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: Not

available 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: Not

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

available 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

$AB_INT_CFG.$dip_sw_0

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: DIP Switch 0
Description: The settings of DIP switch 0. Diagnostic information for FANUC
Robotics service personnel only.
Power Up: N/A

$AB_INT_CFG.$dip_sw_1

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: DIP Switch 1
Description: The settings of DIP switch 1. Diagnostic information for FANUC
Robotics service personnel only.
Power Up: N/A

$AB_INT_CFG.$gen_flt

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: General Fault Register
Description: Internal general fault information. Diagnostic information for
FANUC Robotics service personnel only.
Power Up: N/A

$AB_INT_CFG.$leds

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: LED State
Description: Status of the LEDs on the interface board. Diagnostic
information for FANUC Robotics service personnel only.
Power Up: N/A

$AB_INT_CFG.$rate

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

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

available 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

$AB_INT_CFG.$stat_reg

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Status Register
Description: Internal board status register information. Diagnostic information
for FANUC Robotics service personnel only.
Power Up: N/A

$AC_CRC_ID[1-5]

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: RO Data Type: STRING Memory: CMOS
Name: Small circle id
Description: For internal use only. Do not modify this system variable. When
karel program for setting the small circle servo parameters executes the value
is set to the version loaded. Number of array(5) means number of motion
group.
Power Up: Changes to this variable take effect through the robot library or
option.

$AC_CRC_SET[1-5]

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

UIF: Not available CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Small circle set
Description: For internal use only. Do not modify this system variable. When
a KAREL program that sets the small circle servo parameters executes, the
value is set to 1 to indicate that the option was loaded. The number of the
array(5) corresponds to the number of the motion group.
Power Up: Changes to this variable take effect through the robot library or
option.
$ANGTOL[9]

Minimum: 0.0 Maximum: 360.0 Default: 10.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Axis Error Tolerance
Description: The maximum tolerance of each joint for the positional
comparison operation. Two positions are considered equal when the
difference between each of their respective axis angles (units: in deg) is less
than $ANGTOL.

$AP_MAXAX

Minimum: 0 Maximum: 536870912 Default: 536870912 KCL/Data: RO

Program: Not available UIF: FP CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Application Maximum AX
Description: Reserved for Internal use by FANUC Robotics. You cannot
change this variable.

$AP_PLUGGED

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

Not available 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.

$AP_TOTALAX

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

Not available 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.

$AP_USENUM[32]

Minimum: 0 Maximum: 255 Default: 1 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
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.

$APPLICATION[1]
Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Name of the APPLICATION/TOOL Software
Description: Displays the release time name of the software
APPLICATION/TOOL.
Power Up: This variable cannot be changed.

$APPLICATION[2]

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Version of the APPLICATION/TOOL Software
Description: Displays the release time version of the software
APPLICATION/TOOL.
Power Up: This variable cannot be changed.

$APPLICATION[3]

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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: This variable cannot be changed.

$ARCLINK[1].$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 upon Cold Start

$ASCII_SAVE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: Not available

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: Not available

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.

$AUTOMESSAGE

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: AUTO MESSAGE TYPE
Power Up: Changes to this variable take effect immediately.

$AUTORCV_ENB

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

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: Takes effect Immediately
See Also: $AWELEWC[1].$usr_def_do

$AWELEWC[1].$usr_def_do
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 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 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: Takes effect Immediately
See Also: $AWELEWC[1].$usr_def_di

$AWELEWC[1].$wir_mtr_tim

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: Takes effect Immediately

$AWEPOR[1].$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 upon Cold Start

$AWEPOR[1].$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 TO WHAT?
Description: $POWER 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 is J/s.
Power Up: Takes effect upon Cold Start

$AWEPRODSTAT[1].$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.
Power Up: Takes effect upon Cold Start
See Also: $aweweldstat[1].$weld_dist

$AWEPRODSTAT[1].$weld_heat

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 while welding in Joules. $AWEWELDSTAT[1].$WELD_STAT
contains the heat input for each weld and
$AWEPRODSTAT[1].$WELD_HEAT contains the heat input for alll welds.
This variable will turnover to 0 wheh it reaches 1,000,000. This variable is
RESETS to 0 via the RESET function key in the Weld Status screen.
Power Up: Takes effect upon Cold Start

$AWEPRR[1].$rmt_gas

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: AWDIO_T Memory: CMOS
Name: Remote gas
Description: This variable defines a digital input signal to control the welding
gas flow remotely.
Power Up: Takes effect upon Cold Start
See Also: $awspcr.$rmt_gas_ena, $awspcr.$rmt_wir_ena.

$AWEPRR[1].$rmt_inchbwd

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 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: Takes effect Immediately
See Also: $aweprr[1].$rmt_inchfwd and $awspcr.$rmt_wir_ena

$AWEPRR[1].$rmt_inchfwd

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: Takes effect Immediately
See Also: $aweprr[1].$rmt_inchbwd and $awspcr.$rmt_wir_ena

$AWERAMP[1].$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. It is a multiplier of the variable
$AWSCFG.$LOOP_TIME. The maximum frequency 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 upon Cold Start

$AWEUPR[1].$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 upon Cold Start
See Also: $AS_PRE_TIME

$AWEUPR[1].$as_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 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
overlay the small delays in starting the wire feeder with the robot’s final motion
to the Arc Start position.
Power Up: Takes effect upon Cold Start
See Also: $AE_PRE_TIME

$AWEUPR[1].$as_wire_adj

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 upon Cold Start

$AWSPCR.$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 upon Cold Start
See Also: $aweprr[1].$rmt_gas,$awspcr.$rmt_wir_ena.

$AWSPCR.$rmt_wir_ena

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 upon Cold Start
See Also: $aweprr[1].$rmt_inchfwd, $aweprr[1].$rmt_inchbwd,
$awspcr.$rmt_gas_ena.

2.2 B
$BACK_EDIT[1] STRUCTURE
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not
available UIF: Not available CRTL: Not available
Name: Background Edit
Description: Background Edit variable structure. Individual fields within this
structure are described below.

$BACK_EDIT[1].$backup_name

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

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Name of backup program
Description: The name of the backup program is always -BACKUP-.

$BACK_EDIT[1].$bck_comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Description: The comment of the background edit program(-BCKEDT-).
Power Up: Changes to this variable take effect immediately.

$BACK_EDIT[1].$delete_ok

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Background edit internal status information

$BACK_EDIT[1].$ept_idx

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

Not available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Internal program index

$BACK_EDIT[1].$open_id

Minimum: -32768 Maximum: 32767 Default: -1 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Internal program access ID

$BACK_EDIT[1].$program

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

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Background edit program name
Description: Used by the system. The current name is always "-BCKEDT-"
and cannot be changed.
$BACK_EDIT[1].$replacing

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Background edit internal status information

$BACK_EDIT[1].$src_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available 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.

$BACK_EDIT[1].$used_tp_crt

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Background edit internal status information

$background

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

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.

$BACKUP_NAME

Minimum: "" Maximum: "" Default: "BACKUP" KCL/Data: RW Program: Not

available 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: Default is "BACKUP" on first power up.

$BGE_PROGRAM
Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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: No

$bge_unusend

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

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.

$BGEAUTOEXIT

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$BLAL_OUT STRUCTURE

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

available UIF: Not available CRTL: Not available
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 this structure are described below. NOTE From KCL, a required dummy
field, $BLAL_OUT.$PS_BATALM_0, is displayed.

$BLAL_OUT.$batalm_or

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

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 , the BATALM UO signal is turned on if the main CPU board backup
battery alarm, or if a BLAL or a BZAL occurs. An alarm message on 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: Changes to this variable take effect immediately.

$BLAL_OUT.$do_index

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately.

$BLT

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

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: System Build Date
Description: Displays the date when the system software was made. You
cannot change this variable.

$BWD_ABORT

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

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: Changes to this variable take effect immediately.

2.3 C
$CD_JOG_ENB
Minimum: 0 Maximum: 2 Default: 1 KCL/Data: RO Program: Not available
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: Cold start

$CD_LDR_FRM[1].$origin[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

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

$CD_LDR_FRM[1].$x_pos[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

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

$CD_LDR_FRM[1].$y_pos[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: RW Program: Not available UIF: Not available
CRTL: Not available Data Type: CD_POINT_T
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.
See Also: $CD_PARAM.$sv_set_enb 0 0 100000000 RW RW RW INTEGER

$CD_LDR_FRM[4] STRUCTURE
Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:
DEF_CD_POINT KCL/Data: Not available Program: Not available UIF: Not
available CRTL: Not available
Name: Leader Frame Structure
Description: Leader Frame variable structure. Individual fields within this
structure are described below.

$CD_PAIR STRUCTURE

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: Not available Program: Not available UIF: Not
available CRTL: Not available
Name: Coordinated Pair Structure
Description: Coordinated Pair variable structure. Individual fields within this
structure are described below.

$CD_PAIR.$ldr_frm_num

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
LONG
Name: Leader Frame number
Description: Indicates which leader frame will be used in LDR Coordinate
frame when use follower group jogging.

$CD_PAIR.$leader_frm[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: RW Program: Not available UIF: Not available
CRTL: Not available Data Type: POSITION
Name: Leader Frame
Description: The frame attached to the leader group. This frame will be used
for Follower group Jogging when the JOG COORD is in LDR coordinate.

$CD_PAIR.$loc_jog

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Follower fixed orientation.
Description: If this flag is set to true, when leader group jogged, the follower
will follow the leader’s location with fixed orientation.

$CD_PAIR.$ornt_mask
Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RW Program: Not available
UIF: Not available CRTL: Not available Data Type: LONG
Name: Follower orientation mask.
Description: This variable allows system level people to limit operator
capability to Use "TOGGLE COOR ORNT" function item. This variable has 3
masks: ATTACHED (1) , FIXED (2) and BOTH (3). When this variable is set to
ATTACHED, the follower orientation will be attached to leader when jog the
leader. The "TOGGLE COOR ORNT" function item is disabled. When this
variable is set to FIXED, the follower orientation will be fixed when jog the
leader. The "TOGGLE COOR ORNT" function item is disabled. When this
variable is set to BOTH, user can use the "TOGGLE COOR ORNT" function
item to switch between ATTACHED and FIX orientation.

$CHECKCONFIG

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Check Configuration
Description: Specifies whether the configuration portion of a position is
compared in the positional comparison operation. When set to TRUE, the
configuration will be compared. When set to FALSE, the configuration will not
be compared. Used to determine if the configuration components of the
positions should be compared. $CHECKCONFIG, along with
$APPROACHTOL, $LOCTOL, and $ORIENTTOL are used in conjunction with
the relational operator ``>=". Power Up:

$CMCFG STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: IntelliTrak Configuration System Variable
Description: This set of variables configure the IntelliTrak Feature. Individual
fields within this structure are described below.

$CMCFG.$debug

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
Name: Debug
Description: Reserved for Internal use by FANUC Robotics.

$CMCFG.$group_num
Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available
UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Group Number
Description: Denotes the motion group number that IntelliTrak feature is
applied. The default value is 1, meaning Group number 1 is selected.

$CMSCH STRUCTURE

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: IntelliTrak Schedule System Variable
Description: This set of variables controls the mode of operation of IntelliTrak.
Individual fields within this structure are described below.

$CMSCH[1].$cmc_type

Minimum: 0 Maximum: 3 Default: 2 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: IntelliTrak Type Switch
Description: Switch to enable and disable the IntelliTrak algorithm. If it is set
to 0, the IntelliTrak function does not work for all programs on the controller. If
you want to enable/disable IntelliTrak for a specific program, you should set
the IntelliTrak schedule number to 0. You can specify this value using the
PROGRAM DETAIL screen.

$CMSCH[1].$cnstnt_path

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Enables/Disables IntelliTrak constant path
Description: This is a switch for controlling the constant path feature. If set to
0, it means the constant path feature is disabled. Therefore, the path traced
will vary with the speed and speed override changes. If set to 1 or 2, it means
the constant path feature is enabled. The path traced will be maintained
regardless of speed and speed override changes. This adjustment only
applies to the program motions. If set to 1, the ACC override (optional) field in
motion statement is ignored. If set to 2, the ACC override (optional) field in
motion statement is active. If set to 1, the robot moves around all corners with
the specified speed. This means the actual robot path could have a similar
profile for all corners because the actual path depends on the corner speed. If
set to 0, the robot moves around all corners using the previous and next path
speeds.

$CMSCH[1].$min_acc_cmc
Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Minimum IntelliTrak Acceleration Time
Description: This value determines the minimum acceleration time that
IntelliTrak will use when the $CMSCH[].$nom_acc_ovr is used to reduce the
accel times.

$CMSCH[1].$nom_acc_ovr

Minimum: 0.001 Maximum: 5.0 Default: 1.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Intellitrak Global Accel Override
Description: This variable is a global acceleration override that affects the
entire program. The default value is 1.0 which means the default acceleration
time is used. A value of 0.8 means acceleration time is 0.8 * default
acceleration.

$CMSCH[1].$nom_pth_spd

Minimum: 0.001 Maximum: 3000. Default: 100. KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: IntelliTrak Nominal Corner speed
Description: This variable affects corner rounding for the entire program. Its
value indicates the corner rounding achieved when speed is set to this value.
The default value is 100, which means corner rounding is achieved if the travel
speed is set to 100 mm/sec. Note that this speed is independent of program
speed. If CMSCH[1].$cnstnt_path is 1, the robot moves around all corners
using this speed. The taught speed of the previous or next paths are ignored.
The robot decelerates or accelerates the specified speed before the corner
and accelerates or decelerates the taught speed of the next path at the end of
the corner. By keeping this value constant, the same corner rounding will be
maintained regardless of program speed. By changing this value, corner
rounding of the entire program will change. To reduce corner rounding, reduce
this value. To increase corner rounding, increase it.

$CMSCH[1].$orient_type

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: IntelliTrak Orientation Control Type
Description: This system variable allows the user to choose between a
one-angle method of orientation control (used prior to V3.06PA) or the
standard orientation control method. The standard orientation control method
is the same as that which is used when IntelliTrak is disabled. If set to 0, then
the standard orientation control method is used. If set to 1, chosen then the
one-angle orientation method is used.

$CMSCH[1].$rot_speed_lim

Minimum: 0.001 Maximum: 500.0 Default: 120.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: IntelliTrak Rotational Speed Limit
Description: Determines the maximum rotational speed for orientation control
when IntelliTrak is enabled.

$CMSCH[1].$warnmessenb

Minimum: 0 Maximum: 4 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$CN_ADP_CNF[1].$cn_adpenab

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet Mode of Operation 0 - Adapter Mode - Default 1 - Scanner
Mode
Description: Decides if the board operates in Scanner mode or Adapter mode

$CN_ADP_CNF[1].$cn_bd_dtype

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

available 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

$CN_ADP_CNF[1].$cn_bd_majrv

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

available 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

$CN_ADP_CNF[1].$cn_bd_minrv

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Minor Revision
Description: Goes in the ControlNet ID object Minor Revision of the Product

$CN_ADP_CNF[1].$cn_bd_pcode

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Daughter-Board Product Code
Description: Goes in the ControlNet ID object Product Code of the board

$CN_ADP_CNF[1].$cn_bd_vndid

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

available 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

$CN_ADP_CNF[1].$cn_class

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

available 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

$CN_ADP_CNF[1].$cn_conpt0

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

available 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

$CN_ADP_CNF[1].$cn_conpt1

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Connection point 1 for the target (adapter connection)
Description: Provides the Connection Path for the device.

$CN_ADP_CNF[1].$cn_insize

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Input Size in Words for adapter mode

$CN_ADP_CNF[1].$cn_inst
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not
available 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

$CN_ADP_CNF[1].$cn_ist_sz

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Input Status size

$CN_ADP_CNF[1].$cn_ost_sz

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Output Status size

$CN_ADP_CNF[1].$cn_outsize

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Output Size in Words for adapter mode

$CN_BD_INFO[1].$cn_bd_cmt

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

Not available 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: Effective immediately.

$CN_BD_INFO[1].$cn_bd_dtype

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

available 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

$CN_BD_INFO[1].$cn_bd_erst

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Error state of Input and Output Ports
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: Takes affect at next powerup.

$CN_BD_INFO[1].$cn_bd_kprst

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet Daughter-Board ControlNet Keeper State
Description: Contains Keeper State of the Card

$CN_BD_INFO[1].$cn_bd_macid

Minimum: 1 Maximum: 99 Default: 1 KCL/Data: RW Program: Not

available 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 range [1..99]. There cannot be a duplicate
MAC-Id between the daughter-board and any devices connected to the
daughter-board.
Power Up: Changes take effect at power-up.

$CN_BD_INFO[1].$cn_bd_majrv

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

available 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

$CN_BD_INFO[1].$cn_bd_mb_id

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet Motherboard ID
Description: Identifies what type of motherboard the ControlNet daughtercard
is connected to. This value cannot be changed

$CN_BD_INFO[1].$cn_bd_minrv

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Minor Revision
Description: Goes in the ControlNet ID object Minor Revision of the Product

$CN_BD_INFO[1].$cn_bd_pcode

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Daughter-Board Product Code
Description: Goes in the ControlNet ID object Product Code of the board

$CN_BD_INFO[1].$cn_bd_stat

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER 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:
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 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

$CN_BD_INFO[1].$cn_bd_vndid

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

available 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

$CN_BD_INFO[1].$cn_dbin_ver

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

Program: Not available UIF: RO CRTL: RO Data Type: STRING Memory:
CMOS
Name: ControlNet Executing Firmware Revision
Description: Provides the revision number for the firmware on the card

$CN_BD_INFO[1].$cn_fbin_ver

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

Program: Not available UIF: RO CRTL: RO Data Type: STRING Memory:
CMOS
Name: ControlNet Card FPGA Firmware Revision
Description: Provides the revision number for the FPGA Firmware on the
card

$CN_BD_INFO[1].$cn_firm_loc

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Location of ControlNet Firmware file (.BIN)
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 affect immediately.

$CN_BD_INFO[1].$cn_firmfile

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

Program: Not available 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.

$CN_BD_INFO[1].$cn_flshfile

Minimum: "" Maximum: "" Default: "******************************************"

KCL/Data: RW Program: Not available 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.

$CN_BD_INFO[1].$cn_gbcntr

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet Network Guard-band Center
Description: Identifies the guard-band center network parameter. This value
cannot be changed

$CN_BD_INFO[1].$cn_gbpre

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

available 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

$CN_BD_INFO[1].$cn_gbstrt

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

available 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

$CN_BD_INFO[1].$cn_netchang

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

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 with Warning Post - Default 1 : CN_NETCHNG_STOP - Post
Stop error on Network Change
Power Up: Takes affect immediately.

$CN_BD_INFO[1].$cn_nut

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

available 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

$CN_BD_INFO[1].$cn_or_ersv

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

available 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

$CN_BD_INFO[1].$cn_pgafile

Minimum: "" Maximum: "" Default: "******************************************"

KCL/Data: RW Program: Not available 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

$CN_BD_INFO[1].$cn_slot

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet Network Slot parameter
Description: Identifies the slot network parameter of the ControlNet network.
This value cannot be changed

$CN_BD_INFO[1].$cn_smax

Minimum: 0 Maximum: 92 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet network maximum scheduled MAC ID
Description: Identifies maximum scheduled MAC ID (smax) of the ControlNet
network. This value cannot be changed

$CN_BD_INFO[1].$cn_stat1

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed

$CN_BD_INFO[1].$cn_stat2

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed

$CN_BD_INFO[1].$cn_stat3

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed

$CN_BD_INFO[1].$cn_stat4

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed

$CN_BD_INFO[1].$cn_stat5

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: ControlNet Sys Var for Internal Purposes
Description: This value cannot be changed
$CN_BD_INFO[1].$cn_tg_ersv

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

available 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 adapter
mode connections

$CN_BD_INFO[1].$cn_umax

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RO Program: Not available

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

$CN_DEBUG

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

Program: Not available 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.
See Also: Contact your FANUC Robotics technical representative if it is
absolutely necessary to change this variable.

