGBOOK_T Memory: CMOS

Name: Logbook setup

Description: This variable structure contains variables that are used to configure
the Operation Logbook function to record controller events.

Power Up: N/A

$LOGBOOK.$analog_tol
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default:
65535 KCL/Data: RW Program: Not available UIF: RW CRTL:
RW Data Type: LONG Memory: CMOS

Name: Analog change tolerance

Description: The analog I/O is recorded when the difference is greater than this
value.

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Power Up: N/A

$LOGBOOK.$available

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
LONG Memory: CMOS

Name: Logbook is available

Description: This variable indicates that Operation Logbook is available.

Changing this variable has no effect and it will be set to 1 after the next power-up.

Power Up:
N/A
$LOGBOOK.$clear_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enable F5(CLEAR) in the Log Book menu

Description: When this variable is TRUE, F5(CLEAR) is displayed in the Log

Book menu and all Log data is cleared by pressing F5(CLEAR). When this is
FALSE, F5(CLEAR) is not displayed.
Power Up: N/A

$LOGBOOK.$dram_margin

Minimum: 0 Maximum: 0x7FFFFFFF Default: 2000 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS

Name: DRAM Margin

Description: This variable indicates the number of Kbytes of free DRAM area.
This amount of free space must remain in DRAM after allocating a Log Book
buffer in DRAM or the Log Book buffer will not be allocated.

Power Up: N/A

$LOGBOOK.$img_ent

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Log window image

Description: This variable enables the logging of screen images in a Log Book
when an item is selected in a window. A value greater than 0 specifies the
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number of the Log Book where the screen image will be posted. A value of 0
disables logging of this screen image.

Power Up: N/A

$LOGBOOK.$log_crd

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log coordinate changes

Description: This variable enables the logging of coordinate changes in a Log

Book. Coordinate changes are recorded with the following messages:

JOINT coordinate
•

USER coordinate
•

TOOL coordinate
•

JOG coordinate
•

PATH coordinate
•

This records all change of coordinate by any method. A value greater than 0
specifies the number of the Log Book where the event will be posted. A value of
0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_dio

Minimum: 0 Maximum: 9 Default: 2 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log I/O

Description: This variable enables the logging of I/O events in a Log Book. A

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log errors

Description: This variable enables the logging of alarms in a Log Book. When
an alarm occurs, the alarm message is recorded. This record is the same as the
record in the alarm history menu. A value greater than 0 specifies the number of

the Log Book where the event will be posted. A value of 0 disables logging of this
event.

Power Up: N/A

$LOGBOOK.$log_file

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log file save and load

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Description: This variable enables the logging of file save and load operations in
a Log Book. When a file is saved or loaded, "Save file x" or "Load file x" is
recorded. The ’x’ in the message is the file name. These events are ONLY for file
save/load in following screens:

• File screen
• Program list screen

A value greater than 0 specifies the number of the Log Book where the event will
be posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_fnkey

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log function key presses

Description: This variable enables the logging of function key presses in a Log
Book. When F1, F2, F3, F4 or F5 is pressed, "x is pressed" is recorded. The ’x’ in
the message is replaced with the key name. If SHIFT is held when the key is
pressed, the word ’SHIFT’ is added to the key name If screen image is enabled
for this event ($LOGBOOK.$IMG_FNKY), it will show the screen just before
pressing the key. A value greater than 0 specifies the number of the Log Book
where the event will be posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_focus

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

i
Name: Log Pendant focus changes.
Description: This variable enables the logging of iPendant focus changes in a
Log Book. When focus is changed to a new pane, "Focus changed to x" is
recorded. The ’x’ in the message is the menu name. A value greater than 0
specifies the number of the Log Book where the event will be posted. A value of
0 disables logging of this event.

Power Up: N/A

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log program changes

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Description: This variable enables the logging of program changes in a Log

Book. The following program changes are recorded with these messages:

• TP program x is created: "Create program x"

• TP program x is deleted: "Delete program x"
• Line x of TP program y is written: "Write line x of y"
• Line x of TP program y is deleted: "Delete line x of y"

A value greater than 0 specifies the number of the Log Book where the event will
be posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_prgexe

Minimum: 0 Maximum: 9 Default: 2 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

$LOGBOOK.$log_rstky

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

UIF: CRTL: Data Type: Memory:
available RW RW ULONG CMOS
Name: Log RESET key presses

Description: This variable enables the logging of RESET key presses in a Log
Book. When RESET is pressed, "RESET is pressed" is recorded. If SHIFT is
held when the key is pressed, the word ’SHIFT’ is added to the key name A value
greater than 0 specifies the number of the Log Book where the event will be
posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_sel

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log menu selections

Description: This variable enables the logging of menu selections in a Log Book.
When a menu item is selected, "x is selected" or "x is selected in y menu" is
recorded. The ’x’ in the message is the selected item. If the menu has a title,

the ’y’ in the message shows

($LOGBOOK.$IMG_SEL), theshow
it will title. Ifthe
screen image
screen is enabled
just before for this
opening theevent
menu.
A value greater than 0 specifies the number of the Log Book where the event will
be posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_setpos

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
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Description: This variable enables the logging of start mode in a Log Book. Start
mode is recorded with the following messages:

• Cold start
• Power failure recovery
• Control start

A value greater than 0 specifies the number of the Log Book where the event will
be posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_stpky

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log STEP key presses

Description: This variable enables the logging of STEP key presses in a Log
Book. When STEP is pressed, "STEP is pressed" is recorded. If SHIFT is held
when the key is pressed, the word ’SHIFT’ is added to the key name. A value
greater than 0 specifies the number of the Log Book where the event will be
posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_tpky

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log teach pendant key presses

Description: This variable enables the logging of teach pendant key presses in a

Log Book.are
Pendant This recordsWhen
recorded. the low leveliskey
a key operation.
pressed, ’TP xAllON’
keyisoperations of Teach
recorded. When a
key is released, ’TP x OFF’ is recorded. ENABLE switch and E-STOP are also
recorded. SHIFT key is treated as normal key. CRT operations are not recorded
by this event. ’x’ in the message is key name, the following keys are recorded:
ENABLE, ESTOP PREV, F1, F2, F3, F4, F5, NEXT SHIFT, MENU, SELECT,
EDIT, DATA,FCTN UP, DOWN, LEFT, RIGHT, DISP RESET, STEP,
BACKSPACE, ITEM, HOLD, FWD, BWD, COORD, +%, -% 0, 1, 2, 3, 4, 5, 6, 7, 8,
9, -/, ., ENTER, HELP/DIAG, UF1, UF2, UF3, UF4, UF5, UF6, UF7, +X(J1), -
X(J1), +Y(J2), -Y(J2), +Z(J3), -Z(J3), +X^(J4), -X^(J4), +Y^(J5), -Y^(J5), +Z^(J6),

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-Z^(J6) A value greater than 0 specifies the number of the Log Book where the
event will be posted. A value of 0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$log_uf

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log user frame changes

Description: This variable enables the logging of user frame changes in a Log

Book.
in When user
the message is frame number
the new is changed,
user frame "User
number. Thisframe x" is
records allrecorded.
change ofThe
user’x’
frame number by any method. A value greater than 0 specifies the number of the
Log Book where the event will be posted. A value of 0 disables logging of this
event.

Power Up: N/A

$LOGBOOK.$log_ufky

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log user function key presses

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Log WAIT released

Description: This variable enables the logging of WAIT release operations in a

Log Book. When a waiting WAIT instruction is canceled by WAIT RELEASE in
program x line y, "WAIT is released (x, y)" is recorded. A value greater than 0
specifies the number of the Log Book where the event will be posted. A value of
0 disables logging of this event.

Power Up: N/A

$LOGBOOK.$num_dio

Minimum: 1 Maximum: MAX_LOG_DIO Default: 20 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS

$LOGBOOK.$num_rec_typ

Minimum: 1 Maximum: MAX_LOG_ER_TYP Default: 1 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS
Name: For FANUC Robotics Internal Use Only

Description: For FANUC Robotics Internal Use Only

Power Up: N/A

$LOGBOOK.$num_scrn_fl

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Minimum: 1 Maximum: MAX_SCRN_FL Default: 20 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS

Name: Length of $LOG_SCRN_FL[ ]

Name: Screen filter

Description: This variable enables and disables screen filtering for Operation
Logbook. When this variable is set to FALSE, the Screen filter is disabled. When
this variable is set to TRUE, Screen filter is enabled.
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Power Up: N/A

$LOGBOOK.$scrn_no_ent

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Screen filter entry

Description: This variable determines how screen filtering settings are

interpreted. When this variable is set to TRUE, events on registered screens are
not recorded. However, events on other screens are recorded. When this
variable is set to FALSE, events on registered screens are recorded. However,

events on other screens are not recorded.

Power Up: N/A

$LOGBOOK.$sram_margin

Minimum: 0 Maximum: 0x7FFFFFFF Default: 100 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
ULONG Memory: CMOS

Name: SRAM Margin

Description: This variable is the number of Kbytes of free SRAM area. This
amount of free space must remain in SRAM after allocating a Log Book buffer in
SRAM or the Log Book buffer will not be allocated.

Power Up: N/A

$LS_CONFIG.$brk_off_lag

Minimum: 0 Maximum: 2000 Default: 544 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: USHORT Memory:
CMOS
Name: Brake Off Delay

Description: This is the hardware delay to release the brake.

Power Up: On_Cold_Start

$LS_CONFIG.$brk_on_lag

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Minimum: 0 Maximum: 2000 Default: 414 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: USHORT Memory:
CMOS

Name: Brake On Delay

Description: This is the hardware delay to engage the brake.

Power Up: On_Cold_Start

$LS_CONFIG.$io_scanrate

Minimum: 4 Maximum: 1000 Default: 12 KCL/Data: RW Program: Not

UIF: CRTL: Data Type: Memory:
available RW RW ULONG CMOS
Name: I/O Scan Rate

Description: This is the time interval to scan the active Local Stop I/O ports.

Power Up: On_Cold_Start

$LS_CONFIG.$ls_debug

Minimum: 0x0 Maximum: 0xffffffff Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Debug Flag

Description: This is the debug flag used to trace the internal Local Stop system
status for diagnosis purposes. Do not change the default value.

Power Up: On_Cold_Start

$LS_CONFIG.$sdi_off_lag

$LS_IOPORT[1].$sdi1_p_num
Minimum: -3 Maximum: 1024 Default: 1 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: SDI1 Port Number

Description: This is the port number of the SDI1 signal.

Power Up: On_Cold_Start

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$LS_IOPORT[1].$sdi1_p_stat

Minimum: Maximum: Default: KCL/Data: Program:

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: SDI2 Port Status

Description: This is the port status of the SDI2 signal.

Name: SDO Port Type

Description: This is the port type of the SDO signal.

Power Up: On_Cold_Start

2.13 M
$MA_PLAN STRUCTURE
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Name: Multi-Pass Planning variables

Description: Reserved for Internal use by FANUC Robotics for multi-pass to

resume a motion with a multi-pass offset. The variables contain information
related to the previous motion.

Power Up: Set by motion system

$MACRO_MAXNU

Minimum: 0 Maximum: 200 Default: 20 KCL/Data: RO Program:

RO UIF: RO CRTL: RW Data Type: ULONG Memory: CMOS

Name:
Maximum Number of Macros
Description: This is the number of macros. The default value is 20.

Power Up: Requires a controlled start to take effect.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name:

Description: 1: Old specification is used. Macros assigned to UI[1],[2],[3] and [8]
are triggered from ON to OFF. 0: New specification is used. Macros assigned to
UI[1],[2],[3] and [8] are triggered from OFF to ON. This is available only in R-J2
Mate.

Power Up: Changes to this variable take effect immediately.

$MACROMAXDRI
Minimum: 0 Maximum: 24 Default: 5 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Macro Maximum Number of DI and RI

Description: In the macro function, the macro program can be assigned to DI
and RI of the digital input signal. This is the maximum limitation number of the
DI/RI macro. The default value is 5. This default value is appropriate for most
applications.
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Power Up: N/A

$MACROTABLE STRUCTURE

Name: Macro Setup Table

Description: The variables in this structure define the data for each Macro
command. Changes to this variable must be made using the SETUP Macro
screen. Individual fields within this structure are described below.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen, SETUP Macro screen

$MACROTABLE[1].$assign_id

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: LONG Memory: CMOS

Name: Assign Index

Description: Specifies the position, such as a key, which allocates the macro
command. When $ASSIGN_TYPE is 2 or is 3, 1-7 will be used. When
$ASSIGN_TYPE is four, 1-20 will be used. When $ASSIGN_TYPE is five, 4-5
will be used. Changes to this variable must be made using the SETUP Macro
Screen.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen, SETUP Macro Screen

$MACROTABLE[1].$assign_type

Minimum: 0 Maximum: 255 Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: LONG Memory: CMOS

Name: Assign Type

Description: Specifies the place where the macro command is allocated. The
following values are valid: 1:Unused 2:Teach Pendant User keys 3:Shifted Teach
Pendant User keys 4:Manual operation screen 5:User buttons on SOP Changes
to this variable must be made using the SETUP Macro Screen.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen, SETUP Macro Screen

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$MACROTABLE[1].$ept_index

Minimum: Maximum: Default: KCL/Data:

0
RO Program: RO UIF:0xFFFF
RO CRTL: RO 0xFFFF
Data Type: USHORT Memory:
CMOS

Name: Program EPT Index

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Changes to this variable take effect immediately.

$MACROTABLE[1].$macro_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Macro Name

Description: The name of the macro command. Changes to this variable must
be made using the SETUP Macro Screen.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen, SETUP Macro Screen

$MACROTABLE[1].$mon_no

Minimum: -2147483648 Maximum: 2147483647 Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: LONG Memory:
CMOS

Name: Monitor Number

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Changes to this variable take effect immediately.

$MACROTABLE[1].$open_id

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Program Opening ID

Description: Reserved for Internal use by FANUC Robotics.

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Power Up: Changes to this variable take effect immediately.

$MACROTABLE[1].$prev_subtyp

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Previous Sub Type

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Changes to this variable take effect immediately.

$MACROTABLE[1].$prog_name
Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Macro Assigned Program Name

Description: Name of the program assigned to the macro command. Changes

to this variable must be made using the SETUP Macro Screen.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen, SETUP Macro Screen

$MACROTABLE[1].$sys_lev_msk

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: System Level Mask

Description: Reserved for Internal use by FANUC Robotics

Power Up: Changes to this variable take effect immediately

Screen: SYSTEM Variable screen

$MACROTABLE[1].$user_work

Minimum: 0 Maximum: 255 Default: 2 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Work Area for Macro System

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Description: Reserved for Internal use by FANUC Robotics.

Power Up: Changes to this variable take effect immediately.

$MACRSOPENBL STRUCTURE

Name: Macro Enable/disable, SOP Inputs

Description: The variables in this structure are used to enable/disable the

execution of macros from SOP input signals. Individual fields within this structure
are described below.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_emgop

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP Emergency Stop Input

Description: Enables/disables the execution of macros from the SOP

Emergency stop input.

Power Up: Changes to this variable must be made during a controlled start.
$MACRSOPENBL.$sop_hold

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP Hold Input

Description: Enables/disables the execution of macros from the SOP HOLD

input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_pdi8

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP PDI8 Input

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Description: Enables/disables the execution of macros from the SOP PDI8 input.
Not currently used.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_pdi9

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP PDI9 Input

Description: Enables/disables the execution of macros from the SOP pdi9 input.

Not currently used.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_pdia

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP PDIa Input

Description:
Not currently Enables/disables
used. the execution of macros from the SOP pdia input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_pdib

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP PDIb Input

Description: Enables/disables the execution of macros from the SOP pdib input.
Not currently used.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_pdic

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

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Name: Macro Enable, SOP PDIc Input

Description: Enables/disables the execution of macros from the SOP pdic input.
Not currently used.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_remote

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP Remote Input

Description: Enables/disables the execution of macros from the SOP remote

input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_reset

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP Fault Reset Input

Description: Enables/disables the execution of macros from the SOP fault reset
input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_start

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP Cycle Start Input

Description: Enables/disables the execution of macros from the SOP cycle start
input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_tpdsc

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP Teach Pendant Disconnect Input

Description: Enables/disables the execution of macros from the SOP Teach

Pendant disconnect input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_tprel

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

CRTL: Data Type: Memory:
RO RO BOOLEAN CMOS
Name: Macro Enable, SOP Teach Pendant Release

Description: Enables/disables the execution of macros from the SOP Teach

Pendant Release input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_user1

Minimum:
RO CRTL: Maximum:
0 RO 1 Default:
Data Type: BOOLEAN1 KCL/Data: RO Program: RO
Memory: CMOS UIF:

Name: Macro Enable, SOP User 1 Input

Description: Enables/disables the execution of macros from the SOP User 1

input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRSOPENBL.$sop_user2

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, SOP User 2 Input

Description: Enables/disables the execution of macros from the SOP User 2

input.

Power Up: Changes to this variable must be made during a controlled start.

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$MACRTPDSBEX

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: Enable/disable UK Macro

Description: Enables/disables the UK macro execution while the teach pendant

is disabled. If set to TRUE, the UK macro is executable. If set to FALSE, the UK
macro is not executable.

Power Up: N/A

$MACRUOPENBL STRUCTURE
Name: Macro Enable/disable, UOP Inputs

Description: The variables in this structure are used to enable/disable the

execution of macros from the UOP input signals. Individual fields within this
structure are described below.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_cstop

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Cycle Stop Input

Description: Enables/disables the execution of macros from the UOP Cycle stop
input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_enbl
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Enable Input

Description: Enables/disables the execution of macros from the UOP Enable

input.

Power Up: Changes to this variable must be made during a controlled start.
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$MACRUOPENBL.$uop_estop

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
1 BOOLEAN 0 RO
Memory: CMOS RO

Name: Macro Enable, UOP Emergency Stop Input

Description: Enables/disables the execution of macros from the UOP

Emergency stop input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_hold

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP HOLD Input

Description: Enables/disables the execution of macros from the UOP HOLD

input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_home
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Home Input

Description: Enables/disables the execution of macros from the UOP Home

input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_pdstrt

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Production Start Input

Description: Enables/disables the execution of macros from the UOP

Production start input.

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Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_pnstrb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP PNS Strobe Input

Description: Enables/disables the execution of macros from the UOP PNS

Strobe input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_reset

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Fault Reset Input

Description: Enables/disables the execution of macros from the UOP Fault reset
input.

Power Up: Changes to this variable must be made during a controlled start.
$MACRUOPENBL.$uop_rsr1

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR1/PNS1 Input

Description: Enables/disables the execution of macros from the UOP

RSR1/PNS1 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr2

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR2/PNS2 Input

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Description: Enables/disables the execution of macros from the UOP

RSR2/PNS2 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr3

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR3/PNS3 Input

Description: Enables/disables the execution of macros from the UOP

RSR3/PNS3 input.
Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr4

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR4/PNS4 Input

Description: Enables/disables the execution of macros from the UOP

RSR4/PNS4 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr5

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR5/PNS5 Input

Description: Enables/disables the execution of macros from the UOP

RSR5/PNS5 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr6

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

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Name: Macro Enable, UOP RSR6/PNS6 Input

Description: Enables/disables the execution of macros from the UOP

RSR6/PNS6 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr7

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR7/PNS7 Input

Description: Enables/disables the execution of macros from the UOP

RSR7/PNS7 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_rsr8

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP RSR8/PNS8 Input

Description: Enables/disables the execution of macros from the UOP
RSR8/PNS8 input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_sfspd

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Safety Speed Input

Description: Enables/disables the execution of macros from the UOP Safety

speed input.

Power Up: Changes to this variable must be made during a controlled start.

$MACRUOPENBL.$uop_start

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Macro Enable, UOP Cycle Start Input

Description: Enables/disables the execution of macros from the UOP Cycle start
input.

Power Up: Changes to this variable must be made during a controlled start.

$MASTER_ENB

Minimum: 0 Maximum: 1 Default: 3 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW ULONG CMOS
Name: Mastering Enable

Description: Specifies whether or not the SYSTEM Master/Cal screen will be

displayed. If set to 1, the SYSTEM Master/Cal screen is displayed. If set to 0, the
SYSTEM Master/Cal screen is not displayed.

Power Up: Changes to this variable take effect immediately.

$MAX_DIG_PRT

Minimum: 16 Maximum: 1024 Default: 512 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Number of digital ports displayed

Description: This variable controls the number of Digital Input and Digital Output
ports which are displayed in the MONITOR screen and the range of port
numbers that can be configured in the CONFIG screen when Digital is selected
in the standard TP screens.

Power Up: Values take effect at power-up.

Screen: This can be set in the System/Variables screen.

$MAXUALRMNUM

Minimum: 1 Maximum: 999 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Maximum Number of User-defined Alarm Messages that can be Defined

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Description: Determines the size of the array $UALRM_MSG. Note that a

controlled start is required to changed the size of the array. These messages are
displayed by executing a UALM statement.

Power Up: Requires a controlled start to take effect.

$mc_grp[1].$motion.$qstop_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Quick stop enable

Description:
This enables the servo quick stop during search motion.
Power Up: On_CNTL_Start

$MCR STRUCTURE

Name: Motion Control Record

Description: Assorted Motion control records that cause an immediate effect on

the motion system. Individual fields within this structure are described below.

Power Up: Changes to this variable take effect immediately.

$MCR.$brk_out_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Brake Output Enable

Description: Indicates whether or not manual setting of brake outputs is allowed.

If it is set to TRUE, the brakes can be set or released manually as specified by
the value manually.
released of $brk_output. If it isthe
By default, set value
to FALSE, the brakes cannot
of $brk_out_enb is set tobeFALSE.
set or
$brk_out_enb is also set to FALSE when an emergency stop, overtravel
condition, or DEADMAN switch error occurs.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Brake Cntrl, SYSTEM Variables screen

$MCR.$brk_output[1-8]

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Brake Output

Description: $brk_output is an array that you can use to set the brake output
bits manually, if $brk_out_enb is TRUE. Note that the elements in this array do
not correspond to individual axes. Several brakes might be released by a single
brake output.

Power Up: Takes effect immediately

Screen: SYSTEM Brake Cntrl, SYSTEM Variables screen

$MCR.$brk_output[6]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Brake Output

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Brake Cntrl, SYSTEM Variables screen

$MCR.$dry_run

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Dry Run

Description: If set to TRUE, then motion is executed with

$MCR_GRP.$dry_run_spd (or $dryrun_jspd), ignoring programmed speed. All
motion tracking and weaving features are disabled.

Power Up: Changes take effect on the next motion.

Screen: TEST CYCLE screen, SYSTEM Variables screen

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$MCR.$enbl

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
1 BOOLEAN_SK 1 RO CMOS
Memory: RO

Name: UOP Enable

Description: If set to TRUE, indicates that the UOP enbl input signal is on.

Power Up: Changes to this variable take effect immediately.

$MCR.$fltr_debug

Minimum: 0x80000000
RW Program: Maximum:
RW UIF: 0x7FFFFFFF
RW CRTL: Default: 0
RW Data Type: KCL/Data:
INTEGER Memory: CMOS

Name: Debug Flag for FLTR Task

Description: Reserved for Internal use by FANUC Robotics. This is a debug

mask used by FLTR task.

Power Up: Changes to this variable take effect immediately.

$MCR.$genoverride
Minimum: 1 Maximum: 100 Default: 100 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER_SK Memory: CMOS

Name: General Override

Description: Specifies the rate of robot movement speed. The robot movement
speed when the program is executed is $MCR.$genoverride *
$MCR_GRP.$progoverride. $genoverride, a scaling factor, is expressed as a
percentage of the program motion speed. For all programmed motion
$genoverride is multiplied
which is then multiplied bywith $progoverride
the motion speed. to
Asobtain a total
a safety override
feature, value,of
the value
$genoverride is automatically set to 10 if you do not confirm the setting before
jogging the robot. You can set the value of $genoverride using the teach pendant
OVERRIDE UP and DOWN keys or KCL commands.

Power Up: Changes to this variable take effect immediately.

Screen: Teach Pendant hard key, SYSTEM Variables screen

$MCR.$mjog_debug
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Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Debug Flag for MJOG Task

Description: Reserved for Internal use by FANUC Robotics. This is a debug

mask used by MJOG task.

Power Up: Changes to this variable take effect immediately.

$MCR.$mmgr_debug

Minimum: Maximum: Default: KCL/Data:

0x80000000
RW Program: 0x7FFFFFFF
RW UIF: RW CRTL: RW Data Type: 0
INTEGER Memory: CMOS

Name: Debug Flag for MMGR Task

Description: Reserved for Internal use by FANUC Robotics. This is a debug

mask used by MMGR task.

Power Up: Changes to this variable take effect immediately.

$MCR.$mo_warn_enb
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Motion Warning Enable

Description: Provision for future implementation of motion warning

enable/disable. Not Supported in this release.

Power Up: Changes to this variable take effect immediately.

$MCR.$ot_release

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Overtravel Release

Description: When set to TRUE, the robot can be jogged out of overtravel.

Power Up: Changes to this variable take effect immediately.

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Screen: MANUAL OT Release, SYSTEM Variables screen

$MCR.$otf_lin_no

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER_SK Memory: CMOS

Name: Program Line Number Executed in the On-the- fly Feature

Description: The program line number that is currently executing in the on-the-
fly feature.

Power Up: Output from the motion system.

$MCR.$otf_ofst

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER_SK Memory: CMOS

Name: On_The_Fly Offset

Description: The offset from the statement start to the motion statement portion
of the TPE internal instruction.

Power Up: Output from the motion system.

$MCR.$otf_prg_id

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER_SK Memory: CMOS

Name: Program ID used in the On_the_fly Feature

Description: The program id that is currently used in the on-the-fly feature.

Power Up: Output from the Motion System

$MCR.$sfspd

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS

Name: Safe Speed

Description: If set to TRUE, indicates the fence is open, UOP sfspd input signal.

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Power Up: Changes to this variable take effect immediately.

$MCR.$spc_reset

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Serial Pulse Coder Reset

Description: If the software detects that the serial pulse coder has changed
more than the tolerance during the cycle power, an alarm will be posted. The
system variable $MCR.$spc_reset allows you to reset the pulse code mismatch
error.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP STRUCTURE

Name: Group Motion Control Record

Description: This variable structure contains motion control information for

individual group. Individual fields within this structure are described below.

Power Up: Changes to this variable take effect immediately. At a cold start, this

variable is reset to its default.

$MCR_GRP[1].$calibrate

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Calibrate

Description: Resets the current position based on mastering data and encoder
counts.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Master/Cal screen

$MCR_GRP[1].$chk_jnt_spd[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

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Name: Check Joint Speed

Description: Only the first element $chk_jnt_spd[1] is used. $chk_jnt_spd[1]

indicates whether or not joint speed is checked against the system variable
$jntvellim during Cartesian motion. If it is set to TRUE, the speed of each joint is
checked against the corresponding joint speed limit. If a limit is exceeded, all joint
speeds are reduced at the same ratio. If it is set to FALSE, joint speed limits are
not checked. Note that the motor speed limits ($mot_spd_lim) are always
checked regardless of this variable.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Master/Cal screen

$MCR_GRP[1].$crc_rsm_tol

Minimum: 0. Maximum: 10000 Default: 0.2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Circular Resume Tolerance

Description: Determines the tolerance that the current position must be at when
resuming a circular motion, with respect to the start, via, or dest positions. If the
current position is within the tolerance of the destination position, a linear motion
is used to complete the motion. If the current position is within the tolerance of
the start or via positions, the current position replaces the start or via position in
the circular motion calculations internally.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$dry_jog_ovr

Minimum: 1. Maximum: 100. Default: 100. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name:
Description: Provides special speed control for linear and joint jogging during
dry run. When DRY RUN is enabled, the jog speed is further reduced by setting
Jog dry run override to less than 100% in DRY RUN setup menu. The dry run
override has no effect on jog speed if it is set to 100%. Its value will be reset to
the default (100%) on COLD start.

Power Up: N/A

$MCR_GRP[1].$dry_run_spd
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Minimum: 0.001 Maximum: 2000. Default: 300. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
REAL_SK Memory: CMOS

Name: Dry Run Speed

Description: The speed, in mm/sec, that the robot will travel for LINEAR and
CIRCULAR motion when $MCR.$dry_run is set to TRUE. The programmed
speed is ignored in this case.

Power Up: Changes take effect on the next motion.

$MCR_GRP[1].$dryrun_jspd

Minimum: 0.001 Maximum: 100. Default: 25. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL_SK Memory: CMOS

Name: Dry Run Jog Speed

Description: The speed as a percentage of $PARAM_GROUP.$jnt vellim, that

the robot will travel for JOINT motion when $MCR.$dry_run is TRUE. The
programmed speed is travel for JOINT motion when $MCR.$dry_run is set to
TRUE. The programmed speed is ignored in this case.

Power Up: Changes take effect on the next motion.

Screen: TEST CYCLE screen

$MCR_GRP[1].$dsp_upd_blk[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: DSP Update Block Number

Description: The block number for servo parameter update to DSP memory.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$dsp_update[9]

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

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Name: DSP Update Request

Description: Requests a copy of the servo parameter block defined by

$dsp_upd_blk to DSP memory.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$eachmst_sel[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name:
Single Axis Mastering Select
Description: Specifies the axis to be mastered if single axis mastering is
selected.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Master/Cal screen

$MCR_GRP[1].$fjog_enb

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW1 Default: KCL/Data: RW
1 BOOLEAN
Data Type: Program:
Memory: CMOS

Name: Fast Jogging Mode Enable

Description: Enables a fast mode of jogging. In this mode jogging motion

accelerate and decelerate faster. The lower override the faster the acceleration.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$fltr_flush

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: FilterFlush

Description: 1: FLTR TASK perform FilterFlush Users should not change this
system variable.

Power Up: Changes to this variable take effect immediately

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$MCR_GRP[1].$forceupdate

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1000000 0
Data Type: INTEGER RWCMOS
Memory:

Name: Update current angle with machine puls

Description: Do not change this system variable. 0 : NOTHING 1 : PUT ON

ECC BIT AND FORCE UPDATE $MOR_GRP[].$current_ang WITH MACHINE
PULSE.

Power Up: Changes to this variable take effect immediately

$MCR_GRP[1].$hard_hold
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Hard Hold

Description: Causes motion to stop and when motion filters are empty and
brakes are engaged.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$hold

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Hold

Description: Temporarily stops execution of a program. When $hold is TRUE,

the robot decelerates and all motion stops. Interpolation of the motion is
suspended. The robot remains stopped until $hold is FALSE. Pressing the
operator
to TRUE.panel
To setHOLD button
$HOLD or teach
to FALSE, pendant
use HOLD
the KCL> key setscommand.
RESUME the value of $hold

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$intplockhol

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Interpreter Lock Hold

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Description: If set to TRUE, only the interpreter (teach pendant program or
KAREL program) can clear the hold status.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$intr_debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Debug Flag for INTR Task

Description:
mask used by Reserved
INTR task.for Internal use by FANUC Robotics. This is a debug

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$jnt_prc_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Joint Process Enable

Description: Provision for future implementation of enabling the application

process during a joint motion. Not Supported in this release.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$lch_edm_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Local Condition End Motion Enable

Description: Reserved for Internal use by FANUC Robotics for keeping an
already completed motion within the motion subsystem so that it may be
resumed in case an error occurs before an application specified local condition is
triggered.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$lckd_caldon

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Locked Cal Done

Description: Backup value for cal_done at machinelock. You should not change
this system variable.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$machinelock

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW BOOLEAN CMOS
Name: Machine Lock

Description: Brakes are engaged and subsequent motion is executed normally,

but the final output to the servo system is disabled. Motion appears to have
moved from all system aspects, but the mechanical robot has not moved. Current
position reflects the virtual robot position and not the locked robot position. When
$machinelock is set to FALSE after having been TRUE, the calibration sequence
is executed and the robot position is reset to reflect the actual mechanical
position.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$master

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Mastering

Description: When $master is TRUE, mastering data is updated in $DMR_GRP,

and $DMR_GRP.$master_done is set to TRUE.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Master/Cal screen

$MCR_GRP[1].$master_type

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

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Name: Master Type

Description: When $MCR_GRP.$master is set to TRUE, the type of mastering

depends on this variable: 0 = Normal mastering using $DMR_GRP.$master_pos
1 = Zero position mastering (joint angles are at zero)2 = Quick mastering using
$DMR_GRP.$ref_pos and $DMR_GRP.$ref_count

Power Up: Changes take effect the next time the robot is mastered.

Screen: SYSTEM Master/Cal screen

$MCR_GRP[1].$otf_org_spd

Minimum: Maximum: Default: KCL/Data: Program:

0.
RW UIF: RW CRTL: RW2000. 300.
Data Type: REAL RW
Memory: CMOS

Name: On-The-Fly Original Speed

Description: The original program speed at the time the motion statement is
executed. This is used as a reference for the softpart support of the On-The-Fly
function.

Power Up: Changes to this variable take effect immediately.

Screen:
Setup On_The_Fly screen
$MCR_GRP[1].$otf_spd_chg

Minimum: -100 Maximum: 100 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: On-The-Fly Speed Change

Description: The speed change, in increments of 5% units, as modified by the

On-The-Fly softpart.

Power Up: Changes to this variable take effect immediately.

Screen: Setup On_The_Fly screen

$MCR_GRP[1].$otf_spd_upd

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: On-The-Fly Speed Update Request

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Description: As set by the On-The-Fly softpart, this variable enables the update
of the program with the current speed.

Power Up: Changes take effect at the end of the current motion.

Screen: Setup On_The_Fly screen

$MCR_GRP[1].$otf_speed

Minimum: 0. Maximum: 2000. Default: 300. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: On-The-Fly Speed

Description: The current speed used during the On-The-Fly function. The
application softpart supported by On-The-Fly, updates this variable to
dynamically change the motion speed.

Power Up: Changes to this variable take effect immediately.

Screen: SETUP On-the-fly screen

$MCR_GRP[1].$pg_org_rsm

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW1 Default: KCL/Data: RW
0 BOOLEAN
Data Type: Program:
Memory: CMOS

Name: PG original path resume function

Description: 1: PG original path resume function is enabled. 0: PG original path

resume function is disabled. Do not change this system variable.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$plan_debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Debug Flag for PLAN Task

Description: Reserved for Internal use by FANUC Robotics. Setting this variable
without loading MODEBUG softpart may crash system. This is a debug mask
used by PLAN task. PLAN task will display certain debug messages on the
debug consol when a certain bit is set.
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Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$pos_can_req

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: post cancel request

Description: When $pos_can_req is becomes TRUE, FLTR TASK posts cancel

request and finish cancel request to MMGR TASK. User should not use this.

Power Up: Effective immediately

$MCR_GRP[1].$pos_estblsh

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: position establishment

Description: When $pos_estblsh is becomes TRUE, $MOR_GRP.$current_ang

is re-established with encoder counts. User should not use this.

Power Up: Effective immediately

$MCR_GRP[1].$prgoverride

Minimum: 0.001 Maximum: 100. Default: 100. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL_SK Memory: CMOS

Name: Program Override

Description: Specifies the rate of robot movement speed. The robot movement
speed when the program is executed is $MCR.$genoverride *
$MCR.$progoverride. It is requested
a scaling factor, is expressed by $MCR_GRP.$progoverride.
as a percentage $prgoverride,
of the motion speed. For all
programmed motion, $prgoverride is multiplied by $genoverride to obtain a total
override value, which is then multiplied by the motion speed. $prgoverride has no
effect for motions other than program motions. You can assign a value to
$prgoverride from a program or from the teach pendant.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$qck_stp_enb

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Quick Stop Enable

Description: Allows motion to stop quicker than if the filters were to run out
normally. Not as fast as E-stop, but faster than hold.

Power Up: Changes take effect on the next motion stop or hold.

$MCR_GRP[1].$rsm_cmd_pth

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW BOOLEAN CMOS
Name: Resume Command Path

Description: For org_pth_resume feature, this specifies the stopped position

that the resume motion moves to is the last command position, not the position
the robot is at after brakes are engaged.

Power Up: Changes to this variable take effect immediately with next emergency
stop motion.

$MCR_GRP[1].$rsm_motype
Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Resume Motion Type

Description: When the original path resume feature is enabled (usually by a

TOOL application), the return to the position where program motion was stopped
will use a motype based on this variable. JOINT = 1 LINEAR = 2 PROGRAM = 3
If $rsm_motype is PROGRAM, the motype of the program will be used for the
return
LINEAR to will
the be
stopped
used. position. In this
In all cases, thecase, if program
original programmotype
motypewas
will CIRCULAR,
be used for
the subsequent motion to the original destination position.

Power Up: Changes take effect on next motion.

$MCR_GRP[1].$rsm_offset

Minimum: -25. Maximum: 25. Default: 0. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

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Name: Resume Offset

Description: When the original path resume feature is enabled (usually by a

TOOL application), this variable will cause the motion to return to a point on the
path that is closer to the start position by this distance in millimeters. This feature
is not effective for CIRCULAR motion. The motion will never return past the
original start position.

Power Up: Changes take effect on the next resumed motion.

$MCR_GRP[1].$rsm_orient

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW INTEGER CMOS
Name: Resume Orient Type

Description: Used for the org_pth_resume feature, to specify the orient_type

that is used for the resumed motion. The meaning is: Programmed Value: 0
OR_RS_WORLD: 1 OR_AES_WORLD: 2 OR_WRIST_JOINT: 3 The default
value is 0 which uses the orient_type specified with the original motion.

Power Up: Changes to this variable take effect immediately with next
org_path_resume motion.

$MCR_GRP[1].$rsm_speed

Minimum: 0.001 Maximum: 2000. Default: 250. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Resume Speed

Description: When the original path resume feature is enabled (usually by a

TOOL application), this is the speed in mm/sec of the return to the position where

program motion was stopped.

Power Up: Changes take effect on the next resumed motion.

$MCR_GRP[1].$rsm_termtyp

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Resume Termtype

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Description: When the original path resume feature is enabled (usually by a

TOOL application), the motion to the stopped position will use this termination.
The subsequent motion to the original programmed destination position will use
the programmed termtype.

Power Up: Changes take effect on next motion.

$MCR_GRP[1].$servo_disbl[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name:
Servo Disable
Description: Reserved for Internal use by FANUC Robotics. Turns off servo
power.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$set_ref

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Set Reference

Description: Causes the system to set the reference position for use with the
quick mastering feature.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Master/Cal screen

$MCR_GRP[1].$sflt_enb[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Soft Floating

Description: Flag for Soft Floating. In this mode user can block the robot arm
motion without being swept away. Only valid when Soft Floating option is
installed.

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Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$sflt_fup

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS

Name: Soft Floating Follow Up Enable

Description: Enables soft floating follow up.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$sflt_val[9]
Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Soft Floating Ratio

Description: The ratio of soft floating.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$soft_alarm

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Soft Alarm

Description: Causes a servo alarm to occur, servo power to go off, programs to

pause, and brakes to engage.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$srvo_q_stop

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Internal data of Servo Quick Stop function

Description: For internal use only. Do not modify this system variable.

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Power Up: Change to this variable take effect immediately.

$MCR_GRP[1].$syn_adj_mod

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Synchronous Adjust Mode

Description: For robot models with dual drive (synchronous) control,

$syn_adj_mod indicates whether or not the synchronous adjust mode is enabled.
If it is set to TRUE, synchronous adjust mode is enabled and you can jog only the
master or the slave motor. You cannot move any of the other axes while

set to FALSE,
synchronous adjust mode is enabled. If it is FALSE, you axes
you cannot while
jog the master
and slave motors independently. $syn_adj_mod should remain FALSE for all
normal operations. If it is set to TRUE, the robot loses its calibration and must be
recalibrated after $syn_adj_mod is set back to FALSE.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$syn_adj_sel

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Synchronous Adjust Selection

Description: For robot models with dual drive (synchronous) control,

$syn_adj_sel indicates which axis, either master or slave, is selected for
synchronous adjust mode. If it is set to TRUE, the slave axis is selected. If it is
set to FALSE, the master axis is selected.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$tsmod_on
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Tip Stick Mode On

Description: Enables spot welding tip stick detection.