$CN_DV_LIST[1].$cn_dv_cmt

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

Not available 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.

$CN_DV_LIST[1].$cn_dv_ihdln

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ControlNet Device Input 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

$CN_DV_LIST[1].$cn_dv_macid

Minimum: 1 Maximum: 99 Default: 1 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$CN_DV_LIST[1].$cn_dv_majrv

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: ControlNet Device Major Revision
Description: Major Revision of Device in Scan list. It this does not match with
the remote device, the connection will return an error.

$CN_DV_LIST[1].$cn_dv_minrv

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: ControlNet Device Minor Revision
Description: Minor Revision of Device in Scan list. It this does not match with
the remote device, the connection will return an error.

$CN_DV_LIST[1].$cn_dv_nain

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of Analog Ins (Points)
Description: Identifies Number of Analog Ins in terms of points.

$CN_DV_LIST[1].$cn_dv_name

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

RO Program: Not available UIF: Not available CRTL: Not available Data
Type: STRING
Name: ControlNet Device Name
Description: Name of the Device. This field is not editable
$CN_DV_LIST[1].$cn_dv_naout

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of Analog Outs (Points)
Description: Identifies Number of Analog Outs in terms of points.

$CN_DV_LIST[1].$cn_dv_ndin

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of Digital Ins (Bits/Points)
Description: Identifies Number of Digital Ins in terms of points/bits

$CN_DV_LIST[1].$cn_dv_ndout

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of Digital Outs (Bits/Points)
Description: Identifies Number of Digital Outs in terms of points/bits

$CN_DV_LIST[1].$cn_dv_ohdln

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

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

$CN_DV_LIST[1].$cn_dv_pcode

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: ControlNet Product Code
Description: Identifies Product Code of the device. This ID is assigned by the
manufacturer of the device.

$CN_DV_LIST[1].$cn_dv_stat

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program: Not

available 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
$CN_DV_LIST[1].$cn_dv_type

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

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

$CN_DV_LIST[1].$cn_dv_vndid

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: ControlNet Device Vendor ID
Description: Identifies Vendor ID of the manufacturer of this device This ID is
assigned by ControlNet International.

$CN_TRG_INF_T.$size

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: This specifies the I/O size of this instance

$CN_TRG_INF_T.$start_pt

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: This specifies the starting point of this instance for a given slot

$CN_TRG_INF_T.$targ_inst

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Target Instance
Description: This specifies the target Instance for the ControlNet Connection

$CN_USR_GRP STRUCTURE

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

Not available UIF: Not available CRTL: Not available
Name: Continuous Turn User Group Variables
Description: This is an array of group-specific variables for continuous turn.
See Also: FANUC Robotics SYSTEM R-J3 Controller Continuous Turn User
Guide for more information

$CN_USR_GRP[1].$cn_grp_acc
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Continuous Turn Group Acceleration.
Description: This variable controls the acceleration time of the robot and
continuous turn axis. It is provided for advanced users who wish to change
how 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: After changing this variable, the user must perform a COLD start to
take effect.
See Also: FANUC Robotics SYSTEM R-J3 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: Not available

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: After you change this variable, you must perform a COLD start for
the new value to take effect.
See Also: FANUC Robotics SYSTEM R-J3 Controller Continuous Turn User
Guide for more information

$CN_USR_GRP[1].$cn_step_enb

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

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.
Power Up: Takes effect immediately.

$CN_USR_GRP[1].$cn_turn_no
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO
Program: Not available 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: This is a read-only variable.
See Also: FANUC Robotics SYSTEM R-J3 Controller Continuous Turn User
Guide for more information.

$CONT_R_NUM

Minimum: 0 Maximum: 32 Default: 32 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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.
See Also: $SEARCH_DIST, $PAUSE_NCONT

$CORE[1]

Minimum: "" Maximum: " " Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Name and Version Application and Core Software
Description: Displays the release time name and version of the software
application and core.
Power Up: This variable cannot be changed.

$CORE[2]

Minimum: "" Maximum: " " Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Reserved
Description: Reserved for future use.
Power Up: This variable cannot be changed.

$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: Takes effect Immediately

$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: Takes effect Immediately

$CR_T2_DO

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: Takes effect Immediately

$CRCFG STRUCTURE

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

Not available UIF: Not available CRTL: Not available
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.

$CRCFG.$cr_enhanced

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Enhanced circular motion
Description: Internal use only.

$CRCFG.$debug

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

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Debug flag
Description: Internal use only.

$CRCFG.$group_mask

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: group mask
Description: Internal use only.

$CRCFG.$lgorn_az_sp

Minimum: 0 Maximum: 0x7FFFFFFF Default: 120 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Azimuth and Spin Angles.
Description: Internal use only.

$CRCFG.$lgorn_dbg

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Debug flag
Description: Internal use only.

$CRCFG.$lgorn_eltol

Minimum: 0 Maximum: 0x7FFFFFFF Default: 30 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Elevation Tolerance.
Description: Internal use only.

$CRCFG.$lgorn_enbl

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Enable Large Orientation Detection for Small Circle.
Description: To enable detection of large orientation change in small circle
(default is disabled). When enabled, and during single step mode, if large
orientation change is detected for small circular moves, system will
automatically slow down, and post the following warning: MOTN-319 CRC
large orient change. If the large orientation is what the user intends to teach,
no further action is required. However, if the orientation change is not desirable,
user has more opportunity to stop the robot by releasing SHFT key, or press
the HOLD key. The circular points can then be retaught.
Power Up: Changes to this variables take effect after the controller is turned
off then on.
$CRCFG.$lgorn_meth

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Detection Method
Description: Internal use only.

$CRCFG.$lgorn_rad

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: Change to this variables takes effect after the controller is turned
off then on.

$CRCFG.$mb_conflict

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: sid_mb conflict mask
Description: Internal use only.

$CRCFG.$mb_required

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: sid_mb required mask
Description: Internal use only.

$CRT_DEFPROG

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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

$CRT_INUSER
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: CRT is in USER Menu
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: No

$CRT_KEY_TBL[256]

Minimum: 0 Maximum: 255 Default: 255 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
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.
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: Not available

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: No

$CRT_USESTAT

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

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
$CRT_USESTAT is FALSE or the program is paused or aborted, the
system-defined status line will be displayed and updated.
Power Up: No

$CSTOP

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

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.

$CT_CURSCRN[1].$scrn_id

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

Not available 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.
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:

Not available 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.
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

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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
See Also: TP_CURSCRN for equivalent information on the teach pendant

$CT_QUICKMEN

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

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.

$CT_SCREEN

Minimum: "" Maximum: "" Default: "ctsc" KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: CRT screen
Description: The name of the current screen on the CRT/KB.

$CT_USERSCRN

Minimum: "" Maximum: "" Default: "c_sc" KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
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.
See Also: ACT_SCREEN built-in in the FANU C Robotics SYSTEM R-J3
Controller KAREL Reference Manual

$CTRL_DELETE
Minimum: 0 Maximum: 2 Default: 1 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Delete Controlled Start Program
Description: If set to 1, the controlled start program is deleted after it is used
and must be reloaded at each controlled start. Otherwise, the controlled start
program is left in CMOS.
Power Up: No

2.4 D
$DAQ_GFD_USE

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RO Program: Not

available 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: Changes take effect immediately.

$DEFLOGIC[1].$func_title

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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: Changes take effect immediately
See Also: $DEFLOGIC.$total_num

$DEFLOGIC[1].$total_num

Minimum: 0 Maximum: 4 Default: 4 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Total Number of Default Logic Statements
Description: The maximum number of default logic statements per one
function key. This variable can be set from 0 to 4. You can define up to a
maximum of this many statements for every function key. If this value is set to
0, the default logic function is disabled. The default value is 0.
Power Up: Changes take effect immediately.
See Also: $DEFLOGIC.$func_title

$DEFLOGIC[3] STRUCTURE

Minimum: 0 Maximum: 4 Default: 4 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: Default Logic Setup
Description: This feature is only available if the option is installed. This is not
a standard option. Individual fields within this structure are described below.

$DEFPROG_ENB

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Default program enable/disable.
Description: When this variable is set TRUE, the variable $TP_DEFPROG is
cleared every cold start.
Power Up: Changes to this variable take effect immediately.

$DEFPULSE

Minimum: 0 Maximum: 255 Default: 4 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Default Pulse Length
Description: Specifies the length of a PULSE if it is not specified by the user.

$DEV_INDEX

Minimum: 0 Maximum: 100 Default: 4 KCL/Data: RO Program: Not

available 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, you only need to change $DEVICE; $DEV_INDEX will be updated
internally by the system.
Power Up: No
See Also: $DEV_PATH, $DEV_INDEX

$DEV_PATH

Minimum: "" Maximum: "" Default: "\ " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: System Default Path
Description: This read-only system variable defines the system default path.
Any time a file operation is performed, the file must be fully qualified, meaning
it must have a device, path, and filename. If the path is not specified by the
user during the file operation, then $DEV_PATH is used by the system. The
default value for $DEV_PATH is "\", meaning the root directory. The system
will remember the default path for each device. If the user changes $DEVICE,
then $DEV_PATH is automatically updated to the default path that is
associated with the new device.
Power Up: No
See Also: $DEV_PATH, $DEV_INDEX

$DEVICE

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: System default device
Description: This read-only system variable defines the system default device.
This can be set to P3: (floppy disk) or RD: (ram disk). Any time a file operation
is performed, the file must be fully qualified, meaning it must have a device,
path, and filename. If you do not specify the device during the file operation,
then $DEVICE is used by the system.
Power Up: No
See Also: $DEV_PATH, $DEV_INDEX

$DHCP_INT.$STATNUM

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

available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Status code of DHCP operation
Description: This field is the status of DHCP operation. It is meant to be used
internally by the system.
Power Up: Takes effect Immediately

$DMAURST

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: DEADMAN SWITCH automatic reset function
Description: When this system variable is 1 and the teach pendant is enabled,
you only need to grip the DEADMAN switch, to automatically reset any faults.
You do not need to push the RESET key. The default value is 0.
Power Up: This change takes effect immediately.

$DMR_GRP STRUCTURE
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not
available UIF: Not available CRTL: Not available
Name: Dynamic Mastering Record
Description: Contains all the information related to mastering and overtravel.
Individual fields within this structure are described below.
Power Up: Set by the system during mastering/reference position setting.

$DMR_GRP[1].$adapt_col_m[9]

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Adaptive Corioli Minus
Description: Data for adaptive control.
Power Up: Set by the system.

$DMR_GRP[1].$adapt_col_p[9]

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Adaptive Corioli Plus
Description: Data for adaptive control.
Power Up: Set by the system.

$DMR_GRP[1].$adapt_fric[9]

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Adaptive Friction
Description: Data for adaptive control.
Power Up: Set by the system.

$DMR_GRP[1].$adapt_gravity[9]

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Adaptive gravity
Description: Data for adaptive control.
Power Up: Set by the system.

$DMR_GRP[1].$adapt_iner[9]

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Adaptive Inertia
Description: Data for adaptive control.
Power Up: Set by the system.

$DMR_GRP[1].$bcklsh_sign[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Backlash Compensation Direction
Description: To determine the sign for the new backlash compensation, the
previous backlash compensation sign is required. $bcklsh_sign was recorded
as the sign of previous compensation. FALSE means plus and TRUE means
minus. The backlash compensation amount is stored in the system variable
$bcklash_count.
Power Up: Set by the system.

$DMR_GRP[1].$dsp_st_hist[9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Servo (Digital Signal Processor) Status History
Description: Servo status bits set by the servo software.
Power Up: Set by the system.

$DMR_GRP[1].$eachmst_don[9]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Individual Axis Mastering Done
Description: A flag indicated each axis master stage. If master has been done
on this axis, this flag should be 2.
Power Up: Set by the system.

$DMR_GRP[1].$master_coun[9]

Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default: 0 KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: INTEGER
Name: Mastering Count
Description: Displays the mastering count data of the axis of each joint. The
system sets it automatically when mastering is performed.
Power Up: Set by the system.

$DMR_GRP[1].$master_done

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Mastering Done
Description: Indicates whether or not the mastering procedure has been
performed. If it is set to TRUE, mastering has been done. The system changes
this variable automatically when mastering has been performed.
Power Up: Set by the system.

$DMR_GRP[1].$mch_pls_his[9]

Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default: 0 KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: INTEGER
Name: Machine Pulse History
Description: This system variable is set to $machine_pls when the pulse
mismatch alarm occurs and keeps it after the alarm is reset, so that it can be
examined later.
Power Up: Set by the system.

$DMR_GRP[1].$ot_minus[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Overtravel Minus
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: Set by the system.

$DMR_GRP[1].$ot_plus[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Set by the system.

$DMR_GRP[1].$ref_count[9]

Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default: 0 KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: INTEGER
Name: Reference Count
Description: The encoder pulses at the reference position.
Power Up: Set by the system during reference position setup.

$DMR_GRP[1].$ref_done

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

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: Set by the system.

$DMR_GRP[1].$ref_pos[9]

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Reference Position
Description: Indicates the reference position, in joint angles, for use with
quick mastering feature. When mastering is lost due to battery backup
problems with the system, and not due to motor replacement, the quick
mastering feature 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: Set by system during reference position setup.

$DMR_GRP[1].$shift_error
Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RW
Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Dynamic Mastering Shift History
Description: Shift_error holds the counts left over from moving the mastering
position in dynamic mastering for continuous turn.
Power Up: Set by the system.

$DMR_GRP[1].$spc_cnt_his[9]

Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default: 0 KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: INTEGER
Name: Serial Pulse Coder Count History
Description: This system variable is set to $spc_count when the pulse
mismatch alarm occurs and keeps it after the alarm is reset, so that it can be
examined later.
Power Up: Set by the system.

$DMR_GRP[1].$spc_count[9]

Minimum: INTEGER_MIN Maximum: INTEGER_MAX Default: 0 KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: INTEGER
Name: Serial Pulse Coder Count
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_count[]: FLTR task stores
machine pulses every ITP to compare with at the next power up.
Power Up: Set by the system.

$DMR_GRP[1].$spc_move[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Set by the system.
$DMR_GRP[1].$spc_st_hist[9]

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

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter Board Autorestart
Description: For future use.

$DN_BD_INF2[1].$dn_bd_ipres

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter Board Default Input Resume State
Description: For future use.

$DN_BD_INF2[1].$dn_bd_mb_id

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board: Motherboard ID
Description: Indicates the type of motherboard to which DeviceNet
daughter-board is connected. For internal use only.
Power Up: Cannot be changed by user.

$DN_BD_INF2[1].$dn_bd_sctyp

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter Board Scanner Type
Description: Indicates the type of scanner for the indicated daughter board.
Power Up: Cannot be changed by user.

$DN_BD_INF2[4]

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

UIF: Not available CRTL: Not available Data Type: DN_BD_INF2_T
Name: DeviceNet Board Information Variables - Additional Information
Description: Contains variables which hold information on the operation of
each DeviceNet daughter-board and the network associated with each
daughter-board. Individual fields are described below. User viewable and
configurable fields are viewed and edited on the DeviceNet Board List and
Board List Detail screens.
Power Up: Changes take effect at power-up.

$DN_BD_INF3[1].$dn_bd_slver

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: This Indicates the error severity of the slave if error is posted

$DN_BD_INF3[1].$dn_bd_slvst

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: This Indicates the status of the slave connection of the board
Description: The value is set if the board slave mode is enabled.

$DN_BD_INFO[1-4] STRUCTURE

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

Not available UIF: Not available CRTL: Not available
Name: Device Net Board Information Variables
Description: Contains variables which hold information on the operation of
each DeviceNet daughter-board and the network associated with each
daughter-board. Individual fields are described below. User viewable and
configurable fields are viewed and edited on the DeviceNet Board List and
Board List Detail screens.

$DN_BD_INFO[1].$dn_bd_baud

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

UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Baud Rate
Description: The speed of the network connected to the DeviceNet
daughter-board. 0: 125 KB 1: 250 KB 2: 500 KB
Power Up: Changes take effect at power-up.

$DN_BD_INFO[1].$dn_bd_bfree

Minimum: 0 Maximum: 16384 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Free Byte Count
Description: The number of bytes free in the shared RAM buffer.

$DN_BD_INFO[1].$dn_bd_bfrus

Minimum: 0 Maximum: 16384 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Available Shared RAM Offset
Description: The offset in shared RAM of the next available byte in the pool
area. Internal use only.

$DN_BD_INFO[1].$dn_bd_canec

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet CAN Frame Error Count
Description: A count of the frame errors on the CAN connected to the
DeviceNet daughter-board.

$DN_BD_INFO[1].$dn_bd_canlm

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet CAN Lost Message Count
Description: A count of the lost messages on the CAN connected to the
DeviceNet daughter-board.

$DN_BD_INFO[1].$dn_bd_canna

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet CAN Acknowledge Failure Count
Description: A count of the failures to receive acknowledge from the CAN
connected to the DeviceNet daughter-board.

$DN_BD_INFO[1].$dn_bd_canov

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet CAN Request Over-Run Count
Description: A count of the request over-runs (unprocessed messages) on
the CAN connected to the DeviceNet daughter-board.

$DN_BD_INFO[1].$dn_bd_canrc

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet CAN Receive Count
Description: A count of the acknowledged receives from the CAN connected
to the DeviceNet daughter-board.

$DN_BD_INFO[1].$dn_bd_cantc

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet CAN Transmission Count
Description: A count of the transmissions on the CAN (Controller Area
Network) connected to the DeviceNet daughter-board.

$DN_BD_INFO[1].$dn_bd_cflag

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

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Connection Flags
Description: Determines the type of server (slave) I/O connections allowable
in accessing the DeviceNet daughter-board from the DeviceNet network. The
following are OR’ed together to determine a field value: 1: explicit messages
(currently not supported) 2: POLL access 4: STROBE access
Power Up: Changes take effect at power-up.

$DN_BD_INFO[1].$dn_bd_cmt

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

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: DeviceNet Daughter-Board Comment
Description: Provides a short description field for the
daughter-board/network.
Power Up: Effective immediately.

$DN_BD_INFO[1].$dn_bd_emrqb

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

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Explicit Message Buffer Size
Description: The size (in bytes) of the buffer for explicit messages. Currently
not used.

$DN_BD_INFO[1].$dn_bd_emrqo

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Explicit Message Buffer Offset
Description: The offset of the buffer for explicit messages. Currently not used.

$DN_BD_INFO[1].$dn_bd_emrqs

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Explicit Message Request Status
Description: The status of an explicit message request made by the
DeviceNet daughter-board. Currently not used.

$DN_BD_INFO[1].$dn_bd_emrsb

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

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Explicit Response Buffer Size
Description: The size (in bytes) of the buffer for explicit responses. Currently
not used.

$DN_BD_INFO[1].$dn_bd_emrso

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Explicit Response Buffer Offset
Description: The offset of the buffer for explicit responses. Currently not used.

$DN_BD_INFO[1].$dn_bd_emrss

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

available 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.

$DN_BD_INFO[1].$dn_bd_error

Minimum: "" Maximum: "" Default:

"****************************************************************" KCL/Data: RO
Program: Not available 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.

$DN_BD_INFO[1].$dn_bd_intvl
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RO Program: Not
available 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.

$DN_BD_INFO[1].$dn_bd_macid

Minimum: 0 Maximum: 63 Default: 0 KCL/Data: RW Program: Not

available 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.
Power Up: Changes take effect at power-up.

$DN_BD_INFO[1].$dn_bd_slver

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: This Indicates the error severity of the slave if error is posted

$DN_BD_INFO[1].$dn_bd_slvib

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

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Slave Input Buffer Size
Description: The number of bytes provided as a buffer for slave input data
(from the controller to the remote host).
Power Up: Changes take effect at power-up.