Power Up: Changes to this variable take effect immediately.

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$MCR_GRP[1].$turn_on_srv

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN_SKRW Memory: CMOS

Name: Turn On Servos

Description: When servo power is off, this variable causes servo power to return
if the system is not in error status.

Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$uop_imstp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Immediately Stop From UOP

Description: Immediately a stop is asserted from the UOP.

Power Up: Changes to this variable take effect immediately.

$MCTCFG STRUCTURE

Name: Motion Cycle Time Recording Configuration System Variables

Description: These system variables allow the user to turn the Motion Cycle
Time Recording On or OFF and allow the debug flag to be set for internal use
only. Individual fields within this structure are described below.

Power Up: N/A

$MCTCFG.$debug

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Motion Cycle Time Recording Debug Flag.

Description: Reserved for Internal use by FANUC Robotics.

Power Up: N/A

$MCTCFG.$mct_enbl
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Motion Cycle Time Recording Enable Flag

Description: This system variable allows the user to turn the Motion Cycle Time
Recording softpart On or OFF.

Power Up: N/A

$MEMO STRUCTURE

Name:
Memo Structure
Description: Individual fields within this structure are defined below.

Power Up: Perform a cold start for the changes to take effect.

$MEMO.$prc_tbl_siz

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: LONG Memory: CMOS

Name: Process table size

Description: This system variable is not used now. This system variable will be
used to change the size of the process table. The process table is used by
memory manager only. Do not change this system variable.

Power Up: Perform a cold start for the changes to take effect.

$MEMO.$tpe_area

Minimum: 0 Maximum: 2097152 Default: 200000 KCL/Data:

CMOSProgram: RO
RO UIF: RO CRTL: RO Data Type: LONG Memory:

Name: Limit size of TPE memory area

Description: This system variable determines the TPE memory size internally.
The user cannot create the program more than this system variable even though
there are plenty memory in the system. This system variable is set the same
value which is set from BMON as a default value. Do not change this system
variable. The unit of this system variable is BYTE.

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Power Up: Perform a cold start for the changes to take effect.

$MEMO.$tskwrk_area

Minimum: 0 Maximum: 1000000 Default: 524288 KCL/Data:

RW Program: RO UIF: RW CRTL: RW Data Type: LONG Memory:
CMOS

Name: System task work area in temporary memory

Description: This system variable limits the allocation from temporary memory
for TPE program. When the user creates or teaches the TPE program, if the rest
of the temporary memory becomes under this system variable, the system

preventsThe
60000. from creating
unit or teaching
of this system the program
variable is BYTE.for
Dosafety. The default
not change value is
this system
variable.

Power Up: Perform a cold start for the changes to take effect.

$MEMO.$wrk_buf_siz

Minimum: 0 Maximum: 10000 Default: 2000 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: LONG Memory: CMOS

Name: Work buffer size

Description: This system variable is not used now. This system variable will be
used to change the work buffer size. This work buffer is only for memory
manager. Do not change this system variable.

Power Up: Perform a cold start for the changes to take effect.

$MISC[1] STRUCTURE

Name: Miscellaneous system variables for each groups.

Description: This system variable has miscellaneous system variables by each

motion group

Power Up: N/A

$MISC[1].$hpd_trq[9]

Minimum: -100.00 Maximum: 100.00 Default: 0.00 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available
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Name: High Precision Disturbance Torque

Description: This system variable shows disturbance torque(%) of each servo

motor. This value is more precise than $MOR_GRP.$CUR_DIS_TRQ.

Power Up: Does not apply. The system updates this variable.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: High Precision Disturbance Torque Enable

Description: If TRUE: System will update $MISC.$HPD_TRQ[]. If FALSE:

System does not update $MISC.$HPD_TRQ[].

Power Up: You must perform a cold start for the change to take effect.

$MIX_BG[1]

Minimum: MIN_MIX_BG Maximum: MAX_MIX_LOGIC Default:

RW Data Type:KCL/Data:
DEF_MIX_BG MIX_BG_T Program:
RO Memory: Not available
CMOS UIF: FP CRTL:

Name: Background Logic

Description: This variable structure is used to configure the Background Logic

function.

Power Up: N/A

$MIX_BG[1].$mode

Minimum: -2147483648 Maximum: 2147483647 Default: 0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
LONG Memory: CMOS

Name: Background execution mode

Description: This variable indicates the background execution mode, as follows:

• 0: Auto
• 1: Normal
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• 2: Fast

This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_BG[1].$modify_time

Minimum: -2147483648 Maximum: 2147483647 Default: -1 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
LONG Memory: CMOS

Name: Teach pendant program modify time

Description: This variable is used to check whether the program is modified or

not. If the program is modified, background execution is stopped when the
controller is turned on. This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_BG[1].$prog_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Background program name

Description: This variable indicates the name of the program that is executed in
the background. This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_BG[1].$status

Minimum: 0 Maximum: 32767 Default: -1 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: LONG Memory: CMOS
Name: Background execution status

Description: This variable indicates the background execution status, as follows:

• 1: Stop
• 2: Running(Normal)
• 3: Running(Fast)
• 4: Error

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This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_LOGIC

Minimum: MIN_MIX_LOGIC Maximum: MAX_MIX_LOGIC Default:

DEF_MIX_LOGIC KCL/Data: RO Program: Not available UIF:
FP CRTL: RW Data Type: MIX_LOGIC_T Memory: CMOS

Name: Mixed Logic

Description: This variable structure indicates the configuration variables for the

Mixed Logic function.

Power Up: N/A

$MIX_LOGIC.$item_count

Minimum: 0 Maximum: 2147483647 Default: 300 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Item count

Description: Background Logic executes the specified number of items in one

scan. If the value is decreased, the execution time of Background Logic is
reduced. If it is too big, robot motion and program execution are affected.

Power Up: N/A

$MIX_LOGIC.$max_tmr_val

Minimum: -2147483648 Maximum: 2147483647 Default:

2147483647 KCL/Data: RW Program: Not available UIF: RW CRTL:
RW Data Type: INTEGER Memory: CMOS
Name: Maximum time value

Description: When TIMER[ ] is used in a Background program, the TIMER[ ] is

counted up to the specifie value. If the TIMER[ ] reaches the value,
TIMER_OVERFLOW[ ] is turned on and the TIMER[ ] value is kept.

Power Up: N/A

$MIX_LOGIC.$num_bg
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Minimum: 0 Maximum: 200 Default: 8 KCL/Data: RW Program: Not

Name: Number of scans

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Description: This variable indicates the number of scans in one cycle. The
scanning time of Background Logic is : $MIX_LOGIC.$NUM_SCAN *
$SCR.ITP_TIME This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_LOGIC.$proc_time

Minimum: 0 Maximum: 2147483647 Default: 0 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
INTEGER Memory: CMOS

Name: Scan processing time

Description: This variable indicates the the processing time of one scan as
msec. This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_LOGIC.$save_idx

Minimum: -1 Maximum: 2147483647 Default: -1 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type:
INTEGER Memory: CMOS

Name: Saved index

Description: When the expression of Markers or TC_ONLINE is changed, the

expression is saved in $save_line in case of power failure. This variable has the
index of the Marker, where:

• 0 means TC_ONLINE.
• -1 means no line is saved.

This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_LOGIC.$save_line

Minimum: MIN_MIX_MKR Maximum: MAX_MIX_MKR Default:

DEG_MIX_MKR KCL/Data: RO Program: Not available UIF: RO CRTL:
RO Data Type: MIX_MKR_T Memory: CMOS

Description: This variable shows the status of the TC_ONLINE simulation. This
variable is set to read only and cannot be changed.

Power Up: N/A

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$MIX_LOGIC.$tcol_stat

Minimum: Maximum: Default: KCL/Data: Program:

available 0UIF: RO CRTL:
1 RO Data 0 Type: BOOLEAN
RO Memory: Not
CMOS

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Use TC_ONLINE

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Description: If FALSE, TC_ONLINE monitor menu is not displayed on the F1,
[TYPE] key pullup on the I/O menu, and "TC_ONLINE" instruction is not
displayed in [INST] menu of the teach pendant editor.

Power Up: N/A

$MIX_LOGIC.$use_tcolsim

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Use TC_ONLINE simulation

Description:
When
instructions are this variable
not available. is set
When thistovariable
TRUE, TC_ONLINE ENABLE/DISABLE
is set to FALSE, TC_ONLINE
ENABLE/DISABLE instructions are available

Power Up: N/A

$MIX_MKR[1]

Minimum: MIN_MIX_MKR Maximum: MAX_MIX_LOGIC Default:

DEF_MIX_MKR KCL/Data: RO Program: Not available UIF: FP CRTL:
RW Data Type: MIX_MKR_T Memory: CMOS

Name: Marker variables

Description: This variable structure is used to store internal information for

MARKER and TC_ONLINE instructions.

Power Up: N/A

$MIX_MKR[1].$line[1-256]

Minimum: 0 Maximum: 2147483647 Default: 0 KCL/Data:

BYTEProgram:
RO Memory:Not available
CMOS UIF: RO CRTL: RO Data Type:

Name: Line code

Description: Internal line code of defined expression set by TC_ONLINE or

MARKER instructions. This variable is set to read only and cannot be changed.

Power Up: N/A

$MIX_MKR[1].$line_size
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Minimum: 0 Maximum: 256 Default: -1 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: LONG Memory: CMOS

Name: Line size

Description: Size of line code set by TC_ONLINE or MARKER instructions. This

variable is set to read only and cannot be changed.

Power Up: N/A

$MJPTMIR[1-5] STRUCTURE

Minimum: MIN_MJPTMIR Maximum: MAX_MJPTMIR Default:

KCL/Data: Program: UIF: CRTL:
0
available DataRO RO
Type: MJPTMIR_T Not available
Memory: Not available Not

Name: Information of path jog

Description: This system variable is set up information of path jog.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$cir_cnt

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RO Program: RO UIF: RO CRTL: RO Data
Type: VECTOR Memory: CMOS

Name: Circular center position

Description: Center position of circular motion. This is need to path jog.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$curpx_task

Minimum: -1 Maximum: 16 Default: -1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: current task ID

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Description: Normal vector of path jog frame.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$dircton_o

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RO Program: RO UIF: RO CRTL: RO Data
Type: VECTOR Memory: CMOS

Name:
Path jog frame
Description: Orient vector of path frame.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$motype

Minimum: MT_JNT_JOG
7 KCL/Data: Maximum:
RO Program: RO CRTL: RODefault:
MT_CIRCULAR
RO UIF: Data Type:
MOTYPE_E Memory: CMOS

Name: Program motion type

Description: Joint or linear or circular.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused, the variable is set up automatically.

$MJPTMIR[1].$pathjog_flg

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Check flag of task ID.

Description: Task ID check flag between program pause and path jog is tried.

Power Up: Changes to this variable take effect immediately.

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Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$prb_frm

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RO Program: RO UIF: RO CRTL: RO Data
Type: POSITION Memory: CMOS

Name: Path jog frame

Description: Setup path jog frame.

Power Up:
Changes to this variable take effect immediately.
Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$r_reverse

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: path jog frame direction flag

Description: The flag setup reverse or no reverse each direction of path jog
frame.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$tool_frm

Minimum: KCL/Data: Maximum:

DEF_POS MIN_POS MAX_POS
RO Program: Default:
RO UIF: RO CRTL: RO Data
Type: POSITION Memory: CMOS

Name: Tool frame

Description: This means the tool frame is used in pause program. This is used
at circular path jog.

Power Up: Changes to this variable take effect immediately.

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Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$used_utool

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RO Program: RO UIF: RO CRTL: RO Data
Type: POSITION Memory: CMOS

Name: Utool used in MIR by INTP

Description: This means the UTool data is used in pause program.

Power Up:
Changes to this variable take effect immediately
Screen: Do not change this variable. When the program is paused or path jog is
tried, the variable is set up automatically.

$MJPTMIR[1].$utool_num

Minimum: 1 Maximum: 100 Default: 5 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Number of tool

Description: This means the tool number is used in pause program.

Power Up: Changes to this variable take effect immediately.

Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MJPTMIR[1].$z_r_frm

Minimum: KCL/Data: Maximum:

DEF_POS MIN_POS MAX_POS
RO Program: Default:
RO UIF: RO CRTL: RO Data
Type: POSITION Memory: CMOS

Name: z direction of path jog frame

Description: This mean the z direction of path jog frame Setup robot pose
position.

Power Up: Changes to this variable take effect immediately.

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Screen: When program paused or path jog is tried, the variable is set up
automatically.

$MKCFG STRUCTURE

Name: KAREL Motion (Motion-KAREL) Configuration System Variable Structure

Description: This set of variables controls the mode of operation of KAREL

Motion. See the descriptions of the individual fields below.

Power Up: N/A

$MKCFG.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Debug Flag.

Description: This variable is used for general debugging of KAREL Motion

during development and should not be used by users.

Power Up: This value initializes to 0 and will maintain its value over subsequent

power cycles.
$MKCFG.$group_mask

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: KAREL Motion Group Mask Bit Map

Description: This system variable specifies which motion group can perform the
KAREL motion.

Power Up: This value initializes to 1 and will maintain its value over subsequent
power cycles.

$MKCFG.$mb_conflict

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Motion-Basic Conflict mask.

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Description: This is a bit-mapped variable. The bit will be set if if KAREL Motion
is in conflict with any other softparts in the SID_MB socket.

Power Up: This value initializes to 0 and will maintain its value over subsequent
power cycles.

$MKCFG.$mb_required

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Motion Basic Required Mask.

Description: This is a bit-mapped variable to indicate that KAREL Motion is

required by another softpart in SID_MB.(NOTE: Currently, it is not used.)

Power Up: This value initializes to 0 and will maintain its value over subsequent
power cycles.

$MKCFG.$mo_conflict

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
Name: General Motion Conflict mask.

Description: This is a bit-mapped variable. The bit will be set if KAREL Motion is
in conflict with any softpart in the SID_MO socket.

Power Up: This value initializes to 0 and will maintain its value over subsequent
power cycles.

$MKCFG.$mo_required

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: General Motion Basic Required Mask.

Description: This is a bit-mapped variable to indicate that KAREL Motion is

required by a softpart in SID_MO.(NOTE : Currently, it is not used.)

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Power Up: This value initializes to 0 and will maintain its value over subsequent
power cycles.

$MNDSP_CMNT

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Enable Display of Program Comment

Description: Enables/disables the display of a program comment in SELECT

screen.

Power Up:
Changes to this variable take effect immediately.
$MNDSP_POSCF

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Teach Pendant Editor Position Confirmation

Description: This variable is used to enable the different modes of Position

Confirmation in the Teach Pendant Editor. 0 = Disable Position Confirmation in
TP Editor
display on1any
= Enable
taught Position
position Confirmation in robots
that equals the TP Editor. Theposition.
current "@" symbol will be
2 = Enable
Position Confirmation in TP Editor. The "@" symbol will be display when the
cursor is on the line in which the taught position equals the robot’’s current
position.

Power Up: Takes effect immediately

$MNUFRAME[1,6]

Minimum: NIL Maximum: NIL Default: NIL KCL/Data: RW Program:

RW UIF: NotMemory:
POSITION availableNotCRTL: Not available
available Data Type:

Name: User Frame Array

Description: This system variables contains the positional value of the user
frame used by the teach pendant system. This is a two dimensional array. The
inner dimension is the frame number (1-6). The outer dimension is the group
number (gnum). The frame number is $MNUFRAMENUM[gnum]. When
$MNUFRAMENUM[gnum] is between 1 and 6 the system uses the following
userframe: $MNUFRAME[gnum, $MNUFRAMENUM[gnum]] If
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$MNUFRAMENUM[gnum] is zero the null frame is used. If

$MNUFRAMENUM[gnum] is 14 $GROUP[gnum].$UFRAME is used.

Power Up: N/A

Screen: SETUP Frames

$MNUFRAMENUM[2]

Minimum: 0x0 Maximum: 0x15 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Modem ANSWER indication

Description: ASCII string that the software expects to be sent from the modem
as an ANSWER indiaction

Power Up: Not used at powerup

$MODEM_INF[1].$MDM_DIAL
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Modem DIAL

Description: ASCII string sent to the modem to cause it to dial out.

Power Up: Not used at powerup

$MODEM_INF[1].$MDM_HANGUP
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Modem HANGUP string

Description: ASCII string sent to the modem to cause the modem to HANGUP

Power Up: Not used at powerup

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$MODEM_INF[1].$MDM_IDENT

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF:""RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name: Modem IDENTIFICATION string..descrpASCII string that shows what

data the modem returned for identification...pwrupNot used at powerup

Description:

Power Up: N/A

$MODEM_INF[1].$MDM_INIT

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Primary modem INITIALIZATION string

Description: ASCII string sent to the modem for PRIMARY initialization of

modem settings

Power Up: Not used at powerup

$MODEM_INF[1].$MDM_INIT1
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Secondary modem INITIALIZATION string

Description: ASCII string sent to the modem for SECONDARY initialization of

modem settings

Power Up: Not used at powerup

$MODEM_INF[1].$MDM_RESET

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Modem RESET string

Description: ASCII string sent to the modem to cause RESET

Power Up: Not used at powerup

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$MODEM_INF[1].$MDM_STATUS

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF:""RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name: Modem STATUS string.descrpASCII string that reflects the current status
of the MODEM..pwrupNot used at powerup

Description:

Power Up: N/A

$MONITOR_MSG[32]

Minimum: "" Maximum: "EXEC1 " Default: "EXEC1 " KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Task Message in the Monitor Screen

Description: In the multi-task system, you can confirm the tasks in execution on
the monitor screen. This screen displays the name of task. This variable defines
the task name with less than 9 characters. The relations between these system
variables and the names of tasks are the following: $MONITOR_MSG [1] : name
of task No.1 [2] : name of task No.2 [32] : name of task No.32
Power Up: Changes to this variable take effect immediately.

$MOR STRUCTURE

Name: Motion Output Record

Description: Variable structure containing motion status information. Individual

fields within this structure are described below.

Power
updatedUp: At a cold by
dynamically start,
thethis variable
motion is reset to its default. Data is then
system.

$MOR.$brk_status

Minimum: 0 Maximum: 63 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE_SK Memory: CMOS

Name: Brake Status

Description: Indicates the brake output status.

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Power Up: At a cold start, this variable is reset to its default.

$MOR.$pg_mctl

Minimum: 0 Maximum: 63 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT_SK Memory: CMOS

Name: Motion Control Mask

Description: Motion control mask. Indicated which motion group is currently

activated by th program. This variable is used by Detached Jog.

Power Up: At a cold start, this variable is reset to its default.

$MOR.$reg_dis_amp[1-16]

Minimum: 0. Maximum: 1 Default: 0. KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL Memory: CMOS

Name: Regenerative discharge of amplifier

Description: $MOR.$reg_dis_amp are calculated in FLTR task with servo data.

You cannot set this variable. It means that the regenerative discharge of amplifier.

Power Up: At a cold start, this variable is reset to its default.
Screen: $MOR.$reg_dis_amp cannot be set by user.

$MOR.$safety_stat

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER_SK Memory: CMOS

Name: Safety signals status

Description:
assignment of $MOR.$safety_stat
$MOR.$safety_statisisbit
asparameter of safety
follows. * Bit signals.
position The bits
for $safety_stat
MFS_EMGOP 1 MFS_EMGTP 2 MFS_DEADMAN 4 MFS_FENCE 8 MFS_ROT
16 MFS_HBK 32 MFS_EMGEX 64 MFS_PPABN 128 MFS_BELTBREAK 256
MFS_ENABLE 512 MFS_FALM 1024 When FLTR task detects the above alarms,
FLTR set the bit which corresponds to the alarm.

Power Up: At a cold start, this variable is reset to its default.

Screen: $MOR.$safety_stat cannot be set by user.

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$MOR.$smh_done

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
1 BOOLEAN_SK 0 RO CMOS
Memory: RO

Name: semi-hot start done

Description: If hot start recover processed this flag will be true.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP STRUCTURE

Name: Motion Output Record

Description: Variable structure containing motion status information for
individual group. Individual fields within this structure are described below.

Power Up: At a cold start, this variable is reset to its default. Data is then
updated dynamically by the motion system.

$MOR_GRP[1].$apc_counter[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available
available CRTL: Not available Data Type: INTEGER Memory: Not

Name: Absolute Pulse Coder Pulse Counter

Description: The absolute pulse coder pulse count.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP[1].$apc_done

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Absolute Pulse Code Communication Done

Description: When set to TRUE, $apc_done indicates the successful completion

of absolute pulse coder (APC) communication for robots with APC motors. When
set to FALSE, it indicates communication has not been successfully completed.
The value of $apc_done is set and updated automatically.

Power Up: At a cold start, this variable is reset to its default.
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$MOR_GRP[1].$atperch

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
1 BOOLEAN_SK 0 RO CMOS
Memory: RO

Name: At Perch Position Status

Description: If the robot is within the perch position tolerance, the flag will be
automatically set.

Power Up: $atperch will be set automatically by the system if the feature is
enabled. At a cold start, this variable is reset to its default.

$MOR_GRP[1].$cal_done
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RO UIF: RW CRTL: RW Data Type: BOOLEAN_SK Memory: CMOS

Name: Calibration Done

Description: Displays the completion of the position adjustment (calibration).

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$cartfltremp
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Cartesian Filter Empty

Description: When set to TRUE, the stage 1 and stage 2 Cartesian filters are
empty. Not currently supported.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$cur_acctime

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current Acceleration Time

Description: Total acceleration time currently being used. Units are in ticks of
$scr.$itp_time. Includes sum of stage 1 and stage 2 Joint filters, but does not
include exponential filter, S filter or D filter.
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Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$cur_axs_acc[9]

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Current Axis Acceleration Time

Description: Current axis acceleration time in ticks with units of $SCR.$itp_time.

Power Up: Updated automatically by the system.

$MOR_GRP[1].$cur_crframe

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: NO Program: NO UIF: NO CRTL: NO Data
Type: POSITION_SK Memory: CMOS

Name: Current CR Frame

Description: Reserved for future use. $cur_crframe is updated by the system,

which indicates the current circular reference frame defined by the arc of the
motion.
stoppedItmotion
is usedsmoothly
in conjunction with in
for moves $cur_prframe and $pfr_resume
the Path Relative Frame. to resume a

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$cur_dis_trq[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Current Disturbance Torque

Description: Current disturbance torque updated automatically by the system.

Power Up: Updated automatically by the system.

Screen: STATUS Axis

$MOR_GRP[1].$cur_prframe

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Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: NO Program: NO UIF: NO CRTL: NO Data
Type: POSITION_SK Memory: CMOS

Name: Current PR Frame

Description: Reserved for future use. $cur_prframe is effective for linear moves
only in Path Relative Frame (optional feature). $cur_prframe indicates the current
Path Relative Frame with respect to the World Coordinate Frame and is updated
by the system. It is used in conjunction with $cur_crframe and $pfr_resume to
resume a stopped motion for moves in the Path Relative Frame.

Power Up: Data is updated dynamically by the motion system

$MOR_GRP[1].$cur_prog_id

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: LONG_SK Memory: CMOS

Name: Current Program Identification

Description: Indicates the identification number of the program that generated

the current or last motion.

Power Up: Data is updated dynamically by the motion system. At a cold start,
this variable is reset to its default.

$MOR_GRP[1].$cur_seg_id

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current Segment Identification

Description: Identification number of the current segment being processed.

Power Up: Data is updated dynamically by the motion system

$MOR_GRP[1].$curpthacc

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current Total Cartesian Acceleration Length For Cartesian Filter

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Description: Not currently supported. Indicates the total Cartesian acceleration

length currently being used, 1 length unit corresponds to Cartesian_rate *
$SCR.$itp_time. Includes sum of stage 1 and stage 2 filters, but does not include
exponential filter.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$current_ang[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: REAL Memory: Not
available

Name:
Current Angle
Description: Indicates the joint angles, in radians, of the output of the filter. This
is the motion command to the servo system.

Power Up: Data is updated dynamically by the motion system. At a cold start,
this variable is reset to its default.

Screen: POSITION

$MOR_GRP[1].$current_pos

Minimum: MIN_POSX Maximum: MAX_POSX Default:

DEF_POSX KCL/Data: NO Program: NO UIF: NO CRTL: NO Data
Type: POSITIONEXT_SK Memory: CMOS

Name: Current Position of the Robot

Description: Not currently available.

Power Up: Data is updated dynamically by motion system

$MOR_GRP[1].$currentline
Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: LONG_SK Memory: CMOS

Name: Current Line Number

Description: The line number in the source program that generated the current
or last motion.

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Power Up: This variable is dynamically updated by the motion system. At a cold
start, this variable is reset to its default.

$MOR_GRP[1].$curtimeacc

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current time filter length

Description: Display the time filter length that is currently being used. This
variable is active only when $CF_PARAMGP[].$timefltrenb is set to TRUE.

Power Up:
Data is updated dynamically by the motion system.
See Also: $CF_PARAMGP[].$timefltrenb

$MOR_GRP[1].$dsp_stat[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name: DSP (Digital Signal Processor) Status

Description: Status returned from the servo system DSP of each axis. bit 2
CKAL Abnormality of clock for revolution counter bit 3 BZAL Zero voltage of
battery bit 4 RCAL Abnormality of revolution counter bit 5 PHAL Abnormality of
signal phase bit 6 BLAL Lower voltage of battery bit 7 CSAL Alarm of check sum
bit 8 OHAL Alarm of motor over heat bit 9 DTERR Alarm concerning receiving
failure of all serial pulse coder data for servo CPU bit 10 CRCERR Alarm of data
transfer error bit 11 STBERR Alarm of stop bit error bit 12 SPHAL Soft phase
alarm

Power Up: Data is updated dynamically by the motion system. At a cold start,

this variable is reset to its default.

Screen: STATUS axis status1, status2

$MOR_GRP[1].$dvc_axes

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Time Scale axes image

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Description: Each bit corresponds to one axis. The bit is set to 1 when the
motion command from INTR exceeds the motor speed limit.

Power Up: N/A

$MOR_GRP[1].$dvc_delay

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: ITPs delayed by Time Scale

Description:
[ITP] total of time delayed by time scale
Power Up: N/A

$MOR_GRP[1].$dvc_reduce

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Velocity reduction ratio by time scale

Description: Output velocity(FLTR) / input velocity(INTR). When there is no slow

down caused by time scale it is set to 1.0

Power Up: N/A

$MOR_GRP[1].$err_value[9]

Minimum: -10000000. Maximum: 10000000. Default: 0. KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Error counter monitor

Description: Error value monitor Max value of current Error counter compared
with limit of move error (%) Max value is held on program execution

Power Up: The change to this system variable takes effect immediately.

Screen: None

See Also: None

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$MOR_GRP[1].$error_cnt[9]

Minimum: Maximum: Default: KCL/Data: Program: UIF:

0 CRTL: Not 0available Data
Not available 0 Type: INTEGER
RO Memory:RO
Not
available

Name: Error Count

Description: The error, in pulse counts, from the actual position as seen by the
encoders to the command position.

Power Up: Data is updated dynamically by the motion system. At a cold start,
this variable is reset to its default.

Screen: STATUS axis pulse

$MOR_GRP[1].$fb_comp_cnt[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Feedback compensation monitor

Description: Compensation counts of speed feedback on SRVO are deisplayed

Power Up: The change to this system variable takes effect immediately.

Screen: None

See Also: None

$MOR_GRP[1].$filter_empt

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS
Name: Filter Empty

Description: When set to TRUE, the stage 1 and stage 2 joint filters are empty
for all axes.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$filter_type

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Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Current Filter Type

Description: Reserved for Internal use by FANUC Robotics. It indicates the type
of filter being used.

Power Up: Data is updated dynamically by the motion system.

Screen: SYSTEM Variable screen

$MOR_GRP[1].$fltr_nc_emp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS

Name: Non-continuous Filter Empty

Description: When set to TRUE, the stage 1 and stage 2 joint filters are empty
for all non-continuous turn axes.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$in_position[9]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:
Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: In Position

Description: $in_position is an array of flags indicating the axes that are in

position. At the beginning of a segment the flags are automatically set to FALSE.
By the end of the segment all of the flags are TRUE, indicating each axis is within
the tolerance
updated for the specified position. The value of $in_position is set and
automatically.

Power Up: Data is updated dynamically by the motion system. At a cold start,
this variable is reset to its default.

$MOR_GRP[1].$jogged

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS

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Name: Robot jogged

Description: When set to TRUE, the robot has been jogged since the last
program motion. Execution of any user program will reset the flag.

Power Up: Data is updated dynamically by the motion system and reset by
program execution.

$MOR_GRP[1].$line_er_cnt[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: NO Program: NO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Line Tracking Encoder Error Count (not supported)

Description: Line tracking encoder error count.

Power Up: N/A

$MOR_GRP[1].$line_offset

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current Line Number

Description: Current motion statement offset from the beginning of TPE line.
Valid only when On_The_Fly option is enable.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP[1].$machine_pls[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available
available CRTL: Not available Data Type: INTEGER Memory: Not

Name: Machine Pulse Count

Description: The absolute encoder pulse count reading of the current robot
position.

Power Up: Data is updated dynamically by the motion system.

Screen: STATUS axis pulse

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$MOR_GRP[1].$max_dis_trq[9]

Minimum: Maximum: Default: KCL/Data: Program: UIF:

0 CRTL: Not 0available Data
Not available 0 Type: SHORTRO RO
Memory: Not
available

Name: Maximum Disturbance Torque

Description: Maximum disturbance torque updated automatically by system.

Power Up: Automatically updated by Filter task

Screen: STATUS axis

$MOR_GRP[1].$max_torque[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Maximum Torque

Description: Maximum torque information updated by DSP

Power Up: Updated automatically by the system

Screen: STATUS axis monitor

$MOR_GRP[1].$min_dis_trq[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Minimum Disturbance Torque

Description: Minimum disturbance torque updated automatically by system.

Power Up: Updated automatically by the system

Screen: STATUS axis

$MOR_GRP[1].$motion_cmnd[9]

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Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name: Motion Command Pulses

Description: The current actual motion command in pulse counts to the servo
system

Power Up: Data is updated dynamically by the motion system.

Screen: STATUS axis pulse

$MOR_GRP[1].$move_dist

Minimum: 0. Maximum: -0. Default: 0. KCL/Data: NO Program:

NO UIF: NO CRTL: NO Data Type: REAL_SK Memory: CMOS

Name: Distance Moved

Description: Reserved for future use. The total distance moved by this motion
statement.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP[1].$nilpos

Minimum: MIN_POS Maximum: MAX_POS Default:

DEF_POS KCL/Data: RO Program: RO UIF: RO CRTL: RO Data
Type: POSITION_SK Memory: CMOS

Name: Zero Position

Description: The position data of ( 0, 0, 0, 0, 0, 0, 0 ) is specified. $NILP defines

a nil or zero position, which is useful in program assignment statements. For
example, the statement $UTOOL = $NILP assigns a nil position to $UTOOL.
Power Up: The data is never modified.

$MOR_GRP[1].$ogdst_ratio

Minimum: -1.0 Maximum: 1.0 Default: -1.0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL_SK Memory: CMOS

Name: Original path resume offset information

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Description: Ratio of (actual offset) / (Specified offset)where, ’specified offset’ is

the resume offset value which is specified by user. ’actual offset’ is the actual
offset which is appliedThis variable is used by Original Path Resume feature.It
indicates resume offset status. If user set too long offset,and shorter offset is
available, then the system change offsetshorter.If value == 1.0: specified offset is
used.If 0.0 Less Than Equal To value Less Than 1.0: shorter offset is
used.(value shows the ratio)If value Less Than 0.0 : resume offset is not used.If
value Greater Than 1.0 : Invalid (Something is wrong)

Power Up: The change to this system variable takes effect immediately.

Screen: None

See Also: None

$MOR_GRP[1].$overrun_cnt

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
LONG_SK Memory: CMOS

Name: Overrun Count

Description: Indicates the number of interpolator cycles since a COLD start that
the interpolator do not have enough time to finish its path interpolation. Updated
by the interpolator.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$path_node

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Path Node Number

Description: $path_node indicates the path node to which the robot is moving or
has most recently moved. After an error, KAREL programs can test to determine
the node toward which the robot is or was most recently moving when the error
occurred. For emergency stops or errors that cause brakes to be applied and
drive power to the servo system to be shut off, $path_node might be ahead of the
robot’s actual position. The value of $path_node is set and updated automatically.

Power Up: Data is updated dynamically by the motion system. At a cold start,
this variable is reset to its default.

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$MOR_GRP[1].$pccomer_cnt[9]

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 0 0
Not available Data RW
Type:
INTEGER Memory: Not available

Name: Pulse corder comminucation error count

Description: Ignored counts of pulse corder comminucation error on SERVO are

displayed

Power Up: The change to this system variable takes effect immediately.

Screen:
None
See Also: None

$MOR_GRP[1].$pendmocount

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: NO Program:

NO UIF: NO CRTL: NO Data Type: INTEGER_SK Memory: CMOS

Name: Reserved for future use (not supported)

Description: $pendmocount
but have not yet keeps
been completed. track
It is of how many
automatically motions have
incremented eachbeen
timeissued
the
program interpreter issues a motion and decremented each time the motion
interpolator finishes a motion.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP[1].$pos_valid

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: NO UIF:

NO CRTL: NO Data Type: BOOLEAN_SK Memory: CMOS

Name: Current Position Valid

Description: Reserved for future use. This specified whether or not the
current_pos is valid.

Power Up: N/A

$MOR_GRP[1].$segfraction

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Minimum: 0. Maximum: 1. Default: 0. KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL_SK Memory: CMOS

Name: Fraction of Segment Completed

Description: Reserved for future use. $segfraction indicates what fraction of the
current segment has been interpolated. For example: 0.0 means the interpolation
is just beginning. 0.5 means the interpolation is half complete. 1.0 means
interpolation is complete, and the robot is starting to decelerate toward the
destination. Note that when the value is 1.0, the robot will not be exactly at the
indicated position because of the digital filters. The robot still needs to decelerate.
$segfraction is set and updated automatically.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP[1].$segmovedist

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL_SK Memory: CMOS

Name: Distance Moved in this Segment

Description: Reserved for future use. The total distance moved for this segment.

Power Up: At a cold start, this variable is reset to its default.

$MOR_GRP[1].$servo_ready

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS

Name: Servo Ready

Description: $servo_ready indicates whether or not servo power is active. The

value of $servo_ready is set and updated automatically.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$spc_stat[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: SPC (Serial Pulse Coder) Status

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Description: The status returned by the serial pulse coder.

Power Up: Data is updated dynamically by the motion system.

$MOR_GRP[1].$syn_err_cnt

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Synchronous Error Counter

Description: $SYN_ERR_CNT is the value of the error counter for robot models
with dual drive (synchronous) control.

Power Up: Data is updated dynamically by the motion system. At a cold start,
this variable is reset to its default.

$MOR_GRP[1].$torque[9]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Average Torque

Description: Average torque information by DSP.

Power Up: Updated automatically by the system.

Screen: STATUS axis monitor

$MOR_GRP[1].$tune[9]

Minimum: MIN_TUNE Maximum: MAX_TUNE Default:

DEF_TUNE KCL/Data: RW Program: RW UIF: Not available CRTL: Not
available Data Type: TUNE_T Memory: Not available
Name: Tuning information

Description: Tuning information for motion auto tuning

Power Up: Changes to this variable take effect immediately.#

Screen: None

See Also: None

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$MOR_GRP[1].$tune_val

Minimum: Maximum: Default: KCL/Data:

0x80000000
RW Program: 0x07FFFFFFF
RW UIF: RW CRTL: RW Data Type: 0
INTEGER Memory: CMOS

Name: Tuning variables

Description: Internal use

Power Up: N/A

$MOR_GRP_SV[].$cur_sv_ang

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: REAL Memory: Not
available

Name: Current saved angles

Description: When $MOR.$shm_done is set to true. Filter will save the most
current joint angle to this variable.

Power Up: At a cold start, this variable is reset to its default.

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Motion Task Data

Description:
variable. The Reserved forthis
system sets Internal useon
variable bycold
FANUC
start.Robotics. Do not change this

Power Up: N/A

2.14 N
$NULL_CYCLE

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Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: RAM

Name: System idle cycle counter

Description: This variable is incremented by 1 every time the system executes

one idle loop. If this variable is not incremented over a period of time then the
CPU is being utilized 100% of the time by an application. This is mainly used for
comparison of different approaches to an implementation. If the CPU is 100%
utilized, communications will not work because there is no CPU available.

Power Up: No

2.15 O
$ODRDSP_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Order File Display Enable

Description: Determines whether the order file screen is selectable or not. If

$ODRDSP_ENB is set to 1, the order file screen is selectable. This variable is
only effective when the corresponding software option is loaded.

Power Up: Changes to this variable take effect immediately.

$OPEN_FILES

Minimum: 10 Maximum: 255 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Open files

Description: Determines the maximum number of open files at one time.

Power Up: Only effective during cold start

$OPTION[1]-[20]

Minimum: "" Maximum: " " Default: " " KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

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Name: Name of a standard/optional features.

Description: Displays the release time name of a standard feature or the release
time name and version of an optional feature that been installed.

Power Up: This variable cannot be changed.

$OPWORK STRUCTURE

Name: Operator Work

Description: Controls the buttons and lamps on the SOP/UOP and teach
pendant. Individual fields within this structure are described below.

Power Up: N/A

$OPWORK.$enbl_on

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: ENBL input is ON

Description: When this value is set to TRUE, ENBL of UI is regarded as ON

even if the actual input is OFF.

Power Up: Changes to this variable take effect immediately.

$OPWORK.$intpmask

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0xFFFFFFFF KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: Interpreter Mask

Description: Not currently used.

Power Up: N/A

$OPWORK.$intppaused

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

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Name: Program is Paused

Description: This variable remains > 0 while the program is temporarily stopped.
The system updates it automatically.

Power Up: N/A

$OPWORK.$intprunning

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name:
Program is Running
Description: This variable remains > 0 while the program is executing. The
system updates it automatically.

Power Up: N/A

$OPWORK.$op_inv_mask[1-3]

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Inverted signal mask

Description: Indicates which signals are inverted.

Power Up: N/A

$OPWORK.$op_inv_mask[3]

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available
Name: Inverted signal mask

RO UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS

Name: Original Override Value

Description: When the safety fence is opened (i.e. *SFSPD turns off), the
override value is recorded in this system variable automatically. This value is
used to recover the override value when the safety fence is closed (i.e. *SFSPD
turns on). This value is cleared if you change the override value while the safety
fence is opened. In this case, the override is not recovered when the safety fence
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is closed. This variable should be maintained by the system only. Do not change
this variable.

Power Up: Changes to this variable take effect immediately.

$OPWORK.$outimage[1-3]

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: Current output image.

Description: Current output image.

Power Up: N/A

$OPWORK.$outimage[3]

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Current output image.

Description: Current output image.

Name: Enable/disable UOP signal.

Description: Peripheral devices I/O invalidity. Invalidate all peripheral devices

I/O at one. 0 = Enable 1 = Disable

Power Up: N/A

$OPWORK.$uopbusymsk

Minimum: 0 Maximum: 0xFFFFFFFF Default: 524287 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

Name: User Operator Panel Busy Mask

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Description: Task mask indicating not to turn on UOP busy lamp. This is output
when the peripheral device I/O is being processed. When it is > 0, the operator
control panel BUSY signal will be lit. The system updates it automatically.

Power Up: N/A

$OPWORK.$user_output[1-3]

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS

Name: User Output

Description:
Not currently used.
Power Up: N/A

$OPWORK.$user_output[3]

Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: User Output

Description: Not currently used.

Power Up: N/A

$ORIENTTOL

Minimum: 0. Maximum: 360. Default: 10. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Orientation Error Tolerance

Description:

Power Up: N/A

$OVRD_RATE

Minimum: 0 Maximum: 100 Default: 5 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Override change rate

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Description: The value of $OVRD_RATE indicates the rate of changing override

of 10%-100%. For example, when $OVRD_RATE = 25, override is changed as
follows. V.FINE - FINE - 1 - 2 - 3 - 4 - 5 - 10 - 25 - 50 - 75 - 100

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT STRUCTURE

Name: Override Select Setup

Description: Sets the override to predefined values based on digital inputs. This
feature is only available if the option is installed. This is not a standard option.
Individual fields within this structure are described below.

Power Up: Changes to this variable take effect immediately.

Screen: SYSTEM Variables screen SETUP Override screen

$OVRDSLCT.$off_off_ovr

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Override Setting when Both SDI 1 and 2 are OFF

Description: This variable contains the override value used when both SDI
signals 1 and 2 are OFF.

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT.$off_on_ovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Override Setting when SDI 1 is OFF and SDI 2 is ON

Description: This variable contains the override value used when SDI signal 1 is
OFF and 2 is ON.

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT.$on_off_ovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
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Name: Override Setting when SDI 1 is ON and SDI 2 is OFF

Description: This variable contains the override value used when SDI signal 1 is
ON and 2 is OFF.

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT.$on_on_ovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Override Setting when Both SDI 1 and 2 are ON

Description: This variable contains the override value used when both SDI
signals 1 and 2 are ON.

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT.$ovsl_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Override Select Feature Enable

Description: This enables the override select feature if the option is installed.
This is not a standard option.

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT.$sdi_index1

Minimum: 1 Maximum: 0x7fffffff Default: 0x7fffffff KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS
Name: SDI Number for Signal 1

Description: Digital input which, along with $OVRDSLCT.$sdi _index2, selects

one of four override values.

Power Up: Changes to this variable take effect immediately.

$OVRDSLCT.$sdi_index2

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Minimum: 1 Maximum: 0x7fffffff Default: 0x7fffffff KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: SDI Number for Signal 2

Description: Digital input which, along with $OVRDSLCT.$sdi _index1, selects

one of four override values.

Power Up: Changes to this variable take effect immediately.

2.16 P

$PARAM_GROUP STRUCTURE
Name: Parameter Group

Description: Motion parameters that are generally robot dependent. These can
be modified at any time, but require a cold start to take effect. Individual fields
within this structure are described below.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP.$jogaccratio[4]

Minimum: 0.0 Maximum: 1.0 Default: 0.5 to 0.9 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
real Memory: Not available

Name: Jog acceleration ratio coeffcients

Description: The values are used in jogging filter length calcuations

Power Up: Require a cold start to take effect

Screen: SYSTEM variables screen

$PARAM_GROUP[1].$acc_pa_uma

Minimum: 0.0 Maximum: 50.0 Default: 0.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Scaling Parameter A for Maxaccel/standard Short Motion

Description: Scaling factor A for maxaccel and standard short motion.

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Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$acc_pc_uma

Minimum: 0.0 Maximum: 50.0 Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Scaling Parameter C for Maxaccel/standard Short Motion

Description: Scaling factor C for maxaccel and standard short motion.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$acc_scl_uca
Minimum: 0.01 Maximum: 50.0 Default: 1.0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Filter 1 Scale Factor

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$accel_param[1-4]
Minimum: -100000. Maximum: 100000. Default: 2 KCL/Data:
RW Program: Not available UIF: RW CRTL: RW Data Type:
REAL Memory: CMOS

Name: s-filter acc/dec parameters

Description: S-filter acceleration/deceleration parameters.

Power Up: N/A

$PARAM_GROUP[1].$accel_param[4]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Acceleration Parameter

Description: Reserved for Internal use by FANUC Robotics.

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Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$accel_ratio

Minimum: 0. Maximum: 10. Default: 0.5 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Acceleration Ratio

Description: The ratio of the second stage acceleration time to the first stage
acceleration time.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$accel_time1[9]

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Acceleration Time 1

Description: $accel_time1 is an array of times, one per axis, for the first stage of
the second order acceleration/deceleration algorithm for joint motion. The value
is
andin should
milliseconds.
not be $accel_time1
changed. For isthe
setextended
by the controlled
axes, youstart
are robot setup program,
responsible for
setting this variable using the Control Start Extended axes/Nobot setup Program.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$accel_time2[1-9]

Minimum: 0 Maximum: 1000. Default: 128 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Length of 2nd stage filter for joint motion

Description: Length of 2nd stage filter for joint motion

Power Up: N/A

$PARAM_GROUP[1].$accel_time2[9]

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available
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Name: Acceleration Time 2

Description: $accel_time2 is an array of times, one per axis, for the second
stage of the second order acceleration/deceleration algorithm for joint motion.
The value is in milliseconds. $accel_time2 is set by the controlled start robot
setup program, and should not be changed. For the extended axes, you are
responsible for setting this variable using the Control Start Extended axes/Nobot
setup Program.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$armload[3]

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF: Not0.0 available CRTL:
10000Not available0.0 Data Type: REAL
RW Memory:
Not available

Name: Arm Payload

Description: Payload on robot arm for inertia calculation (units in Kg).

Power Up: On_Cold_Start

$PARAM_GROUP[1].$armload_x[3]

Minimum: -10000 Maximum: 10000 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Armload_x

Description: X position of armload (units in cm).

Power Up: On_Cold_Start

$PARAM_GROUP[1].$armload_y[3]
Minimum: -10000 Maximum: 10000 Default: 0.0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Armload_y

Description: Y position of armload (units in cm).

Power Up: On_Cold_Start

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$PARAM_GROUP[1].$armload_z[3]

Minimum: Maximum: Default: KCL/Data:

-10000
RW Program: 10000
RW UIF: Not available CRTL:0.0Not available Data Type:
REAL Memory: Not available

Name: Armload_z

Description: Z position of armload (units in cm).

Power Up: On_Cold_Start

$PARAM_GROUP[1].$auto_sngstp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Singularity stop at auto mode.

Description: Specifies whether or not the robot should stop in auto mode when
entering singularity zone.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$axis_im_scl
Minimum: 0 Maximum: 32767 Default: 1 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Divider of Inertia and Moment

Description: Divider values of inertia ($axisinertia) and moment ($axismoment).

Power Up: On_Cold_Start

$PARAM_GROUP[1].$axisinertia[9]
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Reserved for Internal use by FANUC Robotics

Description: Reserved for Internal use by FANUC Robotics (units in Kg).

Power Up: On_Cold_Start

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$PARAM_GROUP[1].$axismoment[9]

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 32767 Not available
0 RW
Data Type:
SHORT Memory: Not available

Name: Reserved for Internal use by FANUC Robotics

Description: Reserved for Internal use by FANUC Robotics (units in Kg).

Power Up: On_Cold_Start

$PARAM_GROUP[1].$bcklsh_coun[9]

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Backlash Compensation Count

Description: Backlash compensation count for anti-bac klash compensation.

This value is normally determined by experiment for each individual mechanical
unit.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$belt_enable

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Belt Break Detect Enable

Description: $belt_enable enables the belt breakage detection feature. If it is set

to TRUE, the controller will generate an error message if a drive belt breaks. For
robots
should that are equipped
be TRUE. with belt-driven
For all other axes, suchshould
robots, $belt_enable as the be
A-510,
set to$belt_enable
FALSE. If
your system is equipped with belt-driven axes, setting $belt_enable to TRUE
changes the normal message of OVERTRAVEL to BELT BROKEN.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$cart_accel1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
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Name: Cartesian Acceleration Time 1

Description: $cart_accel1 is the length, in milliseconds, of the first stage of the

second order acceleration/deceleration filter for Cartesian motion. The total
acceleration/deceleration time for either linear or circular Cartesian motion
(except where speed override is used) is the sum of $cart_accel1 and
$cart_accel2. The value of $cart_accel1 is set by the controlled start robot setup
program and should not be changed for robot axes.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$cart_accel2

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW10000 128
Data Type: SHORT Memory:RW
CMOS

Name: Cartesian Acceleration Time 2

Description: $cart_accel2 is the length, in milliseconds, of the second stage of

the second order acceleration/deceleration filter for Cartesian motion. The total
acceleration/deceleration time for either linear or circular Cartesian motion
(except where speed override is used) is the sum of $cart_accel1 and
$cart_accel2. The value of $cart_accel2 is set by the controlled start robot setup
program and should not be changed for robot axes.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$cartmo_mgn

Minimum: 0. Maximum: 1000. Default: 0.2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Standard Short Motion Acceleration Scale for Cartesian Motion

Description: Scale factor for Cartesian standard short motion. One of the

system variables for Cartesian standard short motion support.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$chklimtyp

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Limit Check Type

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Description: Limit check type for S-420 robots only. If set to 0, the limit is
checked from joint 3. If set to 1, the limit is checked from vertical.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$circ_rate

Minimum: 1 Maximum: MAX_MOTYPE_RATE Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: BYTE Memory:
CMOS

Name: Circular Rate

Description:
The number of $scr.$itp_time cycles is used in one interpolation of
circular motion.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$clalm_time

Minimum: 0 Maximum: 100000 Default: 200 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Collision Detection Time

Description: Collision detection time.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$cn_gear_n1

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Numerator of Continuous Turn Axis Gear Ratio

Description: $cn_gear_n1 gives the exact integer value of the numerator of the
gear ratio for the continuous turn axis. The gear ratio for the continuous turn axis
is specified by cn_gear_n1/cn_gear_n2 where typically cn_gear_n1 >
cn_gear_n2. $cn_gear_n1 gives the number of motor revolutions per
$cn_gear_n2 revolutions of the joint. In addition to the maximum value, the
continuous turn option does not allow gear ratios over 4000. I.E.
cn_gear_n1/cn_gear_n2 must be 4000 or less. The value should be set only
through the Setup menu in the continuous turn option.

Power Up: On_Cold_Start

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Screen: SYSTEM Variables screen, SETUP Continuous Turn

$PARAM_GROUP[1].$cn_gear_n2

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Denominator of Continuous Turn Axis Gear Ratio

Description: $cn_gear_n2 gives the exact integer value of the denominator of

the gear ratio for the continuous turn axis. The gear ratio for the continuous turn
axis is specified by cn_gear_n1/cn_gear_n2 where typically cn_gear_n1 >
cn_gear_n2. The value should be set only through the Setup menu in the

continuous turn option.

Power Up: Requires a cold start to take effect.

Screen: SYSTEM Variables screen, SETUP Continuous Turn

$PARAM_GROUP[1].$cnt_acc_mgn

Minimum: 0. Maximum: 100.0 Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Continue acceleration margin.

Description: A scaling factor for tuning the application speed.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$coincident

Minimum: 0 Maximum: 1000. Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Coincidence Limit for Circular Points

Description: Coincident is used for scaling short motion criterion.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$collinear

Minimum: 0 Maximum: 1000. Default: 0.0076 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

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Name: Collinearity Limit for Circular Pts

Description: Collinear is used as a scale factor for the torque used by

$mr_max_trq.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$contaxisnum

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Continuous Turn Axis Number

Description: $contaxisnum indicates which axis operates in continuous turn

mode (optional feature) and enables continuous turn for that axis. The valid
values for $contaxisnum are only the highest robot axis number or an extended
axis number and should be set only through the Setup Menu in the continuous
turn option. The default value indicates that no axis will operate in continuous
mode (all axes operate normally.)

Power Up: Requires a cold start to take effect.

Screen: SYSTEM Variables screen, SETUP Continuous Turn

$PARAM_GROUP[1].$contwindow

Minimum: 0 Maximum: MAX Default: 0 KCL/Data: NO Program:

NO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Continuous Turn Window (Not supported)

Description: The range of pulse count that master reference count have to be
updated when the distance between the current robot position and master
reference count exceed this range.
Power Up: Effective on cold start.

$PARAM_GROUP[1].$cp_cutoffov

Minimum: 0 Maximum: 100 Default: 5 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Lower cutoff value for override when $GROUP.$CNSTNTPT HJT is

TRUE.
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Description: Constant path is not maintained for override values that are less
than the setting for this variable.

Power Up: Effective on cold start.

$PARAM_GROUP[1].$ddacc_ratio

Minimum: 0. Maximum: 100.0 Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Double D filter acceleration ratio.

Description: This is a robot tuning variable for splitting the double D filter at the

process_spd. This variable is in effect only when process_spd is in effect.

Power Up: Effective on cold start.

Screen: SYSTEM variables

$PARAM_GROUP[1].$decel_ratio

Minimum: 0. Maximum: 10. Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Deceleration Ratio for Short Motion

Description: Deceleration ratio for short motion. This will be used to determine
whether or not to use short motion algorithm.

Power Up: Effective on cold start.

$PARAM_GROUP[1].$decoup_mgn STRUCTURE

Name: Decoupling torque (between J2 and J3 axes) parameters

Description: Decoupling torque (between J2 and J3 axes) parameters

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decoup_mgn[1]

Minimum: -100000. Maximum: 100000. Default: 1 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Decoupling torque (between J2 and J3 axes) parameter (1)

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Description: Margin parameter for coupling torque between J2 and J3 axes.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decoup_mgn[2]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Decoupling torque (between J2 and J3 axes) parameter (2)

Description: This value is added to the J3 axis angle when calculating coupling

torque between J2 and J3 axes. [radian]

Power Up: On_Cold_Start

$PARAM_GROUP[1].$decoup_mgn[3]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Decoupling torque (between J2 and J3 axes) parameter (3)

Description: Not used.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$decoup_mgn[4]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Decoupling torque (between J2 and J3 axes) parameter (4)

Description: Not used.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$decp_mgn _wr STRUCTURE

Name: Decoupling torque (considering wrist axes) control parameters

Description: Decoupling torque (considering wrist axes) control parameters

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Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[1]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (1)

Description: Margin parameter for gravity of J4 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[2]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (2)

Description: Margin parameter for position of gravity center of J4 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[3]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (3)

Description: Margin parameter for inertia at gravity center of J4 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[4]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (4)

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Description: Margin parameter for gravity of J5 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[5]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (5)

Description: Margin parameter for position of gravity center of J5 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[6]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (6)

Description: Margin parameter for inertia at gravity center of J5 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[7]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (7)

Description: Margin parameter for gravity of J6 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[8]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

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Name: Decoupling torque (considering wrist axes) parameter (8)

Description: Margin parameter for position of gravity center of J6 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr[9]

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Decoupling torque (considering wrist axes) parameter (9)

Description: Margin parameter for inertia at gravity center of J6 axis

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$def_maxaccel

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: NO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name:
Description: Reserved for future use (not supported).

Power Up: Effective on cold start.

$PARAM_GROUP[1].$duty_enb[1-9]

Minimum: 0 Maximum: 10000000. Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Duty calculation enable flag

Description: For internal use only. Do not modify this system variable. If this
variable is TRUE, duty calculation for that axis is done.

Power Up: Requires a cold start to take effect.

Screen: The System Variables screen (on the teach pendant).

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$PARAM_GROUP[1].$duty_param1[1-9]

Minimum: Maximum: Default: KCL/Data:

-10000000000.
RW Program: RW UIF: RW CRTL:10000000. 0
RW Data Type: REAL Memory:
CMOS

Name: Duty parameter 1

Description: For internal use only. Do not modify this system variable. This
variable is used to calculate the duty of the cycle program.

Power Up: Requires a cold start to take effect.

Screen:
The System Variables screen (on the teach pendant).
See Also: This variable is used for Duty diagnosis.

$PARAM_GROUP[1].$duty_param2[1]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Duty parameter 2

Description: For internal use only. Do not modify this system variable. This
variable is used to calculate the duty of the cycle program.

Power Up: Requires a cold start to take effect.

Screen: The System Variables screen (on the teach pendant).

Minimum: -10000000000. Maximum: 10. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Time Scale max acceleration0

Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

Power Up: Requires a cold start to take effect.

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Screen: The System Variables screen (on the teach pendant).

$PARAM_GROUP[1].$dvc_ac1_max[1-9]

Minimum: -10000000000. Maximum: 10. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Time Scale max acceleration1

Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

Power Up: N/A

$PARAM_GROUP[1].$dvc_acc_max[1-9]

Minimum: -10000000000. Maximum: 10. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Time Scale max acceleration

Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

Power Up: N/A

$PARAM_GROUP[1].$dvc_acc_min[1-9]

Minimum: -10000000000. Maximum: 10. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Time Scale min acceleration

Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

Power Up: N/A

$PARAM_GROUP[1].$dvc_jrk_max[1-9]

Minimum: -10000000000. Maximum: 10. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Time Scale max jerk

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Description: [cnt/ITP/ITP/ITP] -> [cnt/msec/msec/msec]

Power Up: N/A

$PARAM_GROUP[1].$dvc_jrk_min[1-9]

Minimum: -10000000000. Maximum: 10. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Time Scale min jerk

Description: [cnt/ITP/ITP/ITP] -> [cnt/msec/msec/msec]

Power Up: N/A

$PARAM_GROUP[1].$encscales[9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Encoder Scale Factor

Description: For rotational

pulses per degree axes,of$encscales[i]
of movement specifies the
axis i. For translational number
axes, of encoder
$encscales[i]
specifies the number of encoder pulse per mm of movement of axis i. $encscales
is set by the controlled start robot setup program, and should not be changed.
For the extended axes, you are responsible for setting this variable using the
Control Start Extended axes/Nobot setup Program.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$exp_accel[9]

Minimum:
RW UIF: 0Not Maximum:
available 32767 Default:
CRTL: Not 0 KCL/Data:
available RW
Data Type: Program:
SHORT Memory: Not available

Name: Exponential Acceleration Time Constant

Description: Time constant, in milliseconds, of the exponential filter which is

enabled by $PARAM_GROUP.$exp_enbl.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$exp_enbl

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: Exponential Filter Enable

Description: Enables the use of the exponential filter. The time constant of the
exponential filter is $PARAM_GROUP.$exp_accel[i].

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$exp_jog_acc[9]

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Jog Exponential Filter Acceleration.

Description: Exponential filter length for jog motion.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$extaccratio
Minimum: 0. Maximum: 10. Default: 0.5 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Acceleration Ratio for Extended Axes

Description: Motion system uses this variable to split the total filter length
between the first and second stage filter for the extended axes.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$ffg_mgn_j2

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Margin for feed forward (J2)

Description: Not used

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$ffg_mgn_j3

Minimum: Maximum: Default: KCL/Data: Program:

0.
RW UIF: RW CRTL: RW10. Data Type:1.REAL Memory:RWCMOS

Name: Margin for feed forward (J3)

Description: Not used

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$fwp_time1

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW DataDefault:
10000 192 KCL/Data:
Type: SHORT Memory:RW Program:
CMOS

Name: Follow up Acceleration Time 1

Description: Follow up acceleration time 1 for the first stage filter if motor speed
limit occurs.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$fwp_time2

Minimum: 0 Maximum: 10000 Default: 96 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Follow Up Acceleration Time 2

Description: Follow up Acceleration Time 2 for the first stage filter if motor
speed limit occurs.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$gear_ratio[9]
Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Gear Ratio

Description: Gear ratio of mechanical unit for each axis.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$inpos_time[9]

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 100000Not available5000
Data Type: RW
INTEGER Memory: Not available

Name: In-position Detection Time

Description: In position detection time after command output is zero. If the robot
does not come in the position within specified time values, an alarm will be
posted.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$inpos_type

Minimum: 0 Maximum: 2 Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: In-position Type

Description: Type of inposition checking. 0 : use error and counts in filter 1 : use
error only and ignore exp filter 2 : same as o but include current and previous
command

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$jg_fltr_scl

Minimum: 0.0 Maximum: 2.0 Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Jog Filter Scale

Description: Scale factor for filter lengths while jogging.

Power Up: Effective on cold start

$PARAM_GROUP[1].$jntvellim[9]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Joint Velocity Limits

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Description: $jntvellim defines joint speed limits in units of degrees per second
or millimeters per second for each robot joint. It is used to calculate the speed of
all joint interpolated motion. If motion speed of any joint exceeds the value of
$jntvellim during linear or circular motion, the robot speed will slow down so that
the joint velocity becomes within its limit, and the warning message, ``Joint speed
limit used,’’ will be displayed. Since the accuracy of motion is not guaranteed in
this case, this condition should be avoided by reteaching the positions. The value
of $jntvellim is set by the controlled start robot setup program and should not be
increased beyond the default values for robot axes. For the extended axes, you
are responsible for setting the value correctly using the Control Start Extended
axes/Nobot setup Program.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$jog_time_m

Minimum: 0 Maximum: 30 Default: 5 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Jog Time

Description: The number of $SCR.$itp_time cycles that are used for each jog
motion interval.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$joint_rate

Minimum: 1 Maximum: MAX_MOTYPE_RATE Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: BYTE Memory:
CMOS

Name: Joint Rate

Description: The number of $SCR.$itp_time cycles is used in one interpolation

of joint motion.
Power Up: Effective on cold start.

$PARAM_GROUP[1].$lc_qstp_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Local condition enable flag at quick stop.

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Description: Specifies local condition handler handling at quick stop. If TRUE,

normal logic, local condition handler trigger is sent at quick stop. If FALSE, lch
trig is not sent at quick stop.

Power Up: Effective on cold start.

$PARAM_GROUP[1].$lchwarn_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enable LCH (Local Condition Handler) warning

Description:
If true, MOTN-200
too short for specified time-beforewarning
value message is posted when segment is

Power Up: Requires a cold start to take effect.

Screen: SYSTEM Variable screen

$PARAM_GROUP[1].$linear_rate

Minimum: 1 Maximum: MAX_MOTYPE_RATE Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: BYTE Memory:
CMOS
Name: Linear Rate

Description: The number of $SCR.$itp_time cycles is used in one interpolation

of linear motion.

Power Up: Effective on cold start.

$PARAM_GROUP[1].$lowerlims[9]

Minimum:
RW Program: RW Maximum:
-100000. Default:
100000. CRTL:
UIF: Not available KCL/Data:
Not0available Data Type:
REAL Memory: Not available

Name: Axis Lower Limits

Description: $lowerlims defines the lower joint limits in degrees or millimeters.

The value of $lowerlims is set by the controlled start robot setup program and
should not be changed for robot axes. For extended axes, you are responsible
for setting the value correctly by the controlled start extended axes setup
program.
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Power Up: Effective on cold start.

$PARAM_GROUP[1].$lowerlimsdf[9]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Default Axis Lower Limits

Description: This variable contains the default value of the lower joint limits in
degrees or millimeters. This value is used for resetting
$PARAM_GROUP[1].$lowerlims[9].

Power Up: Effective on cold start.

$PARAM_GROUP[1].$master_pos[9]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Master Position

Description:
determined by $master_pos
the masteringdefines
fixture.the
Themastering position of theisrobot
value of $master_pos as
in degrees for
rotary axes and millimeters for linear axes. $master_pos is set by the controlled
start robot setup program and should not be changed for robot axes. For
extended axes, you are responsible for setting the value correctly using the
controlled start extended axes setup program.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$max_amp_cur[9]

Minimum:
RW Program: RW Maximum:
-100000. Default:
100000. CRTL:
UIF: Not available KCL/Data:
Not0available Data Type:
REAL Memory: Not available

Name: Maximum Amplifier Current

Description: Reserved for Internal use by FANUC Robotics.

Power Up: N/A

$PARAM_GROUP[1].$max_payload
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Minimum: 0. Maximum: 100000. Default: -0. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Maximum Payload

Description: The maximum payload supported by the robot (units in Kg).

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$max_pth_acc

Minimum: 0.001 Maximum: 20000. Default: 3125. KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: REAL Memory:

CMOS
Name: Maximum Cartesian Accel Along Path

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mijntchklmt

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Joint motion check limit

Description: The flag to check joint limit per ITP for joint motion.

Power Up: Requires a cold start to take effect.

Screen: SYSTEM Variable screen

$PARAM_GROUP[1].$min_acc_cmc

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Minimum acceleration time for CMC software

Description: This variable is no longer being used.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$min_acc_shm
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Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Minimum Accel Time for Joint Short Motion

Description: Minimum acceleration time for JOINT short motion. It is used for
standard short move softparts and Turbo move softparts.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$min_acc_uca

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW INTEGER CMOS
Name: Minimum Cartesian Acceleration Time for Short Motion

Description: This defines the minimum Cartesian acceleration time that will be
used in case of short motion. On V3.06P This defines the minimum acceleration
time that will be used in case $GROUP[1].$use_cartacc is turned on.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$min_acc_uma

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Minimum Joint Acceleration Time for Use Maxaccel Case

Description: This defines the minimum joint acceleration time that will be used in
case $GROUP[1].$usemaxaccel is turned on. It is used for standard short move
softpart and Turbo move softpart. On V3.06P and later it is used for the minimum
joint and Cartesian acceleration time in case $GROUP[1].$usemaxaccel is
turned on.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$min_acctime[9]

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Minimum Acceleration Time

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Description: This defines the minimum acceleration time that will be used for
any motion.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$min_cat_uma

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Minimum Cartesian Acceltime for Usemaxaccel

Description: Minimum Cartesian acceltime when a value of

$GROUP[*].$usemaxaccel
and Turbo move softpart. is enabled. It is used for standard short move softpart

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$min_payload

Minimum: 0. Maximum: 100000. Default: -0. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Minimum payload for robot

Description: $min_payload is a minimum payload for robot (units in Kg). This

variable is not used from V4.10P.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mosign[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Motor Sign

Description: Defines the direction of axis motor rotation for each axis during
calibration of robots with absolute encoders. The value of $mosign is set using
the controlled start robot setup program and should not be changed for robot
axes. For extended axes, you are responsible for setting the value correctly using
the controlled start extended axes setup program.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$mot_lim_stp

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: Motor speed limit stop

Description: If true, when motor speed limit occurs a STOP severity error is
issued and the current motion is cancelled. If FALSE, the error is WARNING
severity.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mot_spd_lim[9]
Minimum: 0 Maximum: 100000 Default: 2000 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Motor Speed Limit

Description: $mot_spd_lim defines an array of motor speed limits, one per

motor, in units of RPM. The value of $mot_spd_lim is set by the controlled start
robot setup program and should not be changed.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mount_angle

Minimum: -100000. Maximum: 100000. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Mount Angle

Description:
inclination. For robots that support angle mounting, this is the angle of

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mover_gain[9]

Minimum: 0.0 Maximum: 1000. Default: 0.0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

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Name: Move Error Gain Factor

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mover_offst[9]

Minimum: 0 Maximum: 100000000 Default: 524288 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Move Error Offset

Description: .$mover_offset replaces $moverrlims for move error limit checking

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mover_scale[9]

Minimum: 0.0 Maximum: 100. Default: 0.0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Move Error Scale Factor

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$moverrlim[9]

Minimum: 0 Maximum: 100000000 Default: 0 KCL/Data: NO Program:

NO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Move Error Limit (not supported)

Description:

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mrrdum2

Minimum: 0 Maximum: 1000 Default: 0 KCL/Data: NO Program:

RO UIF: NO CRTL: NO Data Type: SHORT Memory: CMOS
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Name: Pad 2 Byte (Not supported)

Description: Reserved for Internal use by FANUC Robotics.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$path_accel1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Path Acceleration Time 1

Description:
Used
stage Cartesian for IntelliTrak. This is the time, in milliseconds, of the first
filter.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$path_accel2

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Path Acceleration Time 2

Description: Used for IntelliTrak. This is the time, in milliseconds, of the second
stage Cartesian filter.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$path_accel3

Minimum: 0 Maximum: 10000 Default: 64 KCL/Data: NO Program:

NO UIF: NO CRTL: NO Data Type: SHORT Memory: CMOS

Name: Reserved for Future Use

Description: Reserved for future use

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$payload

Minimum: 0 Maximum: 10000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

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Name: Payload (not supported)

Description: Payload

Power Up: Requires a cold start to take effect (units in Kg).

$PARAM_GROUP[1].$payload_ix

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Inertia of payload (x)

Description:
The
centroid on the toolXcoordinate
direction component of the
whose setting load’sy:0,
is (x:0, inertia
z:0, around
w:0, p:0,the load’s
r:0). Units
in Kg cm2 .

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$payload_iy

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Inertia of payload (y)

Description: The Y direction component of the load’s inertia around the load’s
centroid on the tool coordinate whose setting is (x:0, y:0, z:0, w:0, p:0, r:0). Units
in Kg cm2 .

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$payload_iz

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Inertia of payload (z)

Description: The Z direction component of the load’s inertia around the load’s
centroid on the tool coordinate whose setting is (x:0, y:0, z:0, w:0, p:0, r:0). Units
in Kg cm2 .

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$payload_x
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Minimum: -10000. Maximum: 10000. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: X position of payload

Description: The X direction position of the load’s centroid on the tool coordinate
whose setting is (x:0, y:0, z:0, w:0, p:0, r:0). Units in cm.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$payload_y

Minimum: Maximum: Default: KCL/Data:

-10000.
RW Program: RW UIF: RW 10000.
CRTL: RW Data 0. Type: REAL Memory:
CMOS

Name: Y position of payload

Description: The Y direction position of the load’s centroid on the tool coordinate
whose setting is (x:0, y:0, z:0, w:0, p:0, r:0). Units in cm.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$payload_z
Minimum: -10000. Maximum: 10000. Default: 0. KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Z position of payload

Description: The Z direction position of the load’s centroid on the tool coordinate
whose setting is (x:0, y:0, z:0, w:0, p:0, r:0). Units in cm.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$perch[9]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

NO Program: NO UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Perch Position (Reserved for future use).

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Description: $perch is used to set the perch position. The $atperch system
variable can be used to determine if the current position of the robot is the same
position as specified by $perch. For robot axes, $perch[i] is in degrees or
millimeters depending on the value of $rotary_axis. for extended axes, $perch[i]
is in the coordinates determined by $encscales. $perch is set using the
SETPERCH built-in procedure. A softpart is available for perch detection which
does not use this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$perchtol[9]

Minimum: -100000. Maximum: 100000. Default: 0.1 KCL/Data:

NO Program: NO UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Perch Tolerance (Reserved for future use)

Description: $perchtol is used to define the tolerance used when the robot
position is checked using $perch. For robot axes, $perchtol[i] is in degrees or
millimeters depending on the value of $rotary_axis. For the extended axes,
$perchtol[i] is in the coordinates determined by $enscales. If $perchtol[i] is
negative, perch checking is turned off for axis i. $perchtol normally is set using
the built-in function SETPERCH. A softpart is available for perch detection which
does not use this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$ppabn_enbl

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Air Pressure Abnormal Signal

Description: Enable/disable the air pressure abnormal signal.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$proc_spdlim

Minimum: 0. Maximum: 2000.0 Default: 2000.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Application process speed limit

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Description: The upper limit for the application process speed. If the program
speed is larger than this speed, Cartesian filter uses double D filters.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$process_spd

Minimum: 0. Maximum: 2000.0 Default: 2000.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Application process speed

Description:
The unit is in Application process
mm. When this speedspeed. A tuning
is greater than variable forthan
0 and less Cartesian
2000, filter.
then a
special filtering technique will be apply for tighter corner rounding. However, if
Turbo Move is loaded and enabled, this speed does not take an effect.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$qstop_tol[1]

Minimum: 0 Maximum: 1000000 Default: 10 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available
Name: Quick Stop Speed Tolerance.

Description: This is the maximum speed (in degrees/second) of quick stop for
the first axis. If speed is greater than this value, quick stop does not work to
protect mechanism.

Power Up: Changes to this variable take effect immediately.

$PARAM_GROUP[1].$qstop_tol[2-3]

Minimum: 0 Maximum: 1000000 Default: 28 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Quick Stop Speed Tolerance.

Description: This is the maximum speed (in degrees/second) of quick stop for
the first axis. If speed is greater than this value, quick stop does not work to
protect mechanism.

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Power Up: Changes to this variable take effect immediately.

$PARAM_GROUP[1].$qstop_tol[4-5]

Minimum: 0 Maximum: 1000000 Default: 20 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Quick Stop Speed Tolerance.

Description: This is the maximum speed (in degrees/second) of quick stop for
the first axis. If speed is greater than this value, quick stop does not work to
protect mechanism.

Power Up: Changes to this variable take effect immediately.

$PARAM_GROUP[1].$qstop_tol[6-9]

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Quick Stop Speed Tolerance.

Description:
the first axis. This is the
If speed maximum
is greater speed
than (in degrees/second)
this value, quick stop doesofnot
quick stop
work to for
protect mechanism.

Power Up: Changes to this variable take effect immediately.

$PARAM_GROUP[1].$rotspeedlim

Minimum: 0.001 Maximum: 1440. Default: 500. KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: REAL Memory:
CMOS

Name: Rotational Speed Limit

Description: The maximum value, in degrees per second, for the rotational
speed of the orientation vectors in a programmed Cartesian motion. The default
value can be reset to a higher value to increase the speed of the robot. If the new
value is too large, the error message, ``Joint Velocity Limit ($jntvellim)’’ will be
displayed.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$servo_ctrl

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 SHORT Memory:
RW CMOS

Name: Servo Control Scheme

Description: Servo control scheme where: $servo_ctrl = 0 : PI_CONTROL (PI

servo control scheme) $servo_ctrl = 1 : SM_CONTROL (Sliding Mode servo
control scheme) constants are defined in MOCONS.HC. From V3.07P,
$sv_ctrl_typ[] is used instead.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$shft_erlim

Minimum: 0 Maximum: 100000000 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Soft Floating Error Limit

Description: These parameters are used for searching errors exceeding with
soft floating ON.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$shortmo_mgn

Minimum: 0. Maximum: 1000. Default: 0.2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Standard Short motion Acceleration Scale for Joint Motion

Description: Scale factor for JOINT standard short motion. One of the system
variables for joint standard short motion support.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$slmt_e1_lw[3]

Minimum: -100000 Maximum: 100000 Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Software Lower Limit Extended Axis 1

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Description: Software lower limit extended axis 1.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$slmt_e1_num

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Software Limit Number for Extended Axis 1

Description: Software limit number for extended axis 1. Three choices can be
selected from $slmt_j1_up or $slmt_j1_lw.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$slmt_e1_up[3]

Minimum: -100000 Maximum: 100000 Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Software Upper Limit Extended Axis 1

Description: Software upper limit extended axis 1.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$slmt_j1_lw[3]

Minimum: -100000 Maximum: 100000 Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Software Lower Limit Joint 1

Description: Software lower limit for joint 1.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$slmt_j1_num

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Software Limit Number Joint 1

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Description: Software limit number for joint 1. Three choices can be selected
from $slmt_j1_up or $slmt_j1_lw.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$slmt_j1_up[3]

Minimum: -100000 Maximum: 100000 Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Software Upper Limit Joint 1

Description:
Software upper limit for joint 1.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$snglrty_stp

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Singularity Stop Control Switch

Description:
robot will stop Singularity stop control
near the singularity switch. If $snglrty_stp is set to TRUE, the
point.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$spccounttol[9]

Minimum: 0 Maximum: 100000000 Default: 524287 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Serial Pulse Coder Checking Tolerance

Description: Serial pulse coder for pulse coder reset checking. This checking is
performed during the power up by comparing the current encoder value with
previous stored value of pulse code machine pulse just prior to power down. The
difference is then compared with this variable, if this axis is not moving at the
time of power down. This is checked only if this axis has brake on it.

Power Up: Set by filter task internally.

$PARAM_GROUP[1].$spcmovetol[9]
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Minimum: 0 Maximum: 100000000 Default: 3670016 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Serial Pulse Coder Checking Moving Tolerance

Description: Serial pulse coder for pulse coder reset checking. This checking is
performed during the power up by comparing the current encoder value with
previous stored value of pulse code machine pulse just prior to power down. The
difference of it is then compared with this variable, if this axis is moving at the
time of power down. This is checked only if this axis has brake on it.

Power Up: Set by filter task internally.

$PARAM_GROUP[1].$speedlim

Minimum: 0.001 Maximum: 100000. Default: 2000 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: REAL Memory:
CMOS

Name: Speed Limit

Description: The maximum programmed speed. If the instruction speed

exceeds this value, then a run-time error is posted.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$speedlimjnt

Minimum: 0 Maximum: 100000 Default: 2000 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL Memory: CMOS

Name: Joint Speed Limit

Description: When JOINT motion is issued, the units of $group.$speed are used

and are in speed,

maximum mm/sec.soHowever,internally this is the
that at maximum speed converted
commandto ajoint
percentage of the
velocity is
same as $PARAM_GROUP.$jntvellim. $PARAM_GROUP.$speedlimj nt is used
as the maximum speed for joint motion.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$spin_ctrl

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
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Name: Wrist Joint Speed Control

Description: This flag is used to enable or disable usage of maximum wrist joint
speed. When user specify a linear motion with the wrist joint option, if the wrist
joint motion dominates, not much of linear motion but lots of wrist motion, this
flag will affect the motion time. When this flag is false, the maximum wrist joint
speed is used. This means the wrist joint option will not affect the motion time.
When this flag is true, the programmed wrist joint speed is used. This means the
wrist joint option will slow down the motion time.

Power Up: N/A

$PARAM_GROUP[1].$stoperlim[9]

Minimum: 0 Maximum: 100000000 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Stop Error Limit

Description:

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$stoptol[9]
Minimum: 0 Maximum: 100000000 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Stop Tolerance

Description: Defines how close the current position must be to the command
position for the motion to be considered complete for FINE termination type.
$param_group.$stoptol is set by the controlled start robot setup program and

should not the

for setting be changed for robot
value correctly axes.
by the For extended
controlled axes, youaxes
start extended are responsible
setup
program.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_ctrl_typ[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available
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Name: Servo Control Type

Description: Servo control scheme where $sv_ctrl_typ = 0 : PI servo control

scheme $sv_ctrl_typ = 1 : Sliding Mode servo control scheme

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_dbl_smt

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enables/disables double smoothing of Newton-Eul er compensation

torque
Description: TRUE: Enables double smoothing of Newton-Euler compensation
torque FALSE: Disables double smoothing of Newton-Euler compensation torque
This system variable is a motion parameter and is tuned by FANUC. Normally,
users should not change this system variable. Note that the path and cycle time
will be changed after modifying this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_dh_a[1-9]

Minimum: -1000000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: D-H parameter a

Description: D-H parameter a [mm] Do not change this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_dh_cosa[1-9]
Minimum: -1. Maximum: 100000. Default: 1. KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: D-H parameter cos(alpha)

Description: D-H parameter cos(alpha) [non] Do not change this system

variable.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$sv_dh_costh[1-9]

Minimum: Maximum: Default: KCL/Data: Program:

-1.
RW UIF: RW CRTL: RW100000.
Data Type: REAL 1. Memory: CMOS
RW

Name: D-H parameter cos(theta)

Description: D-H parameter cos(theta) [non] This parameter is effective only

when $sv_dmy_lnk is TRUE.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_dh_d[1-9]

Minimum: -1000000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: D-H parameter d

Description: D-H parameter d [mm] Do not change this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_dh_sina[1-9]
Minimum: -1. Maximum: 100000. Default: 0. KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: D-H parameter sin(alpha)

Description: D-H parameter sin(alpha) [non] Do not change this system variable.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$sv_dh_sinth[1-9]
Minimum: -1. Maximum: 100000. Default: 0. KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: D-H parameter sin(theta)

Description: D-H parameter sin(theta) [non] This parameter is effective only

when $sv_dmy_lnk is TRUE.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$sv_dmy_lnk[1-9]

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW100000. 0
Data Type: BOOLEAN RW CMOS
Memory:

Name: Dummy link

Description: If this variable is TRUE, the link is dummy link. If FALSE, it is not.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_grv_x

Minimum: -1000000.
RW Program: Maximum:
RW UIF: RW CRTL: RW Default:
1000000. KCL/Data:
0. REAL
Data Type: Memory:
CMOS

Name: Gravity X

Description: X component of gravity vector [mm/s^2]

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_grv_y

Minimum: -1000000. Maximum: 100000. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Gravity Y

Description: Y component of gravity vector [mm/s^2]

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_grv_z
Minimum: -1000000. Maximum: 100000. Default: 0. KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Gravity Z

Description: Z component of gravity vector [mm/s^2]

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$sv_lnk_ix[1-9]

Minimum: Maximum: Default: KCL/Data: Program:

0.
RW UIF: RW CRTL: RW100000.
Data Type: REAL0 Memory: CMOS
RW

Name: Inertia about center of gravity of each link X

Description: X component of inertia about center of gravity of each link

[kg.mm^2] Do not change this system variable.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$sv_lnk_iy[1-9]

Minimum: 0. Maximum: 100000. Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Inertia about center of gravity of each link Y

Description: Y component of inertia about center of gravity of each link

[kg.mm^2] Do not change this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_lnk_iz[1-9]
Minimum: 0. Maximum: 100000. Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Inertia about center of gravity of each link Z

Description: Z component of inertia about center of gravity of each link

[kg.mm^2] Do not change this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_lnk_m[1-9]

Minimum: 0. Maximum: 100000. Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Mass of each link

Description: Mass of each link [kg] Do not change this system variable.