$DN_BD_INFO[1].$dn_bd_slvio

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Daughter-Board Slave Input Offset
Description: The offset in shared RAM of the slave input area.

$DN_BD_INFO[1].$dn_bd_slvob

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

available 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: Changes take effect at power-up.

$DN_BD_INFO[1].$dn_bd_slvoo

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

available 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.

$DN_BD_INFO[1].$dn_bd_slvst

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: This Indicates the status of the slave connection of the board
Description: The value is set if the board slave mode is enabled.

$DN_BD_INFO[1].$dn_bd_stat

Minimum: 0 Maximum: 99 Default: 99 KCL/Data: RO Program: Not

available 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:
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 5: board is
in an error state but has been initialized 6: board is online 7: board is currently
being initialized 99: no DeviceNet variables have been initialized

$DN_DEV_DEFS[1-40] STRUCTURE

Minimum: 0 Maximum: 99 Default: 99 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
Name: DeviceNet Device Definition List
Description: List of device definitions for user-defined devices. Each record
contains configuration and operational information; individual fields are
described below. Viewable and editable fields are displayed on the DeviceNet
Device Definition and Device Definition Detail screens.

$DN_DEV_DEFS[1].$dn_dd_class

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Device Definition Class
Description: The device class for a DeviceNet device with this definition. 0:
digital device 1: analog device 2: multi-module device (not available for
user-defined devices) 3: special - devices which require special handling NEW:
0: fixed-I/O 1: multi-module

$DN_DEV_DEFS[1].$dn_dd_cmt

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

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: DeviceNet Device Definition Comment
Description: A comment associated with the device definition.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_dvtyp

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Type
Description: The device type code of the DeviceNet device definition.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_inp1

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Input Parameter 1
Description: An input parameter associated with the device definition. Usage
to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_inp2

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Input Parameter 2
Description: An input parameter associated with the device definition. Usage
to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_inp3

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Input Parameter 3
Description: An input parameter associated with the device definition. Usage
to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_inp4

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Input Parameter 4
Description: An input parameter associated with the device definition. Usage
to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_mode

Minimum: 0 Maximum: 127 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Device Definition Access Mode
Description: The mode by which a DeviceNet device with this definition
accesses I/O. 0: no I/O access - for devices with no inputs or outputs 1: polled
access - for devices with outputs (with or without inputs) 2: strobed access -
used for devices with inputs only

$DN_DEV_DEFS[1].$dn_dd_msgsz

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

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Message Size
Description: The size of the explicit message buffer on a device with this
device definition. Currently not in use.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_n_inp

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition: Number of Inputs
Description: The number of inputs on a DeviceNet device with this definition.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_n_out

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition: Number of Outputs
Description: The number of outputs on a DeviceNet device with this
definition.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_name

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

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: DeviceNet Device Definition Name
Description: The name given to the device definition. This name is used when
adding a device on the DeviceNet Device List screen and selecting a device
type.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_outp1

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Output Parameter 1
Description: An output parameter associated with the device definition.
Usage to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_outp2

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Output Parameter 2
Description: An output parameter associated with the device definition.
Usage to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_outp3

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Output Parameter 3
Description: An output parameter associated with the device definition.
Usage to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_outp4

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Output Parameter 4
Description: An output parameter associated with the device definition.
Usage to be determined.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_pdt

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition PDT
Description: The PDT (permanent device type) associated with the device
definition. User-defined devices have PDT’s greater than zero;
installation-defined devices have PDT’s less than zero.

$DN_DEV_DEFS[1].$dn_dd_prcod

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Product Code
Description: The product code of the DeviceNet device definition.
Power Up: Changes take effect immediately.

$DN_DEV_DEFS[1].$dn_dd_stat

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Device Definition Status
Description: The current status of the device definition. 0: This entry in the
device definition list is unused. 1: This device definition is invalid; the product
code, vendor ID, device type, and name fields must contain valid values. 2:
This device definition is valid.

$DN_DEV_DEFS[1].$dn_dd_vndid

Minimum: -32767 Maximum: 32767 Default: -1 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Vendor ID
Description: The vendor ID for the DeviceNet device definition.
Power Up: Changes take effect immediately.

$DN_DEV_LIS2[1]

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

UIF: Not available CRTL: Not available Data Type: DN_DV_DAT2_T
Name: DeviceNet Device List - Additional Information
Description: Additional information for each DeviceNet device.
Power Up: Changes take effect at power-up.

$DN_DEV_LIS2[1].$dn_dv_autrc

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

UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Autoreconnect Flag
Description: If set to 1 or TRUE, communication with this device is
automatically restarted following the clearing of the device error condition. If
set to 0 or FALSE, user must manually bring device online.
Power Up: Changes take effect immediately.

$DN_DEV_LIS2[1].$dn_dv_scnrt

Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Scan Rate
Description: For polled I/O, determines how often a device is updated (in
milliseconds). For cyclic I/O, determines how often the device sends I/O to the
controller.
Power Up: Changes take effect immediately.

$DN_DEV_LIST[1-80] STRUCTURE

Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
Name: DeviceNet Device List
Description: The list of all DeviceNet devices connected to all
daughter-boards. This list is indexed by $DN_DEV_INDX. Each record
contains information pertaining to the operation and configuration of the
associated device. The fields are individually described below. User-viewable
and editable fields are accessed on the DeviceNet Device List screen.

$DN_DEV_LIST[1].$dn_dv_anlgf

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Analog-First Buffer Allocation Flag
Description: This flag indicates whether the data mapping for this device is
organized with all analog data (inputs and outputs) preceding all digital data (if
TRUE). This variable is used for internal purposes only.

$DN_DEV_LIST[1].$dn_dv_bdidx
Minimum: 0 Maximum: 4 Default: 0 KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Device Board Index
Description: The number of the DeviceNet daughter-board to which the
device is connected.

$DN_DEV_LIST[1].$dn_dv_cmt

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

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: DeviceNet Device Comment
Description: A comment associated with a particular DeviceNet Device. It
may be used to indicate the use of the device, etc.
Power Up: Changes take effect immediately.

$DN_DEV_LIST[1].$dn_dv_dvtyp

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Type
Description: The device type of the DeviceNet device. Because the MPC860
does not have access to the device definitions, this information is stored in the
device system variable structure and transferred to the MPC860 by the
PPC603e at startup.

$DN_DEV_LIST[1].$dn_dv_fstmd

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device First-Module Index
Description: Index of the first module connected to the DeviceNet device.
Used only for multi-module devices. A value of 255 indicates that no module
list exists for this device.

$DN_DEV_LIST[1].$dn_dv_inpfs

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Inputs-First Buffer Allocation Flag
Description: This flag indicates whether the data mapping for this device is
organized with all input data (analog or digital) preceding all output data (if
TRUE) or if data is organized by data type (either analog first or digital first).
This variable is used for internal purposes only.

$DN_DEV_LIST[1].$dn_dv_macid
Minimum: 0 Maximum: 63 Default: 0 KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Device MAC-Id
Description: The MAC-Id (Media Access Control Identifier) of the DeviceNet
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.

$DN_DEV_LIST[1].$dn_dv_mode

Minimum: 0 Maximum: 127 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Device Access Mode
Description: The access mode of the DeviceNet device. Because the
MPC860 does not have access to the device definitions, this information is
stored in the device system variable structure and transferred to the MPC860
by the PPC603e at startup.

$DN_DEV_LIST[1].$dn_dv_nain

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Analog Inputs Count (Maximum)
Description: The number of analog inputs present on the DeviceNet device.
Used internally to configure communications to multi-module devices on the
MPC860.

$DN_DEV_LIST[1].$dn_dv_naout

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Analog Outputs Count (Maximum)
Description: The number of analog outputs present on the DeviceNet device.
Used internally to configure communications to multi-module devices on the
MPC860.

$DN_DEV_LIST[1].$dn_dv_ndin

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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.
$DN_DEV_LIST[1].$dn_dv_ndout

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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.

$DN_DEV_LIST[1].$dn_dv_pdt

Minimum: -32767 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Type
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.

$DN_DEV_LIST[1].$dn_dv_prdcd

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Product Code
Description: The product code of the DeviceNet device. Because the
MPC860 does not have access to the device definitions, this information is
stored in the device system variable structure and transferred to the MPC860
by the PPC603e at startup.

$DN_DEV_LIST[1].$dn_dv_stat

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

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

$DN_DEV_LIST[1].$dn_dv_vndid

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

available 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
device system variable structure and transferred to the MPC860 by the
PPC603e at startup.
$DN_DEV_LIST[1].$dn_inp_ofst

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Input Buffer Offset
Description: The offset in shared RAM of the first byte of the DeviceNet
device’s input data buffer.

$DN_DEV_LIST[1].$dn_inp_size

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Input Buffer Size
Description: The size in bytes of the input buffer of the DeviceNet device.

$DN_DEV_LIST[1].$dn_msg_ofst

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Message Buffer Offset
Description: The offset in shared RAM of the first byte of the DeviceNet
device’s message buffer. Currently not used.

$DN_DEV_LIST[1].$dn_msg_size

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Message Buffer Size
Description: The size in bytes of the message buffer of the DeviceNet device.
Currently not used.

$DN_DEV_LIST[1].$dn_out_ofst

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Output Buffer Offset
Description: The offset in shared RAM of the first byte of the DeviceNet
device’s output data buffer.

$DN_DEV_LIST[1].$dn_out_size

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Output Buffer Size
Description: The size in bytes of the output buffer of the DeviceNet device.
$DN_DEV_LIST[1].$dn_stat_p

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

UIF: RO CRTL: RO Data Type: LONG Memory: CMOS
Name: DeviceNet Device Status Area Address
Description: The address of the area in shared RAM containing the status of
the DeviceNet device.

$DN_DUMM_MOD[1].$dn_md_class

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: DeviceNet Module I/O Class
Description: The type of I/O supported by the DeviceNet module. 0: digital I/O
1: analog I/O

$DN_DUMM_MOD[1].$dn_md_dvpdt

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module Compatible Device PDT
Description: The PDT (Permanent Device Type) a DeviceNet device must
have in order for the module to be able to be connected to it. A value of zero
indicates the module can be connected to all multi-module devices.

$DN_DUMM_MOD[1].$dn_md_name

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

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: DeviceNet Module Name
Description: The name given to the DeviceNet module type.

$DN_DUMM_MOD[1].$dn_md_ninp

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module: Number of Inputs
Description: The number of input ports existing on the DeviceNet module.

$DN_DUMM_MOD[1].$dn_md_nout

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module: Number of Outputs
Description: The number of output ports existing on the DeviceNet module.
$DN_DUMM_MOD[1].$dn_md_p1

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module Parameter 1
Description: Module/device detail parameters; usage to be determined.

$DN_DUMM_MOD[1].$dn_md_p2

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module Parameter 2
Description: See above.

$DN_DUMM_MOD[1].$dn_md_p3

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module Parameter 3
Description: See above.

$DN_DUMM_MOD[1].$dn_md_p4

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module Parameter 4
Description: See above.

$DN_DUMM_MOD[1].$dn_md_pmt

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Permanent Module Type
Description: The permanent module type (PMT) designator given to the
DeviceNet module.

$DN_DVDEF_IO[1].$dn_dd_algfs

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition: Analog I/O First Flag
Description: This flag, if set to 1 or TRUE, indicates that analog I/O is
allocated first for this device definition if it supports both digital and analog I/O.
I/O allocation: $DN_DD_ALGFS=0, $DN_DD_INPFS=0: DINs, DOUTs, AINs,
AOUTs $DN_DD_ALGFS=0, $DN_DD_INPFS=1: DINs, AINs, DOUTs,
AOUTs $DN_DD_ALGFS=1, $DN_DD_INPFS=0: AINs, AOUTs, DINs,
DOUTs $DN_DD_ALGFS=1, $DN_DD_INPFS=1: AINs, DINs, AOUTs,
DOUTs
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cosai

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Change-Of-State I/O Analog Input Size
Description: The number of change-of-state analog input ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cosao

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Change-Of-State I/O Analog Output Size
Description: The number of change-of-state analog output ports for this
device definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cosdi

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Change-Of-State I/O Digital Input Size
Description: The number of Change-Of-State digital input ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cosdo

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Change-Of-State I/O Digital Output Size
Description: The number of change-of-state digital output ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cycai

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Cyclic I/O Analog Input Size
Description: The number of cyclic analog input ports for this device definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cycao

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Cyclic I/O Analog Output Size
Description: The number of cyclic analog output ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cycdi

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Cyclic I/O Digital Input Size
Description: The number of cyclic digital input ports for this device definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_cycdo

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Cyclic I/O Digital Output Size
Description: The number of cyclic digital output ports for this device definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_defmd

Minimum: 0 Maximum: 127 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Default I/O Mode
Description: The default I/O mode to be used for this device definition. The
mode is decoded by adding together one or more of the following: 0: No I/O
supported 1: Explicit messaging 2: Polled I/O 4: Strobed I/O 16:
Change-Of-State I/O 32: Cyclic I/O 64: Acknowledgement-suppressed
Power Up: Changes take effect immediately.

$DN_DVDEF_IO[1].$dn_dd_inpfs

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition: Input I/O First Flag This flag, if set to 1 or
TRUE, indicates that all input I/O is allocated first, before any (digital or analog)
output I/O for this device definition. I/O allocation: $DN_DD_ALGFS=0,
$DN_DD_INPFS=0: DINs, DOUTs, AINs, AOUTs $DN_DD_ALGFS=0,
$DN_DD_INPFS=1: DINs, AINs, DOUTs, AOUTs $DN_DD_ALGFS=1,
$DN_DD_INPFS=0: AINs, AOUTs, DINs, DOUTs $DN_DD_ALGFS=1,
$DN_DD_INPFS=1: AINs, DINs, AOUTs, DOUTs
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_maxai

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Maximum Analog Input Size
Description: The maximum number of analog input ports for this device
definition.
Power Up: The user cannot change this value.

$DN_DVDEF_IO[1].$dn_dd_maxao

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Maximum Analog Output Size
Description: The maximum number of analog output ports for this device
definition.
Power Up: The user cannot change this value.

$DN_DVDEF_IO[1].$dn_dd_maxdi

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Maximum Digital Input Size
Description: The maximum number of digital input ports for this device
definition.
Power Up: The user cannot change this value.

$DN_DVDEF_IO[1].$dn_dd_maxdo

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

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Maximum Digital Output Size
Description: The maximum number of digital output ports for this device
definition.
Power Up: The user cannot change this value.
$DN_DVDEF_IO[1].$dn_dd_polai

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available 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.

$DN_DVDEF_IO[1].$dn_dd_polao

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available 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.

$DN_DVDEF_IO[1].$dn_dd_poldi

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available 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.

$DN_DVDEF_IO[1].$dn_dd_poldo

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Polled I/O Digital Output Size
Description: The number of polled digital output ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_strai

Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Strobed I/O Analog Input Size
Description: The number of strobed analog input ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_strdi
Minimum: 0 Maximum: 32766 Default: 0 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Strobed I/O Digital Input Size
Description: The number of strobed digital input ports for this device
definition.
Power Up: Changes take effect immediately. I/O is assigned at power-up.

$DN_DVDEF_IO[1].$dn_dd_supmd

Minimum: 0 Maximum: 127 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Device Definition Supported I/O Modes
Description: The I/O mode supported by this device definition. The mode is
decoded by adding together one or more of the following: 0: No I/O supported
1: Explicit messaging 2: Polled I/O 4: Strobed I/O 16: Change-Of-State I/O 32:
Cyclic I/O 64: Acknowledgement-suppressed
Power Up: Changes take effect immediately.

$DN_DVDEF_IO[40]

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

UIF: Not available CRTL: Not available Data Type: DN_DVDEF_IO_T
Name: DeviceNet Device Definition List: I/O Configuration Data
Description: Provides the I/O configuration for each of the device definitions
in $DN_DEV_DEFS.
Power Up: Changes take effect at power-up.

$DN_FREE_MOD

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: DeviceNet Free Module List Index
Description: Index to the linked list of free module entries. $DN_FREE_MOD
is the first module list entry in this list. For internal use only.

$DN_INITSTAT

Minimum: 0 Maximum: 0 Default: 2 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: DeviceNet Initialization State
Description: Indicates the state of initialization of the DeviceNet Interface
system. 0: DeviceNet is uninitialized 1: DeviceNet is in process of initialization
2: DeviceNet is fully initialized
Power Up: This variable cannot be modified by the user.
$DN_LAST_PDT

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

available 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.

$DN_MOD_LIST[1-64] STRUCTURE

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

Not available UIF: Not available CRTL: Not available
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.

$DN_MOD_LIST[1].$dn_ml_commt

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

Not available 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.

$DN_MOD_LIST[1].$dn_ml_nxtix

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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.

$DN_MOD_LIST[1].$dn_ml_pmt

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

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Module List PMT
Description: The PMT (Permanent Module Type) of the DeviceNet module.
$DN_MOD_LIST[1].$dn_ml_slot

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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.

$DN_MOD_LIST[64]

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

UIF: Not available CRTL: Not available Data Type: DN_MOD_LNK_T
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
are individually described below. Viewable or editable fields are displayed on
the DeviceNet Module List screen.

$DN_SCNR_TYP[1].$dn_code_pth

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: DeviceNet Scanner Code Path
Description: The path name for the binary code file that is loaded on the
DeviceNet scanner at power-up.
Power Up: Changes take effect at power-up.

$DN_SCNR_TYP[1].$dn_scnr_id

Minimum: 0 Maximum: 255 Default: 255 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: DeviceNet Scanner Identification Code
Description: A code used by the system to identify this type of scanner.
Values: 0 - SST 5136-DN-104 1 - SST 5136-DNP-104
Power Up: Changes take effect at power-up.

$DN_SCNR_TYP[2]

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

UIF: Not available CRTL: Not available Data Type: DN_SCTYP_T
Name: DeviceNet Daughter-Board Code Path
Description: The path name for the binary code files that are loaded on the
DeviceNet Interface scanner boards at power-up.
Power Up: Changes take effect at power-up.
$DUTY_GRP.$curve_type[1-9]

Minimum: 0 Maximum: 2 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: duty curve type
Description: For internal use only. Do not modify this system variable. If this
variable is 0, duty curve is straight line. If this variable is 1, duty curve is mixed
with curve and line. If this variable is 2, duty curve is curve.
Power Up: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_GRP.$dty_support

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: duty diagnosis support
Description: For internal use only. Do not modify this system variable. If this
value is 1, DUTY diagnosis parameter exits.
Power Up: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_GRP.$duty_param1[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RO Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
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: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_GRP.$duty_param2[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RO Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
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: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_GRP.$duty_param3[1-9]
Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:
RO Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
Name: duty parameter 3
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: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_GRP.$duty_param4[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RO Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
Name: duty parameter 4
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: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_GRP.$duty_param5[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RO Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
Name: duty parameter 5
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: Changes to this variables take effect immediately.
See Also: This variable is used for Duty diagnosis.

$DUTY_TEMP

Minimum: -273.15 Maximum: 100.0 Default: 25.0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Air temperature in duty diagnosis
Description: The value of $DUTY_UNIT means the air temperature set by
user. The unit of it is [C].
Power Up: Changes of this variable take effect immediately
See Also: This variable is used for Duty diagnosis.

$DUTY_UNIT

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

UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Unit of temperature in duty diagnosis
Description: The value of $DUTY_UNIT means the unit of temperature.
Currently, 0 means [C] and 1 means [F]
Power Up: Changes of this variable take effect immediately
See Also: This variable is used for Duty diagnosis.

$DXCFG

Minimum: MIN_DX_CFG Maximum: MAX_DX_CFG Default:

DEF_DX_CFG KCL/Data: RW Program: Not available UIF: RW CRTL: RW
Data Type: DX_CFG_T Memory: CMOS
Name: DeltaTool Debug Variables
Description: The DeltaTool Debug variables are not user variables and
should not be set to any values other than their default values.
Power Up: Changes take effect on the next robot motion.
See Also: Contact your FANUC Robotics technical representative if it is
necessary to change this variable.