Power Up: Requires a cold start to take effect.

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$PARAM_GROUP[1].$sv_lnk_x[1-9]

Minimum: Maximum: Default: KCL/Data:

-1000000.
RW Program: 100000.
RW UIF: RW CRTL: 0
RW Data Type: REAL Memory:
CMOS

Name: Center of gravity of each link X

Description: X component of center of gravity of each link [mm] Do not change

this system variable.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$sv_lnk_y[1-9]
Minimum: -1000000. Maximum: 100000. Default: 0 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Center of gravity of each link Y

Description: Y component of center of gravity of each link [mm] Do not change

this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_lnk_z[1-9]

Minimum: -1000000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Center of gravity of each link Z

Description: Z component of center of gravity of each link [mm] Do not change

this system variable.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_mcmd_dly

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enables/disables motion command delay

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Description: TRUE: Enables motion command delay when using Newton-Euler

FALSE: Disables motion command delay when using Newton-Euler The
calculation of Newton-Euler compensation torque takes 1 ITP or more. If this
variable is TRUE, the motion command delays for the time of the calculation of
Newton-Euler compensation torque. If FALSE, the motion command does not
delay. This system variable is a motion parameter and is tuned by FANUC.
Normally, users should not change this system variable. Note that the path and
cycle time will be changed after modifying this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_off_all

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: All Axes Control Switch for Automatic Servo on/off

Description: If $sv_off_all is set to TRUE, automatic servo on/off will be applied
to all axes simultaneously. If $sv_off_all is set to FALSE, automatic servo on/off
will be applied to individual axes.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$sv_off_enb[9]
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Servo Off Enable

Description: $sv_off_enb controls whether or not each servo motor uses a timed
servo shutdown feature. It is used with $sv_off_time to shut off servo motors after
motion has been completed. This feature is used primarily for energy saving

purposes.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_off_time[9]

Minimum: 0 Maximum: 100000000 Default: 10000 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Servo Off Time

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Description: $sv_off_time defines the time interval, in milliseconds, after which

the servo motors are shut down.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_param[30]

Minimum: -10000000. Maximum: 10000000. Default: 0. KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Local condition enable flag at quick stop Lower cutoff value for override
when $GROUP.$CNSTNTPTHJT is TRUE Distance from elbow to

obstruction.param
Description: Specify lch handling at quick stop, TRUE: normal logic, lch trig is
sent at quick stop, FALSE: lch trig is not sent at quick stop. Constant path is not
maintained for override values that are less than the setting for this variable,
parameters for a variety of functions

Power Up: You must perform a COLD START for the change to take effect.You
must perform a COLD START for the change to take effect.Changes to this
variable take effect immediately

Screen: The System Variables screen (on the teach pendant). The System
Variables screen (on the teach pendant).SYSTEM Variables screen

$PARAM_GROUP[1].$sv_thet0[1-9]

Minimum: -6.2832 Maximum: 100000. Default: 0. KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Theta0

Description: When[rad]
as an offset angle. calculating theta from
Do not change thiseach jointvariable.
system axis, this Theta0 is added

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_z_sign[1-9]

Minimum: 0 Maximum: 100000. Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Z sign
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Description: If this variable is TRUE, Z direction of the link frame is the same as
the rotational direction of the link when the motor moves to positive direction. If
FALSE, it is opposite. Do not change this system variable.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$syn_err_lim

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: NO Program:

NO UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS

Name: Synchronous Error Limit (Not supported)

Description:

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sync_gain

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: NO Program:

NO UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS

Name: Synchronous Gain Factor (not supported)

Description:
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sync_offset

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: NO Program:

NO UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS

Name: Synchronous Compensation Offset (not supported)

Description:
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$t1t2_sngstp

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Singularity stop at T1 and T2 mode.

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Description: Specifies whether or not the robot should stop in T1 or T2 mode

when entering a singularity zone.

Power Up: On_Cold_Start

$PARAM_GROUP[1].$torque_cons[9]

Minimum: 10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Torque Constants

Description:
$The static torque constants of motor. These values are generally
set in robot library.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$trkerrlim

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Tracking Error Limit

Description: Tracking error limit for sliding mode control. If the servo tracking
error exceeds $trkerrlim in sliding mode control, the ``move error limit’’ alarm will
be posted.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$tsmod_time

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Tip Stick Detection Time

Description: Tip stick detection time for spot welding applications.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$upperlims[9]

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Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Axis Upper Limits

Description: $upperlims defines the upper joint limits, in degrees or millimeters.

The value of $upperlims is set using the controlled start robot setup program and
should not be changed for robot axes. For extended axes, you are responsible
for setting the value correctly using the controlled start extended axes setup
program.

Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$upperlimsdf[9]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Default Axis Upper Limits

Description: This variable contains the default value of the upper joint limits in
degrees or millimeters. This value is used for resetting
$PARAM_GROUP[1].$upperlims[9].

Power Up: Effective on cold start.

$PARAM_GROUP[1].$use_cal

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Alarm Type Switch for Motor Speed Limit

Description: If set

exceeded during CMCto true, a servo
motion. If setalarm will occur
to FALSE, onlywhen motorwill
a warning speed limit is
occur.

Power Up: Requires a cold start to take effect.

$PARAM_MENU[1-21]

Minimum: "" Maximum: MAX_OVRDSLCT Default: "DEFPULSE

" KCL/Data: RW Program: Not available UIF: RW CRTL: RW Data
Type: STRING Memory: CMOS

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Name: Menu of PARAMETER statement in TPE

Description: This variable contains the items displayed in the CHOICE menu for
the PARAMETER statement in the teach pendant editor. This allows you to setup
default values for easy selection in the PARAMETER statement and avoid the
use of alpha entry. In the SYSTEM Variables screen, it is possible to set a total of
21 parameter names. The parameter names must be within 20 characters.
$PARAM_MENU[21] has the following 3 strings as default: `DEFPULSE’,
`WAITTMOUT’, `RCVTMOUT’

Power Up: Takes effect immediately

$PARAM_MENU[21]

Minimum: "" Maximum: " " Default: " " KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Menu of PARAMETER statement in TPE

Power Up: Takes effect immediately

$PASSSUPER STRUCTURE

Name: Super User Password variable structure

Description: This set of variables provides super user password information that

controls the password functionality.

Power Up: N/A

Screen: SYSTEM Variables screen.

$PASSSUPER.$level

Minimum: 0 Maximum: 8 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: SHORT Memory: CMOS

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Name: Install Users Level

Description: This variable indicates the password level associated with the
install user.

Power Up: N/A

Screen: SYSTEM Variables screen.

$PASSSUPER.$name

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Install User Password variable structure

Description: This set of variables provides password information on the install

user.

Power Up: N/A

Screen: System global variable screen.

$PASSSUPER.$time_out

Minimum: -1 Maximum: 10080 Default: 15 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Install Users Time Out

Description: This variable indicates the amount of time that the install user will
stay logged in.

Power Up: N/A

Screen: SYSTEM Variables screen.

$PASSWORD STRUCTURE

Name: Password configuration record

Description: This structure contains password information.

Power Up: Takes effect immediately

Screen: SETUP Passwords screen

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$PASSWORD.$count_down[1-8]

Minimum: Maximum: Default: KCL/Data: Program:

available 0UIF: RO CRTL:
1 RO Data 0 Type: ULONGRO Memory: CMOS
Not

Name: Countdown of Password Time-out

Description: The system will automatically begin a countdown of the time-out

value after a password is entered. When the countdown value reaches 0, the
password will expire. The countdown value is specified in CPU ticks.

Power Up: N/A

Screen:
SETUP Passwords screen
See Also: PASSWORD.$time_out system variable

$PASSWORD.$count_down[4]

Minimum: 0 Maximum: 151200000 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Countdown of Password Time-out

Description: The system will automatically begin a countdown of the time-out

value after a password is entered. When the countdown value reaches 0, the
password will expire. The countdown value is specified in CPU ticks.

Power Up: N/A

Screen: SETUP Passwords screen

Name: Current password level

Description: Specifies the current password level. The levels are OPERATOR =
0 PROGRAM = 1 SETUP = 2, INSTALL = 3.

Power Up: N/A

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Screen: SETUP Passwords screen

$PASSWORD.$curr_level[4]

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Current password level

Description: Specifies the current password level. The levels are OPERATOR =
0 PROGRAM = 1 SETUP = 2, INSTALL = 3.

Power Up:
N/A
Screen: SETUP Passwords screen

$PASSWORD.$curr_user[1-8]

Minimum: 0 Maximum: "" Default: 0 KCL/Data: RO Program: Not

available UIF: NO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Current User

Description: This indicates which user is currently logged in.

Power Up: N/A

Screen: SYSTEM Variables screen.

$PASSWORD.$curr_user[4]

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Current User

Description: This indicates which user is currently logged in.

Power Up: N/A

Screen: SYSTEM Variables screen.

$PASSWORD.$levels[1-4]

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Minimum: MIN_INT Maximum: 1 Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Bit Mask of the Password Levels

Description: The system uses this variable to determine which level of access is
required for any given component.

Power Up: N/A

$PASSWORD.$levels[4]

Minimum: Maximum: Default: KCL/Data:

MIN_INT
RO Program: MAX_INT
RO UIF: Not available 0
CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Bit Mask of the Password Levels

Description: The system uses this variable to determine which level of access is
required for any given component.

Power Up: This variable cannot be modified.

$PASSWORD.$log_events
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Log Password Events

Description: This indicates whether events that occur will be logged into the
Password Log.

Power Up: N/A

Screen: System global variable screen.

$PASSWORD.$num_users

Minimum: 10 Maximum: 100 Default: 10 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Number of Users

Description: This indicates how many password users to allow.

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Power Up: N/A

Screen: System global variable screen.

$PASSWORD.$time_out[1-8]

Minimum: -1 Maximum: "" Default: 15 KCL/Data: RO Program: Not

available UIF: NO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Password Time-out

Description: Indicates a time-out value, in minutes, until a given password is

automatically disabled. This will prevent an advanced user from leaving a system

unprotected.
to the OPERATOR If the time-out value isafter
level password > 0, the
thentime
the expires
system or
willafter
automatically reset
the next cold
start. If the time-out value is 0, the given password will never expire.

Power Up: Takes effect immediately

Screen: SETUP Passwords screen

Minimum: -1 Maximum: 10080 Default: 15 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Password Time-out

Description: Indicates a time-out value, in minutes, until a given password is

automatically disabled. This will prevent an advanced user from leaving a system
unprotected. If the time-out value is > 0, then the system will automatically reset
to the OPERATOR level password after the time expires or after the next cold
start. If the time-out value is 0, the given password will never expire.
Power Up: Takes effect immediately

Screen: SETUP Passwords screen

Name: Setup of torch posture conversion function

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Description: These system variables are used by the torch posture conversion
function. Individual fields within this structure are described below.

Power Up: Changes to these variable take effect immediately.

Screen: Torch posture conversion screen

$PATH_ADJUST.$conv_enbl

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: ENABLE/DISABLE for torch posture conversion function

Description: ENABLE : Posture conversion function is enabled. DISABLE:

Posture conversion function is disabled.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATH_ADJUST.$create

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: REPLACE/CREATE of converted program

Description: This system variable is used to select which the converted part is
created as a new program or is replaced on the original program. REPLACE :
The converted part is replaced on the original program. CREATE : The converted
part is created as a new program.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATH_ADJUST.$match_first

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: ABSOLUTE/MATCH first selection for reference torch posture

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Description: ABSOLUTE : Direct entried values for travel and work angle are
used. MATCH_1 : Posture of top in specified range is used for travel and work
angles.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATH_ADJUST.$num_addpnt

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name:
Number of additional points
Description: This indicates the number of additional points.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATH_ADJUST.$part_of_prg

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: WHOLE/PART of converted range

Description: This system variable is used to select the range of conversion in

program. WHOLE : whole of program is converted PART : Specified range is
only converted

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATH_ADJUST.$pitch_len

Minimum: 0 Maximum: 20 Default: 3 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Pith length of additional points

Description: This indicates the distance between additional points.

Power Up: Changes to this variable take effect immediately.

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Screen: Torch posture conversion screen

$PATH_ADJUST.$ref_plane

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Kind of base plane

Description: 1(HORIZON): Horizontal plane is used as base plane. 2(3POINTS):

Plane created from 3 taught positions is used as base plane. 3(ADJUST) : Plane
whose normal vector matches approach vector of 1 taught positions is used as
base plane.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATH_ADJUST.$smooth_enbl

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: ENABLE/DISABLE for corner smoothing function

Description: ENABLE : Corner smoothing function is enabled. DISABLE: Corner

smoothing function is disabled.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATH_ADJUST.$travel_angl

Minimum: -360 Maximum: 360 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Travel angle for direct entried

Description: This system variable is travel angle at the direct entry.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATH_ADJUST.$work_angl
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Minimum: -360 Maximum: 360 Default: 90 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Work angle for direct entried

Description: This system variable is work angle at the direct entry.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATHAJ_3POS[1] Struc ture

Minimum: Maximum: Default:

available Not availableNot available Not
KCL/Data: available
Program: Not available Not
UIF: Not
available CRTL: Not available Data Type: Not available Memory: Not
available

Name: Information of base plane (3POINTS)

Description: This is normal vector information of base plane when 3POINTS (3

taught positions) is selected in base plane selection screen. Individual fields
within this structure are described below.

Power Up:
Takes effect immediately
Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$approach_x

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: X element of approach vector in position data

Description: Forindicates
system variable internal X
use only. Do
element of not modifyvector
approach this system
in the variable.
recorded This
position.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$approach_y

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
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Name: Y element of approach vector in position data

Description: For internal use only. Do not modify this system variable. This
system variable indicates Y element of approach vector in the recorded position.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$approach_z

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Z element of approach vector in position data

Description: For internal use only. Do not modify this system variable. This
system variable indicates Z element of approach vector in the recorded position.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$e[1-2]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Extended axis element of position data

Description: For internal use only. Do not modify this system variable. This
system variable extended axis element of the recorded position.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$grp_num

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Recorded position group number

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Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position group number.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$index

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Recorded position index

Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position index.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$pos_type

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Recorded position type

Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position type.

Power Up: Changes to this variable take effect immediately.

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$x
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: X element of position data

Description: For internal use only. Do not modify this system variable. This
system variable indicates X element of the recorded position.

Power Up: Takes effect immediately

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Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$y

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Y element of position data

Description: For internal use only. Do not modify this system variable. This
system variable indicates Y element of the recorded position.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_3POS[1].$z

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Z element of position data

Description: For internal use only. Do not modify this system variable. This

system variable indicates Z element of the recorded position.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_AJST STRUCTURE

Name: Information of base plane (ADJUST)

Description: This is normal vector information of base plane when ADJUST

(torch posture)are
this structure is described
selected inbelow.
base plane selection screen. Individual fields within

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_AJST.$dummy

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
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Name: Dummy variable

Description: For internal use only. Do not modify this system variable.

Power Up: Takes effect immediately

$PATHAJ_AJST.$dummy1

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Dummy variable

Description:
For internal use only. Do not modify this system variable.
Power Up: Takes effect immediately

$PATHAJ_AJST.$dummy2

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Dummy variable

Description: For internal use only. Do not modify this system variable.
Power Up: Changes to this variable take effect immediately.

$PATHAJ_AJST.$grp_num

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Recorded position group number

Description: Forindicates
system variable internal use only. Do not
the recorded modify
position this number.
group system variable. This

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_AJST.$index

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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Name: Recorded position index

Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position index.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_AJST.$pos_type

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Recorded position type

Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position type.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PATHAJ_AJST.$posdat

Minimum: MIN_POSX Maximum: MAX_POSX Default:

DEF_POSX KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: POSEXT Memory: CMOS

Name: Position data for base plane of ADJUST

Description: For internal use only. Do not modify this system variable. This
system variable indicates the position data.

Power Up: Takes effect immediately

Screen: Torch posture conversion screen

$PAUSE_NCONT

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Pause when no contact. In the menu, it is defined as Error on Failure.

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Description: If this variable is set to true, the teach pendant program will pause
when robot can not make a contact with a part after it exhausts its search
distance. If this variable is set to FALSE, the robot will only post a warning
message and continue to the next TPE instruction

Power Up: Takes effect immediately

Screen: In touch schedule under Data screen.

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name:

Description: This system variable contains program name. When there is a

request for halt, this program is runned before system is really halted.

Power Up: Takes effect immediately

Screen: The System Variables screen.

See Also: Function spec and design spec of VAG special dry run function.

$PC_TIMEOUT

Minimum: 0 Maximum: 0x7FFFFFFF Default: 25 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: RPC Client Timeout

Description: Specifies the time in seconds for a client connection to wait for a
reply from the PC before cancelling the read operation.

Power Up: On_Cold_Start

$PCCRT

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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Name: PC CRT/KB Feature Enable

Description: Enables (1) or disables (0) the PC CRT/KB. $PCCRT_HOST is the

host name of the PC CRT/KB.

Power Up: Takes effect immediately

$PCCRT_HOST

Minimum: "" Maximum: "" Default: "PCCRT " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: PC CRT/KB Host Name

Description: A string of up to 32 characters defining the name which represents

the PC for the CRT/KB on the network. It should be unique across the network. It
must also be defined as an element in the $HOSTENT array.

Power Up: On_Cold_Start

$PCHAMP_CFG

Minimum: MIN_CFG Maximum: MAX_CFG Default:

DEF_CFG KCL/Data: RO Program: na UIF: FP CRTL: RW Data Type:

PCHAMP_T Memory: CMOS

Name: Process Champion option

Description: Process Champion configuration parameters

Power Up: N/A

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Process Champion enable/disable flag

Description: Specifies the enable/disable for the Process Champion option. This
parameter defaults to ENABLED (1) when this option is loaded.

Power Up: Takes effect immediately

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Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 26 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Process Champion event counter

Description: Specifies the number of valid events the Process Champion found
during processing of the Data Input Configuration file (FR:\CHAMP.DT).

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Process Champion events enable

Description: Specifies the enable/disable for each valid event the Process
Champion found during processing of the Data Input Configuration file
(FR:\CHAMP.DT). By default, the Process Champion ENABLES each valid event
during processing of the Data Input Configuration file (FR:\CHAMP.DT).

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

$PCHAMP_CFG.$EVENTENABLE[26]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
UBYTE Memory: Not available

Name: Process Champion events enable

Description: Specifies the enable/disable for each valid event the Process
Champion found during processing of the Data Input Configuration file
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(FR:\CHAMP.DT). By default, the Process Champion ENABLES each valid event

during processing of the Data Input Configuration file (FR:\CHAMP.DT).

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

Minimum: "" Maximum: "" Default: "FR:\CHAMP.DT " KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: STRING Memory:

CMOS
Name: Process Champion Data Input Configuration filename

Description: Specifies the filename, including device name, of the Data Input
Configuration file. The default filename is FR:\CHAMP.DT.

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

Minimum: "" Maximum: "" Default: ".ls " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Process Champion Output Listing file extension

Description: Specifies the output listing file extension for each output listing file
found in the Data Input Configuration file (FR:\CHAMP.DT).

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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Name: Process Champion file sequence event counter

Description: Specifies the file sequence number of the next output listing file to
be generated by the Process Champion. This parameter will be incremented
after each Stop Recording event until this parameter exceeds the Generic field in
the Start Recording event in the Data Input Configuration file (FR:\CHAMP.DT).

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Process Champion setup flag

Description: Specifies the setup state of the Process Champion option, if the
Data Input Configuration file was configured successfully w/o major errors, this
parameter will be set to ENABLED. If major errors were encountered in the Data
Input Configuration file, this parameter will be DISABLED and an error listing file
(FR:\CHAMP.LS) will be generated to describe the errors found during
processing.

Power Up: Takes effect immediately

Screen: SYSTEM variables screen.

Name: Process Champion every ’n’ second TimeOut event

Description: Specifies the increment value in seconds of when the Process

Champion option is instructed to record data for the TimeOut event specified in
the Data Input Configuration file. The interval of this parameter can be changed
to occur more/less frequently based on the value of this parameter.

Power Up: Takes effect immediately

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Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: PC Teach Pendant Feature Enable

Description: Enables (1) or disables (0) the PC teach pendant. $PCTP_HOST is

the host name of the PC teach pendant.

Power Up: Takes effect immediately

$PCTP_HOST

Minimum: "" Maximum: "" Default: "PCTP " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

$PG_CFG.$num_tasks

Minimum: 0 Maximum: 0x7fffffff Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Controls the total numer of interpreter (PG) tasks

Description: This variable sets the number of interpreter (PG) tasks that the
system will start. Variable is read only and configured by the application.

Power Up: N/A

$PG_DEFSPD STRUCTURE

Name: Default motion speed and unit for application motion speed statement

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Description: This variables are used with application motion speed statements;
for example, the WELD_SPEED statement in ArcTool.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen and application setup screen ( WELD

system setup screen and so forth )

$PG_DEFSPD.$ap_def_spd

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS

Name:

Description: For internal use only. Do not modify this system variable. When
application speed statement (WELD_SPEED) is executed without application
start statement (ARC START), this variable is used as the default speed. It is
also used in step mode and backward execution.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen and Application Setup screen (WELD

system setup screen and so forth )

$PG_DEFSPD.$ap_def_unit

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Application default speed unit

Description: For internal use only. Do not modify this system variable. When
application speed statement (WELD_SPEED) is executed without application
start statement (ARC START), this variable is used as the default speed unit. It is
also used
3:IPM, in step mode
4:deg/sec, 5:sec and backward execution. 0:%, 1:mm/sec, 2:cm/min,

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen and Application Setup screen (WELD

system setup screen and so forth )

$PG_DEFSPD.$apsp_prexe

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Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Pre-execution of application default speed statement

Description: Enable/disable for pre-execution when application speed statement

(WELD_SPEED) is executed. 0: Disable of pre-execution for application speed
statement 1: Enable of pre-execution for application speed statement

Power Up: Takes effect immediately

$PG_DEFSPD.$dly_lastps

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO4000 2000
Data Type: INTEGER Memory: ROCMOS

Name: Delay time for adjustment of taking last paused position data

Description: For internal use only. Do not modify this system variable. When
original path resume without motion statement is executed, the last paused
position used, which is recorded as the last pausing position. When the data is
not recorded at appropriate timing, the robot moves back at restart. This variable
is used for adjustment of this timing.

Power Up: Takes effect immediately

Screen: SYSTEM variable screen

Minimum: 0.001 Maximum: 100000.0 Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Cartesian Speed

Description: The Cartesian motion speed in program is clamped by this value.

(Units are in mm/sec)

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen. This variable is set by MAX SPEED

instruction.

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$PG_MAX_SPED[1].$jnt_speed[9]

Minimum: Maximum: Default: KCL/Data:

0.001RW UIF: Not100000
RW Program: available CRTL:0.0Not available Data Type:
REAL Memory: Not available

Name: Joint Speed

Description: The joint motion speed in program is clamped by this value. (Units
are in deg/sec)

Power Up: Takes effect immediately

Screen:
SYSTEM Variables screen. This variable is set by MAX SPEED
instruction.

$PG_MAX_SPED[5] STRUCTURE

Name: Program Maximum Speed Structure

Description: These system variables are used to control maximum motion

speed. Individual fields within this structure are described below.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen. This variable is set by MAX SPEED

instruction.

$PGDEBUG

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Program Debugging

Description: Not currently used.

Power Up: N/A

$PGINP_WORD[1-5]

Minimum: "" Maximum: MAX_OVRDSLCT Default: "PRG " KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
STRING Memory: CMOS

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Name: Word for Program Name Input

Description: Used to set the text string for the Word field in the program create
screen. $PGINP_WORD[i] corresponds to softkey Fi (where i=1 - 5). You can
use these variables to reset the softkey labels if you frequently use the same
word for the program name. By default, $PGINP_WORD[1]
PRG$PGINP_WORD[2] MAIN$PGINP_WORD[3] SUB$PGINP_WORD[4]
TEST$PGINP_WORD[5] *uninit*

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, SYSTEM Config screen

$PGINP_WORD[5]

Minimum: "" Maximum: " " Default: "PRG " KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Word for Program Name Input

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, SYSTEM Config screen

$PGTRACE_UP Structure

Minimum: Not available Maximum: Not available Default: Not

available
available KCL/Data:
CRTL: Not Not availableDataProgram:
available Type: NotNot UIF: Not
available Memory:
available Not
available

Name: Update information of execution history

Description: For internal use only. Do not modify this system variable. This
system variable updates execution history information. Individual fields within this
structure are described below.

Power Up: Takes effect immediately

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$PGTRACE_UP.$disp_pxnn

Minimum: Maximum: Default: KCL/Data: Program:

0
RO UIF: RO CRTL: RO255Data Type: 0
BYTE Memory:ROCMOS

Name: Current displayed PX task number

Description: For internal use only. Do not modify this system variable. This
system variable means the current displayed PX task number.

Power Up: Takes effect immediately

$PGTRACE_UP.$trc_update

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Update flag for execution history

Description: For internal use only. Do not modify this system variable. This
system variable means the update flag for execution history.

Power Up: Takes effect immediately

$PGTRACECTL[1] STRUCTURE
Name: Control data of execution history

Description: For internal use only. Do not modify this system variable. This
system variable controls data for execution history. Individual fields within this
structure are described below.

Power Up: Takes effect immediately

$PGTRACECTL[1].$task_id

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: PX task ID which controls this buffer

Description: For internal use only. Do not modify this system variable. This
system variable means PX task ID which controls this trace buffer.

Power Up: Takes effect immediately

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$PGTRACECTL[1].$task_status

Minimum: Maximum: Default: KCL/Data: Program:

-2 CRTL: RO10Data Type: 2SHORT Memory:
RO UIF: RO RO CMOS

Name: PX task status

Description: For internal use only. Do not modify this system variable. This
system variable means PX task status.

Power Up: Takes effect immediately

$PGTRACECTL[1].$trc_btm_idx

Minimum: -32768 Maximum: 32767 Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Index of bottom of execution history buffer

Description: For internal use only. Do not modify this system variable. This
system variable means the index in history buffer which is displayed at the
bottom in execution history.

Power Up: Takes effect immediately

$PGTRACECTL[1].$trc_top_idx

Minimum: -32768 Maximum: 32767 Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Index of top of execution history buffer

Description: For internal use only. Do not modify this system variable. This
system variable means the index in history buffer which is displayed at the top in
execution history.

Power Up: Takes effect immediately

$PGTRACEDT[1,1].$ept_index

Minimum: -32768 Maximum: 32767 Default: -1 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: SHORT Memory:
CMOS

Name: EPT index of executing program

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Description: For internal use only. Do not modify this system variable. This
system variable means the EPT index of executing program. EPT index is
internal index number of the program.

Power Up: Takes effect immediately

$PGTRACEDT[1,1].$exec_type

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: FWD/BWD execution type

Description:
For internal
execution 2:FWD executionuse only. Do
3:BWD not modify this system variable. 1:No
execution

Power Up: Takes effect immediately

$PGTRACEDT[1,1].$file_ofst

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Executed line number

Description: For internal use only. Do not modify this system variable. This
system variable means the file offset for the KAREL program.

Power Up: Takes effect immediately

$PGTRACEDT[1,1].$line_num

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS

Name: Executed line number

Description: For internal use only. Do not modify this system variable. This
system variable means the executed line number of the executing program.

Power Up: Takes effect immediately

$PGTRACEDT[1,1].$line_st

Minimum: 1 Maximum: 4 Default: 4 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BYTE Memory: CMOS
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Name: Line status

Description: For internal use only. Do not modify this system variable. 1:Line is
not executed. 2:Line is executing. 3:Line is finished. 4:Program is aborted.

Power Up: Takes effect immediately

$PGTRACELEN

Minimum: 1 Maximum: 999 Default: 200 KCL/Data: RO Program:

RO UIF: FP CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Length of execution history list

Description: This system variable indicates the length of execution history list.

Power Up: On_Cold_Start

$PING_CTRL.$DATALEN

Minimum: 0 Maximum: 4096 Default: 56 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: data size of ping packet.

Description: defaults to 56 ( causing a 64 byte ping packet ). Max value of

packet is 4096

Power Up: Takes effect immediately

Screen: None

See Also: Ethernet Options Setup and Operations Manual

$PING_CTRL.$DEBUG

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: enable debug code

Description: enables detailed debug messages on console for diagnostics

Power Up: Takes effect immediately

Screen: None
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See Also: Ethernet Options Setup and Operations Manual

$PING_CTRL.$NPACKETS

Minimum: 0 Maximum: 0x7FFFFFFF Default: 1 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Number of ping packets

Description: decides how many ping requests are sent out. The ping routine is
going to timeoutafter (NPACKETS*TIMEOUT) seconds.

Power Up:
Takes effect immediately
Screen: None

See Also: Ethernet Options Setup and Operations Manual

$PING_CTRL.$TIMEOUT

Minimum: 0 Maximum: 32767 Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: PING timeout value

Description: Indicates number of seconds before ping times out.defaults to 2.
Note that the user normally need notchange any of the PING system variables

Power Up: Takes effect immediately

Screen: None

See Also: Ethernet Options Setup and Operations Manual

$PLID_GRP Structure
Minimum: Not available Maximum: Not available Default: Not
available KCL/Data: Not available Program: Not available UIF: Not
available CRTL: Not available Data Type: Not available Memory: Not
available

Name: Payload identification

Description: $PLID_GRP is used to identify the payload parameters of the each

robot. Individual variables within this structure are described below.
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Power Up: Changes to these variables take effect immediately.

$PLID_GRP.$armload1

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Default armload

Description: For internal use only. Do not modify this system variable. This
variable is used to set the "DEFAULT" value in the Payload setup screen. If you
press F4, DEFAULT, in the Payload setup screen, this is set to

$PARAM_GROUP.$ARMLOAD[1].
armload This value is based on the acceptable
(ex. mounted to J3 axis in S-420iF)[kg].

Power Up: N/A

$PLID_GRP.$armload2

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Default armload

Description: For internal use only. Do not modify this system variable. This
variable is used to set the "DEFAULT" value in Payload setup screen. If you
press F4, DEFAULT in the Payload setup screen, this is set to
$PARAM_GROUP.$ARMLOAD[2]. And this value is based on the the acceptable
armload.

Power Up: N/A

$PLID_GRP.$cal_pos[1-9]

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Robot position at Payload calibration.

Description: For internal use only. Do not modify this system variable. This
variable is the position where Payload calibration is done. It is set in the end of
Payload calibration. When Payload estimation is executed, robot must be the

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Name: Payload calibration completion flag

Minimum: 0 Maximum: 10000 Default: 200 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Acceptable margin of servo position error.

Description: Payload identification needs the real robot position because it uses
the gravity that affects each robot axis. So fewer servo position errors are better
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for Payload identification. $error_mgn means how much servo position error is
acceptable, unit is [pulse]. Users can tune this value to improve identification
performance. Generally, the smaller $error_mgn is, the longer executing
identification time is and the better the performance of identification is. But if
$error_mgn is set to so small to improve the performance, executing
identification time is very long because the servo error does not intend to be
smaller than $error_mgn.

Power Up: Takes effect immediately

$PLID_GRP.$est_tcmd[1-9]

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Torque command at Payload estimation.

Description: For internal use only. Do not modify this system variable. This
variable is the torque command of each axis received from servo at Payload
estimation. "$est_tcmd - $cal_tcmd" is used for calculating payload.

Power Up: N/A

$PLID_GRP.$estdone
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:
Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Payload estimation completion flag

Description: For internal use only. Do not modify this system variable. This
variable indicates Payload estimation is already done or not. It is used to check
whether Estimation result can be displayed in Payload identification screen or not.

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:

Not available
Name: Payload_ix of test work piece.

Description: For internal use only. Do not modify this system variable. This
variable is used to check whether some error occurs or not in receiving torque
command. If $tcmdsucc is not SUCCESS, some error occurs and receiving
torque command will be stopped. The kinds of errors are the following. - No
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system variables pointers. - Angle mounted robot. - Some axes are SRDY off. -
Robot is not mastered or not calibrated. - Payload calibration has been not done
yet. (Only Payload estimation error) - Input Motion command while receiving
torque command. - Robot is not in the same position as Payload calibration.
(Only Payload estimation error) - Robot axes number at estimation is different
from one at calibration. (Only Payload estimation error) - Few gravity affects to J2
axis.

Power Up: N/A

$PLID_SV Structure

Minimum: Not available Maximum: Not available Default: Not

available KCL/Data: Not available Program: Not available UIF: Not
available CRTL: Not available Data Type: Not available Memory: Not
available

Name: Payload identification power failure recovery

Description: For internal use only. Do not modify this system variable. This
variable is used to recover the payload identification/setup data at start-up after
power down while identifying or inputting them. Individual variables within this
structure are described below.

Power Up: N/A

$PLID_SV.$armload1

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL Memory: CMOS

Name: Saved armload

Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$armload[1] in the Payload setup/identification

screen,
the This $armload1
controller is set
while you are from $PARAM_GROUP.$armload[1].
modifying, If you
$PARAM_GROUP.$armload[1], it isturn off
recovered at the next hot start.

Name: Current group.

Description: For internal use only. Do not modify this system variable. This
variable indicates what group is operated when the controller is turned OFF. At

hot start, $cur_group is used to decide what group data should be displayed and
recovered.

Power Up: N/A

$PLID_SV.$cur_scrn

Minimum: 1 Maximum: 4 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Current screen.

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Description: For internal use only. Do not modify this system variable. This
variable indicates which screen is displayed when the controller is turned OFF. At
hot start, $cur_scrn is used to decide which screen should be displayed. -- 1 :
Payload setup screen. -- 2 : Payload identification screen.

Power Up: N/A

$PLID_SV.$flag_save

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name:
$PLID_GRP.$caldone or $PLID_GRP.$estdone flag status.
Description: For internal use only. Do not modify this system variable. This
variable is used in only Payload identification screen. It indicates the status of
$caldone, if $pi_type is 0, or $estdone, if $pi_type is 1, when the controller is
turned OFF. At hot start and when $cur_scrn is 2, $flag_save is used to recover
status flag according to $pi_type.

Name: Saved payload_iy

Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$payload_iy in the Payload setup/identification

screen,
off this $payload_iy
the controller is are
while you set from $PARAM_GROUP.$payload_iy.
modifying, If youisturn
$PARAM_GROUP.$payload_iy
recovered at the next hot start.

Power Up: N/A

$PLID_SV.$payload_iz

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL Memory: CMOS

Description: For internal use only. Do not modify this system variable. This
variable is used in the Payload identification screen and estimation only. Before
executing estimation, $result_sav is set from $PLID_GRP.$id_result. If you turn
off the controller while modifying, $id_result is recovered from $result_sav at the

next hot start.

Event Logger, which is a mechanism by which events (like alarms) generated on
the controller are logged through the network to a PMON server running on a PC.
This structure contains details pertaining to the server. The individual fields are
described below.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

$PMON_LOGGER.$FILTER

Minimum: 0 Maximum: 4294967295 Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

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Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: PMON logger service port name

Description: Specifies the service name of the PC running the PMON server.
This variable should be set to "EVENT_LOGGER." This entry should also exist in
the $SERVENT array.

Power Up: N/A

$PNS_CUR_LIN

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW65535 0
Data Type: INTEGER RW CMOS
Memory:

Name: Current Line Number for PNS Program

Description: This system variable holds the current line number of the current
executing PNS program. If the currently executing program is not a PNS program,
this variable is not updated. The ME-NET function uses this system variable to
inform the current status of program execution to the host computer. This
variable should be maintained by system only. Never change this variable
manually.

Power Up: Takes effect immediately

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Keep Cursor at END of Line

Description: If this system variable is TRUE, the cursor remains at the [END]
line or END command line when program execution is completed. If this system
variable is FALSE, the cursor moves to the first line when program execution is
completed. The default value is FALSE. If you do not want the program to start
again unexpectedly after program is completed, this variable should be set to
TRUE. After this system variable is set to TRUE, you must move cursor manually
when you try to start the program again.

Power Up: Takes effect immediately

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Screen: SYSTEM Variables screen, SYSTEM Config screen

$PNS_END_EXE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: [END] Line or END Command is Executed

Description: When PNS program is started, this system variable is set to FALSE.
When [END] line or END command is executed, this system variable is set to
TRUE. The ME-NET function uses this system variable to inform the current
status of program execution to the host computer. This variable should be

maintained by system only. Do not change this variable.

Power Up: Takes effect immediately

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: PNS Program Number

Description: When the PNS program is started, the PNS program number (last
4 digit in PNS program name) is stored in this variable automatically. The ME-
NET function uses this system variable to inform the current status of program
execution to host computer. This variable should be maintained by system only.
Do not change this variable.

Power Up: Takes effect immediately

Screen: SYSTEM Variable screen

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: PNS program select option

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Description: This variable is set to TRUE when the Common Shell PNS Option
is enabled.

Power Up: na

Minimum: "" Maximum: "" Default: "PNS " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: PNS Program Name

Description: Not currently used. This is the name of the selected PNS program,
which can be different than the selected program on the TP SELECT MENU (i.e.
$TP_DEFPROG).

Power Up: N/A

$PNS_TASK_ID

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: PNS Task ID

Description: When the PNS program is started, the task ID for the PNS program
is stored in this variable automatically. The ME-NET function uses this system
variable to inform the current status of program execution to the host computer.
This variable should be maintained by system only. Do not change this variable.

Power Up: Takes effect immediately

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program:

RW UIF: NO CRTL: NO Data Type: BOOLEAN Memory: CMOS

Name: No longer used

Description:

Power Up: N/A

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$PPA_IO_IDX

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 32767 Not available
0 RW
Data Type:
SHORT Memory: Not available

Name: Mapped PPABN (Pneumatic pressure abnormal signal) I/O index number

Description: Not used

Power Up: Changes take effect immediately.

Screen: SYSTEM variables screen

$PPA_IO_TYPE

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Mapped PPABN (Pneumatic pressure abnormal signal) I/O type

Description: Not used

Power Up: Takes effect immediately

Screen: SYSTEM variables screen

$PPA_MAP_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Mapped PPABN (Pneumatic pressure abnormal signal) is enabled

Description: Not used

Power Up: Takes effect immediately

$PRGADJ STRUCTURE

Name: Program Adjust

Description: On-line position correction variables. Individual fields within this

structure are described below.
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Power Up: N/A

$PRGADJ.$next_cycle

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Program Adjust Enable Flag

Description: Not currently used. When implemented and if set to TRUE, means
that the enabled Prog Adjust schedule will not take affect until the next cycle.

Power Up: N/A

$PRGADJ.$p_limit

Minimum: 0 Maximum: 0x100000.0 Default: 0.5 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Program Adjust P Adjustment Min/max

Description: Defines the maximum value that you can enter in the Program
Adjust menu for the P adjustment value. The minimum P adjustment value you
can enter is -($PRGADJ.$p_limit).
Power Up: N/A

$PRGADJ.$r_limit

Minimum: 0 Maximum: 0x100000.0 Default: 0.5 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: Program Adjust R Adjustment Min/max

Description: Defines the maximum value that you can enter in the Program
Adjust menu for the R adjustment value. The minimum R adjustment value you
can enter is -($PRGADJ.$r_limit).