$DXCFG.$comp_switch

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Delta Joint filter length compatibility switch
Description: When it is set to 1, filter length defined by user in
$DXSCH.$dxaccel1 and $dxaccel2 are used in the delta joint motion. When it
is set to 0, filter length from current segment is used.
Power Up: Require a cold start to take effect
See Also: $DXSCH.$dxaccel1, $DXSCH.$dxaccel2

$DXMOR[1] STRUCTURE

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: DeltaTool Output Record of Group 1
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.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXMOR[1].$deltaframe

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type: POSITION
Memory: CMOS
Description: Reserved for future use. Do not change this variable.
$DXMOR[1].$deltatool

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXMOR[1].$intr_tstamp

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

Not available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Interpolator Timestamp of Group 1
Description: The timestamp value, in milliseconds, is updated when the offset
is applied.
Power Up: This variable is read only.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXOFFSET[sch_num] STRUCTURE

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Offset Variables
Description: Specifies the offset data for the schedule $DXSCH[sch_num]. It
is updated to the system when the KAREL built-in function
APPLY_OFFSET(sch_num) is called, and is effective on the next interpolated
point of a motion segment. Individual fields within this structure are described
below.
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain its value. System power up will not affect
this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXOFFSET[sch_num].$deltaframe

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

UIF: Not available CRTL: Not available Data Type: uninit
Description: Reserved for future use. Do not change this variable.

$DXOFFSET[sch_num].$deltatool
Minimum: nilpos Maximum: POSITION Default: nilpos KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
POSITION
Name: DeltaTool Offset
Description: Specifies the offset data for the schedule $DXSCH[sch_num]. It
is updated to the system when the KAREL built-in function
APPLY_OFFSET(sch_num) is called, and is effective on the next interpolated
point of a motion segment.
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain this value. System power up will not affect
this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXSCH[sch_num] STRUCTURE

Minimum: nilpos Maximum: POSITION Default: nilpos KCL/Data: Not

available Program: Not available UIF: Not available CRTL: Not available
Name: DeltaTool Schedule Variables
Description: This is an array of DeltaTool schedule variables. A maximum of
five schedules can be used. Individual fields within this structure are described
below.
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain their values. System power up will not
affect this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXSCH[sch_num].$dframe_type

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

UIF: Not available CRTL: Not available Data Type: uninit
Description: Reserved for future use. Do not change this variable.

$DXSCH[sch_num].$dtool_type

Minimum: DT_OFF Maximum: DT_ACC_XF Default: DT_OFF KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: INTEGER
Name: DeltaTool Type
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain its value. System power up will not affect
this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

$DXSCH[sch_num].$dxaccel1
Minimum: 0 Maximum: 1000 Default: 256 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: DeltaTool CART_ACCEL1
Description: This variable is used, together with $DXSCH[num].$dxaccel2, to
determine the acceleration/deceleration time used when the DeltaTool offset is
applied.
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain its value. System power up will not affect
this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual , or
FANUC Robotics SYSTEM R-J3 Controller KAREL Reference Manual for
information on $CART_ACCEL1.

$DXSCH[sch_num].$dxaccel2

Minimum: 0 Maximum: 1000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: DeltaTool CART_ACCEL2
Description: This variable is used, together with $DXSCH[num].$dxaccel1, to
determine the acceleration/deceleration time used when the DeltaTool offset is
applied.
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain its value. System power up will not affect
this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual or
FANUC Robotics SYSTEM R-J3 Controller KAREL Reference Manual for
information on $CART_ACCEL2

$DXSCH[sch_num].$group_num

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Group Number
Description: Group number for the DeltaTool schedule. Currently, DeltaTool
can only be used for group 1.
Power Up: This variable is initialized only once when DeltaTool is loaded.
After this occurs, you must maintain its value. System power up will not affect
this variable.
See Also: FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual

2.5 E
$E_STOP_DO
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: E-stop DO number
Description: If this variable is non-zero, this specifies the DOUT signal which
will be set if a controller signal E-stop is asserted. This can be set in the
SYSTEM/CONFIG screen.
Power Up: Takes effect Immediately

$ED_SIZE

Minimum: 10000 Maximum: 524288 Default: 30720 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: ULONG Memory:
CMOS
Name: Text editor size
Description: Determines the amount of memory available for all the edit
buffers combined. The memory is allocated during cold start from the C-WORK
memory pool.
Power Up: Requires a cold start to take effect

$ED_STATE

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

UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Text editor state
Description: Used by the system to determine whether a file is currently in the
text editor. This variable can also be read by a KAREL program to determine
this status. The valid states are 0= No files in text editor 1= Text editor is
between states 2= File is in text editor Even though a file is in the text editor, it
might not be the current screen on the CRT/KB.

$ENC_STAT[1] STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: (External/Tracking) Encoder Status
Description: This is the configuration and status data structure for the
external encoder(s) used with Line Tracking and other system options and
applications. Individual fields within this structure are described below.
Power Up: 0

$ENC_STAT[1].$enc_average

Minimum: 1 Maximum: ENC_BUFFSIZE Default: 1 KCL/Data: RW

Program: Not available 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
See Also: $ENC_STAT[].$enc_rate, $ENC_STAT[1].$enc_buffer[]

$ENC_STAT[1].$enc_buffer[100]

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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
See Also: $ENC_STAT[1].$enc_average

$ENC_STAT[1].$enc_count

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
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 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
See Also: $ENC_STAT[1].$multipl, $SCR.$itp_time

$ENC_STAT[1].$enc_dspatat

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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

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.
Power Up: 0

$ENC_STAT[1].$enc_head

Minimum: 0 Maximum: ENC_BUFFSIZE Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Encoder Buffer Head Index
Description: This is the index into the $ENC_STAT[1].$enc_b uffer array
used to determine where to store the current encoder velocity value.
Power Up: 0
See Also: $ENC_STAT[1].$enc_buffer[]

$ENC_STAT[1].$enc_multipl

Minimum: 1 Maximum: 100 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Encoder Update Multiplier
Description: This value is multiplied by the $SCR.$itp_time to determine the
encoder update rate. A value of 1 indicates that the encoder is updated every
ITP_TIME interval. A value of 2 indicates that the encoder is updated every
other interval, and so forth.
Power Up: 0
See Also: $SCR.$ITP_TIME
$ENC_STAT[1].$enc_rate

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Encoder Rate (Average Velocity) (Counts/Update)
Description: This is the average encoder velocity (in units of encoder counts
per encoder update time). It is the average value of the first
$ENC_STAT[].$enc_average entries within the $ENC_STAT[].$enc_buffer[]
array.
Power Up: 0
See Also: $ENC_STAT[].$enc_average, $ENC_STAT[].$enc_buffer []

$ENC_STAT[1].$enc_ros_tik

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Encoder ROS Tick TimeStamp (ROS Ticks)
Description: The current ROS Time Tick value when the encoder count
($ENC_STAT[1].$enc_count) was last updated. The unit for this system
variable is currently 4 msec. This variable is available to time stamp data and is
used in line tracking applications using vision, or other similar applications.
Power Up: 0
See Also: $ENC_STAT[1].$ENC_COUNT

$ENC_STAT[1].$enc_sim_on

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Encoder Simulate Enable
Description: This determines whether the encoder count values are
simulated (based upon the value of $ENC_STAT[1].$enc_sim_spd) or read
from an actual encoder. TRUE indicates that encoder counts are being
simulated. (NOTE: The encoder must also be enabled via
$ENC_STAT[].$enc_enable = TRUE in order to simulate encoder counts.)
Power Up: 0
See Also: $ENC_STAT[1].$ENC_SIM_SPD, $ENC_STAT[].$ENC_ENABL E

$ENC_STAT[1].$enc_sim_spd

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Encoder Simulation Speed (Counts/Update)
Description: This determines the encoder speed (in units of encoder counts
per encoder update) used during encoder simulation. This number of encoder
counts is added to the previous value of $ENC_STAT[1].$enc_count to
determine the new encoder count value. When simulation is enabled, this
number will also be stored in the $ENC_STAT[].$enc_buffer and reported by
the $ENC_STAT[].$enc_rate value.
Power Up: 0
See Also: $ENC_STAT[1].$enc_count, $ENC_STAT[].$enc_buffer,
$ENC_STAT[].$enc_rate

$ENC_STAT[1].$enc_spcstat

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Encoder SPC Status Flag
Description: This is a Serial Pulse Coder (SPC) alarm status flag for the SPC
channel associated with this encoder (if a Serial Pulse Coder is being used).
Power Up: 0

$ENC_STAT[1].$enc_stopped

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: Not available

UIF: NO CRTL: NO Data Type: BOOLEAN Memory: CMOS
Name: Encoder Stopped Status Flag
Description: Internal encoder stopped status flag. Reserved for Internal use
by FANUC Robotics. Not currently supported. NOTE: Use the TPE LINESTOP
instruction to determine the current stopped status.
Power Up: 0

$ENC_STAT[1].$enc_thresh

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

Not available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
Name: Encoder Stopped Threshold
Description: This value specifies the encoder stop threshold (in units of
encoder counts per encoder update). This value is used by the LINE_STOP
instruction to determine whether or not the line (conveyor) has stopped moving.
Line rates which are LESS (smaller magnitude) than the stop threshold value
are considered to indicate that the line has stopped.
Power Up: 0

$ENC_STAT[1].$enc_value
Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RO
Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Encoder (Incremental Count) Value
Description: Contains the incremental encoder count value which was read
during the most recent encoder access as determined by the system
ITP_TIME and the $ENC_STAT[1].$enc_multipl encoder read interval
multiplier value. This value is the unaccumulated value of encoder counts
which was directly read from the encoder.
Power Up: 0
See Also: $ENC_STAT[1].$enc_multipl, $SCR.$itp_time

$ENETMODE STRUCTURE

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: Not

available Program: Not available UIF: Not available CRTL: Not available
Name: Ethernet Mode Structure
Description: Individual fields within this structure are described below.

$ENETMODE.$AUTO_PORT_S

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Ethernet Mode selection for Automatic Port Selection
Description: Enables (TRUE) or disables (FALSE) Ethernet Automatic Port
Selection. The selection TRUE will automatically select TP (Twisted Pair) or
AUI (Access Unit Interface) based on the presence or absence of valid link
frames at the Twisted Pair port.
Power Up: Change takes effect immediately.

$ENETMODE.$COLL_DETECT

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Ethernet Mode selection for Collision Detection
Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair
Signal Quality Error Test Enable. The selection TRUE will enable testing of the
internal TP (twisted pair) collision detect circuitry after each transmit operation
to the remote host via Ethernet communication.
Power Up: Change takes effect immediately.

$ENETMODE.$EN_LOOPBACK

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Ethernet Mode selection for Diagnostic Loopback
Description: Enables (TRUE) or disables (FALSE) Ethernet Diagnostic
Loopback. The selection TRUE will cause the TX output to be loopbacked and
appeared at the RX input. The current setting for $EN_LOOPBACK is FALSE,
and is write protected.
Power Up: Change takes effect immediately.

$ENETMODE.$EN_TPENABLE

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Ethernet Mode selection for Twisted Pair Port Enable
Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair Port
Enable. If $AUTO_PORT_S (automatic port selection) is set to FALSE
(disabled) , then the user will be able to manually select TP port or AUI port, i.e.
set $EN_TPENABLE to TRUE for TP port or FALSE for AUI port. If
$AUTO_PORT_S is set to TRUE , then the setting of $EN_TPENABLE will
have no effect on Ethernet port selection.
Power Up: Change takes effect immediately.

$ENETMODE.$FULL_DUPLEX

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Ethernet Mode selection for Twisted Pair Full Duplex
Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair Full
Duplex. The selection TRUE will allow simultaneous transmit and receive
operation on the twisted pair port without causing collision.
Power Up: Change takes effect immediately.

$ENETMODE.$POLARITY_CE

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Ethernet Mode selection for Twisted Pair Automatic Polarity Correction
Enable
Description: Enables (TRUE) or disables (FALSE) Ethernet Twisted Pair
Automatic Polarity Correction Enable. The selection TRUE will enable
automatic polarity correction, and will internally correct polarity fault. The
current setting for $POLARITY_CE is TRUE, and is write protected.
Power Up: Change takes effect immediately.

$ER_AUTO_ENB
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Auto display flag
Description: Enables/Disables whether the Active Alarm Screen will
automatically be displayed when an error occurs. 1=Automatic Display.
Power Up: You must perform a COLD START for this change to take effect.
See Also: The Error Codes Appendix in the appli cation-specific Setup and
Operations Manual for more information.

$ER_NO_ALM STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Output/non-output of Alarm
Description: This system variable is used to prevent specific errors from
turning on the FAULT output. Individual fields within this structure are
described below.
Power Up: Changes to this variable take effect immediately

$ER_NO_ALM[1].$er_code1-10

Minimum: 0 Maximum: 128000 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: No alarm error codes
Description: These variables specify the alarms which will not turn on the
FAULT output. The number of alarms specified and the value of
$ER_NO_ALM.$noalm_num must be the same. An alarm ID is used to specify
the alarm. Refer to the Setup and Operations Manual for alarm ID information.
Power Up: Changes to this variable take effect immediately

$ER_NO_ALM[1].$noalm_num

Minimum: 0 Maximum: 10 Default: 5 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
Name: Number of no alarm errors
Description: Specifies the number of error codes used.
Power Up: Changes to this variable take effect immediately

$ER_NO_ALM[1].$noalmenble

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

UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
Name: No alarm enable
Description: Enables/disables the no alarm output feature. 1: Do not turn on
the FAULT output for any errors defined in $ER_NO_ALM[1].$er_ code1-10. 0:
Output all alarms. This variable will only enable the no alarm output feature if
$ER_NO_ALM[1].$no alm_num and $ER_NO_ALM[1].$er_code1-10, are set
up properly.
Power Up: Changes to this variable take effect immediately

$ER_NOAUTO STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Auto display flag of the specified alarm
Description: Disables/enables automatic display of the Active Alarm Screen
for specified alarms. The variables within this structure are used with
$ER_AUTO_ENB. Individual fields within this structure are described below.
Power Up: You must perform a cold start for the changes to take effect.
See Also: Appendix A of the application-specifi c Setup and Operations
Manual .

$ER_NOAUTO.$noauto_code[1-20]

Minimum: 0 Maximum: 128000 Default: 11001 KCL/Data: RW Program:

Not available UIF: Not available CRTL: RW Data Type: LONG Memory:
CMOS
Name: Error code
Description: The error code specified here will not force the automatic display
of the Active Alarm Screen. There are 6 set by default. Appendix A of the
Application-Specific Setup and Operations Manual.
Power Up: You must perform a cold start for the changes to take effect.

$ER_NOAUTO.$noauto_enb

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Auto display flag of the specified errors
Description: Disables/enables the automatic display of the Active Alarm
Screen for the specified error codes in $ER_NOAUTO.$noauto_code. If set to
1, the errors specified will not force the display of the Active Alarm Screen.
Power Up: You must perform a cold start for the changes to take effect.

$ER_NOAUTO.$noauto_num

Minimum: 0 Maximum: 20 Default: 6 KCL/Data: RW Program: Not

available 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.

$ER_NOHIS

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program: Not available

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.

$ER_OUT_PUT.$plcwarn

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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
Power Up: Effective immediately

$ER_SEV_NOAU[1-5]

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

UIF: Not available CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Auto display flag of every severity type
Description: Disables/enables the automatic display of the Active Alarm
Screen for each severity type, except WARN. The elements [1-5] correspond
respectively to PAUSE, STOP, SERVO, ABORT and SYSTEM. If set to
FALSE, the severity type will not force the automatic display of the Active
Alarm Screen. This variable is used with $ER_AUTO_ENB.
Power Up: You must perform a cold start for this change to take effect.
See Also: Appendix A of the Application-Specific Setup and Operations
Manual.

$ERROR_PROG

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Error Program
Description: This string can be set from a teach pendant program using the
ERROR_PROG instruction. A KAREL "shell" program can access this string
during an error recovery process. This string typically contains 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 error_prog instruction from a teach pendant program.
Power Up: No

$ERROR_TABLE

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0x7FFFFFFF

KCL/Data: RW Program: Not available UIF: Not available CRTL: Not
available Data Type: ULONG
Name: Error Severity Table information
Description: This system variable contain information from Error Severity
Table. This is ULONG data type and it is decimal representation of number that
is composed of the following: first 16 bits are error code, next 8 bits represent
facility or subsystem code, next 4 bits is value for enumerated type for severity
level, and last 4 bits is value for enumerated value for logger functionality in
Error Severity Table screen.
Power Up: Effective immediately

$ERRSEV_NUM

Minimum: 20 Maximum: 999 Default: 20 KCL/Data: RO Program: Not

available UIF: RO CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Maximum number of entries for Error Severity Table
Description: This system variable define the maximum number of entries in
Error Severity Table screen and it can be modified at Ctrl start form Program
setup menu.
Power Up: The change to this system variable takes effect at the next cold
start.

$ERSEVERITY

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

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
RAM
Name: Error severity
Description: Reserved for Internal use by FANUC Robotics. Do not change
this variable.

$ETCP_VER

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: TCP/IP version
Description: The version of the TCP/IP code in EPROM.
Power Up: Always read from the ETHERNET EPROM after a cold start.
See Also: FANUC Robotics SYSTEM R-J Controller KSL Interface Setup and
Operations Manual

$EXTTOL

Minimum: 0. Maximum: 1000. Default: 10. KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Extended Axis Error Tolerance
Description: Specifies the tolerance allowed in extended axis data when two
positions are compared in a KAREL program. Two extended axes are
considered equal when their difference is below this value. Units are mm for
linear axes, degrees for rotational axes.

2.6 F
$FAST_CLOCK

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

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
RAM
Name: High Resolution System Timer
Description: This variable is incremented by 1 every 4 milliseconds. It
provides higher resolution timing than is available though KAREL TIMER
variables.
Power Up: No

$FAULT_CONFG.$cur_error

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Last error that was detected and is still active.
Description: This indicates the last error that was detected and is still active.
For internal use only.
Power Up: NA

$FAULT_CONFG.$cur_reset

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Reset Current Data
Description: This resets the current data for F and I reporting, when set true.
On the next error or reset, the current data will be reset.
Power Up: NA
$FAULT_CONFG.$hist_reset

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Reset Historical Data
Description: This resets the historical data for F and I reporting, when set true.
On the next error or reset, the historical data will be reset.
Power Up: NA

$FAULT_CONFG.$hreset_time[1]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Controller On time
Description: This indicates the time (in minutes) that the historical data for F
and I system was started or last reset. This time represenst The total controller
on time.
Power Up: NA

$FAULT_CONFG.$hreset_time[2]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Servo On time
Description: This indicates the time (in minutes) that the historical data for F
and I system was started or lat reset. This time represents Servo on time.
Power Up: NA

$FAULT_CONFG.$hreset_time[3]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Fault Time
Description: This indicates the time (in minutes) that the historical data for F
and I system was started or lat reset. This time represents the fault time.
Power Up: NA

$FAULT_CONFG.$hreset_time[4]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Running time
Description: This indicates the time (in minutes) that the historical data for F
and I system was started or lat reset. This time represents the running time.
Power Up: NA
$FAULT_CONFG.$max_rec

Minimum: 0 Maximum: 5000 Default: 100 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Maximum errors to record
Description: This indicates the maximum number of errors to record. The
system variable $FAULT_DATA is resized to hold this number, so there is a
usage of CMOS memory when this value is changed. A value of 0 disable the F
and I recording.
Power Up: Requires power cycle to change number of potential errors
recorded.

$FAULT_CONFG.$no_recd

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: No Record Failures.
Description: This indicates the numer of errors that were not recorded for
some reason. Typically, this means that the number of errors to be recorded is
is less tha the number of errors that the system has experienced.
Power Up: NA

$FAULT_CONFG.$reset_per

Minimum: 1 Maximum: 25 Default: 5 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS
Name: Time change trigger
Description: This is the percentage of a time change that will trigger an
automatic historical and current reset. This is based on the most current time
and the new time when the system clock is changed.
Power Up: NA

$FAULT_CONFG.$reset_time[1]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Controller On time
Description: This indicates the time (in minutes) that the curent data for F and
I system was started or last reset. This time represenst The total controller on
time.
Power Up: NA

$FAULT_CONFG.$reset_time[2]
Minimum: 0 Maximum: 0xffffff Default: 0 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Servo On time
Description: This indicates the time (in minutes) that the curent data for F and
I system was started or lat reset. This time represents Servo on time.
Power Up: NA

$FAULT_CONFG.$reset_time[3]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Fault Time
Description: This indicates the time (in minutes) that the curent data for F and
I system was started or lat reset. This time represents the fault time.
Power Up: NA

$FAULT_CONFG.$reset_time[4]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Running time
Description: This indicates the time (in minutes) that the curent data for F and
I system was started or lat reset. This time represents the running time.
Power Up: NA

$FAULT_CONFG.$time1

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: System time that F and I recording was started.
Description: This indicates the system time (in DOS format) that the curent
data for F and I system was started or last reset.
Power Up: NA

$FAULT_CONFG.$time2

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: System time that F and I recording was stopped. System time that F
and I recording was stopped.
Description: This indicates the system time (in DOS format) that the curent
data for F and I system was stopped (or disabled);.
Power Up: NA

$FAULT_CONFG.$time3
Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:
Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: System time that F and I recording was started.
Description: This indicates the system time (in DOS format) that the historical
data for F and I system was started or last reset.
Power Up: NA

$FAULT_CONFG.$time4

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: System time that F and I recording was stopped.
Description: This indicates the system time (in DOS format) that the historical
data for F and I system was stopped (or disabled);.
Power Up: NA

$FAULT_CONFG.$warning_ena

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Warning Enable Flag..
Description: This enables the logging of warnings. The number of warning will
be logged. No occurance time is kept for warnings.
Power Up: NA

$FAULT_DATA[1].$hist_incid

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Historical Incidents
Description: This indicates the number of times that this error has occurred
for historical data..
Power Up: NA

$FAULT_DATA[1].$htime1

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

Not available 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

$FAULT_DATA[1].$htime2
Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data: RW Program:
Not available 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

$FAULT_DATA[1].$htime3

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

Program: Not available 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

$FAULT_DATA[1].$incidents

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Current Incidents
Description: This indicates the number of times that this error has occurred
for current data.
Power Up: NA

$FAULT_DATA[1].$number

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Error Number
Description: This indicates the error number for the associated data.
Power Up: NA

$FAULT_DATA[1].$text

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Error string
Description: This indicates the error string.
Power Up: NA

$FAULT_DATA[1].$time1
Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data: RW Program:
Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Total Time
Description: This indicates the total time (in tenths of minutes) for current data
that this error has been active.
Power Up: NA

$FAULT_DATA[1].$time2

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

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Max Time
Description: This indicates the max time (in tenths of minutes) for current data
that this error has been active.
Power Up: NA

$FAULT_DATA[1].$time3

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

Program: Not available UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS
Name: Min Time
Description: This indicates the min time (in tenths of minutes) for current data
that this error has been active.
Power Up: NA

$FAULT_DATA[1].$time4

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Last time
Description: This indicates the last time (in DOS format)that this error was
reported
Power Up: NA

$FBSTSK[1] STRUCTURE

Minimum: 0x0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: PROFIBUS task ID
Description: These system variables are used to create the field bus task.
Individual variables within this structure are described below.
Power Up: You must perform a cold or hot start for these change to take
effect.
$FBSTSK[1].$lun

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

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: TASK LUN
Description: For internal use only. Do not modify this system variable. Task
LUN of field bus task.

$FBSTSK[1].$priority

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Field bus task priority
Description: For internal use only. Do not modify this system variable. 0 : The
default priority is used.
Power Up: You must perform a cold or hot start for the change to take effect.

$FBSTSK[1].$sid

Minimum: 0 Maximum: 0xFFFF Default: 75 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Softparts ID
Description: For internal use only. Do not modify this system variable. Task
Softparts ID of field bus task.

$FBSTSK[1].$tid

Minimum: 0 Maximum: 0xFFFF Default: 167 KCL/Data: RO Program: Not

available 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.

$FC_CONFIG.$data_num

Minimum: 1 Maximum: 100 Default: 2 KCL/Data: RW Program: Not

available 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.

$FC_DATA[1].$fcmd_trq[10]
Minimum: -7282 Maximum: 7282 Default: 0 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Pressure control target value in each step
Description: Pressure value (unit: torque)

$FC_DATA[1].$time[10]

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: LONG
Name: Pressure control time
Description: Time of pressure control in each step.(msec)

$FC_GRP[1].$complete[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: COMPLETE PRESSURE CONTROL
Description: TRUE: Complete pressure control

$FC_GRP[1].$fcmd_trq[9]

Minimum: -7282 Maximum: 7282 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Pressure control target value
Description: Pressure value (unit: torque)Set the goal of motor torque

$FC_GRP[1].$fctrl[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Pressure control start flag
Description: TRUE: Start pressure control System starts pressure control
when this flag becomes TRUE.FALSE: End of pressure control

$FC_GRP[1].$hold[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: HOLD PRESSURE CONTROL
Description: TRUE: System keeps the last pressure vlaue at specified profile
dataFALSE: System stops pressure control

$FC_GRP[1].$restart[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: RESTART PRESSURE CONTROL
Description: TRUE: Restart pressure control from pressure holding condition

$FC_GRP[1].$sch_num[9]

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: SCHDULE NUMBER (PROFILE DATA NUMBER)
Description: The target index of $FC_DATA[]

$FC_STAT[1].$dizcmp[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Dizzer process complete flag
Description: TRUE: dizzer process complete

$FC_STAT[1].$fcenb[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: In Pressure controling flag
Description: Servo soft sets this flag by S-DATATRUE: In pressure control
FALSE: In position control

$FEATURE STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Feature Information
Description: Individual variables within this structure are described below.

$FEATURE.$MOD[1-128]

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: RW Data Type: STRING Memory: CMOS
Name: Feature Type
Description: Details the load mechanism of each installed feature: S
(standard), L (robot library), O (option), or U (update).
Power Up: This variable cannot be changed.

$FEATURE.$NAM[1-128]

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: RW Data Type: STRING Memory: CMOS
Name: Name of the Standard/Robot Library/Optional/Update Features
Description: Details the release time name of each installed feature (standard,
robot library, option, or update).
Power Up: This variable cannot be changed.

$FEATURE.$VER[1-128]

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: RW Data Type: STRING Memory: CMOS
Name: Version of the Standard/Robot Library/Optional/Update Features
Description: Details the release time version of each installed feature
(standard, robot library, option, or update).
Power Up: This variable cannot be changed.

$FILE_AP2BCK[1-20] STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Application-TP (Applic.-TP) file backup table
Description: The entries in this table tell the system what .TP, .DF or .MN
programs are loaded or backed up during a "file backup" operation from the
teach pendant. This table is used when you select BACKUP or RESTORE and
Applic.-TP. This table is used for loading during controlled start when you
select a restore operation.
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_AP2BCK[1].$file_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: File Backup/Restore Name
Description: The name of the file to be restored from or backed up to, for this
entry in the table.
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_AP2BCK[1].$func_code

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Function Code
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_AP2BCK[1].$modifier
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Modifier
Description: Applies to load operation modifier only. Load operation: 0 - No
overwrite on load 1 - Overwrite file on load
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_AP2BCK[1].$prog_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Program name to backup/restore
Description: Name of the program backed up if this is a backup entry in the
table.
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_APPBCK[1-20] STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Application file backup table
Description: The entries in this table tell the system what files are loaded or
what programs are backed up during a "file backup" operation from the teach
pendant. This table is used when you select BACKUP or RESTORE and
"Application" or "All of the above." This table is used for loading during
controlled start when you select a restore operation.
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_APPBCK[1].$file_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: File Backup/Restore Name
Description: The name of the file to be restored from or backed up to, for this
entry in the table.
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_APPBCK[1].$func_code

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Function Code
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_APPBCK[1].$modifier

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Modifier
Description: Applies to system variable type operations only. Load operation:
0 - Normal load 16 - Convert system variable from previous version Save
operation: 0 Save all variables 1 Save majority of sysvars 2 Save just DMR 3
Save just SBR 4 Save NOSAVE variable for initialization 5 Save MACRO
command related variables 6 Save SPOT application related variables
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_APPBCK[1].$prog_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Program name to backup/restore
Description: Name of the program backed up if this is a backup entry in the
table.
Power Up: Used when the BACKUP or RESTORE key is pressed on the FILE
menu.

$FILE_BASEPT

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

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: File base pointer
Description: Pointer to link management data of the file system. This variable
is used by the system. Do not change this variable.

$FILE_ERRBCK.$file_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Error Log Name
Description: Specifies the name of the error log to be backed up.
$FILE_ERRBCK[1].$file_name is set to "ERRALL.LS" and
$FILE_ERRBCK[2].$file_name is set to "ERRACT.LS".
Power Up: Changes take effect immediately.
$FILE_ERRBCK.$func_code

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Function Code
Description: Must be set to 0.
Power Up: Changes take effect immediately.

$FILE_ERRBCK.$modifier

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Modifier
Description: Must be set to 0.
Power Up: Changes take effect immediately.

$FILE_ERRBCK.$prog_name

Minimum: "" Maximum: " " Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Program Name (to backup)
Description: Specifies the program backed up if this is a backup entry in the
table. $FILE_ERRBCK[1].$prog_name and $FILE_ERRBCK[2].$prog_name
are set to "*SYSTEM*".
Power Up: Changes take effect immediately.

$FILE_ERRBCK[1-10] STRUCTURE

Minimum: "" Maximum: " " Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Error Log Files Backup Table Structure
Description: The entries in this table tell the system what files are backed up
during a "file backup" operation from the teach pendant. This table is used
when you select [BACKUP]/Error Log. This table is also used when you select
[BACKUP]/All of the above. This table is NOT used for loading during
controlled start when user selects restore function.

$FILE_MASK

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: File mask
Description: Determines whether to mask out "unknown" files in the File
Menu.Before this variable was created, "unknown" files were masked out in
the File Menu. Also, they were limited to two character extensions. To continue
to do this, set $FILE_MASK = TRUE. To display 3 character file extensions,
set $FILE_MASK = FALSE. When it is false, the File Menu will display files as
follows: 1. Wildcard DIR requests, such as *.pc, will display all .pc files as well
as any compressed versions (.pcc). 2. For *.*, display ALL files with 2 and 3
char extensions. No masking is done.
Power Up: Changes take effect immediately.

$FILE_MAXSEC

Minimum: -16000 Maximum: 16000 Default: -100 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: File maximum sector
Description: Determines the number of sectors to allocate for the CMOS
RAM disk. One sector is 512 bytes. During the format command, the memory
is removed from the CMOS memory pool and set aside as the RAM disk (RD:)
storage device. If not enough CMOS memory is available, then
$FILE_MAXSEC needs to be set smaller and the RAM disk reformatted.
CAUTION: Reformatting a RAM disk removes all the files that were previously
stored on the RAM disk. The RAM disk should be backed up to an off-line
storage device of the FROM disk (FR:) device before it is formatted.
$FILE_MAXSEC may be set to zero if a RAM disk is not required. It may also
be set to a negative number in which case the memory is allocated from DRAM
instead of CMOS. However, DRAM files will be lost when power is turned off.
Power Up: Only effective during the format command.

$FILECOMP

Minimum: MIN_FILECOMP_DATA Maximum: MAX_FILECOMP_DATA

Default: MIN_FILECOMP_DATA KCL/Data: RW Program: Not available UIF:
RW CRTL: RW Data Type: FILECOMP_T 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.

$FILECOMP.$tpp

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

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.

$FILECOMP.$variable

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

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.

$FILTSK[1] STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: TASK LUN
Description: For internal use only. Do not modify this system variable. Task
LUN of task.
Power Up: SYSTEM Variables screen

$FILTSK[1].$priority

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Task priority
Description: For internal use only, Do not modify this system variable. 0 : The
default priority is used.
Power Up: You must perform a cold or hot start for the change to take effect.

$FILTSK[1].$sid
Minimum: 0 Maximum: 0xFFFF Default: 92 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Softparts ID
Description: For internal use only. Do not modify this system variable. Task
Softparts ID of task.

$FILTSK[1].$startmd

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Indicate the start mode when this task run.
Description: For internal use only. Do not modify this system variable. 0 :
every mode. 1 : COLDSTART
Power Up: You must perform a cold or hot start for the change to take effect.

$FILTSK[1].$tid

Minimum: 0 Maximum: 0xFFFF Default: 182 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: TASK ID
Description: For internal use only. Do not modify this system variable. Task
ID of task.

$fn_grp[1].$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: Takes effect upon Controlled Start

$FORCE_SENSE.$comm_reg1

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

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Force sensor communication register #1
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$comm_reg2

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

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Force sensor communication register #1
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$counter

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

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Force sensor counter
Description: When force sensor is active, counter increments every cycle
Power Up: This variable is set by the system

$FORCE_SENSE.$enable

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Force sensor enable switch
Description: TRUE: Enable reading from force sensor FALSE: Disable
reading from force sensor
Power Up: This variable takes effect on powerup

$FORCE_SENSE.$error_reg1

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

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: FANUC Force sensor error register #1
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$error_reg2

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

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: FANUC Force sensor error register #2
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$filter_coef

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Force sensor filter coefficient
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$filter_time
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Force sensor filter time constant
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$filter_type

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Force sensor filter type
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$force

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

UIF: RO CRTL: RO Data Type: VECTOR Memory: 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

$FORCE_SENSE.$force_data[6]

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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: This variable is set by the system

$FORCE_SENSE.$fs_lowerlim[6]

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

UIF: Not available CRTL: Not available Data Type: REAL
Name: Non-integral Force sensor lower alarm limit
Description: Lower limits, excess causes alarm
Power Up: limits effective on powerup
See Also: See Lead-Thru Teach documentation

$FORCE_SENSE.$fs_upperlim[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program: Not available
UIF: Not available CRTL: Not available Data Type: REAL
Name: Non-integral Force sensor
Description: Upper limits, excess causes alarm
Power Up: limits effective on powerup
See Also: See Lead-Thru Teach documentation

$FORCE_SENSE.$moment

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

UIF: RO CRTL: RO Data Type: VECTOR Memory: CMOS
Name: Force sensor moment value
Description: Force sensor moment values in force sensor coordinates units
are kgfcm for FANUC integral force sensor
Power Up: This variable is set by the system

$FORCE_SENSE.$port_count

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$port_type

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Sensor I/O port type
Description: Internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$req_zero

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

Not available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Force sensor zero request
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$sensor_data[6]

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
LONG
Name: Non-integral Force sensor raw data
Description: Values read from non-integral force sensor
Power Up: This variable is set by the system

$FORCE_SENSE.$sensor_port[6]

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: USHORT
Name: Sensor port number
Description: Sensor I/O port number as define by setup menu
Power Up: This variable is set by the system

$FORCE_SENSE.$sensor_type

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Type of force sensor installed
Description: 0 = integral force sensor 1 = non-integral analog force sensor
Power Up: This variable is set by the system

$FORCE_SENSE.$sensor_zero[6]

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

Program: Not available UIF: Not available CRTL: Not available Data Type:
LONG
Name: Non-integral Force sensor zero request
Description: internal use only
Power Up: This variable is set by the system

$FORCE_SENSE.$sensorcal_a[6]

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

UIF: Not available CRTL: Not available Data Type: REAL
Name: Non-integral Force sensor zero request
Description: calibration parameter A
Power Up: effective on powerup
See Also: See Lead-Thru Teach documentation

$FORCE_SENSE.$sensorcal_b[6]

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

UIF: Not available CRTL: Not available Data Type: REAL
Name: Non-integral Force sensor
Description: calibration parameter B
Power Up: effective on powerup
See Also: See Lead-Thru Teach documentation
$FORCE_SENSE.$sensorcal_c[6]

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

UIF: Not available CRTL: Not available Data Type: REAL
Name: Non-integral Force sensor
Description: Calibration parameter C
Power Up: value is effective on powerup
See Also: See Lead-Thru Teach documentation

$FORCE_TRQ.$hp_dis_trq[6]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Current disturbance torque
Description: Obsolete, please see $mor_grp.$cur_dis_trq
Power Up: This variable is set by the system

$FORCE_TRQ.$torque[6]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Actual torque value
Description: Current torque value
Power Up: This variable is set by the system

$FORCE_TRQ.$torque_cmd[6]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Actual torque value
Description: Current torque value
Power Up: This variable is set by the system

$FQINT_RES[1].$freq_read

Minimum: 0 Maximum: 2000000 Default: 0 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.
See Also: See also $FQINT_SETUP[].$SAMPLE_AMT.

$FQINT_RES[1].$max_alrm_rp

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: This is the Maximum Frequency Alarm that is reported.
Description: A True value for this variable indicates that a "Max. freq.
exceeded" alarm has been posted or that this alarm has been disabled by the
application software. This also indicates that the alarm should not be posted
again for the specific channel until the controller is repowered or this variable is
set to false (by the application software or the user). This variable can disable
the alarm under certain conditions or during certain periods by setting it to
true(be sure to reset it to false to reenable the alarm).
See Also: See the system variable $FQINT_SETUP[].$FREQ_MAX_AL.

$FQINT_RES[1].$total_pulse

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Total Pulse Count
Description: The Total Pulse Count variable contains a count of the total
number of incoming pulse signals from the frequency interface since the last
time the variable was reset. If this input is used for a flow meter, then this total
pulse count is proportional to the total quantity of material that has passed
through the flow meter. To reset this variable, set
$FQINT_RES[1].$total_pulse to 0. You can also reset this variable by setting it
to a non-zero previous total as required by the application. HOW CAN YOU
SET THIS VARIABLE TO BOTH ZERO AND NONZERO TO RESET IT? This
total counter is a continuous mode counter. If the upper count limit is exceeded,
the counter wraps around to zero. The range of this counter is based on a 4
byte integer, so the maximum value is: 2,147,483,647. The Total Pulses will be
set to zero when the controller is turned on. The Total Pulse counter has a
limitation that if the maximum frequency is exceeded there are counts lost.
Optionally there is an alarm that will occur if the maximum frequency is
exceeded (as sensed by the controller). WHAT IS THAT ALARM CALLED?

$FQINT_SETUP[1].$fast_on

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 Fast On From Zero frequency enable.
Description: If this is set to true, ignore the sample amount filter for the first
nonzero sample after a zero frequency reading. With the fast on following a 0
reading, the first non-zero reading will be immediately used as the frequency
reading without regard to the value of the "Sample Amount." This allows the
measured frequency or flow rate to come up quickly to the nominal reading
when any enabling controls are turned on. For example, in a fluid control
system there will be a flow enable valve or an applicator trigger. When the
trigger comes on there might be a need to stabilize flow readings as quickly as
possible. This applies to only the Frequency Reading, not the Total Pulses.

$FQINT_SETUP[1].$freq_thresh

Minimum: 0.05 Maximum: 62.5 Default: 2.0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: This is the frequency threshold for non zero values.
Description: This is the frequency in units of Hz (cycles/second below which
the frequency is considered 0.) This does not affect the Total Pulses value.
This setting determines how long the frequency interface waits for a pulse
before it sets the frequency to zero (0). For example when this variable is set to
2.0Hz then after .5 seconds have elapsed with no pulses received, then the
Frequency Reading will be 0.