Power Up: N/A

$PRGADJ.$speed_adj

Minimum: 0 Maximum: 200 Default: 100 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Priority Level of Interrupting

Description: $PRIORITY is used to specify the default priority of execution for

routine call actions (interrupt routines) in KAREL condition handler statements.
$PRIORITY can also be used in a condition handler statement WITH clause. In
this case, the indicated routine will execute at the priority specified without
actually changing the default value of $PRIORITY. An interrupt routine with a low
priority will not be executed until control is returned to the program from a higher-
priority routine. Therefore, the actual priority value specified is not important; only
that one must be larger than the other. When $PRIORITY is not specified,

interrupt
from routines
which will interrupt
they appear in the each other,
condition thereby
handler executing in reverse order
definition.

Power Up: N/A

$PROTOENT STRUCTURE

Name: Protocol Entry

Description: An array of structures defining the available protocols on the

controller. Individual fields within this structure are described below.
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Power Up: On_Cold_Start

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$PROTOENT[1].$P_NAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Protocol Name

Description:
Name of an available protocol on the controller.
Power Up: On_Cold_Start

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$PROTOENT[1].$P_PROTO

Minimum: 0 Maximum: 2500 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Protocol Number

Description: Number associated with this particular protocol.

Power Up: On_Cold_Start

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$PROXY_CFG.$list_port

Minimum: 0 Maximum: 32767 Default: 8080 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS

Name: This variable lists the port on which the Robot HTTP proxy server will
listen for incoming requests.

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Description: The default value is port 8080. Most proxy servers typically use
port 8080 as the default listening port.

Power Up: On_Cold_Start

$PRPORT_NUM

Minimum: 3 Maximum: 4 Default: 4 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Printer Port Number

Description: This is the serial port to which the printer is attached. The serial

port configuration must also be set up in the SETUP Port Init screen.
Power Up: N/A

$PURGE_ENBL

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Purge enabled

Description: Enables
FALSE, the FROM diskthe purging
cannot be of the FROM
purged. disk.set
You can If $PURGE_ENBL
$PURGE_ENBL istoset to
FALSE before running a program or application which requires fast cycle time.

Power Up: N/A

$PWF_IO

Minimum: 1 Maximum: 4 Default: 4 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Restore pre-powerfail I/O status

Description: This controls whether the values for digital and analog output
signals are restored on semi-hot start to their values immediately before power-
down, and whether pre-power -down simulation status of all ports is to be
restored. Values are as follows: 1: Output port values are not restored and
simulation is turned off on all ports 2: Output port values are not restored and but
simulation status of all ports is restored. 3: Output port values are restored but
simulation is turned off on all ports 4: (default) Output port values and simulation
of all ports are restored

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Power Up: N/A

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: NO Program:

RW UIF: NO CRTL: NO Data Type: LONG Memory: CMOS

Name: No longer used

Description:

Power Up:
N/A
$PWR_HOT

Minimum: "" Maximum: "" Default: " " KCL/Data: NO Program:

RW UIF: NO CRTL: NO Data Type: STRING Memory: CMOS

Name: Power Hot

Description: Specifies the name of the program that is automatically started

when the controller powers up in power fail recovery mode (hot start). Motion
instructions cannot be
power hot program used intothe
is limited hot start This
5 seconds. program. The should
program execution time for
be used for the
very
limited functions only.

Power Up: N/A

$PWR_NORMAL

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Power Normal

Description: Specifies the name of the KAREL program, TPP program or
Command File that is executed when the system does a normal powerup (cold
start). The system only runs a Command File of the specified name if a program
of that name cannot be found. You are responsible for setting the value of
$PWR_NORMAL if you want a program or Command File to be executed at
power up.

Power Up: Takes effect immediately

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$PWR_SEMI

Minimum: Maximum: Default: KCL/Data: Program:

""
RW UIF: RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name: Program to execute on semi-hot start

Description: If this is not blank, this is the name of a program that is executed
during semi-hot power-fail recovery.

Power Up: On_Cold_Start

Name: Power up Routine Name

Description: 1. At semi-hot power up, if PX status is "PAUSED", power-up ISR

runs for each PX. 2. After power-up ISR starts running, it works the same as
normal ISR. 3. For power-up ISR, user can use PWR_UP_RTN built-in. User can
use any strings as parameter of PWR_UP_RTN, if it’s length is within 12. (This
built-in doesn’t check whether the program name is correct one or not about item
4. Only string length is checked.) 4. At start of power-up ISR, if specified program
by the built-in
KAREL built-inisKAREL
as follows, an error
routine KAREL is posted:
programNon exist
which one
has TPE program
motion group All that
which is not KAREL program In above case, error is posted with wrong program
name. Only a KAREL program which has no motion group can run as power-up
ISR. 5. Differ from PWR_HOT or PWR_SEMI, power-up ISR doesn’t have time-
out limitation. 6. If it is single step status at power-up, power-up ISR runs with
single-step status too. 7. System variable $PWR_UP_RTN[1]--[16] is cleared by
cold start. 8. In KAREL program AAA.PC if $PWR_UP_RTN[*] is set,
$PWR_UP_RTN[*] is cleared at end of AAA.PC

Power Up: N/A

Screen: None

2.17 Q
$QSKIP_GRP[1-9].$error_cnt2[1]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

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Name: Error count.

Description: Current error count of each axis. This is set by FLTR at every ITP.
For internal use only. Do not modify this system variable.

Power Up: Takes effect immediately

$QSKIP_GRP[1] Structure

Minimum: Not available Maximum: Not available Default: Not

available KCL/Data: Not available Program: Not available UIF: Not
available CRTL: Not available Data Type: Not available Memory: Not
available

Name: QUICK SKIP function internal data for each group.

Description: For internal use only. Do not modify this system variable. Individual
variables within this structure are described below.

Power Up: Takes effect immediately

$QSKIP_GRP[1].$qskp_curan(g,1-9)

Minimum: 0. Maximum: 0. Default: 0. KCL/Data: RW Program:

RW UIF: Not available

Not available CRTL: Not available Data Type: REAL Memory:

Name: Current angle of each axis

Description: Current angle of each axis set by CHND. For internal use only. Do
not modify this system variable.

Power Up: Takes effect immediately

$QSKIP_GRP[1].$qskp_errcnt[1-9]

Minimum: 0 Maximum: "" Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Error count at skip condition triggered

Description: Error count of each axis when the skip condition is triggered. This
is copied from $error_cnt2 by CHND when skip condition is completed. For
internal use only. Do not modify this system variable.

Power Up: Takes effect immediately

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2.18 R

$RA_PARAMGRP[1].$appr_weight
Minimum: 0 Maximum: 100 Default: 50 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: This is the weight of the approach vector of a tool in the optimized cost
function.

Description: When a singularity occurs, a tool orientation error is expected since

the robot has fewer degrees of freedom. If applicable, the auto singularity
avoidance function will minimize the orientation error for the tool. This variable
defines the weight between the approach vector and orientation vector of the tool.
The effective range of the variable is [1, 99]. It represents the percentage of the
approach vector weighed in the optimization function. The larger it is, the more
accuracy the approach vector is intended to pursue. However, by increasing the
value might not necessarily increase orientation accuracy of the approach vector.

Power Up: N/A

$RA_PARAMGRP[1].$j4chg_tol

Minimum: 90.0 Maximum: 180.0 Default: 135.0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
REAL Memory: CMOS

Name: This is the minimal joint angle change in axis 4.

Description: This defines the minimal change in joint angles of axis 4 between
the start position and destination position in which to apply the singularity
avoidance control for the program motion. The effective range of the variable is
[90.0 180.0]. The larger it is, the less chance the singularity avoidance function
takes effect. The smaller it is, the more chance axis 4 of the robot is controlled
and the more orientation error is expected at the same time for the program
motion.
Power Up: N/A

$RA_PARAMGRP[1].$sngrlty_tol

Minimum: 3.5 Maximum: 30.0 Default: 3.5 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Singularity Tolerance

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Description: This system variable defines the size of a singularity zone that is
used in the function to predict singularity. The larger it is, the more chance axis 4
of the robot is controlled. Keep in mind while passing through the singularity zone,
the robot will sacrifice orientation accuracy. The smaller it is, the less chance the
singularity avoidance function takes effect. The range of the variable is [3.5
30.0](in degrees). If the angle of axis 5 for the position is less than the tolerance,
the position is viewed as a singular position.

Power Up: N/A

$RA_PARAMGRP[1].$use_strt_j4

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: This is the switch to keep the joint angle of axis 4 the same as the starting
position.

Description: When this is set to TRUE and the singularity avoidance function is
enabled, if taught position in a program is inside a pre-defined singularity zone,
then the system will internally modify the orientation data at the taught position in
the following way:

• Keep location exactly the same as taught.

• Keep the joint angle of axis 4 of the destination point the same as the
starting position
• Match the taught orientation as much as possible.

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$RE_EXEC_ENB

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: RE-EXECution Enable/disable

Description: If TRUE, when the last line executed by BWD is executed by FWD,
the line is re-executed. This means that the motion option instruction of the last
line is executed. TRUE = Enable and FALSE = Disable.

Power Up: Takes effect immediately

Screen:
SYSTEM Variables screen (on the teach pendant)
$REFPOS1 STRUCTURE

Name: Reference Point (Group 1) Variable

Description: Stores a set value of movement for group 1 at a reference point. It

is set automatically using the SETUP Reference Position screen. $REFPOS1
uses the REFPOS11_T structure.

Power Up: N/A

Name: Reference Point (Group 2) Variable

Description: Stores a set value of movement for group 2 at a reference point. It

is set automatically using the SETUP Reference Position screen. $REFPOS2
uses the REFPOS21_T structure.

Power Up: N/A

Name: Reference Point (Group 3) Variable

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Description: Stores a set value of movement for group 3 at a reference point. It

is set automatically using the SETUP Reference Position screen. $REFPOS3
uses the REFPOS31_T structure.

Power Up: N/A

Name: Reference Point (Group 4) Variable

Description:
Storesusing
is set automatically a setthe
value of movement
SETUP forPosition
Reference group 4 screen.
at a reference point. It
$REFPOS4
uses the REFPOS41_T structure.

Power Up: N/A

Name: Reference Point (Group 5) Variable

Description: Stores a set value of movement for group 5 at a reference point. It
is set automatically using the SETUP Reference Position screen. $REFPOS5
uses the REFPOS51_T structure.

Power Up: N/A

Name: Maximum number of reference positions

Description: Individually, set the number at reference point ( $REFPOS 1-5 )

which can be the registration in each group.

Power Up: N/A

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$REFPOSMAXNO[5]

Minimum: Maximum: Default: KCL/Data: Program:

1 available CRTL:
RW UIF: Not 10 1
Not available RW
Data Type:
INTEGER Memory: Not available

Name: Maximum number of reference positions

Description: Individually, set the number at reference point ( $REFPOS 1-5 )

which can be the registration in each group.

Power Up: N/A

$REFPOSxx_T.$atperch
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Reference point position.

Description: Displays if there is a robot currently at reference point. xx

represents 11,21,31,41,51.

Power Up: N/A

$REFPOSxx_T.$comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Comment

Description: Text providing additional information at the reference point. xx

represents 11,21,31,41,51.
Power Up: N/A

$REFPOSxx_T.$dout_indx

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Signal Number of Reference Point General-Purpos e Output

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Description: Indicates how many digital signals are output when there is a robot
at reference point. 0 shows a non-setting. xx represents 11,21,31,41,51.

Power Up: N/A

$REFPOSxx_T.$dout_type

Minimum: 0 Maximum: 50 Default: 2 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Signal Form of Reference Point General-purpose Output

Description:
Digital signal indicating
represents 11,21,31,41,51. there issignal
Setting 2:Digital a robot at reference
( SDO point. signal
) and 8:Robot xx
( RDO )

Power Up: N/A

$REFPOSxx_T.$enabled

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Reference Point Effective.

Description: Makes the function effective at reference point. xx represent

11,21,31,41,51.

Power Up: N/A

$REFPOSxx_T.$homepos

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: NotMemory:
BOOLEAN availableNotCRTL: Not available
available Data Type:

Name: Will specify reference position as home.

Description: This variable is used to specify if this reference position is a

possible home position. It will only be checked if your system is has the
capabilities to do this, i.e. using an extended shell, or an application tool that
supports this feature.

Power Up: Takes effect immediately

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Screen: This variable is set using the reference position menu.

$REFPOSxx_T.$perchpos[9]

Minimum: -1000000. Maximum: 1000000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Reference Point Position

Description: Set the coordinate value of reference point of each axis at the
position. xx represent 11,21,31,41,51.

Power Up:
N/A
$REFPOSxx_T.$perchtol[9]

Minimum: -1000000. Maximum: 1000000. Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Perch Tolerance

Description: Range of error tolerance at a reference point position. This variable

sets
eachthe
axisrange
from of
theerror tolerance
position. of the coordinate
xx represents value of the reference point for
11,21,31,41,51.

Power Up: N/A

$REMOTE

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Remote Operation

Description: Displays the state of the remote switch of operator control panel.
The system updates it automatically. 1:The remote switch is ON 0:The remote
switch is OFF $REMOTE indicates the operator panel REMOTE keyswitch
setting. It is 1 when the key is set to ON and a remote device has motion control.
It is 0 when the key is set to OFF and the operator panel has motion control. The
value of $REMOTE is set and updated automatically.

Power Up: N/A

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$RESM_DRYPRG

Minimum: Maximum: Default: KCL/Data: Program:

""
RW UIF: RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name:

Description: This system variable contains program name. When there is a

request for resume, this program is runned before system is resumed.

Power Up: On_Cold_Start

Screen: The System Variables screen.

See Also: Function spec and design spec of VAG special dry run function.

$RESUME_PROG

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Resume Program

Description: This string can be set from a teach pendant program using the

RESUME_PROG instruction.
during an error recovery A KAREL
process. "shell"typically
This string program can access
contains this string
the name of a
program that is run as part of error recovery. Note that this contains the result of
the last access to an resume_prog instruction from a teach pendant program.

Power Up: N/A

$RGSPD_PREXE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

FP CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Register Speed Pre Execution

Description: This variable controls the interpreter pre-execution when a register

value is used for the speed parameter. The default value is FALSE which means
to stop the pre-execut ion. If it is set to TRUE then pre-planning is not stopped. In
this case, if the user changes the register used for the speed immediately before
executing the motion the speed which is used will be the previous value of the
register. If the register is not typically changed right before issuing the motion
then it may be safe to allow the pre-execution to occur.

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Power Up: On_Cold_Start

$RMT_MASTER

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Remote Master

Description: Determines which remote device is in control of motion when the

remote switch is set to REMOTE. 0:User Operator Panel 1:CRT/KB 2:Host
computer 3:Remote device none.

Power Up: N/A

$ROBOT_NAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Robot Name

Description: Specifies the application entity name that represents this node on

the
Usednetwork.
only forAvailable
MAP. only if the KSL, MOTET or MAP option has been installed.

Power Up: On_Cold_Start

Screen: SYSTEM System Variables screen or KCL

See Also: FANUC Robotics SYSTEM R-J Controller MAP Interface Setup and
Operations Manual

$RPC_TIMEOUT

Minimum: 0 Maximum: 0x7FFFFFFF Default: 120 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS

Name: RPC Server Timeout

Description: Specifies the time in seconds for a server connection to wait for a
reply from the PC before cancelling the read operation.

Power Up: On_Cold_Start

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$RPM_CFG STRUCTURE

Name:
RPM Configuration Record
Description: Variable structure containing configuration information for the RPM.
Individual fields within this structure are described below.

Power Up: N/A

$RPM_CFG.$data_size

Minimum: 4 Maximum: 32 Default: 32 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: The Record Size for each Root Pass Memorization (RPM) Data

Description: The size, in bytes, of the data that RPM records. Size depends on
which sensor uses RPM option.

Power Up: On_Cold_Start

$RPM_CFG.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program:
INTEGER UIF: RW
RW CMOS
Memory: CRTL: RW Data Type:

Name: Debug flag used in RPM

Description: Debug flag used in RPM.

Power Up: Takes effect immediately

$RPM_CFG.$group_num

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: RPM Group Number

Description: Specifies in which group RPM is available.

Power Up: On_Cold_Start

$RPM_CFG.$n_buffers

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Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Number of Available Buffers

Description: The number of buffers allocated to be used. You can expand this
number if memory available.

Power Up: On_Cold_Start

$RPM_GSB STRUCTURE

Name: Root Pass Memorization (RPM) Global Status Block

Description: Root Pass Memorization (RPM) global status block. Reserved for
Internal use by FANUC Robotics. Individual fields within this structure are defined
below.

Power Up: N/A

$RPM_GSB.$last_bfr

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Last Buffer Used

Description: The buffer number that was last used to record RPM data.

Power Up: N/A

$RPM_GSB.$last_posn

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Last Position Recorded

Description: The position that is the destination of last RPM recorded segment.

Power Up: N/A

$RPM_GSB.$last_prog

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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Name: Last Program Recorded

Description: The program that is the last one to use the RPM function.

Power Up: N/A

$RPM_PG STRUCTURE

Name: Root Pass Memorization (RPM) Program Record

Description: Variable structure containing configuration information of the way

the RPM function is executed in the program. Individual fields within this structure
are described below.

Power Up: Takes effect immediately

$RPM_PG.$buffer_no

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Buffer Number Used

Description: The buffer number that is currently used for RPM recording or

playing back.
Power Up: N/A

$RPM_PG.$pitch

Minimum: 0 Maximum: 1000 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: RPM Pitch Value

Description:
the pitch mode Specifies how often
is time, RPM RPM
records will data
offset record thespecified
into offset into its buffer.
buffer every When
$pitch
(ms). When the pitch mode is distance, RPM records offset data every $pitch
(millimeter). If every recording point is less than 100 ms apart the error, "Pitch too
small," will be displayed. If this occurs, you should adjust the speed.

Power Up: Takes effect immediately

See Also: FANUC Robotics SYSTEM R-J3 Controller ArcTool Setup and
Operations Manual

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$RPM_PG.$pitch_mode

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 INTEGER RWMemory: CMOS

Name: Pitch Mode used in RPM

Description: Specifies the RPM recording mode. 0 : distance 1 : time

Power Up: Takes effect immediately

$RPM_PLAN STRUCTURE

Name: RPM Plan Status Record

Description: RPM internal planning record. Reserved for Internal use by FANUC
Robotics. Individual fields within this structure are defined below.

Power Up: N/A

$RPM_PLAN.$bfr_stat[1-5]

Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: RPM_GSB_T Memory:
CMOS
Name: Buffer Status Record

Description: The buffer status record for each group.

Power Up: N/A

$RPM_PLAN.$bfr_stat[5]

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
RPM_GSB_T Memory: Not available

Name: Buffer Status Record

Description: The buffer status record for each group.

Power Up: N/A

$RS232_CFG.$AUXTASK

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Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Internal task number

Description: Reserved for internal use by FANUC Robotics.

Power Up: N/A

Screen: Read only from KCL and SYSTEM Variables screen

$RS232_CFG.$COMMENT

Minimum: Maximum: Default: KCL/Data: Program:

""
RO UIF: RO CRTL: RO"" Data Type:" "STRING Memory:
RO CMOS

Name: Comment

Description: Text describing serial port use.

Power Up: No

Screen: Read only from KCL and SYSTEM Variables screen

$RS232_CFG.$CUSTOM
Minimum: 0x00000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:
RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Custom (reserved)

Description: Reserved for internal use by FANUC Robotics.

Power Up: Reserved

Screen: Read only from KCL and SYSTEM Variables screen

$RS232_CFG.$DEVICEUSE

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Device use

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Description: Numeric representation of serial port use. No Use 1 Teach Pendant

2 Debug Console 3 PS-100/200 Disk 4 FANUC Floppy 5 Handy File 6 Sensor 7
Host Comm 8 Printer 9 KCL/CRT 10

Power Up: Yes

Screen: Read only from KCL and SYSTEM Variables screen. Use the "Port Init"
menu to change this value after a cold start.

$RS232_CFG.$FLOWCONTROL

Minimum: 0x80000000 Maximum: 0x0FFFFFFF Default: 275 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:

CMOS
Name: Flow control

Description: Flow control used on serial port. None 0 Optional XOFF 255
XON/XOFF 256 RTS 512 DTR 1024 DSR 2048

Power Up: N/A

Screen: Read only from KCL and SYSTEM Variables screen

$RS232_CFG.$PARITY
Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: INTEGER Memory: CMOS

Screen: Read only from KCL and SYSTEM Variables screen. Use the "Port Init"
menu to change this value after a cold start.

$RS232_CFG.$TIMEOUT

Minimum: 0 Maximum: 3600 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Time limit

Description: Internally used timeout limit.

Power Up: No.

Screen: Read only from KCL and SYSTEM Variables screen. Use the "Port Init"

menu to change this value after a cold start.

$RS232_CFG[1-10] STRUCTURE

Name: Communication port variable

Description: Defines the purpose of each serial communication port. It is set

automatically by input from the "Port Init" Menu. Ports 1-4 are standard, ports 5-8
are optional. Individual fields within this structure are defined below.

Power Up: N/A

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Screen: Read only from KCL and SYSTEM Variables screen. Can only be set by
uif from CTRL start.

Minimum: 1 Maximum: 10 Default: 4 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Maximum number of serial ports

Description:
This set
system. You must is the
thismaximum number
to the actual of serial
number portsports
of serial that used,
can beif used by the
it is greater
than four.

Power Up: N/A

Screen: Set from KCL and SYSTEM Variables screen

$RSM_DIALM[1].$edge

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Trigger timing, turn on or off.

Description: This variable can be set to On or Off. 0: Turn off 1: Turn on

Power Up: On_Cold_Start

Screen: Error recovery function setup screen

$RSM_DIALM[1].$port_num

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Port number of DI alarm

Description: It specifies the port number to be monitored for DI alarm.

Power Up: On_Cold_Start

Screen: Error recovery function setup screen

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$RSM_DIALM[1].$port_type

Minimum: Maximum: Default: KCL/Data: Program:

1
RW UIF: RW CRTL: RW99 Data Type:
1 INTEGER Memory:
RW CMOS

Name: Port type of DI alarm

Description: It specifies the port type to be monitored for DI alarm.

Power Up: On_Cold_Start

Screen: Error recovery function setup screen

$RSM_DIALM[1].$sev_alarm
Minimum: 1 Maximum: 2 Default: 1 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Severity of DI alarm

Description: This variable can be set to either a Local or Global alarm. 1: Local
alarm 2: Global alarm

Power Up: Takes effect immediately

Screen: Error recovery function setup screen

$RSM_DIALM[1].$ualm_msg_no

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: User alarm message number

Description: The user alarm message specified by this value is displayed at the
error post.
Power Up: Takes effect immediately

Screen: Error recovery function setup screen

$RSM_DIALM[3] STRUCTURE

Name: DI alarm monitor function table.

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Description: This system variable is used by DI alarm monitor feature in the

auto error recovery function.

Power Up: On_Cold_Start

Screen: Auto error recovery setup screen

See Also: Do not change these system variables from system variable screen.

$RSMDIO.$port_num

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Resume Program DO

Description: It shows the assignment of the resume program DO

Power Up: On_Cold_Start

Screen: Error recovery function setup screen

$RSMFST_SV STRUCTURE

Name: Resume Fast Fault

Description: Individual fields within this structure are listed below.

Power Up: N/A

$RSMFST_SV.$def_maint

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Default Maintenance Program Name

Description: This variable contains the name of the maintenance program to run
during error recovery if the user program has not yet defined one using the
MAINT_PROG instruction.

Power Up: Takes effect immediately

Screen: Error Recovery SETUP menu.

$RSMFST_SV.$fastdo_stat
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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Resume Program Status DO Value

Description: This variable is a boolean variable that indicates if a Resume

Program will execute at the next START input.

Power Up: Takes effect immediately

Screen: Error Recovery SETUP menu.

$RSMFST_SV.$ffast_dsp

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Fast Fault Display

Description: This variable enables and disables the display of the maintenance
program setup menu items and also the execution of maintenance programs. If
$ffast_dsp is TRUE, the setup menu items are displayed and maintenance
programs can be executed. If FALSE, the Error Recovery setup menu does not
display the maintenance program section and maintenance programs can not be
executed. The Error Recovery sequence of exiting a paused program, running a
maintenance program, and entering the program to the point of the error is
sometimes referred to as "Fast Fault Recovery."

Power Up: On_Cold_Start

Screen: Error recovery SETUP menu.

$RSMFST_SV.$ffast_enbl

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Fast Fault Enable

Description: This variable enables and disables the execution of Error Recovery
programs. If TRUE, resume programs and maintenance programs can be
executed.

Power Up: Takes effect immediately

Screen: Error Recovery SETUP menu.

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$RSMFST_SV.$use_dry_run

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW1 Data Type:
0 BOOLEAN RWMemory: CMOS

Name: Use Dry Run

Description: This variable enables and disables the use of dry run speeds
during maintenance program EXIT and ENTRY paths. It also enables and
disables weaving during the EXIT and ENTRY moves.

Power Up: Takes effect immediately

Screen:
Error Recovery SETUP menu.
$RSMPRG_ALRM[1-10]

Minimum: 0 Maximum: MAX_RSMPRG_SV Default: 0 KCL/Data:

RO Program: RO UIF: FP CRTL: RW Data Type: INTEGER Memory:
CMOS

Name: Alarm code to be monitored

Description: This system variable is used by error recovery function.

Power Up: On_Cold_Start

Screen: SYSTEM Variables screen, Resume program function setup screen

$RSMPRG_DSBL

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Auto error recovery disable parameter

Description: This system variable is used by the system. When load the optional
function which doesn’t support the auto error recovery function, the optional
function should set this variable to 1. If set, the auto error recovery function is
disabled.

Power Up: On_Cold_Start

$RSMPRG_SV STRUCTURE

Name: Error Recovery (Resume program) function data

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Description: This system variable is used by error recovery function.

Power Up: N/A

$RSMPRG_SV.$alarm_hapen

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Defined alarm happens

Description: This is the status parameter.

Power Up:
Takes effect immediately
Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$alarm_inf

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Alarm information for each PX task

Description: It means the alarm information for each PX task.

Power Up: N/A

See Also: Do not change this variable because of the internal data.

$RSMPRG_SV.$autorcv_enb

Minimum:
RO CRTL: Maximum:
1 RO 3 Default:
Data Type: INTEGER2 KCL/Data: RO Program: RO
Memory: CMOS UIF:

Name: Auto error recovery enable parameter for customer condition

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

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See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$chk_remote

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Remote condition check

Description: 1: when TP is disabled and $RMT_MASTER is 0, add remote

condition check to error recovery DO 0: Do not check remote condition

Power Up: Takes effect immediately

$RSMPRG_SV.$cont_exec

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Continuous execution

Description: 1: When the defined alarm occurs, the fault is not output and
resume program is executed continuously. 0: This feature is disabled.

Power Up: Takes effect immediately

$RSMPRG_SV.$cur_mode

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current mode

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$defined_prg

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

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Name: Resume program is defined ?

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$desire_mode

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

CRTL: Data Type: Memory:
RO RO INTEGER CMOS
Name: Desired mode

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$di_on

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Resume DI is ON

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$incomp_di

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: RSMDIO_T Memory: CMOS

Name: Reset DI for incomplete end DO

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Description: It shows the assignment of the incomplete reset DI

Power Up: On_Cold_Start

Screen: Error recovery function setup screen

$RSMPRG_SV.$incomp_do

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: RSMDIO_T Memory: CMOS

Name: Resume program incomplete end DO

Description:
It shows the assignment of the resume program incomplete DO
Power Up: On_Cold_Start

Screen: Error recovery function setup screen

$RSMPRG_SV.$max_count

Minimum: 0 Maximum: 100 Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Maximum counter of automatic start feature

Description: This is a maximum value of the automatic start. This value is
compared with the internal counter which is incremented by the execution of
resume program. And the internal counter is cleared at motion complete and
CLEAR_RESUME_PROG execution.

Power Up: Takes effect immediately

Screen: Auto error recovery setup screen

$RSMPRG_SV.$mo_group
Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Original program has Mo group

Description: This is the status parameter. This is internal parameter. Do not

change this value.

Power Up: Takes effect immediately

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Screen: Error recovery function manual function screen

$RSMPRG_SV.$mode

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Execution mode of error recovery function

Description: 1: AUTO: Execute resume program according to the conditions. 2:

NOEXEC: Do not execute the resume program 3: TP_TEST: Execute resume
program always from TP

Power Up:
Takes effect immediately
Screen: Error recovery function manual function screen

$RSMPRG_SV.$no_dsb_optn

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: No disable option

Description: This is the status parameter. This is internal parameter. Do not

change this value.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

$RSMPRG_SV.$no_step

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: No single step mode

Description: This is the status parameter. This is internal parameter. Do not

change this value.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

$RSMPRG_SV.$num_alarm
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Minimum: 0 Maximum: 20 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Number of monitored alarm

Description: It means the number of alarm codes to be monitored.

Power Up: On_Cold_Start

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW5 Data Type:
3 INTEGER RWMemory: CMOS

Name: Number of monitored DI alarm

Description: It means the number of DI alarm codes to be monitored.

Power Up: On_Cold_Start

Name: TP_DEFPROG PX No.

Description: PX task number specified by $TP_DEFPROG

Power Up: Takes effect immediately

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$reg_index

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Index number of register to count for continuous execution

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Description: This register is cleared when $TP_DEFPROG PX task is RUN,

KRUN, BRUN, CONT and BCONT. This register should be referred in the
resume program.

Power Up: On_Cold_Start

$RSMPRG_SV.$remote

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Remote condition

Description:
This is the status parameter.
Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSMPRG_SV.$rsmprg_di

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: RSMDIO_T Memory: CMOS

Name: Resume Program DI

Description: It shows the assignment of the resume program DI

Power Up: On_Cold_Start

Screen: Error recovery SETUP menu.

$RSMPRG_SV.$rsmprg_do

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: RSMDIO_T Memory: CMOS

Name: Resume Program DO

Description: It shows the assignment of the resume program DO

Power Up: On_Cold_Start

Screen: Error recovery SETUP menu.

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$RSMPRG_SV.$rsmprg_enb

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 1 RO Data Type:
3 INTEGER 2 Memory: CMOS
RO RO

Name: Original and resume program status

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also:
This is internal parameter. Do not change this value.
$RSMPRG_SV.$rspgdo_stat

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Resume program DO status

Description: It means the resume program DO status

Power Up: N/A

See Also: Do not change this variable because of the internal data.

$RSMPRG_SV.$svprg_enble

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Auto error recovery function enable

Description: This is the status parameter.

Power Up: Takes effect immediately

Screen: Error recovery function manual function screen

See Also: This is internal parameter. Do not change this value.

$RSR[1-8]

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Minimum: 0 Maximum: 0x7fffffff Default: 1 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Enable/disable Robot Service Request

Description: Enables/disables the RSR function. For example, if $RSR[1] is

TRUE, you can select and start a program by using RSR1 input signal.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen or Setting/RSR/PNS screen or the teach

pendant command (RSR[i]=ON/OFF)

$RSR[8]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: Enable/disable Robot Service Request

Description: Enables/disables the RSR function. For example, if $RSR[1] is

TRUE, you can select and start a program by using RSR1 input signal.

Power Up:
Takes effect immediately
Screen: SYSTEM Variables screen or Setting/RSR/PNS screen or the teach
pendant command (RSR[i]=ON/OFF)

$RSR_OPTION

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: RSR program select option

Description: This variable is set to TRUE when the Common Shell RSR Option
is enabled.

Power Up: N/A

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$SA_IDX[1-2]

Minimum: Maximum: Default:

MIN_SA_IDX
DEF_SA_IDX MAX_SACFG
KCL/Data: RW Program: Not available UIF: FP CRTL:
RW Data Type: SA_IDX_T Memory: CMOS

Name: Interchange Servo Axis

Description: This variable defines which group will be used as an interchange

servo axis, how many index positions, what are their positions, which digital
output will be associated with which index position and status of which index this
axis is currently on.

Power Up:
On_CNTL_Start
$SA_IDX[1].$dout[1]

Minimum: 1 Maximum: 255 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Digital output port number

Description: The value define which digital output port will be turn on when the

position of the
This value index
will be device is within
automatically the tolerance
set when user loadofthe
theindex
specified
deviceindex position.
robot library.

Power Up: N/A

Screen: The System Variables screen.

See Also: N/A

$SA_IDX[1].$dout_on[1-8]

Minimum: Maximum:
available 0UIF: Default:
10 RO
RW CRTL: KCL/Data:
Data0 Type: RO
BOOLEAN Program: Not
Memory: CMOS

Name: Digital output status

Description: This variable indicates whether or not the digital output is on

(logically). This means the servo axis is at this index position.

Power Up: On_CNTL_Start

$SA_IDX[1].$dout_on[1]
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Minimum: FALSE Maximum: TRUE Default: FALSE KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Digital output port on/off status

Description: The value reflect whether or not the position of the index device is
within the tolerance of the specified index position, Regardless the digital output
port is simulated or actual connected.

Power Up: N/A

Screen: The System Variables screen.

See Also: N/A

$SA_IDX[1].$dout_type[1-8]

Minimum: 1 Maximum: 10 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Digital output port type

Description: This variable indicates which type of digital output will be used for

this index only

Currently position. 1:outputs
digital Digital Output 2: device_net output. 3: PMC output.
are supported.

Power Up: On_CNTL_Start

$SA_IDX[1].$dout_type[1]

Minimum: 1 Maximum: 10 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Digital output port type

Description: This value specify the digital output port type. 1: For normal digit
output port type and also device net port type. 2-10: for future use.

Power Up: N/A

Screen: The System Variables screen.

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$SA_IDX[1].$group_num

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW5 Data Type:
0 INTEGER RWMemory: CMOS

Name: Group number of the index device

Description: Specify which group is used as index device. The system will set
this value when user load the index device robot library.

Power Up: N/A

Screen: The System Variables screen.

See Also: N/A

$SA_IDX[1].$index_tol

Minimum: 0 Maximum: 10 Default: 0.01 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Tolerance of index position

Description: The unit is degree/mm. This value specify the in position tolerance

of index position. All the index position in this group use this value as tolerance.
Power Up: N/A

Screen: The System Variables screen.

See Also: N/A

$SA_IDX[1].$index_val[1]

Minimum: -1000000 Maximum: 100000 Default: 0 KCL/Data:

REAL Program:
RW Memory: Not UIF:
RW Not available
available CRTL: Not available Data Type:

Name: Index position

Description: The unit is degree/mm. The value indicate where is the index
position of the index device. This value will be automatically set when user load
the index device robot library.

Power Up: N/A

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Screen: The System Variables screen.

See Also: N/A

$SA_IDX[1].$num_index

Minimum: 0 Maximum: 8 Default: 2 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Number of index position

Description: Specify how many index positions exist in this index device. The
system will set this value when user load the index device robot library.

Power Up: N/A

Screen: The System Variables screen.

See Also: N/A

$SACFG

Minimum: MIN_SACFG Maximum: MAX_SACFG Default:

DEF_SACFG KCL/Data: RW Program: Not available UIF: FP CRTL:

RW Data Type: SACFG_T Memory: CMOS

Name: Servo Axis configuration

Description:

Power Up: On_CNTL_Start

$SACFG.$debug

Minimum: -100000000 Maximum: 100000000 Default: 0 KCL/Data:

RW Program:
INTEGER UIF: RW
RW CMOS
Memory: CRTL: RW Data Type:

Name: Debug flag

Description: This variable is used internally by FANUC Robotic for software

debug purpose.

Power Up: N/A

Screen: The System Variables screen.

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See Also: N/A

$SACFG.$loop_time

Minimum: 8 Maximum: 2000 Default: 40 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Loop time for in position checking

Description: The unit is millisecond. This variable specify how often the system
do the in position checking for the index position.

Power Up: N/A

Screen: The System Variables screen.

See Also: N/A

$SBR[16] STRUCTURE

Name: Array of Servo Block Record Variable

Description: Displays the data for the servo motors of all joint axes (16 axes or
less) controlled with R-J3 controller. Individual fields within this structure are
described below.
Power Up: On_Cold_Start

$SBR[i].$axis_num

Minimum: 0 Maximum: 16 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Software Axis Number

Description: Indicates to which software axis number (within the specified

motion group) that the hardware servo axis i is connected.

Power Up: On_Cold_Start

$SBR[i].$grp_num

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available
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Minimum: RW Maximum:
-32768
RW Program: 32767 Default:
UIF: Not available CRTL:0NotKCL/Data:
available Data Type:
SHORT Memory: Not available

Name: Servo Parameter

Description: List of servo parameters for hardware servo axis i.

Power Up: On_Cold_Start

$SBR[i].$sv_param_id
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Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: Servo Parameter ID String

Description: Servo parameter ID string for hardware servo axis i.

Power Up: On_Cold_Start

$SCAN_TIME

Minimum: 0 Maximum: 0x7FFF Default: 16 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW INTEGER CMOS
Name: Scanning Time

Description: $SCAN_TIME can be used only in a condition handler statement

WITH clause. This condition handler qualifier is not a normal system variable. It
cannot be accessed by KCL (NO) and has write only (WO) access by programs.
$SCAN_TIME is used to specify the time in milliseconds between scans in a
condition handler. The syntax for $SCAN_TIME = time_in_ms where time_in_ms
is an INTEGER expression. Actual time_in_ms values will be one of the following:
1, 2, 4, 8, 16, 32, 64, 128, 256, 512, times the value of the $COND_TIME system
variable. Any value less than $COND_TIME will default to the value of
$COND_TIME. Any value greater than (512 * $COND_TIME) ms will default to
(512 * $COND_TIME). Any value between one of the above intervals will default
to the next lower value.

Power Up: N/A

$SCR STRUCTURE

Name: System Configuration Record

Description: Displays the variable concerning system configuration.

Power Up: On_Cold_Start

$SCR.$amp_type[1-16]

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Amplifier type

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Description: $SCR.$amp_type are set in robot library or on SYSTEM variables

screen at Controlled start. It means what the type of this index amplifier is. 0= Not
Used 1= 6 axis amplifier 2= Alpha series amplifier (which has 3 PWM lines) 3=
Alpha series amplifier (which has 6 PWM lines) 4= C series amplifier 5= C series
amplifier + conversion board for R-J3 For example, if $SCR.$amp_type[1] is 1, it
means that the type of amplifier 1 is 6 axis one.

Power Up: On_CNTRL_Start

$SCR.$amp_type[16]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BYTE Memory: Not
available

Name: Amplifier type

Description: $SCR.$amp_type are set in robot library or on SYSTEM variables

Power Up: On_Cold_Start

$scr.$brk_number[9]

Minimum: 0 Maximum: 8 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BYTE Memory: Not
available

Name: Brake number

Description: Defines the brake number assoicated with the axis. A maximum of

four brakes lines is supported on a 6 channel amplifier.

Power Up: On_Cold_Start

$SCR.$brkhold_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Break Hold Enable

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Description: Specifies whether or not to use the temporary stop alarm.

Power Up: On_Cold_Start

$SCR.$cabinet_typ

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Cabinet Type field

Description: Stores cabinet type for R-J3 controller cabinet_type. 0 = i cabinet 1

= B cabinet

Power Up: On_Cold_Start

$SCR.$cap_amp_dis[1-16]

Minimum: 0.0 Maximum: 1000000 Default: 0.0 KCL/Data:

RW Program: Not available UIF: RO CRTL: RW Data Type:
REAL Memory: CMOS

Name: Capacity of amplifier for regenerative discharge.

Description: $SCR.$cap_amp_dis
variables screen. It means capacity are set in robot
of amplifier library or on SYSTEM
for regenerative discharge.

Power Up: Takes effect immediately

Screen: SYSTEM variables screen

$SCR.$cap_amp_dis[16]

Minimum: 0.0 Maximum: 1000000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available
Name: Capacity of amplifier for regenerative discharge.

Description: $SCR.$cap_amp_dis are set in robot library or on SYSTEM

variables screen. It means capacity of amplifier for regenerative discharge.