$FRM_CHKTYP

Minimum: -2 Maximum: 2 Default: -1 KCL/Data: RW Program: Not

available 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.

$FSAC_DEF_LV

Minimum: -1 Maximum: 5 Default: -1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: FTP Server Access Control Default Access Level
Description: This defines the access level given to a remote FTP client
logging into the robot if $FSAC_ENABLE is 1 and if no match is found with IP
address in $FSAC_LIST[]. Access levels are: -1: No Access 0: Operator Level
(read only) 1: Programmer Level 2: Setup Level 3: Install Level (full write
access) This variable is saved as part of SYSFSAC.SV.
Power Up: Effective immediately.
See Also: SYSTEM R-J3 ECBR-FTP Interface Setup and Operations Manual

$FSAC_ENABLE

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: FTP Server Access Control Enable Flag
Description: When set to 1, enables checking of remote FTP clients when
logging into robot to use robot FTP server. If enabled FTP access through
robot FTP server is granted based on matching
$FSAC_LIST.$IP_ADDRESS[], and using associated access level
($FSAC_LIST.$ACCESS _LVL); or using $FSAC_DEF_LVL if no match.
(Saved in SYSFSAC.SV)
Power Up: Effective immediately.
See Also: SYSTEM R-J2 ECBR-FTP Interface Setup and Operations Manual

$FSAC_LIST[1-20] STRUCTURE

Minimum: MIN_FSAC_LST Maximum: MAX_FSAC_LST Default:

DEF_FSAC_LST KCL/Data: RW Program: Not available UIF: Not available
CRTL: Not available Data Type: FSAC_LST_T
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: 3 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: FTP Server Access Control List Access Level
Description: Contains list of hosts which can use FTP server on robot based
on associated Access Level. Access Level can be : -1 - no access (useful if use
$FSAC_DEF_LVL but want to exclude one) 0 - operator Level (read only) 1 -
program level 2 - setup level 3 - installation level (full write permissions) (Saved
in SYSFSAC.SV)
Power Up: Takes effect immediately

$FSAC_LIST[1].$APPS
Minimum: 0 Maximum: 0xFFFFFFFF Default: 0xFF KCL/Data: RW
Program: Not available 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 asfollows:-Least significant bit ( bit 7) in the last byte is used
by FTP.The next bit ( bit 6) in the last byte is used by TELNETThe next bit ( bit
5) in the last byte is used by Web server.The next bit ( bit 4 ) in the last byte is
used by PMON.All other bits are reserved for future use.An example use of this
field is as follows:-If $FSAC_LIST[2].$APPS = 2, then bit 6 in the last byte is
set,which means only TELNET will use the 2nd entry in the FSAC tablefor
authentication of the client IP address. The addition of this field gives the user
the flexibility ofseparating out which PCs are used to log in to the
differentservers on the robot.(Saved in SYSFSAC.SV)
Power Up: Takes effect immediately

$FSAC_LIST[1].$IP_ADDRESS

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: FTP Server Access Control List
Description: Contains list of hosts which can use FTP server on robot based
on associated Access Level. (Saved in SYSFSAC.SV)
Power Up: Takes effect immediately

$FTP_DEF_OW

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

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: Not available

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

$FX_CLRSH_EN

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

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

$FX_MAX_DIM

Minimum: 0 Maximum: 100.0 Default: 9.9 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Maximum Dimension
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

$FX_MAX_NUM

Minimum: 0 Maximum: 100 Default: 10 KCL/Data: RW Program: Not

available 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

$FX_TPSH_ENB

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

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

2.7 G
$GE_INT_CFG STRUCTURE

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

available UIF: Not available CRTL: Not available
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.
Power Up: N/A

$GE_INT_CFG.$clr_last_st

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

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 of
$GE_INT_CFG.$CLR_LAST_ST. If $GE_INT_CFG.$CLR_LAST_ST = TRUE,
the inputs will be set to zero. If $GE_INT_CFG.$CLR_LAST_ST = FALSE, the
inputs will be left at their last state.
Power Up: Changes to this variable take effect immediately.
See Also: $GE_INT_CFG.$PC_BUS_ADDR

$GE_INT_CFG.$pc_bus_addr

Minimum: -1 Maximum: 31 Default: -1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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 is used to disable the functionality. If the PC at the bus address
specified in this system variable 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 of $GE_INT_CFG.$clr_last_st.
Power Up: Changes to this variable take effect immediately.
See Also: $GE_INT_CFG.$clr_last_st

$GENOV_ENB

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: General Override Enable
Description: Enables changes to the general override via the %UP and
%DOWN keys. This variable can be used to prevent unauthorized override
changes. If this variable is set to FALSE, changes are prohibited and pressing
the %UP and %DOWN keys has no effect.
Power Up: Changes to this variable take effect immediately.

$GROUP STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Group Dependent Motion Variables
Description: Motion parameters that can change from one motion to the other
but remain effective for the entire motion interval once the motion is issued and
regardless of when subsequent changes to the variables are made. Individual
fields within this structure are described below.
Power Up: Effective with next motion

$GROUP[1].$accel_ovrd

Minimum: 0 Maximum: 500 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Acceleration/deceleration Override
Description: When $USERELACCEL is TRUE: actual
acceleration/deceleration time = usual acceleration/deceleration time *
$ACCEL_OVRD /100. If $ACCEL_OVRD = 0 it is treated as if it were 100. In
the KAREL system, if RELACCEL is defined in associated data, actual
acceleration/deceleration time = usual acceleration/dec eleration time *
($ACCEL_OVRD/100) * (RELACCEL/100).
Power Up: Effective with next motion

$GROUP[1].$accu_num

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: NO Program: Not available

UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS
Name: Accuracy Area Number
Description: Accuracy area number used in this motion.

$GROUP[1].$armload

Minimum: 0.0 Maximum: 10000.0 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Weight of Arm Payload
Description: Weight of payload on robot arm during current motion in Kg.
Power Up: Effective with next motion
$GROUP[1].$asymfltrenb

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Asymmetric Filter Enable
Description: Reserved for Internal use by FANUC Robotics. Core TurboMove
Joint Softpart sets $asymfltrenb. If TRUE, asymmetric filter is used for motion
with PTP short motion.
Power Up: Effective with next motion

$GROUP[1].$cartfltrenb

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Cartesian filter enable
Description: Internal use. Core Cartesian Softpart sets $cartcartenb. If TRUE,
the Cartesian filter is used for motion with Cartesian motype.
Power Up: Effective with next motion

$GROUP[1].$cnstnt_path

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Constant Path
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: Not

available 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: Not

available 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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Continuous dynamic acceleration.
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: Not available

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: Not available

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

$GROUP[1].$contaxisvel
Minimum: 0.001 Maximum: 100. Default: 100. KCL/Data: RW Program:
Not available 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 maximum joint speed. The sign indicates which (joint) direction (+ or -) to
turn continuously.
Power Up: Effective with next motion

$GROUP[1].$crccompenb

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Cartesian Circular Compensation Enable
Description: Reserved for Internal use by FANUC Robotics. Core Cartesian
Softpart sets $crccompenb. If TRUE, path accuracy improvement for circular
motype is enabled.
Power Up: Effective with next motion

$GROUP[1].$deceltol

Minimum: 0. Maximum: 100. Default: 0. KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Percentage of Deceleration
Description: When VARDECL termtype is selected, $deceltol is used to
specify the amount of deceleration in percentage. $deceltol=n means n%
deceleration.
Power Up: Effective with next motion

$GROUP[1].$dyn_i_comp

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Dynamic Compensation
Description: Enables feature supported by some robot libraries for dynamic
speed and acceleration control.
Power Up: Effective with next motion

$GROUP[1].$ext_indep

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Independent Extended Axes
Power Up: Effective on the next motion.
$GROUP[1].$ext_speed

Minimum: 0 Maximum: 100 Default: 100 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Extended Axes Speed Percentage
Description: Used when extended axes are present. If the value is 1..100,
then the motion for the extended axes is planned with a speed of:
$PARAM_GROUP[].$jntvellim[] = $group[].$ext_speed * 0.01 If the motion is
simultaneous ($group.$ext_indep = FALSE), then the motion which dominates,
the robot or the extended axes, will determine the total motion interval. If the
value is zero, then for JOINT motion and non-integral Cartesian motion, the
extended axes speed is determined from the $SPEED value the same as for a
JOINT motion. Integral axes motion planning is done with $JNTVELLIM for
Cartesian motion if the value is zero.
Power Up: Effective with next motion.

$GROUP[1].$motype

Minimum: MT_JNT_JOG Maximum: MT_CIRCULAR Default: 6 KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type: MOTYPE_E
Memory: CMOS
Name: Motion Type
Description: Defines the type of motion interpolation used for KAREL motion
statements using the following values: 6 = JOINT 7 = LINEAR 8 = CIRCULAR
For the KAREL user, the value of $MOTYPE can be overridden in a path by
setting the SEGMOTYPE field in the standard associated data. The default
value is set each time a program is executed.
Power Up: Effective with next motion

$GROUP[1].$orient_type

Minimum: OR_RS_WORLD Maximum: OR_AES_CIRCLE Default: 1

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

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Weight of Payload
Description: Weight of payload during current motion in Kg.

$GROUP[1].$reserve1

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: NO

Program: Not available 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.
Power Up: Effective with next motion

$GROUP[1].$rotspeed

Minimum: 0.001 Maximum: 1440. Default: 90. KCL/Data: RW Program:

Not available 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: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Segment Time
Description: For KAREL systems only. $seg_time controls the method used
to compute segment time (the time to move from a start position 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: Not available UIF: RW CRTL: RW Data Type: TERMTYPE_E
Memory: CMOS
Name: Segment Termination Type (for KAREL paths only)
Description: Defines the default termination type at the end of each
intermediate path node (all but the last node in a path), using the following
values: 1 = FINE 4 = NODECEL 2 = COARSE 5 = VARDECEL 3 = NOSETTLE
The value of $SEGTERMTYPE can be overridden in a path by setting the
SEGTERMTYPE field in the standard associated data. The default value is set
each time a program is executed.
Power Up: Effective with next motion

$GROUP[1].$sm_profile

Minimum: SM_CLASS_1 Maximum: SM_CLASS_4 Default: 0 KCL/Data:

NO Program: Not available UIF: NO CRTL: NO Data Type: SM_PROFILE_E
Memory: CMOS
Name: Short Motion Profile
Description: Used for computation of the planning segment time when the
segment time is not an exact multiple of the Interpolation time. 0: The segment
time will be extended to next multiple of interpolation time. 1: The segment time
will be rounded off to a multiple of interpolation time. 2: The segment time will
be trimmed to a previous multiple of interpolation time.
Power Up: Effective with next motion

$GROUP[1].$speed

Minimum: 0.001 Maximum: 3000. Default: 300. KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Motion Speed
Description: The motion will proceed for Linear and Circular with the specified
command value in mm/sec. For JOINT motion, the command value is a
percentage of $param_group.$jntvellim as scaled by the ratio of $speed to
$param_group.$speedlimjnt.
Power Up: Effective with next motion

$GROUP[1].$ta_profile

Minimum: TA_DBL_LIN Maximum: TA_SINE Default: 0 KCL/Data: NO

Program: Not available UIF: NO CRTL: NO Data Type: TA_PROFILE_E
Memory: CMOS
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: Not available 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: Not

available 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).

$GROUP[1].$uframe

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RW Program: Not available 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 the world coordinate system. By default, $uframe is identical to the
world coordinate system, meaning $uframe = $NILP.
Power Up: Effective with next motion

$GROUP[1].$use_cartacc

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use/unused Cartesian Mincycle Algorithm (For systems with this
option)
Description: This variable is ignored for systems without the Cartesian
mincycle option. If the Cartesian mincycle option is installed, $use_cartacc
enables or disables the Cartesian mincycle feature. Cartesian mincycle option
is used to improve Cartesian cycle time.
Power Up: Effective with next motion

$GROUP[1].$use_config

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use Configuration
Description: To move along a Cartesian (linear or circular, for example) path,
the configuration of the start position and destination position must be identical.
Otherwise it is impossible to trace out the Cartesian path. $use_config can be
used to decide what to do if the start configuration is inconsistent (different)
from the destination configuration in a Cartesian move. If the value of
$use_config is TRUE, the inconsistency causes an error that pauses the
program. If the value is FALSE, system always chooses the start configuration
to perform the Cartesian move (regardless of the taught destination
configuration).
Power Up: Effective with next motion

$GROUP[1].$use_pathacc

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use/unused Path Acceleration (for future use)
Description: Flag for turn on/off path acceleration function.
Power Up: Effective with next motion

$GROUP[1].$use_shortmo

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

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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use Position Turn Numbers
Description: For JOINT motion, if $USE_TURNS is true (default), then the
exact turn number specified in the destination position configuration string will
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: Not available

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

$GROUP[1].$usemaxaccel

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use/unused Maximum Acceleration.
Description: $usemaxaccel enables or disables the fast
acceleration/deceleration feature. If it set to TRUE, the required acceleration
time is reduced as a function of motion speed. If it set to FALSE, the normal
acceleration time is applied.
Power Up: Effective with next motion

$GROUP[1].$userelaccel
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Use/unused Relative Acceleration (acceleration override).
Description: $userelaccel enables or disables the acceleration override
feature. If $userelaccel is TRUE, acceleration time is multiplied by $accel_ovrd.
If $userelaccel is FALSE, $accel_ovrd is ignored by the system when
computing acceleration time.
Power Up: Effective with next motion

$GROUP[1].$usetimeshft

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: Not available

UIF: NO CRTL: NO Data Type: BOOLEAN Memory: CMOS
Name: Use/unused Time Shift for KAREL Path local condition (for future use).
Description: $usetimeshft enables or disables adjusting the timing of local
conditions feature. If $usetimeshft is TRUE, the system variable $timeshift can
be used to adjust the timing of local condition handlers from outside the
KAREL program (optional feature). If $usetimeshft is FALSE, the value of
$timeshift will be ignored.
Power Up: Effective with next motion

$GROUP[1].$utool

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RW Program: Not available 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: Not

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Mapped HBK (Hand broken signal) I/O type
Description: Not used
Power Up: Changes to this variable take effect immediately.

$HBK_MAP_ENB

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.
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: Not available 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.
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
Minimum: ERR_MASK_MIN Maximum: ERR_MASK_MAX Default:
ERR_MASK_DEF KCL/Data: Not available Program: Not available UIF: Not
available CRTL: Not available
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.
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:

Not available UIF: Not available CRTL: Not available Data Type: ULONG
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.
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: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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.
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: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Description: An array containing the passwords associated with each
USERNAME.
Power Up: Effective immediately.
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: Not available
UIF: Not available CRTL: Not available Data Type: STRING
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 string and should have the following format: DDD.DDD.DDD.DDD where
DDD is a decimal number, 0 <= DDD <= 255.
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_addrtype

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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: 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_length

Minimum: 0 Maximum: 17 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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: Not available
UIF: Not available CRTL: Not available Data Type: STRING
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’
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

$HOSTC_CFG[1].$PWRD_TIMOUT

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

Not available 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.
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

$HOSTC_CFG[1].$SERVER_PORT

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Server Port Number
Description: Specifies the TCP or UDP port number on the server. For Cn:
this is the porton the foreign computer. For Sn: this is the port on the robot
controller.
Power Up: Effective immediately.
See Also: SYSTEM R-J3 V5.22 Socket Messaging Interface Setup and
Operations Manual

$HOSTC_CFG[1].$STRT_PATH

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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.
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: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Host Client Tag Remote Host Name (Startup)
Description: Specifies the startup (default) 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.
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: Not
available 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.
Power Up: Takes effect immediately.
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[8] STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Host Client Tag Configuration Structure
Description: Variable structure containing configuration information for Host
Client 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.
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

$HOSTC_CFG[n].$comment
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Host Client 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.
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

$HOSTC_CFG[n].$mode

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Host Client Tag Mode
Description: Not currently used.
Power Up: Not currently used.
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: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Host Client 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.
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: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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.
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.
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: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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.
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: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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.
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

$HOSTC_CFG[n].$remote

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.
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

$HOSTC_CFG[n].$state

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Host Client Tag State
Description: Specifies the current state of the tag.
Power Up: Changes to this variable take effect immediately.
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

$HOSTC_CFG[n].$timeout

Minimum: 0 Maximum: 2147483646 Default: 15 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Host Client Tag Timeout
Description: Specifies the number of minutes of inactivity on the network
before a connection will be concluded by the R-J2 controller. This variable
takes effect at cold start.
Power Up: Requires a cold start to take effect.
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[1-12] STRUCTURE

Minimum: 0 Maximum: 2147483646 Default: 15 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Host Entry
Description: Array 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: Requires a cold start if the element corresponding to
$HOSTNAME is changed. Changes to other elements which correspond to
Client connections take effect immediately.
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: Not
available 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 and should have the following format: DDD.DDD.DDD.DDD where DDD
is a decimal number, 0 <= DDD <= 255.
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_ADDRTYPE

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program: Not

available 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: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Length
Description: An integer Internet variable whose value is 4 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_NAME
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Node Name
Description: A string of up to 32 characters representing the node name of
the first element in HOSTENT array. Example: KCL>set var
$HOSTENT[1].$H_NAME=’MICKEY’
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

$HOSTNAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Hostname
Description: A string of up to 32 characters defining the name which
represents the robot on the network. It should be unique across the network. It
must also be defined as an element in the $HOSTENT array.
Power Up: Requires a cold start to take effect.
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[8] STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
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.
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

$HOSTS_CFG[n].$comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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.
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: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Host Server Tag Mode
Description: Not currently used.
Power Up: Not currently used.
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: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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.
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

$HOSTS_CFG[n].$port

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Host Server 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.
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

$HOSTS_CFG[n].$protocol

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Host Server 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.
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

$HOSTS_CFG[n].$state

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Host Server Tag State
Description: Specifies the current state of the tag.
Power Up: Effective immediately.
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

$HOSTS_CFG[n].$timeout
Minimum: 0 Maximum: 2147483646 Default: 0 KCL/Data: RW Program:
Not available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Host Server Tag Timeout
Description: Specifies the number of minutes of inactivity on the network
before a connection will be concluded by the R-J3 controller. This variable
takes effect at cold start.
Power Up: Requires a cold start to take effect.
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

$HTTP_AUTH[1-8]

Minimum: MIN_HTTP_AUTH Maximum: 2147483646 Default:

DEF_HTTP_AUTH KCL/Data: RW Program: Not available UIF: Not available
CRTL: RW Data Type: HTTP_AUTH_T Memory: CMOS
Name: HTTP Authentication Setup
Description: This is an array of eight items each including the object, name,
type, and level for a protected HTTP resource.
Power Up: Takes effect upon Cold Start
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 is the Access Level (0=operator, 1=programmer, 2=setup,
3=install) associated with a protected HTTP resource.
Power Up: Takes effect upon Cold Start
See Also: Refer to the Web Server Chapter of the Internet Options Setup and
Operations Manual for further 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 upon Cold Start
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 upon Cold Start
See Also: See the Web Server Chapter of the Internet Options Setup and
Operations Manual for details on HTTP Authentication setup.

$HTTP_AUTH[1].$TYPE

Minimum: 2 Maximum: 4 Default: 4 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: HTTP Authentication Type Field.
Description: This is the type of restriction (Lock(2), Unlock(3), or
Authenticate(4)) associated with a protected HTTP resource.
Power Up: Takes effect upon Cold Start
See Also: Refer to the Web Server chapter of the Internet Options Setup and
Operations Manual for further details.

$HTTP_CTRL.$DBGLVL

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: HTTP Debug Level
Description: Sets HTTPD (Web Server Task) debug level. Not currently used.
Power Up: Takes effect immediately
See Also: Ethernet Options Setup and Operations Manual

$HTTP_CTRL.$ENAB_KAREL

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: HTTP ENABLE KAREL Flag
Description: Indicates whether a karel program can be invoked on the robot
via the webbrowser. No programs with motion control may be run regardless of
the settingof this variable.
Power Up: Takes effect immediately
See Also: Ethernet Options Setup and Operations Manual

$HTTP_CTRL.$ENAB_KCL

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: HTTP ENABLE KCL Flag
Description: Indicates whether KCL commands are accepted via the web
browser. The karel program HTTP_KCL has variables which can be modified
to limit/expand KCL access.
Power Up: Takes effect immediately
See Also: Ethernet Options Setup and Operations Manual

$HTTP_CTRL.$ENAB_SMON

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: HTTP ENABLE SMON Flag
Description: Not currently used.
Power Up: Takes effect immediately
See Also: Ethernet Options Setup and Operations Manual

$HTTP_CTRL.$ENABLE

Minimum: 0 Maximum: 32767 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: HTTP ENABLE Task Flag
Description: Indicates whether the HTTP (Web Server) task should be
enabled on powerup
Power Up: Requires a cold start to take effect.
See Also: Ethernet Options Setup and Operations Manual

$HTTP_CTRL.$HITCOUNT

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

Not available 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

$HTTP_CTRL.$KRL_TIMOUT

Minimum: 0 Maximum: 32767 Default: 10 KCL/Data: RW Program: Not

available 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
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: Not

available 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.

$IBS_CONFIG[1].$ai_mask

Minimum: 0 Maximum: 0xFFFF Default: 0x1FFF KCL/Data: RO Program:

Not available 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.

$IBS_CONFIG[1].$ai_offset

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

available 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.

$IBS_CONFIG[1].$ai_start_bi

Minimum: 0 Maximum: 0xFF Default: 0x3 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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.

$IBS_CONFIG[1].$ai_unit
Minimum: 0 Maximum: 0xFF Default: 1 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
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.

$IBS_CONFIG[1].$alternative

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Alternative
Description: Alternative

$IBS_CONFIG[1].$an_bit_rev

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Analog Bit Order reverse
Description: Analog Bit Order reverse

$IBS_CONFIG[1].$an_data1[8]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: 1st Process data
Description: Analog device is set according to this process data

$IBS_CONFIG[1].$an_data2[8]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: 2st Process data
Description: Analog device is set according to this process data

$IBS_CONFIG[1].$an_exchg

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

UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Exchange Analog byte order
Description: Exchange Analog byte order

$IBS_CONFIG[1].$an_mode

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Analog Input mode setting
Description: Analog Input mode setting for 8 Analog input device
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: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Analog CH check data
Description: Analog CH check data

$IBS_CONFIG[1].$ao_byte

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

available 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.

$IBS_CONFIG[1].$ao_mask

Minimum: 0 Maximum: 0xFFFF Default: 0x1FFF KCL/Data: RO Program:

Not available 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.

$IBS_CONFIG[1].$ao_offset

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

available 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.

$IBS_CONFIG[1].$ao_start_bi
Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program: Not
available 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.

$IBS_CONFIG[1].$ao_unit

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

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

$IBS_CONFIG[1].$di_byte

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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.

$IBS_CONFIG[1].$di_byte2

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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.

$IBS_CONFIG[1].$di_offset

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

available 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.
$IBS_CONFIG[1].$di_offset2

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

available 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.

$IBS_CONFIG[1].$do_byte

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

available 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.

$IBS_CONFIG[1].$do_byte2

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

available 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.

$IBS_CONFIG[1].$do_offset

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

available 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.

$IBS_CONFIG[1].$do_offset2

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

available 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.

$IBS_CONFIG[1].$enable

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: enable to update DI/DO data
Description: Set this element with a value to indicate whether this slave
DI/DO data is updated.0: NOT update1: update;

$IBS_CONFIG[1].$group

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: group number
Description: group number

$IBS_CONFIG[1].$id

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Slave station ID
Description: Slave station ID
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$interface1

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Interface 1 alternative grouping capable
Description: Interface 1 alternative grouping capable0: Interface 1 is not
alternative grouping capable1: Interface 1 is alternative grouping
capableInterface 1 : local or remote bus branch

$IBS_CONFIG[1].$interface2

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Interface 2 alternative grouping capable
Description: Interface 2 alternative grouping capable0: Interface 2 is not
alternative grouping capable1: Interface 2 is alternative grouping
capableInterface 2 : remote bus
$IBS_CONFIG[1].$length_code

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Slave length code
Description: Slave length code
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$pos_no

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Alternative
Description: Alternative

$IBS_CONFIG[1].$prm_load

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

available 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

$IBS_CONFIG[1].$real_len

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Slave length code
Description: Slave length code
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$real_seg

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Bus line install depth
Description: remote bus line, local bus branch
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$seg_no
Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: segment number
Description: segment number

$IBS_CONFIG[1].$segment

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Bus line install depth
Description: remote bus line, local bus branch
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$valid

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

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

$IBS_CONFIG[1].$wi_byte

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: 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.

$IBS_CONFIG[1].$wi_offset

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

available 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.

$IBS_CONFIG[1].$wo_byte
Minimum: 0 Maximum: 0xFFFF Default: 0 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: WO byte number
Description: WO byte number of device
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$wo_offset

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

available 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.

$IBS_CONFIG[1].$wstk_in_off

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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.

$IBS_CONFIG[1].$wstk_in_por

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: WSK byte number
Description: WSK byte number of device
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_CONFIG[1].$wstk_out_of

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

available 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.
$IBS_CONFIG[1].$wstk_out_p

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

Not available 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.

$IBS_CONFIG[1].$wstk_out_po

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: WST DO byte number
Description: WST DO byte number of device
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_DIAG[1].$crc_error

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Cecksum error counter
Description: Cecksum error counter

$IBS_DIAG[1].$error_data[50]

Minimum: 0 Maximum: 0xFFFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: USHORT
Name: Error data
Description: Error data

$IBS_DIAG[1].$id

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Device real ID code
Description: Device real ID code which is read out from Device

$IBS_DIAG[1].$length_code

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

available 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

$IBS_DIAG[1].$no_of_error

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Number of error entries
Description: Number of error entries

$IBS_DIAG[1].$onl_error

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Online error counter
Description: Online error counter

$IBS_DIAG[1].$status1

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Device status
Description: No_Responce, Error_Buff_Ovfl, Peripheral_Fault,
Cfg_FaultReconfiguration, Interface_2_Error, Interface_1_ErrorDeactivated

$IBS_DIAG[1].$valid

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: valid
Description: Set this element with a value to indicate whether this diagnostic
data set is valid.0: Invalid1: Valid;

$IBS_GROUP[1].$alternative

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Alternative
Description: Alternative

$IBS_GROUP[1].$group

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: group number
Description: group number
$IBS_GROUP[1].$status

Minimum: 0 Maximum: 0x7FFFFFFF Default: 1 KCL/Data: RO Program:

Not available 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

$IBS_MASTER.$ai_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
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[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: AI device length code
Description: AI device length code

$IBS_MASTER.$aio_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: AI/AO device ID
Description: AI/AO device ID

$IBS_MASTER.$aio_len[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: AI/AO device length code
Description: AI/AO device length code

$IBS_MASTER.$ao_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: AO device ID
Description: AO device ID
$IBS_MASTER.$ao_len[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: AO device length code
Description: AO device length code

$IBS_MASTER.$auto_alti

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Auto grouping capable setting
Description: Auto alternative grouping capable setting

$IBS_MASTER.$auto_cfg

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Setup configuration list
Description: if this flag is set 1, the robot controller setup configuration listinto
system variable at startup.
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_MASTER.$auto_clear

Minimum: 0 Maximum: 0xFFFF Default: 3 KCL/Data: RO Program: Not

available 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 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)

$IBS_MASTER.$auto_segpos

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

available 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

$IBS_MASTER.$auto_sl_dis
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program: Not
available 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

$IBS_MASTER.$auto_swcfg

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Auto sw_cfg after chg_cfg
Description: Auto sw_cfg after chg_cfg for Softky CHG_CFG of GROUP LIST
SCREEN

$IBS_MASTER.$bk_altintr[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: DvFlag setting data for BK device
Description: DvFlag setting data for BK device

$IBS_MASTER.$bk_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: BK device ID
Description: BK device ID

$IBS_MASTER.$bundle

Minimum: 0 Maximum: 0xFFFF Default: 20 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Max_Num_Of_BundledError
Description: For Download Message of the Bus Parameter

$IBS_MASTER.$bus_fault

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Stop communication after bus fault
Description: Stop communication after bus fault1 : Error occurs by Request
IBM_Set_configuration2 : NOTREADY_FLAG OFF

$IBS_MASTER.$cfg_edit

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

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Edit Configuration on TP
Description: Inform Edit Configuration on TP to IBS Task from TPMMInternal
use only

$IBS_MASTER.$cfg_timeout

Minimum: 0 Maximum: 0xFFFF Default: 10000 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Timeout value for the configuration change and switch
Description: Timeout value for the configuration change and switch

$IBS_MASTER.$clr_cfg

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Clear data base of PC104
Description: if this flag is set 1, the robot controller clear data base of PC104.

$IBS_MASTER.$cycle_time

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: cycletime
Description: cycletime of transferred process data
Power Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_MASTER.$cyclecnt

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

Program: Not available UIF: RW CRTL: RW Data Type: LONG Memory:
CMOS
Name: number of driven data cycle
Description: number of driven data cycle

$IBS_MASTER.$dagcyclecnt

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

Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: number of driven diagno. cycle
Description: number of driven diagno. cycle

$IBS_MASTER.$datacycle

Minimum: 0 Maximum: 0xFFFF Default: 100 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Timeout datacycle
Description: For Download Message of the Bus Parameter

$IBS_MASTER.$def_bus_fal

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Default bus fault value
Description: When the stop communication after bus fault is set to ENABLE
by UIF,this value is set to the $bus_fault.

$IBS_MASTER.$def_scan_ti

Minimum: 0 Maximum: 0xFFFF Default: 7 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Default Scan_Time_Interval value
Description: When automatic bus fault reset is set to ENABLE by UIF, this
value is setto the avobe $scan_time for the Master Parameter.For Download
Message of the Master Parameter

$IBS_MASTER.$defcyclecnt

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

Program: Not available UIF: RW CRTL: RW Data Type: LONG Memory:
CMOS
Name: number of defective data cycle
Description: number of defective data cycle

$IBS_MASTER.$defect_cyc

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Defective Datacycle
Description: number of defective data cycle

$IBS_MASTER.$delay_time

Minimum: 0 Maximum: 0xFFFFFFFF Default: 250 KCL/Data: RW Program:

Not available 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

$IBS_MASTER.$deverrorcnt
Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RW Program:
Not available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: number of reported device errors
Description: number of reported device errors

$IBS_MASTER.$di_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: DI device ID
Description: DI device ID

$IBS_MASTER.$di_len[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: DI device length code
Description: DI device length code

$IBS_MASTER.$dio_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: DI/DO device ID
Description: DI/DO device ID

$IBS_MASTER.$dio_len[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: DI/DO device length code
Description: DI/DO device length code

$IBS_MASTER.$dis_dio_cle

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: DI/DO clear
Description: If the slave is disabled, clear DI areaBIT 0 : DI clearBIT 1 : DO
clear

$IBS_MASTER.$do_id[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: DO device ID
Description: DO device ID

$IBS_MASTER.$do_len[32]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
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

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

available 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

$IBS_MASTER.$err_dev_adr

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Error device address
Description: error source and location

$IBS_MASTER.$err_event

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Error event
Description: corresponding error number

$IBS_MASTER.$format

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
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
Minimum: 0 Maximum: 0xFF Default: 0x01 KCL/Data: RO Program: Not
available 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.

$IBS_MASTER.$getdiag_enb

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

available 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

$IBS_MASTER.$grp_edit

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

Not available UIF: RW CRTL: RW Data 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

$IBS_MASTER.$ibm_state

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: IBM status
Description: IBM main state of the master system

$IBS_MASTER.$ibm_static[16]

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

Not available UIF: Not available CRTL: Not available Data Type: ULONG
Name: number of reported device errors
Description: number of reported device errors

$IBS_MASTER.$idscan

Minimum: 0 Maximum: 0xFFFF Default: 10 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Num_Of_IDScan_AfterError
Description: For Download Message of the Bus Parameter

$IBS_MASTER.$ign_event[32]
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Ignored Error Event number
Description: Ignored Error Event number

$IBS_MASTER.$img_do_p

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

Not available 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

$IBS_MASTER.$init_cfg

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

available 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

$IBS_MASTER.$mode

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program: Not

available 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.

$IBS_MASTER.$net_rescan

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Network Rescans
Description: number of necessary network rescans and network
reinitialization

$IBS_MASTER.$new_sl_idx[48]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Slave Parameter loading status (current)
Description: Slave Parameter loading status (current)

$IBS_MASTER.$no_def_slav
Minimum: 0 Maximum: 0xFF Default: 0 KCL/Data: RO Program: Not
available 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.

$IBS_MASTER.$old_sl_idx[48]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Slave Parameter loading status (prvious)
Description: Slave Parameter loading status (prvious)

$IBS_MASTER.$pc104_sel

Minimum: 0 Maximum: 0xFF Default: 2 KCL/Data: RO Program: Not

available 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: Not

available 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.

$IBS_MASTER.$rst_eve

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

available 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

$IBS_MASTER.$scan_time

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Scan time interval value
Description: For Download Message of the Bus Parameter (800 ms)
$IBS_MASTER.$set_cfg

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

available UIF: RW CRTL: RW Data Type: UBYTE 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

$IBS_MASTER.$set_cfg_val

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: This value set to set_cfg when reset signal is inputed.
Description: This value set to set_cfg when reset signal is inputed.

$IBS_MASTER.$sl_cfg[16]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Slave config status
Description: bit array to classify every slave as not configured ’0’ or
configured ’1’

$IBS_MASTER.$sl_crc_cnt[48]

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

available UIF: Not available CRTL: Not available Data Type: USHORT
Name: Check the CRC error increment count
Description: Check the CRC error increment count

$IBS_MASTER.$sl_crc_tim[48]

Minimum: 0 Maximum: 0xFFFF Default: 250 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: USHORT
Name: Check the CRC error interval time (tick)
Description: Check the CRC error interval time (tick)

$IBS_MASTER.$sl_diag[16]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Slave diagnostic data
Description: bit array to classify every slave as no diagnostic data ’0’ or
diagnostic data available ’1’
$IBS_MASTER.$sl_state[16]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Slave I/O exchange status
Description: bit array to classify every slave as not exchanged ’0’ or
exchanged ’1’

$IBS_MASTER.$slavecnt

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Counter of slave module for IBSM
Description: This variable indicates the number of slave which are conected
tothe master of robot controller.

$IBS_MASTER.$stopbits

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Num_Of_StopBits
Description: For Download Message of the Bus Parameter

$IBS_MASTER.$sw_cfg

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Switch on/off specific slave device
Description: Switch on/off specific slave deviceBit0 : Switch on/off
requestBit1 : Not error post

$IBS_MASTER.$sycon_enb

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: SyCon data enable
Description: SyCon downloads the data base data into PC104.

$IBS_MASTER.$wdog_time

Minimum: 0 Maximum: 0xFFFF Default: 1000 KCL/Data: RO Program: Not

available 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.
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:

Not available 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: Not

available 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: Not

available 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]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
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: Not
available 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: Not

available 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 Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$enable

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: This CRL is enable
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: Not

available 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.

$IBS_SL_CRL[1].$ind_pdu_l

Minimum: 0 Maximum: 0xFF Default: 246 KCL/Data: RW Program: Not

available 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: Not

available 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

Minimum: 0 Maximum: 0xFF Default: 128 KCL/Data: RW Program: Not

available 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: 0 Maximum: 0xFF Default: 1 KCL/Data: RW Program: Not

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

available 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: Not

available 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
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: Not

available 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: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_CRL[1].$multiplier

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

available 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: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Remote Address
Description: For internal use only, Don’t modify this system variable.Remote
Address, Address of remote device for this CR
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: Not
available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
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: Not

available 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: Not

available 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: Not

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Service Server 1 - 3
Description: For internal use only, Don’t modify this system variable.Service
Server 1
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:

Not available 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: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Object Code
Description: For internal use only, Don’t modify this system variable.Object
Code7 : For SYMPLE_VAR object8 : For ARRAY 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: Not

available 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

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

available 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: 0 Maximum: 0xFF Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
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:
Not available 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 Up: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SL_OD[1].$length

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Object Length
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: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Local Address
Description: For internal use only, Don’t modify this system variable.Local
Address, not 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: Not

available 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: Not

available 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

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

available 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: 0 Maximum: 0xFF Default: 2 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Abort Communication Reference
Description: Abort Communication ReferenceFor internal use only, Don’t
modify this system variable.

$IBS_SLAVE.$add_param

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Additional Parameter
Description: Some of the error events have an additional parameter.

$IBS_SLAVE.$ai_byte

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

available 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.

$IBS_SLAVE.$ai_mask

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

Not available 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: Not

available 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.

$IBS_SLAVE.$ai_start_bi

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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.

$IBS_SLAVE.$ai_unit

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

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

UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Exchange Analog byte order
Description: Exchange Analog byte order

$IBS_SLAVE.$ao_byte

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

available 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.

$IBS_SLAVE.$ao_mask

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

Not available 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.

$IBS_SLAVE.$ao_offset

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

available 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.

$IBS_SLAVE.$ao_start_bi

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

available 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: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
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.
$IBS_SLAVE.$asguop

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

available 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: Not available 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: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: DBM is enable
Description: DBM is enable then the PCP parameter is not downloaded

$IBS_SLAVE.$detail_code[16]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Abort Detail Code
Description: Abort Detail CodeFor internal use only, Don’t modify this system
variable.

$IBS_SLAVE.$detail_len

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Abort Detail Length
Description: Abort Detail LengthFor internal use only, Don’t modify this
system variable.

$IBS_SLAVE.$di_byte
Minimum: 0 Maximum: 0xFFFF Default: 20 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
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_offset

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

available 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.

$IBS_SLAVE.$di_offset2

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

available 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.

$IBS_SLAVE.$di_p

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

Not available UIF: RO CRTL: RO Data Type: ADDRESS Memory: CMOS
Name: InterBus-S Slave DI 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.
$IBS_SLAVE.$dio_swap

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: swap low/high byte
Description: swap low/high byte

$IBS_SLAVE.$disp_cnt

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

available 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

$IBS_SLAVE.$disp_mbox

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Display mailbox data
Description: Display mailbox data

$IBS_SLAVE.$do_byte

Minimum: 0 Maximum: 0xFFFF Default: 20 KCL/Data: RO Program: Not

available 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.

$IBS_SLAVE.$do_byte2

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

available 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.

$IBS_SLAVE.$do_offset

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

available 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.

$IBS_SLAVE.$do_offset2

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

available 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.

$IBS_SLAVE.$do_p

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

Not available 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: Not

available 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.

$IBS_SLAVE.$down_od

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

available 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.

$IBS_SLAVE.$down_vfd

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Request to send Download VFD request to device
Description: Request to send PCP parameter download request to deviceFor
internal use only, Don’t modify this system variable.

$IBS_SLAVE.$err_count

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Error counter
Description: Error counter

$IBS_SLAVE.$err_event

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Error event
Description: corresponding error number

$IBS_SLAVE.$firm_type

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: IBS/R firmware type
Description: IBS/R firmware type0 : V02.001 1 : V02.002 or later

$IBS_SLAVE.$format

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

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

$IBS_SLAVE.$get_od

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

available 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.

$IBS_SLAVE.$id_code

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: ID code of slave module
Description: ID code of InterBus-S Slave

$IBS_SLAVE.$info_code

Minimum: 0 Maximum: 0xFF Default: 7 KCL/Data: RW Program: Not

available 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.

$IBS_SLAVE.$info_cr

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: InformationReport Communication Reference
Description: InformationReport Communication ReferenceFor internal use
only, Don’t modify this system variable.