Power Up: Takes effect immediately

Screen: SYSTEM variables screen

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$SCR.$chain_rsdn

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
1 BOOLEAN 0 RO
Memory: CMOS RO

Name: Status of chain failure reset_done

Description: Status of chain failure reset_done Bit 1 : Chain 1 (+24V) -- Chain

reset has been done Bit 2 : Chain 2 (0V) -- Chain reset has been done

Power Up: Takes effect immediately

$SCR.$chain_stat

Minimum: 0 Maximum: 10000 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Chain failure status

Description: Status of chain failure. Bit 1 : Chain 1 (+24V) failure Bit 2 : Chain 2
(0V) failure

Power Up: Takes effect immediately

$SCR.$chain_time
Minimum: 0 Maximum: 20000 Default: 1000 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Chain failure timer

Description: Wait for the value (ms) after SVEMG signal is ON on CE sign/GM
hardware, and chack chain failure

Power Up: Takes effect immediately

$SCR.$chk_ch_sctm

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: enable checking of scan time in CHND task

Description: If the value is non-zero (default), checking for excessive time
betweencondition handler scans in enabled. Setting to zero disables this
checking.
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Power Up: Takes effect immediately

$SCR.$coldovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Cold Start Override

Description: The speed override value on a cold start.

Power Up: On_Cold_Start

$SCR.$cond_time
Minimum: 8 Maximum: 127 Default: 8 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Condition Time

Description: The condition handler scan time (in milliseconds).

Power Up: On_Cold_Start

$SCR.$coordovrd
Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program:
RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Coordinates Override

Description: The ceiling speed override value when the coordinate system is
changed. If the current speed override is greater than this ceiling speed override,
the current speed override will be updated to the ceiling speed override.

Power Up: On_Cold_Start

$SCR.$dsp_type

Minimum: 0 Maximum: 100 Default: 3 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: DSP hardware type

Description: Software checks the type of DSP on the R-J3 controller during a
controlled or cold start. DSP types are: 0 = DSP V and DSP IV are mounted 1 =
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DSP IV (320C51) (old DSP) 2 = DSP V (320C52) (new DSP from V4.20P) If both
DSPV and DSP IV are mounted on the hardware, this variable is set to 0.

Power Up: N/A

$SCR.$dvc_c_ratio

Minimum: -1.0 Maximum: 1.0 Default: 0.004 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: REAL Memory: CMOS

Name: Time Scale catch up ratio

Description: After motor speed overflow Time Scale will increase the output

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Time Scale mode

Name: Time Scale mode 3

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Description: Upper limit of FDOs piled in filter mail box This restriction was
added to avoid timing problems caused by excessive FDO pile up.

Power Up: N/A

$SCR.$enc_axis[1-8]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Encoder Axis

Description: Used for line tracking. Specify which DSP axis is setup for line

tracking.
Power Up: On_Cold_Start

Screen: SYSTEM Variables screen, SETUP Encoder screen.

$SCR.$enc_axis[2]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Encoder Axis

Description: Used for line tracking. Specify which DSP axis is setup for line
tracking.

Power Up: On_Cold_Start

Screen: SYSTEM Variables screen, SETUP Encoder screen.

$SCR.$enc_type[1-8]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Encoder Type

Description: Used for line tracking. A O indicates incremental. A 1 indicates

absolute.

Power Up: On_Cold_Start

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Screen: SYSTEM Variables screen, SETUP Encoder screen.

$SCR.$enc_type[2]

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Encoder Type

Description: Used for line tracking. A O indicates incremental. A 1 indicates

absolute.

Power Up:
N/A
Screen: SYSTEM Variables screen, SETUP Encoder screen.

$SCR.$fenceovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Fence Override

Description: The override

the current speed ceiling speed override
is greater thanvalue when speed
the ceiling the SFSPD signal
override, theiscurrent
cut. If
speed override will be updated to the ceiling speed override.

Power Up: On_Cold_Start

$SCR.$fine_pcnt

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Fine Jog Mode Speed Percentage

Description: The speed used in fine jog mode is:(1% *
$JOG_GROUP[1].$fine_ovrd) * $SCR_GRP[1].$fine_pcnt

Power Up: On_Cold_Start

$SCR.$fssb1[1-6]

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Minimum: 0x80000000 Maximum: 1000 Default: 0 KCL/Data:

RW Program: Not available UIF: RO CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: FSSB 1 diagnosis information

Description: When SRVO-57 FSSB disconnect alarm,SRVO-55,56,60 occurs,

FSSB information is saved to the following variables. FSSB 1 information
$FSSB1[1] : FSSB mode register $FSSB1[2] : FSSB status register $FSSB1[3] :
FSSB correct error counter $FSSB1[4] : FSSB uncorrectable error counter
$FSSB1[5] : FSSB start code miss counter

Power Up: N/A

$SCR.$fssb1[6]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: FSSB 1 diagnosis information

Description: When SRVO-57 FSSB disconnect alarm,SRVO-55,56,60 occurs,

Power Up: N/A

$SCR.$fssb2[1-6]

Minimum: 0x80000000 Maximum: 1000 Default: 0 KCL/Data:

RW Program: Not available UIF: RO CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: FSSB 2 diagnosis information

Description: When SRVO-57 FSSB disconnect alarm,SRVO-55,56,60 occurs,

FSSB information is saved to the following variables. FSSB 2 information
$FSSB2[1] : FSSB mode register $FSSB2[2] : FSSB status register $FSSB2[3] :
FSSB correct error counter $FSSB2[4] : FSSB uncorrectable error counter
$FSSB2[5] : FSSB start code miss counter

Power Up: N/A

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$SCR.$fssb2[6]

Minimum: Maximum: Default: KCL/Data:

0x80000000
RW Program: 0x7FFFFFFF
RW UIF: Not available 0
CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: FSSB 2 diagnosis information

Description: When SRVO-57 FSSB disconnect alarm,SRVO-55,56,60 occurs,

Power Up: N/A

$SCR.$fssbdiagenb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Switch to enable dynamic FSSB diagnosis function

Description: Switch to enable dynamic FSSB diagnosis function : T Enable

dynamic FSSBinformation
current FSSB diagnosis function
is copied: F
toDisable (default) When
$FSSB1/FSSB2 it is enabled,
After FSSB diagnosis is
done, please set it to F.

Power Up: Takes effect immediately

$SCR.$fwdenblovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Override Value When Disable Forward State is Changed

Description: The override value when disable forward state is changed.

Power Up: Takes effect immediately

$SCR.$hw_c1_time1

Minimum: 0 Maximum: 32767 Default: 800 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

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Name: GM RS-1 Class 1 Stop Mode Deceleration Time

Description: For Class 1 stop mode, servo code stops robot before this timer
expires. This variable defines the worst case deceleration time during class 1
stop.

Power Up: On_Cold_Start

Screen: SYSTEM Variables screen.

$SCR.$hw_c1_time2

Minimum: 0 Maximum: 32767 Default: 200 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW SHORT CMOS
Name: GM RS-1 Class 1 Stop Mode Deceleration Time

Description: For Class 1 stop mode, servo code stops robot before this timer
expires. This variable defines the worst case deceleration time during class 1
stop.

Power Up: On_Cold_Start

Screen: SYSTEM Variables screen.

$SCR.$intask_ovru

Minimum: 0 Maximum: 0x07FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Overrun count for inertia task

Description: The value is increased when inertia task can not execute in interval
time, which is defined by $update_time. If the value is not zero, overrun of inertia
task occurs. This values are not initialized during cold start.
Power Up: N/A

$SCR.$itp_time

Minimum: 4 Maximum: 124 Default: 8 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: ITP Time

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Description: The time in milliseconds of a basic motion cycle.

Power Up: Set only during a controlled start. Requires a cold start to take effect.

$SCR.$jg_dsbl_msk

Minimum: 0 Maximum: 31 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Jog group disable mask

Description: Group mask for disabling jogging. If the bit corresponding to the
group is set, jogging is disabled for that group.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen

$SCR.$jog_aux_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: auxiliary axis jogging enable

Description: 1: allow user to jog auxiliary axis in non sub group jog mode for 3-5
axes robot 0: Only allow user to jog auxiliary axes in sub group jog mode. User
may disable this capability by turn off this flag.

Power Up: Takes effect immediately

$SCR.$joglim

Minimum: 1 Maximum: 100 Default: 12 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Jog Limit

Screen: SYSTEM variables screen.

$SCR.$kept_mirlim

Minimum: 1 Maximum: MBS_MIR_PG-2 Default: 5 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
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Name: Kept Motion Instruction Record Limits

Description: The number of motion instruction records kept in the path planning
system during motion. Adjusting this value makes it possible to recover all
interrupted motions after a servo error (for example, EMERGENCY STOP). The
range of $kept_mirlim is 0-9, but must be less than or equal to ($NUM_MIR - 3).

Power Up: On_Cold_Start

$SCR.$kinem_enb

Minimum: 0 Maximum: 2 Default: 2 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:

Not available
Name: Kinematics Enable

Description: $kinem_enb shows whether forward and inverse kinematics are

defined or not. 2: Both forward and inverse kinematics has been defined. 1: Only
forward kinematics has been defined. 0: kinematics has not been defined.

Power Up: Takes effect immediately

$SCR.$lchdly_time

Minimum: -1000 Maximum: 5000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Local Condition Delay Time

Description: Allows local condition trigger times to be adjusted by this amount

(in msec).

Power Up: Takes effect immediately

$SCR.$made_pg_amr
Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Number of AMRs used in PG was made

Description: Not used

Power Up: On_Cold_Start

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$SCR.$made_pg_mir

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RO UIF: Not 10 0
Not available RO
Data Type:
INTEGER Memory: Not available

Name:
Max Pre-planned Motions
Description: The maximum number of motion statements that the system can
pre-plan. Pre-planning allows the motion statement to be executed immediately
after the previous statement finishes.

Power Up: On_Cold_Start

$SCR.$mb_dsbl_msk

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Motion Basic Softpart Disable Mask

Description: If the bit is set then the softpart in that particular slot of SID_MB will
be disabled.

Power Up: On_Cold_Start

$SCR.$mb_ld_msk

Minimum: 0 Maximum:
RO UIF: RO CRTL: RO1000000 Default:
Data Type: 0 KCL/Data:
INTEGER Memory: Program:
ROCMOS

Name: Motion Basic Softpart loaded mask

Description: This is a bit map of existing Motion Basic softpart. This variable
shows which softpart is loaded.

Power Up: On_Cold_Start

$SCR.$motn_ld_idx[1-32]
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Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program:

RO UIF: RW CRTL: RO Data Type: BYTE Memory: CMOS

Name: Motion Softpart Load Index

Description: Internal variable which indicates which slot is loaded with which
softpart.

Power Up: N/A

$SCR.$motn_ld_msk

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RO Program:

UIF: CRTL: Data Type: Memory:
RO RO RO INTEGER CMOS
Name: Motion Application Softpart loaded mask

Description: This is a bit map of existing Motion Application softpart. This

variable shows which softpart is loaded.

Power Up: On_Cold_Start

$SCR.$motn_pc_run[1-32]

Minimum: 0 Maximum:
RO UIF: RO Default:
CRTL: RO100Data Type: 0 KCL/Data:
BYTE Memory: Program:
ROCMOS

Name: Motion Softpart PC Program Executed

Description: Reserved for internal used by FANUC Robotics. This indicates

whether or not the softpart PC program has been executed to initialize the
softpart variable.

Power Up: On_Cold_Start

$SCR.$ne_mode
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 16 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Newton-Euler mode

Description: 1: Newton-Euler is enabled 0: Newton-Euler is disabled Do not

change this system variable.

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Power Up: On_Cold_Start

$SCR.$ne_sin_reso

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Newton-Euler sin table resolution parameter

Description: n (>= 2): Resolution of angle of sin table for NE is PI/2^n 1:

Resolution of angle of sin table for NE is PI/2^10 (10 was decided by
experiment)0: Do no use sin table (compatible mode) Users should not change

this system variable.

Power Up: On_Cold_Start

$SCR.$num_dsp_axs

Minimum: 0 Maximum: 16 Default: 6 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Number of DSP Axes

Description:
system. The number of DSP axes supported by servo hardware on the

Power Up: On_Cold_Start

$SCR.$num_gp_made

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Number of Groups Requested to Create

Description: Reserved for internal used by FANUC Robotics. The number of

groups that you have requested to create at control start.

Power Up: On_Cold_Start

$SCR.$num_group

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BYTE Memory: CMOS

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Name: Number of Program MIRs

Description: Total number of program MIRs (Motion Instruction Records) which

exist per motion group. Program MIRs are only used by program motion sources.

Power Up: On_Cold_Start

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$SCR.$num_rlibsoc

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
5 BYTE Memory:
0 CMOS RO RO

Name: Number of Robot Libraries in Socket

Description: Reserved for internal use by FANUC Robotics. The number of

robot libraries that have been plugged into the robot library case socket.

Power Up: On_Cold_Start

$SCR.$num_sys_mir

Minimum: 3 Maximum: MBS_MIR_SYS Default: 10 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Number of System MIRs

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: PG function disable mask

Description: 1: PG original path resume function is disabled. 0: All PG function

is enabled. Do not change this system variable.

Power Up:
Takes effect immediately
$SCR.$pre_exe_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Pre-execution Enable

Description: Allows pre-execution of certain program statements, if set to TRUE.

Power Up: On_Cold_Start

$SCR.$pre_mb_cmp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Pre MB Version Compatibility

Description: Requires that the system is compatible with pre MB version if set to
TRUE.

Power Up: On_Cold_Start

$SCR.$prev_ctrl

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Previous Start State is Control Start

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Description: Reserved for internal use by FANUC Robotics. This variable

specifies whether or not the previous start state is a control start.

Power Up: On_Cold_Start

$scr.$proc_axs

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Process control axis

Description:
Process control axis: T -> Process Control axis
Power Up: Takes effect immediately

$SCR.$proc_ctrl

Minimum: 0 Maximum: 1000 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: process axis control

Description: Status of process axis control 0: Position Control 1: Flow Control

Power Up: Takes effect immediately

$SCR.$recov_ovrd

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: When Open Fence is Closed Whether or Not to Restore the Override

Description:
the override. If set to TRUE and the open fence is closed, this variable restores

Power Up: Takes effect immediately

$SCR.$resetinvert

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Reset Signal Inverted

Description: The override value when the SFSPD signal is turned off.

Power Up: On_Cold_Start

$SCR.$subcpu

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: subcpu exist flag

Description: 1: subcpu hardware and software exist in current system. 0: either
subcpu hardware or software does not exist in this system. This is a read only
variable. Used for system to determine itp_time.

Power Up: N/A

$SCR.$sv_code_opt

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Servo Code Option

Description: The servo code option.

Power Up: On_CNTRL_Start

$SCR.$svstat
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Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RW Program:

RO UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Servo Code Loading Status

Description: System set loading status of servo code software. During system
initialization, it set as follows 0 : Servo code is NOT loaded 1 : Standard servo
code is loaded 2 : Sliding mode servo code is loaded

Power Up: On_CNTRL_Start

$SCR.$tpenbleovrd

Minimum: Maximum: Default: KCL/Data: Program:

1
RO UIF: RO CRTL: RO100Data Type: 10 RO CMOS
INTEGER Memory:

Name: Teach Pendent Enable Override

Description: The ceiling speed override value when the teach pendent is
enabled. If the current speed override is greater than the ceiling speed override,
the current speed override will be updated to the ceiling speed override.

Power Up: On_Cold_Start

$SCR.$tpmotnenabl
Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Teach Pendant Motion Enable

Description: Disables jogging if set to 1.

Power Up: Takes effect immediately

$SCR.$turn_axis[1]
Minimum: 0 Maximum: 9 Default: 4 KCL/Data: RO Program: RO UIF:
Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name: Robot multiple turn axis

Description: $scr.$turn_axis is an array of three elements. It defines the robot

axis which could have multiple turns.

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Power Up: On_Cold_Start

$SCR.$turn_axis[2]

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name: Robot multiple turn axis

Description: $scr.$turn_axis is an array of three elements. It defines the robot

axis which could have multiple turns.

Power Up:
On_Cold_Start
$SCR.$turn_axis[3]

Minimum: 0 Maximum: 9 Default: 6 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name: Robot multiple turn axis

Description: $scr.$turn_axis is an array of three elements. It defines the robot

axis which could have multiple turns.

Power Up: On_Cold_Start

$SCR.$update_map1

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 33 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: update map 1

Description: Each bit means update status of each modification Do not change
this system variable.

Power Up: On_Cold_Start

$SCR.$update_map2

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 1 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
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Name: update map 2

Description: Each bit means update status of each modification Do not change
this system variable.

Power Up: On_Cold_Start

$SCR.$update_time

Minimum: 0 Maximum: 100000 Default: 80 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

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Name: Robot multiple turn axis

Description: $scr.$turn_axis is an array of three elements. It defines the robot

axis which could have multiple turns.

Power Up: On_Cold_Start

$SCR_GRP.$turn_axis[3]

Minimum: 0 Maximum: 9 Default: 6 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: INTEGER Memory: Not
available

Name:
Robot multiple turn axis
Description: $scr.$turn_axis is an array of three elements. It defines the robot
axis which could have multiple turns.

Power Up: On_Cold_Start

$SCR_GRP[1].$arm_type

Minimum: 0 Maximum: 20 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Robot Arm Type

Description: Defines the robot arm type. The meanings associated with these
values depend on which robot is being described. The following are possible arm
type definitions: FLOOR_MOUNT 0 = floor mount ANGLE_MOUNT 1 = angle
mount RACK_MOUNT 2 = rack mount STUD_ARM 3 = stud robot KAI_ARM 4 =
Kai robot W_ARM 5 = W type robot S_5 6 = S 5 S_10 7 = S 10 S_5UD 8 = S 5
upside down NORMAL_FLANGE 9 = normal flange SPECIAL_FLANGE 10 =
special flange AREA_GANTRY 11 = area gantry LINEAR_GANTRY 12 = linear
gantry RIGHT_SIDE 13 = right coordinates robot LEFT_SIDE 14 = left

coordinates robot RIGHT_NORMAL

length RIGHT_EXTEND 15 = right coordinates
16 = right coordinates robot with
robot with extended normal
arm arm
length
LEFT_NORMAL 17 = left coordinates robot with normal arm length
LEFT_EXTEND 18 = left coordinates robot with extended arm length S_10UD 19
= S10 upside-down R_HOODECK 20 = Right Hood/deck opener L_HOODECK
21 = Left Hood/deck opener R_DOOR 22 = Right Door opener L_DOOR 23 =
Left Door opener FRONT_SIDE 24 = front side for S450 BACK_SIDE 25 = back
side for S450 S_TYPE 26 = S type for S450 NO_KINEMATICS 27 = for nobot
with no kinematics LR_MATE 28 = LR Mate LR_MATE_UD 29 = LR Mate
Upside-Down LR_MATE_L 30 = LR Mate left LR_MATE_L_UD 31 = LR mate left

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and upside down H_ARM 32 = for S900 L_ARM 33 = for S900 UPSIDE_DOWN
34 = for S700/S800 upside-down

Power Up: Set only during a controlled start.

$SCR_GRP[1].$axisorder[9]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: Axis Order

Description:
A mapping
registers. It indicates array
which axisfrom the software
is controlled by aaxis index servo
particular to servo hardware
motor. For
example, $axisorder[i]=j, where axis index i is connected to servo register j; (Axis
i is controlled by servo motor j. i is commonly referred to as the software number
and j as the hardware number). $axisorder[i]=0 indicates that there is no servo
register associated with axis i.

Power Up: On_Cold_Start

$SCR_GRP[1].$axs_amp_num[1-2]

Minimum:
RO UIF: Not0 Maximum: 16 Default:
available CRTL: 1 KCL/Data:
Not available Program:
RO BYTE
Data Type: Memory:
Not available

Name: Amplifier number of axis

Description: $SCR_GRP[].$axs_amp_num are set on SYSTEM variables

screen at Control start. It mean which amplifier this index axis belongs to. For
example, if $SCR_GRP[1].$axs_amp_num [1] is 1, The J1 axis of Group 1
belongs to the amplifier 1. This amplifier index is equal to one of
$SCR.$amp_type.

Power Up: Set only during a controlled start.

$SCR_GRP[1].$axs_amp_num[3-4]

Minimum: 0 Maximum: 16 Default: 2 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: Amplifier number of axis

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Description: $SCR_GRP[].$axs_amp_num are set on SYSTEM variables

Power Up: On_Cold_Start

$SCR_GRP[1].$axs_amp_num[5-6]

Minimum: 0 Maximum: 16 Default: 3 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: Amplifier number of axis

Description: $SCR_GRP[].$axs_amp_num are set on SYSTEM variables

Power Up: On_Cold_Start

$SCR_GRP[1].$axs_amp_num[7-9]
Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: Amplifier number of axis

Description: $SCR_GRP[].$axs_amp_num are set on SYSTEM variables

screen at Control start. It mean which amplifier this index axis belongs to. For
example, if $SCR_GRP[1].$axs_amp_num [1] is 1, The J1 axis of Group 1

belongs to the amplifier 1. This amplifier index is equal to one of

$SCR.$amp_type.

Power Up: Set only during a controlled start.

$SCR_GRP[1].$axs_xyz_map[9]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

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Name: Axis Cartesian Map

Description: For positioners (robots with unknown kinematics) use coordinated

motion. In the case of a linear axis, $axs_xyz_map defines the direction of the
axis for base frame. In the case of a rotary axis, $axs_xyz_map defines the
direction of the axis rotation. 0 = no map 1 = +x -1 = -x 2 = +y -2 = -y 3 = +z -3 = -
z

Power Up: On_Cold_Start

Screen: SYSTEM Variables screen, SETUP COORD CAL screen.

$SCR_GRP[1].$brk_number[9]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BYTE Memory: Not
available

Name: Brake Number

Description: Defines the brake number associated with the axis.

Power Up: On_Cold_Start

$SCR_GRP[1].$config_mask
Minimum: 0,0,0,0,0,0,0,0 Maximum: 0,0,0,0,0,0,0,0 Default: -1 KCL/Data:
RO Program: RO UIF: RO CRTL: RO Data Type: CONFIG Memory:
CMOS

Name: Config Mask

Description: Indicates which configuration bits are tested in the solution

programs. The value depends on the robot type. $config_mask also indicates
when multiple-turn joints are used. $config_mask affects the input and display of
the configuration string when you specify or display positions.
Power Up: On_Cold_Start

$SCR_GRP[1].$coord_mask

Minimum: 0 Maximum: 32767 Default: 27 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Mask for Available Jog Coordinate Frames

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Description: Controls what jog frames the coordinate key cycles through. There
is a bit defined for each coordinate system available: Bit 0 = Joint Mode Bit 1 =
Jog Frame Bit 2 = World Frame Bit 3 = Tool Frame Bit 4 = User Frame

Power Up: Takes effect immediately

$SCR_GRP[1].$dd_motor[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Direct Drive Motor

Description: Indicates the axis uses a direct drive motor, if set to TRUE. Not
supported in this release.

Power Up: On_Cold_Start

$SCR_GRP[1].$dest_data_p[8]

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: MIR pointer for Distance Before

Description: When SFMTIME is loaded, Pointer of MIR is set.

Power Up: Takes effect immediately

$SCR_GRP[1].$dpos_dst

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS
Name: Distance to destination position

Description: When $M_POS_ENB = T, distance between current position and

destination position on the program is set.

Power Up: Takes effect immediately

$SCR_GRP[1].$dsp_ercnt[9]

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Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Error counter from DSP

Description: When SRVO-57 FSSB disconnect alarm,SRVO-55,56,60 occurs,

error counts on DSP is saved to this variable. Axis number is based on HOST
axis number $scr_grp[g].$dsp_ercnt[n] : Error counter on DSP (group g, axis n)

Power Up: Takes effect immediately

$SCR_GRP[1].$dst_mir_p

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: MIR pointer to destination position

Description: When $M_POS_ENB = T, Pointer of current MIR is set.

Power Up: Takes effect immediately

$SCR_GRP[1].$ext_length[3]
Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Extended Axis Length

Description: Defines the link length of the extended axis.

Power Up: On_CNTRL_Start

$SCR_GRP[1].$ext_offset[3]

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Extended Axis Offset

Description: Defines the joint offset (in mm) of the extended axis.

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Power Up: On_CNTRL_Start

$SCR_GRP[1].$ext_order[3]

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BYTE Memory: Not
available

Name: Extended Axis Order

Description: Maps the extended axis 1-3 to the software axis 1-9. The variable
$SCR_GRP.$axisorder further maps all software axes to hardware axes. For
example, if $ext_order[1] = 7 then axis [7] is the first extended axis.

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Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Hardware Start Axis

Description: Indicates the first hardware axis associated with the motion group.

Power Up: On_Cold_Start

$SCR_GRP[1].$joglim_jnt[9]

Minimum: 0 Maximum: 100 Default: 12 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
Memory:
INTEGER Not available
Name: Jog Speed Limit In Joint Jogging

Description: Percentage of joint speed limit during joint jogging. The value is
different based on the individual robot model.

Power Up: On_Cold_Start

$SCR_GRP[1].$kinem_enb

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW2 Default: KCL/Data:
2 BYTE
Data Type: RW Program:
Memory: CMOS

Name: Kinematics Enabled information

Description: This value shows kinematics information of the robot library: 0:

Kinematics has not been defined. 1: Only forward kinematics has been defined. 2:
Both forward and inverse kinematics have been defined.

Power Up: On_Cold_Start

$SCR_GRP[1].$link_length[6]
Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Robot Link Length

Description: Reserved for internal used by FANUC Robotics. This variable is

used in the Kinematic calculation for certain robots.

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Power Up: On_Cold_Start

$SCR_GRP[1].$loadratio[9]

Minimum: 0. Maximum: 15. Default: 0. KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Load Ratio

Description: Defines the ratio between the external load inertia and the motor
inertia.

Power Up:
On_Cold_Start
$SCR_GRP[1].$m_dst_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Moving distance accumulation function

Description: Switch to enable Moving distance accumulation function. When it is

enabled, it accumulates moving distance of TCP position and it writes to
$SCR_GRP[].$MOVE_DST.
Enable : F Disable It starts to accumulate when it is enabled. : T

Power Up: Takes effect immediately

$SCR_GRP[1].$m_pos_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Current position from machine pulse

Description: Switch to enable current position function from machine pulse : T

Enable : F Disable When it is enabled ,Joint angle and X,Y,Z data of TCP
position are copied to # $MCH_ANG[] and $MCH_POS

Power Up: Takes effect immediately

$SCR_GRP[1].$mch_ang[9]

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Minimum: -10000000. Maximum: 10000000. Default: 0. KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Current joint position from machine pulse

Description: Current Joint position When $m_pos_enb = T and program motion

or jogging executes, it sets current TCP position

Power Up: Takes effect immediately

$SCR_GRP[1].$move_dst

Minimum: Maximum: Default: KCL/Data:

0.0 RW UIF: RW
RW Program: 10000000.0
CRTL: RW Data0.Type: REAL Memory:
CMOS

Name: Moving distance accumulation

Description: When $M_DST_ENB = T, accumulation of TCP moving distance is

set

Power Up: Takes effect immediately

$SCR_GRP[1].$num_axes
Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: RO UIF:
RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Number of Axes

Description: The total number of axes that exist in the motion group.

Power Up: On_Cold_Start

$SCR_GRP[1].$num_dual
Minimum: 0 Maximum: MAX_NUM_DUAL Default: 0 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: BYTE Memory:
CMOS

Name: The number of dual axes config

Description: The number of dual axes in this group.

Power Up: On_Cold_Start

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$SCR_GRP[1].$num_pt

Minimum: Maximum: Default: KCL/Data: Program:

0
NO UIF: NO CRTL: NO22 Data Type:14
BYTE Memory:NOCMOS

Name: Number of Point Records

Description: Reserved for internal use by FANUC Robotics. The number of

point records that will be created in this group.

Power Up: On_Cold_Start

$SCR_GRP[1].$num_rob_axs

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Number of Robot Axes

Description: The number of robot axes that exist in a motion group. All
remaining axes, that are not in a motion group, are considered extended axes.

Power Up: On_Cold_Start

$SCR_GRP[1].$num_seg
Minimum: 0 Maximum: 10 Default: 6 KCL/Data: NO Program:
NO UIF: NO CRTL: NO Data Type: BYTE Memory: CMOS

Name: Number of Segments

Description: Reserved for internal use by FANUC Robotics. The number of

segments that will be created in this group.

Power Up: On_Cold_Start

$SCR_GRP[1].$ofst[9] STRUCTURE

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
AX_OFS_T Memory: Not available

Name: Axis Offset Variable Structure

Description: Defines the offsets (in mm) between neighboring axes.

Name: Axis Offset

Description: Defines the offsets (in mm) between neighboring axes.

Power Up: On_Cold_Start

Screen: SYSTEM Variables screen, SETUP COORD CAL screen.

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$SCR_GRP[1].$op_brk_num[9]

Minimum: Maximum: Default: KCL/Data: Program: UIF:

0 CRTL: Not 6available Data
Not available 0 Type: BYTE RO Memory: Not
RO
available

Name: Option Brake Number

Description: When one axis has two brakes (ex. M-500), this variable is used to
assign the brake DO number for the second brake for this axis.

Power Up: N/A

$SCR_GRP[1].$robot_id
Minimum: "" Maximum: "" Default: "12345678901234567890" KCL/Data:
RO Program: RO UIF: RO CRTL: RO Data Type: STRING Memory:
CMOS

Name: Robot Identification

Description: Defines the robot identification string.

Power Up: On_Cold_Start

$SCR_GRP[1].$robot_model

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Robot Model

Description: Defines the robot model string.

Power Up: On_Cold_Start

$SCR_GRP[1].$rotary_axs[9]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Rotary Axis

Description: Indicates the axis is rotary, if set to TRUE; otherwise, it is a linear

axis.
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Power Up: On_Cold_Start

$SCR_GRP[1].$sv_code_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Servo Code Identification

Description: Defines the servo code identification string.

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Select Default

Description: This system variable is used in the program SELECT screen to
determine what set of programs are displayed at cold start. You can override this
setting using the [TYPE] function key on the SELECT screen. Values are defined
by the program type constants in TPE.KE as follows: PT_KRLPRG : INTEGER =
2 -- KAREL program PT_MNE_UNDEF: INTEGER = 1 -- (hex 0001) TPE
program of undefined sub type PT_MNE_JOB : INTEGER = 257 -- (hex 0101)
TPE job PT_MNE_PROC : INTEGER = 513 -- (hex 0201) TPE process
PT_MNE_MACRO: INTEGER = 769 -- (hex 0301) TPE macro The default, 16,
indicates all programs.
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Power Up: N/A

Screen: SELECT screen, SYSTEM Variables screen

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enable semi-hot start power-fail recovery

Description:
paused when Ifthe
$SEMIPOWERFL is TRUE, TPP
controller is powered-down are programs
in pausedwhich running
state and or
on the
same line when the controller is powered-up. If it is false, all programs will be in
ABORTED state at power-up.

Power Up: On_Cold_Start

Name: Digital output port to be turned on at sem-hot start

Description: If non-zero, this indicates a digital output port to be turned ON at

the start of semi-hot power-fail recovery. This is turned off near the end of semi-
hot power-fail recover.

Power Up: On_Cold_Start

Name: Server Entry

Description: An array of structures defining the Internet Protocol Services.

Individual fields within this structure are described below.

Power Up: On_Cold_Start

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See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$SERVENT[1].$S_NAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Service name

Description: Identifies the service.

Power Up:
On_Cold_Start
See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$SERVENT[1].$S_PORT

Minimum: 0 Maximum: 30000 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Port
Description: Port number associated with this service.

Power Up: On_Cold_Start

Screen: SYSTEM Variable screen

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$SERVENT[1].$S_PROTO

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Server Protocol

Description: Name of the Protocol associated with this service.

Power Up: On_Cold_Start

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See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$SERVICE_KL[1-16]

Minimum: "" Maximum: 1 Default: "SVCPRG1 " KCL/Data:

RO Program: RW UIF: FP CRTL: RW Data Type: STRING Memory:
CMOS

Name: Karel program to execute resume program

Description: For internal use only. Do not modify this system variable. The

RESUME
the program
array[16], is executed
indicates through
the number these
of PX task.KAREL programs.
The RESUME The number
PROGRAM of
for PX
task 1 is executed through SVCPRG_1.PC.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen and Auto Error Recovery Setup screen

$SERVICE_KRL[1-5]

Minimum: "" Maximum: "" Default: "SVCPRG_[1-5] " KCL/Data:

RO Program:
STRING UIF:available
RO Not
Memory: Not available CRTL: Not available Data Type:

Name: KAREL program to execute resume program

Description: For internal use only. Do not modify this system variable. RESUME
program is executed through these KAREL programs. The length of the array[5],
indicates the number of motion groups. RESUME PROGRAM for motion group 1
is executed through SVCPRG_1.PC.

Power Up: Takes effect immediately

$SERVICE_PRG[1-16]

Minimum: "" Maximum: 1 Default: " " KCL/Data: RW Program:

RW UIF: FP CRTL: RW Data Type: STRING Memory: CMOS

Name: Resume program

Description: For internal use only. Do not modify this system variable. When
RESUME PROGRAM function is enabled and a RESUME PROGRAM statement

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is executed, the specified program is assigned to this variable. The length of the
array[16], indicates the number of PX tasks.

Power Up: Takes effect immediately

$SFLT_WAILIM

Minimum: 0 Maximum: 2000 Default: 1000 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Waiting limiter for SOFTFLOAT ON

Description: Waiting limiter for SOFTFLOAT ON [ms]

Power Up: Takes effect immediately

$SGSYSCFG.$auto_calpus

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Automatically sets the pushing depth during force calibration

Description: This variable determines whether pushing depth is automatically

calculated
you have toduring
enter force calibration.
the pushing depthIf manually.
$SGSYSCFG.$auto_calpus ==FALSE, then
If $SGSYSCFG.$auto_calpus
==TRUE, then the pushing depth is estimated based on data from tuning.

Power Up: On_Cold_Start

$SGSYSTWD.$wr_alm_sev

Minimum: -1 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS

Name: Cap wear severity

Description: This variable defines the severity of a cap wear exceeded fault.
The values are:

• -1: No alarm
• 0: Warn
• 1: Fault

Power Up: N/A

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$SHELL_CFG STRUCTURE

Name:
Shell Configuration
Description: Describes how the main system control functions are performed.
The R-J3 controller "main" program is called the shell. This program can be run
when the controller is turned on and might be the "system" shell. Individual fields
within this structure are defined below.

Power Up: N/A

$SHELL_CFG.$COM_TIMEOUT

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW DataDefault:
99999 1000 KCL/Data:
Type: INTEGER Memory: RW Program:
CMOS

Name: Communication timeout

Description:

Power Up: N/A

$SHELL_CFG.$CONT_ONLY

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW1 Default: KCL/Data: RW
0 BOOLEAN
Data Type: Program:
Memory: CMOS

Name: Continue Only

Description: UOP Cycle Start Continue Only Function Used to start the program
under the forced ending according to the START signal. Setting Start only the
program under the interruption for TRUE. Start the program selected now from
the line for FALSE now. If $SHELL_CFG.$cont_only is FALSE, then UOP
CYCLE START acts like SOP CYCLE START, i.e it can run a program or
continue a paused program. If $SHELL_CFG.$cont_only is TRUE, then UOP
CYCLE
programSTART can only continue a paused program, and has no effect if no
is running.

Power Up: N/A

$SHELL_CFG.$ERR_REPORT

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Error Report

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Description: A report containing the errors that occurred.

Power Up: N/A

$SHELL_CFG.$ext_sem1

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Extended Shell semaphore to KAREL shell

Description: Specifies the system semaphore used to communicate with the

KAREL extended shell. This should only be changed if it conflicts with another

semaphore.
Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Extended Shell semaphore from KAREL shell

Description: Specifies the system semaphore used to communicate with the

KAREL extended shell. This should only be changed if it conflicts with another
semaphore.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default:

0x00000000 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: INTEGER Memory: CMOS

Name: Enable KAREL extension logic

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Description: Bit mask that sets which extended logic requests are enabled. This
is used to save processing time when customized logic is not required.

Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 180 Default: 30 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Initialization timeout

Description: Timeout, in seconds, for the initialization of the KAREL shell

extension. This is required in order for the C shell to verify that the KAREL shell
extension is operational. The default is 30 seconds. It is recommended to
lengthen this only if the application requires it.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Isolate and interlock feature

Description: Set TRUE to enable support for the interlock and isolate modes.

This feature also requires the "control reliable" hardware option.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

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Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Shell Job Base

Description: Sets the base number when the RSR and the PNS functions are
used. It can be updated using the the SETUP RSR/PNS screen. The PNS binary
input is added to $SHELL_CFG.$job_base. The result is converted to a 4
character string (0 padded if necessary). This string is appended to
$SHELL_CFG.$job_root to create the name of the job be run when UOP PROD
START is asserted. The name of the program is stored in $PNS_PROGRAM for
comparison with other run requests.

Power Up: N/A

$SHELL_CFG.$JOB_ROOT

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Job Root

Description: The shell job root string. Not currently used. This string is the
starting root name of the job to run when a PNS signal is detected. A 4 character
string that consists of $SHELL_CFG.$job_root + $SHELL_CFG.$job_base (with
leading 0s if needed) is concatenated to $SHELL_CFG.$job_root.

Power Up: N/A

$SHELL_CFG.$karel_sop

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: SOP Flag

Description: Flag that determines which task will detect SOP input signals. If
$SHELL_CFG.$KAREL_SOP is FALSE then the KAREL shell, if running, will not
detect SOP signals, the system condition handler task will. If
$SHELL_CFG.$KAREL_SOP is TRUE, then the KAREL shell, if running, detects
any SOP input signals (except for USER PB1 and USER PB2, if assigned to a
macro).

Power Up: N/A

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$SHELL_CFG.$karel_uop

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 0 0
Not available Data RW
Type:
BOOLEAN Memory: Not available

Name: UOP Flag

Description: Determines which task will detect UOP input signals. If

$SHELL_CFG.$karel_uop is FALSE then the KAREL shell, if running, will not
detect UOP signals, the system condition handler task will. If
$SHELL_CFG.$karel_uop is TRUE, then the KAREL shell, if running, detects
any UOP input signals.

Power Up: N/A

$SHELL_CFG.$maint_styl

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Maintenance style table option

Description: If TRUE, the style table entries 27 - 31 are treated special.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 600 Default: 30 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Manual request timeout

Description: Maximum time, in seconds, that the shell will wait for the PLC to
trigger a style select following a manual style request by the controller. If zero,
there will not be a timeout and the request will only be cancelled if the controller
is switched to interlock mode.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

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Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: RSR Number

Description: Defines the RSRs in a multi-tasking group and displays the number
of the signal that can be registered with RSR. Used when the optional RSR multi-
tasking feature is purchased. Allows RSR multi-tasking by defining the number of
RSR signals assigned for each group of RSRs. For this optional feature, there

are 8 RSR
exceed inputsysvar
8. This signals
is therefore
not used the
for asum of all
single $num_rsr
tasking RSRarray elements
system cannot
where one
RSR job is executed at a time, and others are put into a queue. For example, if
$SHELL_CFG.$num_rsr[1] = 3, then RSR’s 1, 2, 3 are grouped together to run
one task. If one of these 3 is already running, then it is queued. If
$SHELL_CFG.$num_rsr[2] = 3 then RSR’s 4, 5, 6 are grouped together to run a
second task, and so on.

Power Up: N/A

$SHELL_CFG.$num_rsr[4]

Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: RSR Number

Power Up: N/A

$SHELL_CFG.$OPTIONS
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Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default:

0x00000000 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data
Type: INTEGER Memory: CMOS

Name: Options

Description:

Power Up: N/A

$SHELL_CFG.$PNS_ENABLE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW BOOLEAN CMOS
Name: Effective/invalidity of PNS

Description: Determines whether RSR or PNS is enabled on a system (they

both cannot be enabled at the same time). If $SHELL_CFG.$pns_enable =
TRUE, then PNS is active, and RSRs are disabled.

Power Up: On_Cold_Start

$SHELL_CFG.$prod_mode

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Production start signal type

Description: Indicates what type of input is used for the production start signal; 1
= UOP, 2 = DIN.

Power Up: On_Cold_Start

Screen: SETUP Program Selection menu and SYSTEM variables screen.

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

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Name: Production start type

Description:

Power Up: N/A

$SHELL_CFG.$QUE_ENABLE

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Queue Enable

Description:

Power Up: N/A

$SHELL_CFG.$RSR_ACK_PUL

Minimum: 0 Maximum: 9999 Default: 400 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: RSR Acknowledgement Pulse Length

Description: Defines the length

$SHELL_CFG.$rsr_ackenbl of the pulse sent out on ACK1-ACK4 when
= TRUE.

Power Up: N/A

$SHELL_CFG.$RSR_ACKENBL

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Effective/invalidity of RSR Reception Check Signal

Description: RSR Acknowledgement Enable Flag If this is set to TRUE, then

when an RSR is detected, an acknowledgement is returned to the PLC on the
corresponding ACK1-ACK8 UOP output signals. The pulse width is specified in
$SHELL_CFG.$rsr_ack_pul.

Power Up: N/A

$SHELL_CFG.$RSR_ENABLE[1-4]

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Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: RSR enable

Description:

Power Up: N/A

$SHELL_CFG.$rsr_enable[4]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
Memory:
BOOLEAN Not available
Name: RSR enable

Description:

Power Up: N/A

$SHELL_CFG.$RSR1_NAME

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: RSR1 Name

Description: Not currently used. This is the name of the job that will be run when
RSR1 is detected.

Power Up: N/A

$SHELL_CFG.$RSR2_NAME

Minimum: RW Maximum:
RW UIF: "" CRTL: RW"" Default:
Data "RSR
Type: " KCL/Data:
STRING Memory:RW Program:
CMOS

Name: RSR2 Name

Description: Not currently used. This is the name of the job that will be run when
RSR2 is detected.

Power Up: N/A

$SHELL_CFG.$RSR3_NAME
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Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: RSR3 Name

Description: Not currently used. This is the name of the job that will be run when
RSR3 is detected.

Power Up: N/A

$SHELL_CFG.$RSR4_NAME

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program:

UIF: CRTL: Data Type: Memory:
RW RW RW STRING CMOS
Name: RSR4 Name

Description: Not currently used. This is the name of the job that will be run when
RSR4 is detected.

Power Up: N/A

$SHELL_CFG.$sel_type

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW Default:
10 Data KCL/Data: Memory:
0 INTEGER
Type: RW Program:
CMOS

Name: Program selection type

Description: Specifies the program selection option: 0=RSR, 1=PNS, 2=Style

table, 9=custom.

Power Up: On_Cold_Start

Screen: SETUP Program Selection menu and SYSTEM variables screen.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Extended Shell Support

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Description: If TRUE, the extended shell support will be started, including the
KAREL extension program, If FALSE, the shell will work as it did in the previous
release. Either the C shell or a KAREL shell will run depending on a name
specified in $SHELL_CFG.$SHELL_NAME.

Power Up: On_Cold_Start

Screen: SYSTEM variables screen.

Minimum: Maximum: Default: KCL/Data: Program:

""
RW UIF: RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name: Name of the Shell Task

Description: This is the name of the shell task to be run automatically at each
cold start. If this is uninitialized or nil, then the system `C’ shell task is run. If this
is set to a valid task name, then the name of the task is run.

Power Up: N/A

$SHELL_CFG.$TPFWD_KAREL
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: TP FWD/BWD Flag

Description: Determines which task will detect TP FWD/BWD input signals. If

$SHELL_CFG.$tpfwd_karel is FALSE then the KAREL shell, if running, will not
detect SOP signals, the teach pendant task will. If $SHELL_CFG.$tpfwd_karel is
TRUE, then the KAREL shell, if running, detects any TW FWD/BWD input signals
(except for USER PB1 and USER PB2, if assigned to a macro).
Power Up: N/A

$SHELL_CFG.$UOP_SEL_STA

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: PNS Selected Program

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Description: If this is TRUE, then the UOP PROGRUN and PAUSED output
LED’s reflect the status of $PNS_PROGRAM, regardless of any other task being
run. If this is FALSE, then the UOP PROGRUN and PAUSED output signals
reflect the status of $TP_DEFPROG.

Power Up: N/A

$SHELL_CFG.$USE_ABORT

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: UOP Cycle Stop Abort Function

Description: If $SHELL_CFG.$USE_ABORT is FALSE, then the UOP CYCLE

STOP will stop the program after the current cycle is over. Pressing CYCLE
STOP does not immediately stop program execution. If
$SHELL_CFG.$use_abort is TRUE, then UOP CYCLE STOP will abort the
program at the end of the current cycle.

Power Up: N/A

$SHELL_CHK[1-16]

Minimum:
RW Program: Maximum:
MIN Not availableMAX_SETUP Default:
UIF: RW CRTL: DataKCL/Data:
RWDEF Type:
SHELL_CHK_T Memory: CMOS

Name: Job startup checking

Description: These variables are specifically for the job startup checking feature.
Each index in the array is assigned to a specific check. 1 home position check 2
resume position check 3 simulated I/O check 4 general speed override check 5
Program speed override check 6 Machine lock check 7 Single step check 8
Process ready (application specific)

Power Up: na

Screen: na

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
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Name: Shell startup check enable

Description: TRUE enables this check when initially running a program.

Name: Shell startup check resume

Description: TRUE enables this check when continuing a paused program.

Power Up: N/A

Screen: SETUP Prog Select Checks DETAIL menu, and SYSTEM variables
screen.

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Shell startup was forced warning

Description: If TRUE and the check is forced (see $FORCE above), an
informational warning message is posted.

Power Up: N/A

Screen: SETUP Prog Select Checks DETAIL menu, and SYSTEM variables
screen.
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Name: Job startup checking

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Screen: System Variables screen.

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default:

0x00000000 KCL/Data: RO Program: RW UIF: RO CRTL: RO Data
Type: INTEGER Memory: CMOS

Name: Shell parameter 1 (Internal use only)

Description: Parameter between C and KAREL extension shells.

Power Up: na

Screen: System Variable screen.

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default:

0x00000000 KCL/Data: RO Program: RW UIF: RO CRTL: RO Data

Type: INTEGER Memory: CMOS

Name: Shell parameter 2 (Internal use only)

Description: Parameter between C and KAREL extension shells.

Power Up: na

Screen: System Variable screen.

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default:

0x00000000 KCL/Data: RO Program: RW UIF: RO CRTL: RO Data
Type: INTEGER Memory: CMOS

Name: Shell parameter 3 (Internal use only)

Description: Parameter between C and KAREL extension shells.

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Power Up: na

Screen: System Variable screen.

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default:

0x00000000 KCL/Data: RO Program: RW UIF: RO CRTL: RO Data
Type: INTEGER Memory: CMOS

Name: Shell parameter 4 (Internal use only)

Description: Parameter between C and KAREL extension shells.

Power Up: N/A

Screen: System Variable screen.

Minimum: KCL/Data: Maximum:

0x000000000x00000000 RW UIF: Default:
0xFFFFFFFF
RO Program: RO CRTL: RO Data
Type: INTEGER Memory: CMOS

Name: Shell status code

Description: Status code returned from KAREL extension shell to the C shell.

Power Up: N/A

Name: Shell Work Area

Description: This variable describes the current state of the system. The
variables in this structure are read only. They are set by the teach pendant editor.
Individual fields within this structure are described below.

Power Up: N/A

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$SHELL_WRK.$by_manual

Minimum: Maximum: Default: KCL/Data: Program: UIF:

RO CRTL: 0 RO Data Type:
1 BOOLEAN 0 RO
Memory: CMOS RO

Name: Cursor Moved Manually

Description: Indicates that you has manually moved the cursor in the edited
program.

Power Up: N/A

$SHELL_WRK.$chk_force

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RW UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Forced pre-startup checks

Description: A bit-mask that indicates which pre-startup checks were forced to

the correct state on the most recent program startup or continue.

Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RW UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Bypasses pre-startup checks

Description: A bit-mask that indicates which pre-startup checks failed, but were
bypassed by the user in response to a prompt.

Power Up: N/A

Screen: SYSTEM variables screen.

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$SHELL_WRK.$chk_raw

Minimum: Maximum: Default: KCL/Data:

0
RW Program: RW UIF:0x7FFFFFFF
RW CRTL: RW Data 0 Type:
INTEGER Memory: CMOS

Name: Original pre-startup checks

Description: A bit-mask that indicates which pre-startup checks initially failed on

the most recent program startup or continue.

Power Up: N/A

Screen:
SYSTEM variables screen.
See Also: na

Name: Current option B value

Description: Current values (0 or 1) of the style option bits as read at the time
that the current style program was initiated.

Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RW UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Current option C value

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Description: Current values (0 or 1) of the style option bits as read at the time
that the current style program was initiated.

Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RW UIF: RO CRTL: RO Data Type: INTEGER Memory:

CMOS
Name: current option

Description: (not currently used)

Power Up: na

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RW UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Current style

Description: Current style program number.

Power Up: na

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

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Name: Current Line

Description: This is the line number that the teach pendant system is currently
displaying. The line number is in the routine contained in the field $ROUT_NAME.

Power Up: N/A

Screen: Based on the program being edited

$SHELL_WRK.$cust_name

Minimum: Maximum: Default: KCL/Data:

0
RW Program: RW UIF:0x7FFFFFFF
RW CRTL: RW Data 0 Type:
INTEGER Memory: CMOS

Name: Manual decision code

Description: Manual value of the decision code as read at the time that the
manual style program was initiated.

Power Up: N/A

Screen:
SYSTEM variables screen.
See Also: $SHELL_WRK.$MAN_OPTA, $SHELL_WRK.$MAN_OPTA,
$SHELL_WRK.$MAN_OPTA, $SHELL_WRK.$MAN_STYLE,
$SHELL_WRK.$MAN_OPTION

$SHELL_WRK.$man_opta

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Manual options A

Description: The $man_opt’x’ and $man_style and $man_decsn are used as

outputs to the PLC when making a manual style request. These locations must
be initialized before setting the $SHELL_WRK.$MAN_OPTION location to make
the request.

Power Up: N/A

Screen: SYSTEM variables screen.

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Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Manual options A

Description: The $man_opt’x’ and $man_style and $man_decsn are used as

outputs to the PLC when making a manual style request. These locations must
be initialized before setting the $SHELL_WRK.$MAN_OPTION location to make

the request.
Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program:
INTEGER UIF: RW
RW CMOS
Memory: CRTL: RW Data Type:

Name: Manual options C

Description: The $man_opt’x’ and $man_style and $man_decsn are used as

outputs to the PLC when making a manual style request. These locations must
be initialized before setting the $SHELL_WRK.$MAN_OPTION location to make
the request.

Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

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Name: Manual option requested

Description: This location is set non-zero to cause a manual style request to be

issued by the shell to the PLC.

Power Up: N/A

Screen: SYSTEM variables screen.

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Manual style

Description: Manual style program number.

Power Up: N/A

Screen:
SYSTEM variables screen.
See Also: na

$SHELL_WRK.$rout_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Current Routine

Description: Name
be the same as of the routine When
$TP_DEFPROG. which the
is currently being edited.
teach pendant systemThis
goesmight
into anot
subroutine, $TPDEFPROG is not set but this variable will be.

Power Up: N/A

Screen: Based on the program being edited

$SHELL_WRK.$shell_start

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Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Shell Start

Description: Not currently used.

Power Up: N/A

$SHELL_WRK.$strtchk_ept

Minimum: 0 Maximum: 0xFFFF Default: 0xFFFF KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: SHORT Memory:

CMOS
Name: Ept index for start check from abort program

Description: When the abort program is started except 1st line, if the user
answer Yes to the question that ’Are you sure to start?’, the ept_index is saved in
this variable. This variable is used to check if it is possible to start or not at the
next start.

Power Up: N/A

Screen:
SYSTEM variables screen.
$SHELL_WRK.$strtchk_lin

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Current line number for start check from abort program

Description: When the abort program is started except 1st line, if the user

answer
is savedYes to the
in this question
variable. Thisthat ’Are you
variable sure to
is used to check
start?’,if the
it iscurrent line
possible to number
start or
not at the next start.

Power Up: N/A

Screen: SYSTEM variables screen.

$SHELL_WRK.$task_num

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Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS

Name: Task Number

Description: Contains the task number of the routine which is currently

executing via the teach pendant edit system.

Power Up: N/A

Screen: Based on program being edited

$SHELL_WRK.$wrk_busy

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Work Busy

Description: Not currently used.

Power Up: N/A

$SHFTOV_ENB
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Enables Shifted Override Setting

Description: If set to 0, the override will step up and down in fine increments of
5%. This occurs regardless of whether you press the SHIFT key. If set to 1, the
override steps up and down from 50% to 100% and back if the SHIFT key is
pressed. If the shift key is not pressed the override moves in fine increments.

Power Up: N/A

$SMTP_CTRL.$CC_ADDR

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Default email Copy Address

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Description: A default email Copy Address, which is appended to the list of

Copy Addresses of any email sent from the robot.

Power Up: N/A

$SMTP_CTRL.$ENABLE

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Enable the SMTP interface

Description: This variable enables the SMTP interface.

Power Up: N/A

$SMTP_CTRL.$FROM_ADDR

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Default email From Address

Description: This is the From Address that all email messages will have when

they
SMTP are sent toblock
servers the SMTP
email server.
messagesAlthough
withoutthe robot Address.
a From cannot receive email, some

Power Up: N/A

$SMTP_CTRL.$PORT

Minimum: 0 Maximum: 255 Default: 20 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: SMTP server port number

Description: This is the port number of the SMTP server. Typically this is port 25.

Power Up: N/A

$SMTP_CTRL.$POST_DLVR

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Posted delivery message

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Description: This is a boolean value which determines whether or not an alarm

is displayed on a successful email delivery. If set to TRUE, a warning alarm will
be posted on the successful delivery of an email message to an SMTP server. If
FALSE, no alarm will be posted on successful delivery. An alarm will always be
posted on delivery failure.

Power Up: N/A

$SMTP_CTRL.$RT_ADDR

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name:
Reply To Address
Description: This is the Reply To Address that all email messages will have
when sent to the SMTP server. Although the robot cannot receive email, some
SMTP servers block email messages without a Reply To Address.

Power Up: N/A

$SMTP_CTRL.$SERVER

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: IP address of the SMTP server

Description: This variable indicates the IP address of the SMTP server.

Power Up: N/A

$SMTP_CTRL.$TIMEOUT

Minimum: 0 Maximum: 255 Default: 25 KCL/Data: RW Program: Not

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

$SNTP_CFG.$TIME_WIN

Minimum: 0 Maximum: 1000 Default: 2 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: SNTP Time Window

Description: The local clock is adjusted only if the difference between the local

clock and the time server clock is greater than $TIME_WIN in seconds.
Power Up: N/A

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Power Up: On_Cold_Start

$SPOTCONFIG.$sim_warn

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Weld simulate warning

Description: This variable specifies whether or not a warn message is posted at

each simulated weld. The message specifies the program and line number. The
default is FALSE.

Power Up:
N/A
$SPOTWELDIO[1].$lvl_comp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Level type weld complete signal

Description: This variable specifies whether the weld complete input signal is
edge (transition) or level based. $SPOTWELDIO[1].$lvl_comp=FALSE means
that the signal
the signal is edge
is level based. $SPOTWELDIO[1].$lvl_comp=TRUE means that
based.

Power Up: Takes effect immediately

$SSR STRUCTURE

Name: Single Step Record Structure

Description: Defines dynamic data set by the system concerning single stepping
forward and backward through program execution. Individual fields within this
structure are described below.
Power Up: N/A

$SSR.$bwdstep

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Single Step Backward

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Description: If set to TRUE, then single step backward is enabled.

Power Up: Takes effect immediately

$SSR.$sglsteptask[1-14]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not

available UIF: RW CRTL: RO Data Type: BYTE Memory: CMOS

Name: Single Step Task Name

Description: Task name for single step operation.

Power Up:
Takes effect immediately
$SSR.$sglsteptask[14]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: Single Step Task Name

Description: Task name for single step operation.

Power Up: Takes effect immediately

$SSR.$singlestep

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS

Name: Single Step

Description: If set to TRUE, then single step forward is enabled.

Power Up: Takes effect immediately

Screen: TEST CYCLE

$SSR.$stepstmttyp

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Single Step Statement Type

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Description: Single step statement type where: case 0 : Task is paused at each
statement case 1 : Task is paused at motion statement only case 2 : Task is
paused at each mnemonic statement and karel motion statement case 3 :
Execution continue in routine

Power Up: Takes effect immediately

$SSR.$steptasknum

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Single Step Task Id

Description: The identification number of the motion source task.

Power Up: Takes effect immediately

$SSR.$stpsegtype

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS

Name: Single Step Segment Type

Description: Single step segment type.

Power Up: Takes effect immediately

$STOP_ON_ERR

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: KCL Stop On Error

Description: $STOP_ON_ERR indicates whether or not the system stops on a

KCL command file error. If TRUE, execution of the command procedure stops if
any error condition is found. You can set and clear $STOP_ON_ERR within a
command procedure to control the execution of command files depending on the
desired response to errors. Note that $STOP_ON_ERR applies only to errors
that can be detected by the KCL command interpreter. For example, a KCL>
RUN command can cause an error during program execution, but the KCL
command interpreter will continue because the command itself has succeeded.

Power Up: N/A

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Screen: SYSTEM Variables screen Usually set using KCL’s SET VAR command.

$SVPRG_COUNT

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: auto start maximum counter of auto error recovery

Description: Counter of automatic start feature in auto error recovery function.

This variable should be set internally by system software (Program control
software and auto error recovery software). So the customer must not change
this value.

Power Up: Takes effect immediately

Screen: SYSTEM variable screen

$SVPRG_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Resume program enable/disable

Description: For internal use only. Do not modify this system variable. This
variable should be set internally by system software. 0 = Disable 1 = Enable

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen and Application Setup screen (WELD

system setup screen etc.)

$SVPRG_TBL[1-5]

Minimum: 0 Maximum:
RO UIF: Not 255 Default:
available CRTL: 0 KCL/Data:
Not available RO
Data Type: Program:
INTEGER Memory: Not available

Name: Resume program table

Description: For internal use only. Do not modify this system variable. When
KAREL program for resume program is executed, the KAREL program executes
the resume program ($SERVICE_PRG) specified with the number. The length of
the array[5] indicates the number of motion groups.

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Power Up: Takes effect immediately

$SVPRM_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Servo Parameter Enable

Description: Displays the servo parameter screen if one exists.

Power Up: N/A

$SYSDSP_PASS
Minimum: 0 Maximum: 999999 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: System Variable Screen Display Password

Description: Not currently used.

Power Up: N/A

2.20 T
$TB_PARAM[1] STRUCTURE

Name: TurboMove joint softpart parameter

Description: The motion parameter for TurboMove joint softpart. Individual fields
within this structure are described below.

Power Up: N/A

$TB_PARAM[1].$ma_brk_mgn
Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Break torque margin for acceleration of joint motion

Description: Margin parameter of Break torque ($TBJ_GRP.$mr_brk_trq) for

acceleration of TurboMove joint motion.
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Power Up: Takes effect immediately

$TB_PARAM[1].$ma_grav_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Gravity margin for acceleration of joint motion

Description: Margin parameter of Gravity torque for acceleration of TurboMove

joint motion.

Power Up:
Takes effect immediately
$TB_PARAM[1].$ma_load_trq

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Load torque of motor for acceleration

Description: Load torque of motor for acceleration. But currently, this parameter

has other meaning.

according This is used as the margin parameter for minimum accel time
to arm height.

Power Up: Takes effect immediately

$TB_PARAM[1].$ma_nold_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Nold torque margin for acceleration of joint motion

Description: Margin parameter of torque at nold velocity
($TBJ_GRP.$mr_nold_vel) for acceleration of TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$ma_stal_mgn

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Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Stal torque margin for acceleration of joint motion

Description: Margin parameter of Stale torque ($TBJ_GRP.$mr_max_trq) for

acceleration of TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$max_trq_mgn

Minimum: Maximum: Default: KCL/Data:

-100000.
RW Program: 100000 CRTL: Not1.0
RW UIF: Not available available Data Type:
REAL Memory: Not available

Name: Max torque margin for joint motion

Description: Margin parameter for max motor torque for TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$md_brk_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Break torque margin for deceleration of joint motion

Description: Margin parameter of Break torque ($TBJ_GRP.$mr_brk_trq) for

deceleration of TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$md_grav_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Gravity margin for deceleration of joint motion

Description: Margin parameter of Gravity torque for deceleration of TurboMove

joint motion.
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Power Up: Takes effect immediately

$TB_PARAM[1].$md_load_trq

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Load torque of motor for acceleration

Description: Load torque of motor for acceleration. But currently, this parameter
has other meaning. This is used as the margin parameter for minimum accel time
according to arm height.

Power Up: Takes effect immediately

$TB_PARAM[1].$md_nold_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Nold torque margin for deceleration of joint motion

Description: Margin parameter

($TBJ_GRP.$mr_nold_vel) of torque at of
for deceleration nold velocity joint motion.
TurboMove

Power Up: Takes effect immediately

$TB_PARAM[1].$md_stal_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Stal torque margin for deceleration of joint motion

Description: Margin parameter of Stale torque ($TBJ_GRP.$mr_max_trq) for
deceleration of TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$mr_brk_trq

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Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Break torque of motor

Description: The torque of the motor at break point of motor torque curve for
TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$mr_brk_vel

Minimum: Maximum: Default: KCL/Data:

-100000.
RW Program: 100000 CRTL: Not2.0
RW UIF: Not available available Data Type:
REAL Memory: Not available

Name: Break velocity of motor

Description: The velocity of the motor at break point of motor torque curve for
TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$mr_max_trq
Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Max torque of motor

Description: Max torque of the motor for TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$mr_nold_vel

Minimum: -100000. Maximum: 100000 Default: 5.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Nold velocity of motor

Description: The maximum motor velocity without load.

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Power Up: Takes effect immediately

Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Stal torque of motor

Description: The torque of the motor at 0 velocity for TurboMove joint motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$pth_brk_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Break torque margin for joint cont motion

Description: Margin
TurboMove joint cont parameter
motion. of Break torque ($TBJ_GRP.$mr_brk_trq) for

Power Up: Takes effect immediately

$TB_PARAM[1].$pth_grv_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Gravity margin for joint cont motion

Description: Margin parameter of Gravity torque for TurboMove joint cont
motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$pth_nld_mgn

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Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Nold torque margin for joint cont motion

Description: Margin parameter of torque at nold velocity

($TBJ_GRP.$Mr_nold_vel) for TurboMove joint cont motion.

Power Up: Takes effect immediately

$TB_PARAM[1].$pth_stl_mgn

Minimum: Maximum: Default: KCL/Data:

-100000.
RW Program: 100000 CRTL: Not1.0
RW UIF: Not available available Data Type:
REAL Memory: Not available

Name: Stal torque margin for joint cont motion

Description: Margin parameter of Stale torque ($TBJ_GRP.$mr_max_trq) for

TurboMove joint cont motion.

Power Up: Takes effect immediately

$TBC_GRP STRUCTURE
Name: TurboMove Cartesian group variable

Description: TBC softpart motion parameter. Individual fields within this

structure are described below.

Power Up: Takes effect immediately

$TBC_GRP[1].$cnt_scale

Minimum:
RW UIF: 0. Maximum: CRTL:
Not available Default:
100. Not 1 KCL/Data:
available Program:
RWREAL
Data Type: Memory:
Not available

Name: CNT motion scale

Description: This parameter is used to tune cont motion accel time for
TurboMove Cartesian motion.

Power Up: Takes effect immediately

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$TBC_GRP[1].$min_acc_uca

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 10000 Not available
128 Data Type: RW
INTEGER Memory: Not available

Name: Minimum accel time for TurboMove Cartesian short motion

Description: Minimum accel time for TurboMove Cartesian short motion.

Power Up: Changes take effect immediately.

$TBC_GRP[1].$min_c_id_e1

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBC_GRP[1].$min_c_id_e2
Minimum: "" Maximum: "" Default: "12345678" KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBC_GRP[1].$min_c_id_e3

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

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Power Up: Takes effect immediately

$TBC_GRP[1].$min_cat_uma

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Minimum accel time for TurboMove Cartesian long motion

Description: Minimum accel time for TurboMove Cartesian long motion.

Power Up: Takes effect immediately

$TBC_GRP[1].$min_cyc_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBC_GRP[1].$path_ratio

Minimum: 0 Maximum: 10000 Default: 1.0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Accel time ratio for CF fine motion

Description: The ratio of 2nd/1st accel time for CF fine motion.

Power Up: On_Cold_Start

$TBC_GRP[1].$payload_mgn

Minimum: 0. Maximum: 1000. Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Payload margin

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Description: Margin parameter for payload value.

Power Up: Takes effect immediately

$TBC_GRP[1].$shortmo_scl

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Short motion scale

Description: This parameter is used to short motion accel time for TurboMove

Cartesian motion. Currently not used.

Power Up: On_Cold_Start

$TBC_GRP[1].$tbc_accel1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: 1st default accel time for JF Cartesian motion

Description: 1st default accel time for JF Cartesian motion.

Power Up: On_Cold_Start

$TBC_GRP[1].$tbc_accel2

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: 2nd default accel time for JF Cartesian motion

Description: 2nd default accel time for JF Cartesian motion.

Power Up: On_Cold_Start

$TBC_GRP[1].$TBC_PARAM STRUCTURE

Name: TurboMove Cartesian softpart parameter

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Description: The motion parameter for TurboMove Cartesian softpart. Individual

fields within this structure are described below.

Power Up: Takes effect immediately

$TBC_GRP[1].$TBC_PARAM[1].$max_trq_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Cartesian motion max torque margin

Description:
Margin parameter for max torque of the motor for TurboMove
Cartesian motion.

Power Up: Takes effect immediately

$TBC_GRP[1].$TBC_PARAM[1].$mc_brk_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Cartesian motion break torque margin.

Description: Margin parameter of Break torque ($TBJ_GRP.$MR_BRK_TRQ)
for TurboMove Cartesian motion.

Power Up: Takes effect immediately

$TBC_GRP[1].$TBC_PARAM[1].$mc_grav_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available
Name: Cartesian motion gravity margin.

Description: Margin parameter of Gravity torque for TurboMove Cartesian

motion.

Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$mc_max_trq

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Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Cartesian motion max. torque

Description: Max torque of the motor for TurboMove Cartesian motion.

Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$mc_nold_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

Program: UIF: CRTL: Data Type:
RW
REAL Memory:RW Not available
Not available Not available

Name: Cartesian motion nold torque margin

Description: Margin parameter of torque at nold velocity

($TBJ_GRP.$MR_NOLD_VEL) for TurboMove Cartesian motion.

Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$mc_stal_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Cartesian motion stal torque margin

Description: Margin parameter of Stale torque ($TBJ_GRP.$MR_MAX_TRQ)

for TurboMove Cartesian motion.

Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$shortmo_lim

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Short motion limit

Description: This parameter is used to tune short motion accel time for
TurboMove Cartesian motion.
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Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$shortmo_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Short motion limit

Description: This parameter is used to tune short motion accel time for
TurboMove Cartesian motion.

Power Up:
Changes take effect immediately.
$TBC_GRP[1].$tbc_path1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: 1st default accel time for CF cont Cartesian motion

Description: 1st default accel time for CF cont Cartesian motion.

Power Up: A cold start is required to change this value.

$TBC_GRP[1].$tbc_path2

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: 2nd default accel time for CF cont Cartesian motion

Description: 2nd default accel time for CF cont Cartesian motion.

Power Up: A cold start is required to change this value.

$TBCCFG STRUCTURE

Name: TurboMove Cartesian configuration variable

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: TBC softpart conflict information

Description:
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Power Up: N/A

$TBJ_GRP STRUCTURE

Name: TurboMove Joint group variable

Description: TBJ softpart motion parameter. Individual fields within this structure
are described below.

Power Up: N/A

$TBJ_GRP[1].$asym_param

Minimum:
RW Program: RW Maximum:
-100000. Default:
100000. CRTL:
UIF: Not available KCL/Data:
Not2available Data Type:
REAL Memory: Not available

Name: Asymmetrical acc/dec parameter

Description: This parameter is used for asymmetrical acc/dec ratio setting.

Power Up: On_Cold_Start

$TBJ_GRP[1].$longmo_mgn

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Long motion scale

Description: Margin parameter of minimum accel time according to J1 inertia

value.

Power Up: Takes effect immediately

$TBJ_GRP[1].$longmo_scl

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Long motion scale

Description: Margin parameter of minimum accel time according to J1 inertia

value.
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Power Up: Takes effect immediately

$TBJ_GRP[1].$min_acc_shm

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Minimum accel time for TurboMove joint short motion

Description: Minimum accel time for TurboMove joint short motion.

Power Up: Takes effect immediately

$TBJ_GRP[1].$min_acc_uma

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Minimum accel time for TurboMove joint long motion

Description: Minimum accel time for TurboMove joint long motion.

Power Up: Takes effect immediately

$TBJ_GRP[1].$min_c_id_e1

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBJ_GRP[1].$min_c_id_e2

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

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Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBJ_GRP[1].$min_c_id_e3

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBJ_GRP[1].$min_cyc_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: TurboMove parameter version id

Description: TurboMove parameter version id.

Power Up: Takes effect immediately

$TBJ_GRP[1].$payload_mgn

Minimum: 0. Maximum: 1000. Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Payload margin

Description: Margin parameter for payload value.

Power Up: Takes effect immediately

$TBJ_GRP[1].$shortmo_mgn

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

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Name: Short motion scale

Description: Currently not used.

Power Up: N/A

$TBJ_GRP[1].$shortmo_scl

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Short motion scale

Description: Currently not used.

Power Up: N/A

$TBJ_GRP[1].$tbj_accel1[i]

Minimum: 0 Maximum: 100000. Default: 256 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: 1st default accel time for i th joint motion

Description: 1st default accel time for i th joint motion.

Power Up: On_Cold_Start

$TBJ_GRP[1].$tbj_accel2[i]

Minimum: 0 Maximum: 100000. Default: 256 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: 2nd default accel time for i th joint motion

Description: 2nd default accel time for i th joint motion .

Power Up: On_Cold_Start

$TBJCFG STRUCTURE

Name: TurboMove Joint configuration variable

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Description: Set or indicate TBJ softpart configuration. Individual fields within

this structure are described below.

Power Up: N/A

$TBJCFG.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: TBJ softpart debug flag

Description:
Flag for debug TBJ softpart.
Power Up: N/A

$TBJCFG.$group_mask

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: TBJ softpart Group Mask

Description: Indicate TBJ softpart group mask.

Power Up: N/A

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name:
TCP Seed Prediction Debug Level for Main Softpart (Bit mapped)
Description: For internal debugging use only. Setting this variable could change
the functionality of this system option.

Power Up: N/A

$TCPP_CFG.$debug_task

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
Name: TCP Seed Prediction Debug Level for Task Softpart (Bit mapped)

Description: For internal debugging use only! Setting this variable could change
the functionality of this system option.

Power Up: N/A

$TCPP_CFG.$group_num

Minimum:
RW UIF: 0RWMaximum:
CRTL: RW5 Default: KCL/Data: RW
1 INTEGER
Data Type: Program:
Memory: CMOS

Name: TCP Speed Prediction Motion Group Number

Description: This system variable sets the number of the motion group for which
the TCP Speed Prediction softpart will predict TCP speed. Currently this value is
restricted to group 1.

Power Up: N/A

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$TCPP_CFG.$num_tcppseg

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW10 Data Type:
6 INTEGER Memory:
RW CMOS

Name: TCP Speed Prediction Segment List Size

Description: This item is not currently used, but will be within a future software
release. This is intended to be used to configure the number of motion segments
which the TCP Speed Prediction softpart option uses to store motion data.
Currently TCPP uses a hard coded value of 15 motion segments.

Power Up: N/A

$TCPP_CFG.$oft_tim_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: TCP Speed Prediction On-The-Fly delay time update enable.

Description: This system variable when true allows for on-the-fly updating of the
TCPP delay time value ($TCPPIR.$tcdelay). Since on-the-fly changes to the
TCPP delay
variable time
might be might
set to result in predicted
false which speeddelay
will prevent valuetime
discontinuities,
changes untilthis
the
robot has stopped moving at the end of a program.

Power Up: N/A

Minimum: 16 Maximum: 5000 Default: 28 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TCP Speed Prediction Task Update Rate (msec)

Description: This is the rate in milliseconds that the TCP Speed Prediction task
softpart will execute and update the predicted speed output value
$TCPPSPEED.$speed.

Power Up: N/A

Name: TCP Speed Prediction Speed Output System Variable Structure

Description: These are the output system variables that involve the predicted
speed of the robot Tool Center Point (TCP) which are updated by the TCPP task
softpart at the interval specified by the value of $TCPP_CFG.$tcpp_time. The
individual fields within this structure are defined below.

Power Up: N/A

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: REAL Memory: CMOS

Name: TCP Speed Prediction Acceleration (millimeters/second )

Description: This is the predicted acceleration of the robot TCP which

corresponds with the value of the predicted speed ($TCPPSPEED.$speed). It is
a directionless value, but its sign is valid (positive for increasing TCP speed,
negative for decreasing TCP speed).

Power Up: N/A

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: TCP Speed Prediction Programmed Motion Type

Description: This is the programmed motion type of the last active TCPP motion
segment at the time of the most recent TCP Speed prediction update.

($TCPPIR.$tcdelay) which is currently being used as the prediction time within
the TCPP softpart. This value is presented within this structure to provide a
convenient monitor point for the user.

Power Up: N/A

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$th_debug

Minimum: Maximum: Default: KCL/Data:

0xffffffff
RW Program: RW UIF: RW 0x7fffffff
CRTL: RW Data0Type:
INTEGER Memory: CMOS

Name: Touch sensor debug flag

Description: Reserved for Internal use by FANUC Robotics. If this variable is set
to a value other than 0, the touch sensing software will print out debug
information on a debug console.

Power Up: Takes effect immediately

$TH_DEFAULT STRUCTURE

Name: Touch sensing default data structure.

Description: This structure defines all the default values for the touch sensing
softpart. Individual fields within this structure are defined below.

Power Up: Takes effect immediately

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-

J3 Controller ArcTool Setup and Operations Manual

$TH_DEFAULT.$prog_master

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Program Master

Description: If set to TRUE, the program is in master mode. If set to FALSE, the
individual touch sensing schedule takes control over mastering.
Power Up: Takes effect immediately

Minimum: 0 Maximum: 150 Default: 50 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available
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Name: Maximum search speed

Description: The allowable maximum search speed. You cannot define a search
speed that exceeds this number. If an attempt is made, the search speed will be
set to the value of this variable.

Power Up: Takes effect immediately

$TH_DEFAULT.$th_min_dist

Minimum: 0 Maximum: 200 Default: 10 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Minimum search distance

Description: This variable specifies the minimum search distance. You cannot
specify a search speed less than this number. If an attempt is made, the search
distance will be set to the value of this variable.

Power Up: Takes effect immediately

$TH_DEFAULT.$th_min_spd

Minimum:
RW UIF: 0 Not Maximum:
available 50 Default:
CRTL: 5 KCL/Data:
Not available Program:
RW REAL
Data Type: Memory:
Not available

Name: Minimum search speed

Description: The minimum allowable search speed. You cannot specify a

search speed less than this variable.

Power Up: Takes effect immediately

$TH_DEFAULT.$th_ptn_reg
Minimum: 0 Maximum: 10 Default: 10 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Default search pattern output position register

Description: This variable is used only when you specify an invalid position
register number in a Search Start [] PR[] instruction.

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Power Up: Takes effect immediately

$TH_DEFAULT.$th_srch_reg

Minimum: 0 Maximum: 10 Default: 9 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Default search output position register number

Description: This variable is used when you specify an invalid search output
position register number.

Power Up:
Takes effect immediately
$TH_MOTION STRUCTURE

Name: Touch sensor motion data structure

Description: The touch sensor sends this data structure to the motion
subsystem when requesting a service. This structure is for internal use by
FANUC Robotics. CAUTION: This is an internal data structure. You should not
access or change any of the fields in this structure. Otherwise, you could corrupt
your software.

Power Up: Takes effect immediately

$TH_MOTION.$accel_time

Minimum: 0 Maximum: 500 Default: 28 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: Acceleration time.

Description: The motion acceleration time during a search motion.

Power Up: Takes effect immediately

$TH_MOTION.$re_termtyp

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: SHORT Memory: Not
available

Name: Return motion termination type

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Description: The termination type of a search return motion.

Power Up: Takes effect immediately

$TH_MOTION.$ref_grp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: ref_grp

Description: Copy of the data from current touch sensing schedule.

Power Up: Takes effect immediately

$TH_MOTION.$return_dist

Minimum: 0 Maximum: 2000 Default: 20000 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
SHORT Memory: Not available

Name: return_dist

Description:
system uses Copy of thethe
it to control data from current
automatic returntouch sensing schedule. Motion
distance.

Power Up: Takes effect immediately

$TH_MOTION.$return_spd

Minimum: 0 Maximum: 1000 Default: 100 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Return Speed

Description: This variable specifies a return speed of a search motion.

Power Up: Takes effect immediately

$TH_MOTION.$search_dist

Minimum: 0 Maximum: 2000 Default: 100 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available
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Name: Search distance

Description: Maximum searching distance for a search motion.

Power Up: Takes effect immediately

$TH_MOTION.$search_on

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Search On flag

Description: If this system variable is ON, it is a search motion.

Power Up: Takes effect immediately

$TH_MOTION.$search_spd

Minimum: 0 Maximum: 500 Default: 50 KCL/Data: RO Program:

RO UIF: Not available CRTL: Not available Data Type: REAL Memory:
Not available

Name: Search speed

Description: Speed of search motion.

Power Up: Takes effect immediately

$TH_MOTION.$sim_detect

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Simulated detection

Description: Used to simulate a touch input to the controller. Therefore, the

touch sensor program can run without hardware setup.

Power Up: Takes effect immediately

$TH_MOTION.$srchne_on

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Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

Not available CRTL: Not available Data Type: BOOLEAN Memory: Not
available

Name: Search no effect flag

Description: Reserved for Internal use by FANUC Robotics. Not currently used.

Power Up: Takes effect immediately

$TH_MOTION.$time_stamp

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: RO UIF:

CRTL: Data Type: Memory:
Not available
available Not available INTEGER Not

Name: Time stamp

Description: The time when robot touches a part.

Power Up: Takes effect immediately

$TH_MOTION.$touch_pos

Minimum:
RO UIF: Not9 Maximum: 9 Default:
available CRTL: {REAL}
Not available KCL/Data:
Data REALProgram:
Type: RO Memory:
Not available

Name: Touched position

Description: The joint position where the robot is in contact with a part.

Power Up: Takes effect immediately

$TH_SEARCH

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Search flag

Description: Reserved for Internal use by FANUC Robotics. It is set when a

search motion is executed. It is turned off when the search motion is completed.

Power Up: Takes effect immediately

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$TH_SENSOR STRUCTURE

Name:
Touch sensor port
Description: The touch sensing software checks this port for a contact signal.
Individual fields within this structure are defined below.

Power Up: Takes effect immediately

Screen: Touch I/O on the I/O screen.

$TH_SENSOR.$port_number

Minimum:
RW UIF: 0Not Maximum:
available 0 Default:
CRTL: 0 KCL/Data:
Not available Type:Program:
Data RW
SHORT Memory: Not available

Name: I/O Port number

Description: Digital I/O port number.

Power Up: Takes effect immediately

$TH_SENSOR.$port_type

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: I/O Port type.

Description: The digital I/O port type.

Power Up: Takes effect immediately

$TH_SENSOR.$threshold
Minimum: 0x80000000 Maximum: 0x7fffffff Default: 0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Threshold

Description: The threshold number for analog inputs.

Power Up: Takes effect immediately

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$TH_SRCHNE

Minimum: Maximum: Default: KCL/Data: Program:

0 available CRTL:
RW UIF: Not 1 0
Not available Data RW
Type:
BOOLEAN Memory: Not available

Name: Search no effect flag

Description: Reserved for Internal use by FANUC Robotics. Not currently used.

Power Up: Takes effect immediately

$TH_SRCHST

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Search start flag

Description: Reserved for Internal use by FANUC Robotics. This variable is set
when a Touch Offset Start PR[] instruction is executed, and it is turned off when
a Touch offset End instruction is executed.

Power Up: Takes effect immediately

$TH_WELD STRUCTURE

Name: The welding I/O port.

Description: The touch sensor uses this data structure to check whether the
welding port is enabled. It is an error if both the touch sensing circuit and welding
are enabled. This variable is not being used in current software.

Power Up: Takes effect immediately

Screen: Touch I/O on the I/O screen.

$th_wrkframe.$ref_grp[1-32]

Minimum: 1 Maximum: 32 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Touch frame reference group

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Description: User set this value in Touch Frame Setup manual to specify which
motion group the touch frame is with respect to.

Power Up: Takes effect immediately

$THSCHEDULE STRUCTURE

Name: Touch sensor schedule

Description: This system variable defines an array of 32 touch sensing

schedules. Each schedule defines run-time properties of the touch sensing
search motion, search pattern and offset calculations.

Power Up:
Takes effect immediately
Screen: In touch schedule under DATA screen, or under SYSTEM Variables
screen

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$auto_return

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Search motion auto return.

Description: Determines the position of the robot after a touch is performed.

When auto return is set to true, the robot will return to its search start position.
Otherwise, the robot will remain at the contact point.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Comment field for a touch sensing schedule.

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Description: Allow users write comment about a touch schedule.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$incremental

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Incremental search

Description: When incremental is on, all the motion instructions within the
Search Start [] PR[] and Search End instructions will be offset by previous search
results.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

See Also:
The
J3 Controller chapterSetup
ArcTool on "Touch Sensing" in
and Operations the FANUC Robotics SYSTEM R-
Manual

$thschedule[1].$master_flag

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Master search flag.

Description:

Power Up: Takes effect immediately

Screen: In touch schedule under DATA screen.

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$pattern_typ

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Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Touch sensing search pattern sub-type.

Description: Each search pattern can have several sub_pattern types. For
example, fillet/lap has four sub-types: one dimensional search, two dimensional
search, three dimensional search and two dimensional shift and rotate search.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$re_termtyp

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Return motion termination type

Description: Defines the termination type of the search return motion if

$THSCHEDULE.$auto_return is set to TRUE.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

Name: Touch offset reference group

Description: User sets this value in touch sensing schedule to specify how the
offset is recorded.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

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$thschedule[1].$return_dist

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW2000Data Type: REAL
2000 Memory: CMOS
RW

Name: Automatic return distance

Description: User sets this value in touch sensing schedule to specify the auto
return distance if Auto_Return function is enabled.

Power Up: Takes effect immediately

$thschedule[1].$return_spd

Minimum: 0 Maximum: 1000 Default: 100 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Search motion Return Speed.

Description: Defines the search return speed when $auto_return is set to TRUE.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

See Also: AUTO RETURN The chapter on "Touch Sensing" in the FANUC
Robotics SYSTEM R-J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$search_dist

Minimum: 0 Maximum: 2000 Default: 100 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Touch sensing Search Distance.

Description: Allowable
variable defines traveling
how much distanceare
part deviation for allowed
a searchfor
motion. Thisbefore
a search systemthe
touch sensing software posts an error.

Power Up: Takes effect immediately

Screen: In touch schedule under DATA screen.

Minimum: Maximum: Default: KCL/Data: Program:

1
RW UIF: RW CRTL: RW32 Data Type:
32INTEGER Memory:
RW CMOS

Name: Search position register number

Description: Defines a position register that records the contact position during
a search motion. NOTE: This recording takes place regardless of the value of
$master_flag, and it only contains the latest contact position.

Power Up: Takes effect immediately

Screen:
In the touch sensing schedule on the DATA screen.
See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$search_ptn

Minimum: 0 Maximum: 32 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Touch Sensing Search Pattern.

Description: Touch sensing supports several search patterns. Each pattern is

defined in terms of the geometry of the part in question. A search pattern may
comprised of one to fifteen search motions. Currently, four search patterns are
supported: fillet/lap v groove ID/OD simple search

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

Minimum: 0 Maximum: 500 Default: 50 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Touch sensor search speed.

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Description: This variable defines the search speed for a search schedule.
When this particular schedule is specified in "SEARCH START[] PR[]" instruction,
this speed is take effect for all the motion with the search option. For example,
the TPE instruction, "J P[1] 100% FINE SEARCH[X]", does not use 100% speed
for the search motion. Instead, it uses a search speed defined in a search
schedule.

Power Up: Takes effect immediately

Screen: In touch schedule under DATA screen.

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$work_frame

Minimum: 0 Maximum: 32 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Work frame number.

Description: A search motion, "J P[1] 100% FINE SEARCH[Y]", is a motion in

the Y direction of a work frame. This work frame number in the schedule defines
which work frame is used for the search motion.

Power Up: Takes effect immediately

Screen: In the touch sensing schedule on the DATA screen.

See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM R-
J3 Controller ArcTool Setup and Operations Manual

$TIMER[1].$str_lin_num

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
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Name: Timer Starting Line Number

Description: The line number where the timer started.

Power Up: N/A

$TIMER[1].$tid_num

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS

Name: Task ID which uses the program timer

Description:
This field stores the task ID which uses the program timer.
Power Up: N/A

Screen: This field is for internal use only.

$TIMER[1].$timer_val

Minimum: 0 Maximum: 0x7fffffff Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Timer Value

Description: Indicates the count, in ms, since the timer started.

Power Up: N/A

$tm_motion.$ornt_toler

Minimum: 0.0 Maximum: 90 Default: 0.01 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Orientational tolerance

Description: This is for the TCP_ALIGN mode only. If the orientation change of
the TCP exceeds this tolerance, TCPMate will post an error.

Power Up: On_CNTL_Start

$TMI_CHAN

Minimum: 0 Maximum: 32 Default: 32 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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Name: Channels

Description: The number of simultaneous open connections which MOTET can

support.

Power Up: On_Cold_Start

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$TMI_DBGLVL

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW5 Data Type:
0 INTEGER RWMemory: CMOS

Name: Debug Level

Description: Defines the level of detail of debug messages. A system console is

required to display the debug messages. This should be set to zero. Other values
will slow performance.

Power Up: Takes effect immediately

See Also:
Operations FANUC
Manual,Robotics SYSTEM SYSTEM
FANUC Robotics R-J2 Controller KSL Interface
R-J3 Controller MOTETSetup and
Interface
Setup and Operations Manual

$TMI_ETHERAD

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program:

RW UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: ETHERNET address

Description: This ishave

Ethernet addresses the ETHERNET
the followingboard address
format: and should be unique.
HH:HH:HH:HH:HH:HH where H is
a hexadecimal number.

Power Up: On_Cold_Start

Screen: BMON DIAG screen

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$TMI_ROUTER

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF:""RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name: Router

Description: A string of up to 32 characters defining the network router node

name. Although a value is required for this variable, MOTET Interface does not
make use of routers.

Power Up: On_Cold_Start

Screen:
SETUP MOTET screens
See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and
Operations Manual, FANUC Robotics SYSTEM R-J3 Controller MOTET Interface
Setup and Operations Manual

$TMI_SNMASK

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Ethernet Subnet Mask

Description: It is a string with the following format: DDD.DDD.DDD.DDD, where
DDD is a three digit decimal with range 0 <= DDD <= 255, e.g. the default subnet
mask for a class C type network is 255.255.255.0. Please consult your network
administrator for the proper Ethernet subnet mask configuration for your network
environment.

Power Up: Takes effect immediately

See Also: FANUC Robotics SYSTEM R-J2 Controller KSL Interface Setup and

Operations Manual, FANUC

Setup and Operations Robotics SYSTEM R-J3 Controller MOTET Interface
Manual

$TORQCTRL STRUCTURE

Name: Torque on/off control

Description: Holds information used by torque on/off control function. Individual

fields within this structure are described below.

Power Up: N/A

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$TORQCTRL.$debug

Minimum: Maximum: Default: KCL/Data:

0x80000000
RW Program: 0x7FFFFFFF
RW UIF: RW CRTL: RW Data Type: 0
INTEGER Memory: CMOS

Name: Debug flag

Description: Not used at all.

Power Up: N/A

$TORQCTRL.$grp_stt[1]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Torque group status.

Description: Indicates whether the torque of that group is turned on/off. 0 means
torque on ( standard ) 1 means torque off ( used for jig mastering ) Used only by
torque control function. Should not be changed.

Power Up: N/A

$TORQCTRL.$sbr_pam21_v[1]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: SBR[axes].PARAM[21] value

Description: Value of SBR[axes].PARAM[21] is stored when torque is tuned off.

Used only by torque control function. Should not be changed.
Power Up: N/A

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available
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Name: Servo error clear flag

Description: Servo error clear flag. If set to 1 then servo error is cleared while
torqctrl. SV_ERR_MOD[GRP] is 1. Used only by torque control function. Should
not be changed.

Power Up: N/A

$TORQCTRL.$sv_err_mod[1]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available

Name: Servo error modification flag

Description: Servo error is cleared if the sv_err_clr[grp] is set to 1. It will be

modified to 0 after servo error is actually turned off. Used only by torque control
function. Should not be changed.

Power Up: N/A

$TP_CURSCRN[1].$scrn_id

Minimum: 0 Maximum:
RO Program: RO UIF:0xFFFFFFFF Default:
RO CRTL: RO KCL/Data:
Data 0Type: ULONG Memory:
CMOS

Name: Screen Number of the Current Menu

Description: Some softparts can handle multiple menus (for example the
SYSTEM Variables menu and the KAREL variable menu are the same softpart
id). The screen number determines the current menu of a given softpart.

Power Up: N/A

See Also: FORCE_SPMENU built-in in the FA NUC Robotics SYSTEM R-J3

Controller application-specific Reference Manual lists the constants for each
menu.

$TP_CURSCRN[1].$sp_id

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data:

RO Program: RO UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS

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Name: Softpart Identifier of the Current Menu

Description: This softpart identifier can be used to determine exactly which

softpart menu is being displayed on the teach pendant screen at any time.

Power Up: N/A

See Also: FORCE_SPMENU built-in in the FA NUC Robotics SYSTEM R-J3

Controller application-specific Reference Manual which lists the constants for
each menu.

$TP_CURSCRN[4] STRUCTURE

Name:
Current Teach Pendant Menu Descriptor
Description: Contains information for the KAREL user to determine which menu
is currently being displayed on the teach pendant. $TP_CURSCRN[1]: used
during normal operations $TP_CURSCRN[2]: used during normal operations
when $TP_QUICKMEN = TRUE $TP_CURSCRN[3]: used during controlled start
$TP_CURSCRN[4]: used during controlled start when $TP_QUICKMEN = TRUE
Individual fields within this structure are described below.

Power Up: N/A

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Teach Pendant’s Default Program

Description: $TP_DEFPROG identifies the default program name that is used

on the teach pendant.

Power Up: No

Screen: SYSTEM Variables screen, SELECT menu

$TP_DISPLAY

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

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Name: Teach Pendant Output Display Device

Description: If set to 1, the display which normally goes to the teach pendant will
go to terminal attached to P4. Reserved for Internal use by FANUC Robotics.

Power Up: N/A

$TP_INST_MSK[1-2]

Minimum: 0x80000000 Maximum: 2 Default: 0 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name:
Teach pendant editor instruction mask
Description: Index 1 is used as a mask to turn on selected teach pendant
instructions. Index 2 is used as a mask to turn off selected teach pendant
instructions. This mask only applies to instructions which you have loaded as
options.

Power Up: N/A

$TP_INST_MSK[2]

Minimum: 0x80000000
RW Program: Maximum:
RW UIF: Not available CRTL: NotDefault:
0x7FFFFFFF 0
available KCL/Data:
Data Type:
INTEGER Memory: Not available

Name: Teach pendant editor instruction mask

Description: Index 1 is used as a mask to turn on selected teach pendant

instructions. Index 2 is used as a mask to turn off selected teach pendant
instructions. This mask only applies to instructions which you have loaded as
options.

Power Up: N/A

$TP_INUSER

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: RO UIF:

RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Teach Pendant is in USER Menu

Description: $TP_INUSER indicates the USER menu is displayed on the teach

pendant. It is used in conjunction with $TP_LCKUSER to tell a program when the
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teach pendant menu has been locked to the USER menu. $TP_INUSER
automatically is set to TRUE whenever the USER menu is displayed on the teach
pendant.

Power Up: N/A

$TP_LCKUSER

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Teach Pendant Lock USER Menu

Description:
Setting $TP_LCKUSER
specified by $TP_DEFPROG = TRUE
to lock the USER will
menu allow
on the
the KAREL program
teach pendant while
the program is running. When the USER menu is locked, all function keys are
accessible by the program. However, they will be blank unless the program
writes to them using the TPFUNC predefined FILE variable. While the USER
menu is locked, the MENUS hardkey will not be active. Therefore, the program
has control over which menu is being displayed. If $TP_LCKUSER is FALSE or
the program is paused or aborted, all system-defined function keys will be
displayed and active. If the USER menu is not being displayed when
$TP_LCKUSER is first set to TRUE, the lock function does not take effect until
you select the USER menu on the teach pendant. The value of $TP_INUSER
indicates whether or not the USER menu has been selected. The
FORCE_MENU built-in can be used to force the USER menu to be displayed.

Power Up: No

$TP_QUICKMEN

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Teach Pendant Quick Menu

Description: Determines whether the user interface displays a quick menu or a

full menu configuration when the MENUS key is pressed. If $TP_QUICKMEN is
set to TRUE, less than 16 menus are available.

Power Up: N/A

Screen: SYSTEM Variables screen, FCTN - QUICK/FULL MENUS

$TP_SCREEN

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Minimum: "" Maximum: "" Default: "tpsc" KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Teach Pendant Screen

Description: The name of the current screen on the teach pendant.

Power Up: N/A

$TP_USERSCRN

Minimum: "" Maximum: "" Default: "t_sc" KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Teach Pendant Screen While in the USER Menu

Description: The name of the screen which will be activated when the USER
menu is selected. The ACT_SCREEN built-in will set this system variable. It will
be reset to "t_sc" when the KAREL program, which called ACT_SCREEN, aborts.

Power Up: N/A

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Teach Pendant Status Line in USER Menu

Description: Setting $TP_USESTAT = TRUE will allow the KAREL program

specified by $TP_DEFPROG to control the status line in the USER menu on the
teach pendant while the program is running. The status line will be blank unless
the program writes
$TP_USESTAT to it using
is FALSE, the program
or the TPSTATUS predefined
is paused FILE variable.
or aborted, If
the system-
defined status line will be displayed and updated.

Power Up: N/A

$TP_WATCHDOG

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
BOOLEAN Memory: Not available
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Name: Teach pendant communication watch dog switch

Description: This system variable is not currently used. This system variable
enables teach pendant communication watch dog functionality. This system
variable is for future use.

Power Up: N/A

$TPE_DETAIL

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name:
TPP+ Create DETAIL Menu Required
Description: If $TPE_DETAIL is 0, the system does not require that you display
the DETAIL screen when a program is created. If set to 1, the system requires
that you must perform any DETAIL setup functions required for your application.
For example, if line tracking is loaded as an option, you are required to display
this screen in order for the line tracking program to work correctly.

Power Up: Takes effect immediately

$TPP_MON STRUCTURE

Name: TPP monitor

Description: This system variable is used to TPP monitor function.

Power Up: On_Cold_Start

$TPP_MON.$global_mt

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program:

RO UIF: FP CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Global monitor

Description: This system variable, user can select the two type mode at cold
start for system monitor. 1: If monitor is executing before power off, system
deletes the monitor at cold start. 2: If monitor is executing before power off,
system starts monitoring at cold start automatically.

Power Up: On_Cold_Start

$TPP_MON.$gmon_tid
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Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program:

RO UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS

Name: Global monitor task id

Description: For internal use only. Do not modify this system variable. The task
number of global monitor.

Description: For internal use only. Do not modify this system variable.

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Name: Cartesian Motor Torque Break Margin

Description: Defines the motor torque safety margin for Cartesian motions at the
break in the torque vs. velocity curve.

Power Up: N/A

Minimum: -100000.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
REAL Memory: Not available

Name: Motor Deceleration Torque due to Static Load

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Name: Mincycle Version ID extra_2

Description: Reserved for Internal use by FANUC Robotics.

Power Up: N/A

$TSR_GRP[1].$min_c_id_e3

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Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: STRING Memory:
CMOS

Name: Mincycle Version ID extra_3

Description: Reserved for Internal use by FANUC Robotics.

Power Up: N/A

$TSR_GRP[1].$min_cyc_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data:

Program: UIF: CRTL: Data Type: Memory:
RW
CMOS RW RW RW STRING

Name: Mincycle Version ID

Description: Used to determine the mincycle parameter version.

Power Up: N/A

$TSR_GRP[1].$mj_acc_mgn[9]

Minimum: -100000.0
RW Program: Maximum:
RW UIF: 100000.0
Not available Default:
CRTL: 1.0 KCL/Data:
Not available Data Type:
REAL Memory: Not available

Name: Joint Filter Acceleration Margin

Description: Defines a scale factor for use with non-filter acceleration.

Name: Teach Pendant Blank Enable

Description: If $TX.$BLNK_ENABLE is TRUE, then $TX.$BLNK_TIMER is the

amount of time in minutes before the teach pendant screen becomes blank. This
will prolong the life of the teach pendant screen. Pressing any key will redisplay
the screen.

Power Up: N/A

Minimum: 5 Maximum: 10000 Default: 5 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS

Name: Teach Pendant Blank Timer

Description: If $TX.$BLNK_ENABLE is TRUE, then $BLNK_TIMER is the

amount of time in minutes before the teach pendant screen becomes blank. This
will prolong the life of the teach pendant screen. Pressing any key will redisplay
the screen.

Power Up: On_Cold_Start

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: iPendant Connected

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Description: When the iPendant is connected, $TX.$CONNECTED will be

TRUE. If the monochrome teach pendant or no teach pendant is connected, then
$TX.$CONNECTED will be FALSE.

Power Up: N/A

$TX.$coreversion

RO Program: Not available UIF: RO CRTL: RO Data Type:
ULONG Memory: CMOS

Name: Teach Pendant Watchdog Timer when no keys are pressed.

Description: This is the watchdog timer, in milliseconds, that occurs when no

keys are pressed. If the teach pendant does not communicate with the controller
within this amount of time, a teach pendant communication error is posted.

Power Up: On_Cold_Start

$TX.$version

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS

Name: Teach Pendant Version

Description: This is the version of the Browser Plugins when the iPendant is

connected.
pendant. $VERSION does not apply to the legacy (monochrome) teach

Power Up: On_Cold_Start

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS

Name: Teach Pendant Watchdog Enable

Description: This enables the watchdog timer. If the teach pendant does not
communicate with the controller within a specified milliseconds of time, a teach
pendant communication error is posted.

Power Up: N/A

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$TX.$wdog_timer

Minimum: Maximum: Default: KCL/Data: Program:

50
Not available 65536 RO Data 100
UIF: RO CRTL: RO
Type: ULONG Memory: CMOS

Name: Teach Pendant Watchdog Timer

Description: This is the watchdog timer, in milliseconds, that occurs when keys
are pressed. If the teach pendant does not communicate with the controller within
this amount of time, a teach pendant communication error is posted.

Power Up: N/A

See Also:
$TX.$SLOW_TIMER
$TX_DIAGHOST[1-5]

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Host names for Diagnostics on Intelligent Teach Pendant

Description: Each element in the array consists of a string of up to 32

characters defining the name which represents a diagnostics server on the
network. It should be unique across the network.
Power Up: N/A

Screen: n/a

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF:Memory:
STRING Not available CRTL: Not available
Not available Data Type:

Name: Host names for Diagnostics on Intelligent Teach Pendant

Description: Each element in the array consists of a string of up to 32

characters defining the name which represents a diagnostics server on the
network. It should be unique across the network.

Power Up: N/A

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Screen: n/a

Name: User Alarm Message

Description: This system variable holds alarm messages for user alarm (INTP-
213 UALM[i]). A user alarm occurs when UALM[i] command in the teach pendant
program is executed and the alarm message stored in $UALRM_MSG[i] is
displayed. Default length of this system variables is 10. You can increase or
decrease the length of this system variable during a Controlled Start.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, ALARM screen

$UALRM_MSG[10]

Minimum: "" Maximum: "" Default: "" KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
STRING Memory: Not available

Name: User Alarm Message

Screen: SYSTEM Variables screen, ALARM screen

$UALRM_SEV[10]

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Minimum: 0 Maximum: 255 Default: 6 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: BYTE Memory:
Not available

Name: User alarm severity

Description: This variable has 20 arrays and this number is the same with the
user alarm one. Each value designates the severity of each user alarm. This
default value is 6. This means STOP.L of error severity. You can set each
severity under the following specification. WARN 0 STOP.L 6 STOP.G 38
ABORT.L 11 ABORT.G 43

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$UI_CONFIG.$color_crt

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Color CRT terminal

Description: If this variable is set to TRUE, the system will send ANSI VT-320
color codes to the attached CRT device.

Power Up: On_Cold_Start

$UI_CONFIG.$config_chan[1-5]

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: HMI mask

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$UI_CONFIG.$mem_limit

Minimum: Maximum: Default: KCL/Data: Program:

100 UIF: RW CRTL:
Not available 2000 RW Data300Type: SHORT RWMemory: CMOS

Name: Low memory limit

Description: The system will allow an external IE connection only if the amount
of temporary memory in this variable is available. If the amount in this variable is
not available, then the connection will be refused and an error will be posted.

Power Up: N/A

$UI_CONFIG.$menu_favs[1-8]
Minimum: "" Maximum: 20000 Default: " " KCL/Data: RW Program:
Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Menu favorites

Description: This variable contains the list of menu favorites you have selected
in the Display menu. To clear favorites, set this variable to ‘’.

Power Up: N/A

$UI_CONFIG.$mode[1-5]

Minimum: 3 Maximum: 0x7FFF Default: 3 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Status of iPendant connections.

Description: For each connection, this varialbe provides the current display
mode:

•
3
• 4–- Extended
Single pane mode
status mode
• 5 - Double pane mode
• 6 - Triple pane mode

Power Up: Takes effect immediately

$UI_CONFIG.$mwin_limit

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Minimum: 600 Maximum: 20000 Default: 1000 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type:
SHORT Memory: CMOS

Name: Multi-window memory limit

Description: This variable prevents the system from executing in multi-window

mode if there is less DRAM memory available than this limit setting. The units are
1024 bytes. Therefore, the default of 2500 bytes implies that 2.5Meg of DRAM
must be available in order to enable this mode. Multi-window mode is disabled on
startup by setting the file $UI_CONFIG.$NUM_MENUS = 1. In order to re-enable
multi-window mode, you must also set $UI_CONFIG.$NUM_MENUS > 1.

Power Up: On_Cold_Start

Minimum: 1 Maximum: 5 Default: 5 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

$UI_CONFIG.$panemap[1-16]

Minimum: 0 Maximum: 20000 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS

Name: Pane mapping array

Description: This variable provides a mapping between connect ID, device ID

and pane ID. The index into the array is (3*connect ID) + (Device id – 1). The
value is the pane ID. The same information is more easily obtained by calling the
built-in GET_DEV_INFO.

Power Up: N/A

$UI_CONFIG.$readonly[1-3]

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

Not available
CMOS UIF: RW CRTL: RW Data Type: BOOLEAN Memory:

Name: Read-only enable

Description: This variable specifies whether a particular connection type is read-

only or read-write. Typically, an external IE connection are read-only meaning
that a user can look at data but cannot change anything. This field is an array of
three with the following meanings:

• [1]– Indicates a teach pendant.

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• [2]– Indicates an IE connection.

• [3]– Indicates CRT.

Power Up: N/A

$UI_CONFIG.$recovermenu

Minimum: 0 Maximum: 255 Default: 6 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: SYSTEM menu recovery behavior

Description: This variable set the SYSTEM menu recovery behavior. When it is

set to zero
window (0) at
mode. Coldthis
When start, the system
variable is set will display
to one theCold
(1) at HINTS screen
start, in single
the system will
display (in single window mode) the last screen displayed before the controller
was turned off. When this variable is set to two (2) at powerup, the system will
use whatever display mode was used when the controller was turned off. So if
the controller was turned off in two window display, the system will turn on in two
window display. When this variable is set to three (3) at Cold start, both settings
(1) and (2) apply. When this variable is set to four (4) at Hot start, the system will
display (in single window mode) the last screen displayed before the controller
was turned off. When this variable is set to six (6) at Cold start, both settings (4)
and (2) apply. This is the default setting.

Power Up: On_Cold_Start

$UI_CONFIG.$rotimeout[1-3]

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Read-only time out

Description: This variable specifies the time in minutes during which read-write

is effective.
time out andIfread-write
the value of
willthis variable
remain is zero,
in effect untilthen thisresets
a user impliesthe
that there is no
$READONLY
field. This field is an array of three with the following meanings:

• [1]– Indicates a teach pendant.

• [2]– Indicates an IE connection.
• [3]– Indicates a CRT.

Power Up: N/A

$UI_CONFIG.$timeout
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Minimum: 0 Maximum: 0x7FFF Default: 300 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS

Name: Menu time out in seconds

Description: This variable is the number of seconds that an IE connection will

remain open. After this time has elapsed with no activity, the connection will be
closed and the browser will be sent to the robot home page.

Power Up: N/A

$UI_CONFIG.$touch_mask

Minimum: Maximum: Default: KCL/Data:

0
RW Program: 0x7FFFFFFF
Not available UIF: RW CRTL: 0 RW Data Type:
ULONG Memory: CMOS

Name: iPendant touch screen mask

Description: This variable allows touch capability for the iPendant menus to be
disabled. It is a bit mask, such that:

• 1 means disable touch on TITLE bar.

• 2 means disable touch on MENUS.

Power Up: N/A

$UNDO_CFG STRUCTURE

Name: Undo Configuration Structure

Description: This structure contains variables which allow you to undo the last
operation in the TPP editor. Individual fields are described below.

Power Up: On_Cold_Start

Screen: SYSTEM variable screen.

$UNDO_CFG.$undo_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Undo Function Enable/Disable Switch

Description: 1: Enable undo function 0: Disable undo function

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Power Up: On_Cold_Start

Screen: SYSTEM variable screen

$UNDO_CFG.$warn_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Warning for undo enable/disable switch

Description: This variable allows you to turn on or turn off a warning message
telling you that the operation you about to perform can not be undone. The

default is 1, warning box will be displayed.

Power Up: On_Cold_Start

Screen: SYSTEM variable screen

$USER_CONFIG.$cust_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Customer Name

Description: This indicates the Customer Name. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_corr

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Environmental Corrosive Factor

Description: This indicates the Corrosive factor (from 1 to 255). Must be

manually entered.

Power Up: N/A

Screen: The System Variables screen.

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$USER_CONFIG.$env_dust

Minimum: Maximum: Default: KCL/Data: Program:

0
RW UIF: RW CRTL: RW255 Data Type:0UBYTE Memory:
RW CMOS

Name: Environmental Dust Factor

Description: This indicates the Dust factor (from 1 to 255). Must be manually
entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_heat

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Environmental Heat Factor

Description: This indicates the Heat factor (from 1 to 255). Must be manually
entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_vib

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS

Name: Environmental Vibration Factor

Description: This indicates the Vibration factor (from 1 to 255). Must be

manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$line

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
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Name: Line Name

Description: This indicates the Line Name. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$plant

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name:
Plant Name
Description: This indicates the Plant Name. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$process

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Process Type

Description: This indicates the Process Type. Must be manually entered.

Power Up: NA

Screen: The System Variables screen.

$USER_CONFIG.$ship_date

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: STRING Memory: CMOS

Name: Ship Date

Description: This indicates the Ship Date. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

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$USER_CONFIG.$warr_date

Minimum: Maximum: Default: KCL/Data: Program:

RW UIF:""RW CRTL: RW"" " " STRING Memory:
Data Type: RW CMOS

Name: Warranty Date

Description: This indicates the Warranty Date. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USEUFRAME
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: User Frame Feature Enable

Description: Enables the user frame feature if the option is installed. This is not
a standard option. With the user frame feature enabled, you are prompted for
user frame related input in the editor. Also, the user frame offsets will be applied
during program execution.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, Teach Pendant and KAREL Editor

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: User Tolerance Enable

Description: If this flag is TRUE, the check for User Definable Tolerance
function is executed when program is resumed.

Power Up: Takes effect immediately

$USRTOL_GRP[1].$dist_tol

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Minimum: 0.1 Maximum: 1000 Default: 250 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Position xyz tolerance

Description: Distance tolerance between robot current TCP and stop position.
(Units in mm.)

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$enable

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: User Tolerance Enable flag

Description: If this flag is TRUE (1), the check for user definable tolerance
function is executed when the program is resumed.

Power Up: Takes effect immediately

Screen:
SYSTEM Variables screen.
$USRTOL_GRP[1].$ornt_tol

Minimum: 0.1 Maximum: 80 Default: 20 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Position xyz tolerance

Description: Orientation tolerance between robot current TCP and stop position.
(Units in degrees.)

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$raux_tol

Minimum: 0.1 Maximum: 80 Default: 20 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Rotary joint axes tolerance

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Description: The joint angle tolerance between current robot position and the
stop position for rotary axes (including aux. axes).

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$taux_tol

Minimum: 0.1 Maximum: 1000 Default: 250 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Translational axes tolerance

Description: The distance tolerance between current robot position and the stop
position for translational axes (including aux. axes).

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[5] STRUCTURE

Name: User Tolerance Group Structure

Description: This variable defines the user tolerance value of each motion group.
When the paused program is resumed, and if the distance between the robot
position and the stop position is distant from the user defined tolerance in this
group, a warning message will be posted on the teach pendant.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_MENU

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: NO UIF:

NO CRTL: NO Data Type: BOOLEAN Memory: CMOS

Name: User Tolerance Menu

Description: When the pop-up menu is displayed, this flag is TRUE. This flag is
used to check whether the pop up menu is displayed.

Power Up: Takes effect immediately

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Screen: This is internal data.

2.22 V
$VC_MORGRP STRUCTURE

Name: AccuPath Status Variable Structure

Description: This is the AccuPath status variable. Refer to the descriptions of

the individual fields that follow.

Power Up: N/A

Screen: SYSTEM Variables screen.

$VC_MORGRP[1].$hist_cdist[1-20]

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
BOOLEAN Memory: CMOS

Name: Maintain CD value indicator

Description: If the motion option CDy is used and the system can maintain
y(mm) corner distance, it is TRUE; otherwise, it is FALSE. If the motion option
CDy is not used, it is TRUE. The history buffer is updated if it is set to FALSE.

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$hist_cspeed[1-20]

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
BOOLEAN Memory: CMOS

Name: Constant corner speed indicator

Description: It is TRUE if constant corner speed can be maintained; otherwise, it

is set to FALSE. It is TRUE if the location travel time is greater than orientation
travel time; otherwise, it is set to FALSE. The history buffer is updated if this is
set to FALSE.

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Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$hist_index

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Current index of history buffer

Description: All $hist_XXXX variables are used together as a history buffer to

inform the user concerning various warning status of AccuPath that occurs during
program motion. It is implemented as a ring buffer. The total size is 20. The value
of $hist_index points to the latest recorded data. Data is recorded only when
certain events occur, such as when it is a short segment, when corner speed
cannot be maintained, when corner distance specified cannot be maintained, and
so forth. Refer to the individual $hist_XXXX variables for details on warning
events.

Power Up: N/A

Screen: SYSTEM Variables screen.

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Program line number field of history buffer

Description: When the history buffer is updated, this field records the current
program line number.

Power Up: N/A

Screen: SYSTEM Variables screen.

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Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
Array of Real Memory: Not available

Name: maximum acceleration values

Description: Internal use only. Record maximum acceleration values for debug
purpose

Power Up: Takes effect immediately

$VC_MORGRP[1].$hist_maxjrk[20]

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: Not available CRTL: Not available Data Type:
Array of Real Memory: Not available

Name: maximum jerk values

Description: Internal use only. Record maximum jerk values for debug purpose
Power Up: Takes effect immediately

$VC_MORGRP[1].$hist_minspd[20]

Minimum: 0.0 Maximum: 2000.0 Default: 0.0 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type: Array of
Real Memory: Not available

Name: minimum corner speeds

Description: Internal use only. Record minimum corner speeds for debug
purpose

Power Up: Takes effect immediately

$VC_MORGRP[1].$hist_orndom[1-20]

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
BOOLEAN Memory: CMOS
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Name: Orientation dominant indicator

Description: It is TRUE if orientation travel time is greater than location travel
time, else FALSE. History buffer is updated if TRUE.

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$hist_progid[1-20]

Minimum: Maximum: Default: KCL/Data:

0
RW Program: RW UIF:BUFFER_NUM 0
RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Program ID field of history buffer

Description: When the history buffer is updated, this field records the current
program ID. The program ID is a unique number assigned internally to each
program.

Power Up: N/A

Screen: SYSTEM Variables screen.

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
BOOLEAN Memory: CMOS

Name: Short segment indicator

Description: It is TRUE if short segment; otherwise, it is set to FALSE. The

history buffer is updated if it is set to TRUE.

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

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$VC_MORGRP[1].$speed

Minimum: Maximum: Default: KCL/Data: Program:

0.0 CRTL: RW 10000.0
RW UIF: RW Data Type: REAL0.0Memory: CMOS
RW

Name: TCP speed information

Description: TCP speed in mm/sec is updated dynamically when AccuPath is

active.

Power Up: N/A

Screen: SYSTEM Variables screen.

$VC_MORGRP[1].$ttl_maxacc

Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: maximum acceleration value

Description: Internal use only. Record maximum acceleration value for debug
purpose

Power Up: Takes effect immediately

$VC_MORGRP[1].$ttl_maxjrk

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: maximum jerk value

Description: Internal use only. Record maximum jerk value for debug purpose
Power Up: Takes effect immediately

$VC_MORGRP[1].$ttl_minspd

Minimum: 0.0 Maximum: 2000.0 Default: 2000.0 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS

Name: minimum corner speed

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Description: Internal use only. Record minimum corner speed for debug
purpose

Power Up: Takes effect immediately

$VC_PARAMGRP STRUCTURE

Name: AccuPath Parameter Group Variable Structure

Description: This is the AccuPath setup parameter, which is robot or application

tool dependent. Refer to the descriptions of the individual fields that follow.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$VC_PARAMGRP[1].$cnstnt_spd

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Constant speed switch

Description: This variable controls the use of constant speed feature for

CNT100
maintain termtype motion.when
constant speed Whenmoving
the variable
aroundispath
FALSE, the When
corner. systemthe
willvariable
not is
TRUE, the system will maintain constant speed when moving around a path
corner by default, but might slow down if it is not possible. In order to do so, the
corner distance might be increased compared to the case of when $cnstnt_spd =
FALSE. This variable is set by the application tool. It is set to TRUE for the P-200
robot.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$VC_PARAMGRP[1].$dcdh_ratio

Minimum: 0.0 Maximum: 1.0 Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Corner distance ratio

Description: Internal use only. This variable is set by the application tool. It is
used when $shortmo_imp is TRUE.

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Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$VC_PARAMGRP[1].$hist_spdlim

Minimum: 0 Maximum: 100 Default: 100 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Threshold of speed limit

Description: Internal use only. This variable is set by the application tool. When
the planned speed is slower than the rate of program speed specified by this

variable, system detect speed slowdown and history buffer in $VC_MORGRP[] is

updated.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$VC_PARAMGRP[1].$shortmo_imp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Short motion improvement switch

Description: Internal use only. This variable is set by the application tool. Default:
FALSE. If TRUE, short motion is improved when half distance rule is applied.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$VC_PARAMGRP[1].$shrt_ratio

Minimum: 0.0 Maximum: 1.0 Default: 1.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: Short ratio

Description: Internal use only. This variable is set by the application tool. It is
used when $shortmo_imp is TRUE.

Power Up: Takes effect immediately

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Screen: SYSTEM Variables screen.

$VC_PARAMGRP[1].$warnmessenb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: Warning message enable switch

Description: FALSE: Warning message for AccuPath is not displayed. When the
variable is TRUE, the warning message for AccuPath is displayed. This has to be
set to FALSE during the production cycle.

Power Up:
Takes effect immediately
Screen: SYSTEM Variable screen

$VCCFG.$comp_switch

Minimum: 0 Maximum: 0x7FFFFFFF Default: 251 KCL/Data:

RW Program: RW UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS

Name: Compatibility switch

Description: This variable is used to switch among different versions of

Accupath software for comparison purpose. Default value is 251, which means
V5.20P Accupath is used. To use V5.11P Accupath software, set the value to be
123.

Power Up: Takes effect immediately

$VDATE

Minimum: "" Maximum: "" Default: "06/17/2004 " KCL/Data:

CMOSProgram: RO
RO UIF: RO CRTL: RO Data Type: STRING Memory:

Name: Software Release Date

Description: Displays the application software release date.

Power Up: N/A

Screen: STATUS Version IDs screen

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$VERSION

Minimum: Maximum: Default: KCL/Data:

""
RO Program: RO UIF: ""
RO CRTL: "V6.4047 06/17/2004"
RO Data Type: STRING Memory:
RAM

Name: Software Build Version

Description: Displays the software build version and build date.

Power Up: N/A

Screen: STATUS Version IDs screen

$VISIONMOUT

Minimum: 0 Maximum: 0x7FFF Default: 3000 KCL/Data: RW Program:

RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available

Name: Vision Timeout

Description: Not currently used.

Power Up: N/A

2.23 W
$WAITRELEASE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: WAIT release

Description: If a program is waiting for an input or timer to expire, setting this
variable to TRUE will cause the program to move to the next statement without
satisfying the wait condition.

Power Up: N/A

Screen: FCTN WAIT RELEASE

$WAITTMOUT

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Minimum: 0 Maximum: 0x7FFF Default: 3000 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: TIMEOUT Time for WAIT instructions

Description: If a WAIT instruction includes a TIMEOUT clause, this specifies the
time. Units are in 100ths of a second.

Power Up: N/A

$WVWRIST.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:

Program: UIF: CRTL: Data Type:
RW
INTEGER RW CMOSRW
Memory: RW

Name: debug

Description: Internal use only.

Power Up: Takes effect immediately

$WVWRIST.$run_ang

Minimum:
RW UIF: RW Maximum:
-90.0 CRTL: RW 90.0 Default:
Data Type: REAL KCL/Data:
10.0 Memory: RW
CMOS Program:

Name: run_ang

Description: System returns the actual angle between the TOOL Z-X plane and
the TOOL Z-PATH during execution.

Power Up: Takes effect immediately

$WVWRIST.$tol_ang

Minimum: 0.0 Maximum: 90.0 Default: 10.0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS

Name: tol_ang

Description: This is the upper limit for $run_ang. When actual run_ang reaches
its limit value, the robot will stop executing and display the error message,
"run_ang exceeds tol_ang".

Power Up: Takes effect immediately

Fanuc RJ3iB System Variable Listing Page 809 of 812

http://slidepdf.com/reader/full/system-variables-list-r-j3ib 809/810
7/23/2019 System Variables List R-J3iB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS

Name: wrist_enb

Description: 1: wrist axis weaving is enabled. 0: wrist axis weaving is disabled.
(default)

Power Up: Takes effect immediately

Minimum: 8 Maximum: 1000 Default: 32 KCL/Data: RW Program:

RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS

Name: Wrist Acceleration 1

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