$IBS_SLAVE.$info_data[16]

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

available UIF: Not available CRTL: Not available Data Type: UBYTE
Name: Information Data
Description: Information DataFor internal use only, Don’t modify this system
variable.

$IBS_SLAVE.$info_index

Minimum: 0 Maximum: 0xFFFF Default: 0x1010 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: Information Report Object Index
Description: Information Report Object IndexFor internal use only, Don’t
modify this system variable.

$IBS_SLAVE.$info_len

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

available 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.

$IBS_SLAVE.$info_sub

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Information Report Sub Index
Description: Information Report Sub IndexFor internal use only, Don’t modify
this system variable.

$IBS_SLAVE.$init_pcp

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Initialize PCP system variable
Description: Initialize PCP system variableFor internal use only, Don’t modify
this system variable.

$IBS_SLAVE.$length_code

Minimum: 0 Maximum: 0xFF Default: 21 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Length code of slave module
Description: Length code of InterBus-S Slave

$IBS_SLAVE.$max_dig_prt

Minimum: 16 Maximum: 1024 Default: 1024 KCL/Data: RO Program: Not

available 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.

$IBS_SLAVE.$mode

Minimum: 0 Maximum: 0xFF Default: 3 KCL/Data: RO Program: Not

available 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: Not

available 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

$IBS_SLAVE.$poll_sap

Minimum: 0 Maximum: 0xFF Default: 128 KCL/Data: RO Program: Not

available 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.
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: Not

available 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.

$IBS_SLAVE.$rg_exchg

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Exchange register byte order
Description: Exchange register byte order

$IBS_SLAVE.$ri_byte

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

available 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.

$IBS_SLAVE.$ri_number

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Register IN start number
Description: Register IN start number
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: Not

available 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: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SLAVE.$ri_type

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

available 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: Not

available 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: Not

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Register OUT start number
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: Not

available 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: Not

available 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: Not

available 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.

$IBS_SLAVE.$send_info

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

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Send InformationReport.Request
Description: Send InformationReport.RequestFor internal use only, Don’t
modify this system variable.

$IBS_SLAVE.$stat_err

Minimum: 0 Maximum: 0xFF Default: 0xE0 KCL/Data: RO Program: Not

available 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: Not

available 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: Not

available 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

Minimum: 0 Maximum: 0xFFFF Default: 260 KCL/Data: RO Program: Not

available 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

$IBS_SLAVE.$wdog_time

Minimum: 0 Maximum: 0xFFFF Default: 1000 KCL/Data: RO Program: Not

available 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.
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: Not

available 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: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Download InterBus-S database file switch
Description: Download InterBus-S database file switch
$IBS_SYS[1].$dbm_down_er

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

available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: download database error
Description: download database error

$IBS_SYS[1].$dbm_up

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

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Upload InterBus-S database file switch
Description: Upload InterBus-S database file switch

$IBS_SYS[1].$dbm_up_er

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

available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: upload database error
Description: upload database error

$IBS_SYS[1].$dev_flag

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Device flag status
Description: Device flag status of Dual Port RAM

$IBS_SYS[1].$dio_clear

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

available 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

$IBS_SYS[1].$dpr_address

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

Not available 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: 0xFFFFFFFF Default: 0x0 KCL/Data: RO Program:

Not available UIF: Not available CRTL: Not available Data Type: ULONG
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: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Error 1 post
Description: If 1, error is posted once and can reset.

$IBS_SYS[1].$error_cnv

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

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Error severity convert
Description: If T1 or T2, severity is converted STOP -> WARN

$IBS_SYS[1].$erwaitim

Minimum: 0 Maximum: 65535 Default: 1250 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: ULONG 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: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Download InterBus-S firmware switch
Description: Download InterBus-S firmware switch

$IBS_SYS[1].$firm_down_e

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

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Download InterBus-S firmware error
Description: Download InterBus-S firmware error

$IBS_SYS[1].$global_bit

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Global status bit
Description: InterBus-S Slave comminication status

$IBS_SYS[1].$global_p

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

Not available UIF: RO CRTL: RO Data Type: 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.

$IBS_SYS[1].$host_flag

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

available UIF: RO CRTL: RO Data Type: USHORT Memory: CMOS
Name: Host flag status
Description: Host flag status of Dual Port RAM

$IBS_SYS[1].$module_id

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

available 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.
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:

Not available 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.

$IBS_SYS[1].$rst_gtime
Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RO Program:
Not available 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.

$IBS_SYS[1].$rst_spcall

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

Not available 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

$IBS_SYS[1].$sub_code[16]

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0x0 KCL/Data: RO Program:

Not available UIF: Not available CRTL: Not available Data Type: ULONG
Name: Error number
Description: Error number of InterBus-S Slave

$IBS_SYS[1].$sub_type[16]

Minimum: 0 Maximum: 0xFF Default: 0x0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: 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: Not

available 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: Not available
UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Task enable/disable
Description: Task enable/disable 0 : Disable 1 : Enable
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: Not

available 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: You mast perform a COLD or HOT START for the change to take
effect.

$IBS_SYS[1].$wait_task

Minimum: 0 Maximum: 0xFFFFFFFF Default: 50 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Wait other task for access Dual Port Memory
Description: Wait other task for access Dual Port MemoryFor 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.

$IBS_SYS[1].$waitcount

Minimum: 0 Maximum: 65535 Default: 100 KCL/Data: RO Program: Not

available 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]

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0x0 KCL/Data: RO Program:

Not available UIF: Not available CRTL: Not available Data Type: ULONG
Name: These Error code which is convert to WARNING severity
Description: These Error code which is convert to WARNING severity

$IBS_SYS[1].$wdog_chk
Minimum: 0 Maximum: 65535 Default: 200 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Counter max for watch dog
Description: Counter max for watch dog

$IBS_SYS[1].$wdog_cnt

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

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

$IDL_CPU_PCT

Minimum: 0.0 Maximum: 100.0 Default: 50.0 KCL/Data: RO Program: Not

available 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

$IDL_MIN_PCT

Minimum: 0.0 Maximum: 100.0 Default: 50.0 KCL/Data: RW Program: Not

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

$IMSAVE_DONE

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

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 is FALSE during controlled start, KAREL programs
and variables are loaded into image. Also, system options can be loaded
before 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

$INCL_ADJUST STRUCTURE
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not
available UIF: Not available CRTL: Not available
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.

$INCL_ADJUST.$part_of_prg

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

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

$INCL_ADJUST.$stick_out

Minimum: -10 Maximum: 10 Default: 0 KCL/Data: RW Program: Not

available 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

$INCL_ADJUST.$travel_angl

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

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

$INCL_ADJUST.$work_angl

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

UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Work angle value
Description: This system variable is work angle value for adjustment.
Power Up: Changes to this variable take effect immediately

$INTP_PRTY

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Interpreter Priority
Description: Priority which interpreter executes as interruption routine.
Values should be as follows: 0:interrupt routine runs at higher priority than path
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.

$INTPMODNTOL

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available 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.

$IO_AUTO_CFG

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

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

$IO_CYCLE

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: 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: 8 Maximum: 250 Default: 32 KCL/Data: RW Program: Not

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

$IOLNK[1].$output_n

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program: Not

available 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.

$IOLNK[1].$rack

Minimum: 0 Maximum: 15 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: I/O link rack.
Description: I/O link rack number. Currently not supported.

$IOLNK[1].$slot

Minimum: 0 Maximum: 40 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: I/O link slot.
Description: I/O link slot number. Currently not supported.

$IOLNK[16] STRUCTURE

Minimum: 0 Maximum: 40 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: I/O Link
Description: I/O link variables. Currently not supported.

$IS_DMR STRUCTURE

Minimum: 0 Maximum: 40 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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.

$IS_DMR.$ignore_motn

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
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: -1 Maximum: 1 Default: -1 KCL/Data: RO Program: Not

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

Minimum: -1 Maximum: 1 Default: -1 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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.

$IS_ERROR.$bufindx

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

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: ISDT System Variable: the current index of the $IS_ERROR ring buffer
Description: Updated by ISDT and FLTR task.

$IS_ERROR.$err_axis[1-20]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: ISDT System Variable: the associated process axis number for posted
error
Description: Updated by ISDT and FLTR task.

$IS_ERROR.$err_code[20]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: ISDT System Variable: stores error code which was posted for a
process axis
Description: Updated by ISDT and FLTR task.

$IS_MCR STRUCTURE

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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.

$IS_MCR.$err_stopall

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

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.

$IS_MCR.$hold_stop

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

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.

$IS_MCR.$machinelock

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

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

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

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

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

available UIF: Not available CRTL: Not available
Name: Integral Servo Driven Tool (ISDT) Motion Output System Variable
Structure
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.

$IS_MOR.$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.

$IS_MOR.$error_cnt[1-4]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$IS_MOR.$num_itp_cnt[1-8]

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

UIF: Not available CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Number of ITP Counts Remaining

$IS_MOR.$post_error

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

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.

$IS_MOR.$servo_ready

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$IS_MRR STRUCTURE
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not
available UIF: Not available CRTL: Not available
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.

$IS_MRR.$endmotn_enb

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

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: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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.

$IS_MRR.$gear_ratio[1-4]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
Name: ISDT System Variable: gear ratio for each process axis
Description: This value should only be changed at Process Axes Setup
Menu.

$IS_MRR.$jntvellim[1-4]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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.

$IS_SCR STRUCTURE

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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.

$IS_SCR.$axisorder[1-4]

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

available UIF: Not available CRTL: Not available Data Type: BYTE
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.

$IS_SCR.$axs_amp_num[1-8]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available 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.

$IS_SCR.$brk_number[1-4]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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.
$IS_SCR.$hw_config

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

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.

$IS_SCR.$hw_strt_axs

Minimum: 0 Maximum: 16 Default: 7 KCL/Data: RO Program: Not available

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.

$IS_SCR.$motor_curnt[1-8]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available 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.

$IS_SCR.$motor_size[1-8]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: Not available 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.

$IS_SCR.$motor_type[1-8]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available 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.
$IS_SCR.$num_tot_axs

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

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.

$IS_SCR.$rotary_axs[1-4]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

2.10 J
$JCR STRUCTURE

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

available UIF: Not available CRTL: Not available
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]

Minimum: MIN_INT Maximum: MAX_INT Default: 0 KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
Description: The entries in this array are used to display the element in jog
coordinate of the teach pendent. For internal use only.

$JCR.$jog_dct_nam[1]

Minimum: MIN_INT Maximum: MAX_INT Default: 0 KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
Description: The entries in this array are used to determine the softpart name
that supports the jog softpart. For internal use only.

$JCR.$jog_gp
Minimum: 1 Maximum: 255 Default: 1 KCL/Data: RW Program: Not
available 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: Not available

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

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

available UIF: Not available CRTL: Not available
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

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

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

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

Not available 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 =
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.
See Also: $SCR_GRP[1].$coord_mask

$JCR_GRP[1].$jog_fine_md

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

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.
See Also: $JOG_GROUP[1].$fine_ovrd, $JOG_GROUP[1].$fine_dis t,
$SCR_GRP[1].$fine_pcnt.

$JCR_GRP[1].$jog_v_fine

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

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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Wrist Joint Jog
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.

$JCR_GRP[1].$leader

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

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: Not available

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: Not available

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

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

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.

$JOG_GROUP STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Not

available 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: Not

available 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.
Power Up: Changes to this variable take effect immediately.
See Also: $SCR_GRP[1].$fine_pcnt, $JOG_GROUP[1].$fine_dist

$JOG_GROUP[1].$jogframe

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RW Program: Not available UIF: RW CRTL: RW Data Type: POSITION
Memory: CMOS
Name: Jog Coordinate System
Description: Specifies the current jog coordinate system being used. The
system updates it automatically. $JOGFRAME is used as the frame of
reference for jogging when ``JGFRM’’ is selected on the teach pendant. 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: Not available

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

2.11 K
$KAREL_ENB

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

UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Enable Display of KAREL Programs in SELECT menu
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

$KCL_LIN_NUM

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

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: Not available 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

$LASTPAUSPOS[5]

Minimum: MIN_JPOS Maximum: MAX_JPOS Default: DEF_JPOS

KCL/Data: RW Program: Not available UIF: Not available CRTL: Not
available Data Type: JOINTPOS9
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: Changes to this variable take effect immediately.

$LIBRARY[1-5]

Minimum: "" Maximum: " " Default: " " KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Name and of the ROBOT LIBRARY Software
Description: Displays the release time name and version of the software
ROBOT LIBRARY.
Power Up: This variable cannot be changed.

$LNCFG STRUCTURE

Minimum: "" Maximum: " " Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
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.

$LNCFG.$cart_lntk

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

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.

$LNCFG.$debug

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

Program: Not available UIF: RW CRTL: RW Data Type: 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.

$LNCFG.$group_msk

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

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.

$LNCFG.$group_num

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

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

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Line Tracking Program Header Display Flag
Description: This variable when TRUE indicates that the Line Tracking
program header data screen should not be shown within the program DETAIL
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: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Line Tracking Restore Selected Boundary Value
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: Not available

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.

$LNCFG.$soft_delay

Minimum: 16 Maximum: 1000 Default: 96 KCL/Data: RW Program: Not

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Line Track Servo Delay Time (in ROS TICKs)
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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Line Tracking Stand Alone (TPP+ Line Tracking)
Description: This variable indicates when TRUE that the current application is
using the full TPP+ Line Tracking feature. It should be set FALSE 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.

$LNCFG.$sync_timout

Minimum: 1 Maximum: 600 Default: 120 KCL/Data: RW Program: Not

available 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: This value initializes to 120 (2 minutes) and maintains its previous
value over subsequent power cycles.

$LNCFG.$t2s_pst_ccn

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Line Tracking Track-To-Stationary Position Post Continuous Tracking
Cancel
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.

$LNCFG_GRP STRUCTURE

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

available UIF: Not available CRTL: Not available
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.

$LNCFG_GRP.$int_no_gone

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$LNCFG_GRP.$pln_no_gone
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$LNCFG_GRP.$rstr_bnds

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Line Tracking Restore Selected Boundary Value
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.

$LNCFG_GRP.$soft_delay

Minimum: 16 Maximum: 1000 Default: 96 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$LNCFG_GRP.$srvo_delay

Minimum: 16 Maximum: 1000 Default: 48 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$LNEDTMOD
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: Not available CRTL: Not available Data Type: INTEGER
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
See Also: This variable is used for multi-arm linetracking only.

$LNLPR STRUCTURE

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

available UIF: Not available CRTL: Not available
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

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

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

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

available UIF: Not available CRTL: Not available
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.

$LNLPR_GRP.$ln_holdmotn

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$LNLPR_GRP.$seg_predtim

Minimum: 0 Maximum: 10 Default: 4 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.
See Also: $SCR.$ITP_TIME

$LNLPR_GRP.$SYNC_WAIT

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$LNSCH.$teach_ufm

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RW Program: Not available UIF: Not available CRTL: Not available Data
Type: POSITION
Name: Tracking User frame: teach user frame
Description: Stores Tracking User frame at teach time for internal use.
Power Up: Changes to this variable take effect immediately

$LNSCH.$trk_uframe
Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:
RW Program: Not available UIF: Not available CRTL: Not available Data
Type: POSITION
Name: Tracking User frame
Description: Stores Tracking User frame for internal use.
Power Up: Changes to this variable take effect immediately

$LNSCH.$ufrm_rt_lim

Minimum: 0.0 Maximum: 180.0 Default: 5.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: real
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
See Also: $LNSCH.$use_trk_ufm

$LNSCH.$use_trk_ufm

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

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

$LNSCH.$visufm_dist

Minimum: -3.0E38 Maximum: 3.0E38 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: real
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
See Also: $LNSCH.$use_trk_frm

$LNSCH[1].$bound1[1-10]

Minimum: -3.0E38 Maximum: 3.0E38 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: RW Data Type: REAL Memory:
CMOS
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 window checking, positions which are farther
up-stream than the selected $LNSCH[1].$bound1 value 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.
See Also: $LNSCH[1].$bound2, LNSCH[1].$sel_bound

$LNSCH[1].$bound2[1-10]

Minimum: -3.0E38 Maximum: 3.0E38 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available 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.
See Also: $LNSCH[1].$bound1, LNSCH[1].$sel_bound

$LNSCH[1].$part_queue

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

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.
See Also: $LNSCH[1].$TRK_AXS_NUM
$LNSCH[1].$rec_shift

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

Program: Not available 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.
See Also: $LNSCH[1].$teach_dist, and $LNSCH[1].$scale

$LNSCH[1].$scale

Minimum: -3.0E38 Maximum: 3.0E38 Default: 1.0 KCL/Data: RW Program:

Not available 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.
See Also: $LNSCH[1].$teach_dist, $LNSCH[1].$rec_shift

$LNSCH[1].$sel_bound

Minimum: 1 Maximum: MAX_BND_SETS Default: 1 KCL/Data: RW

Program: Not available 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.
See Also: $LNSCH[1].$bound1

$LNSCH[1].$tcp_xtrm

Minimum: -3.0E38 Maximum: 3.0E38 Default: 1.0E6 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS
Name: Tool Center Point (TCP) Extreme Position
Description: Defines the position to be used for all window boundary checking.
- A value of 1,000,000.0 (1.0E6) indicates that no extreme position 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.
See Also: $LNSCH[1].$trk_frame, $LNSCH[1].$trk_axis_num,
$LNSCH[1].$bound1

$LNSCH[1].$teach_dist

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

Program: Not available 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.
See Also: $LNSCH[1].$rec_shift, $LNSCH[1].$scale
$LNSCH[1].$trg_din_num

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

Not available 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.

$LNSCH[1].$trig_value

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

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

$LNSCH[1].$trk_axs_dir

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

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.
See Also: $LNSCH[1].$TRK_AXS_NUM

$LNSCH[1].$trk_axs_num

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

available 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: 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.
See Also: $LNSCH[1].$trk_axs_dir

$LNSCH[1].$trk_enc_num

Minimum: 1 Maximum: 2 Default: 1 KCL/Data: RW Program: Not available

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.

$LNSCH[1].$trk_frame

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RW Program: Not available 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.
Power Up: Maintains its previous value.
See Also: $LNSCH[1].$trk_axs_num, and $LNSCH[1].$trk_axs_di r

$LNSCH[1].$trk_grp_num

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Track Group Number
Description: Specifies the motion group number to be associated with this
tracking schedule. (Note: Currently tracking is only supported for group 1.)
Power Up: This value initializes to Group 1 and maintains its previous value
over subsequent power cycles.

$LNSCH[1].$trk_type

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RW Program: Not available

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 by changing ONLY the specified
extended axis positions (the integrated rail positions, for example) in
accordance 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.

$LNSCH[1].$vision_trk

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

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.
See Also: $LNSCH[1].$PART_QUEUE

$LNSCH[8] STRUCTURE

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

available UIF: Not available CRTL: Not available
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.

$LNSNRSCH[1].$average

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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.
See Also: $ENC_STAT[1].$enc_average

$LNSNRSCH[1].$enable

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: 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.
See Also: $ENC_STAT[1].$enc_enable

$LNSNRSCH[1].$sim_on

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

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.
See Also: $ENC_STAT[1].$enc_sim_on
$LNSNRSCH[1].$sim_spd

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
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.
See Also: $ENC_STAT[1].$enc_sim_spd

$LNSNRSCH[1].$thresh

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

Not available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
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.
See Also: $ENC_STAT[1].$enc_thresh

$LNSNRSCH[1].$update_rate

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

Not available 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.
See Also: $ENC_STAT[1].$enc_multipl, $SCR.$itp_time

$LNSNRSCH[8] STRUCTURE

Minimum: 0 Maximum: LONG_MAX Default: 1 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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.
See Also: $ENC_STAT[1], $SCR.$ENC_AXIS[1], $SCR.$ENC_TYPE[1 ]

$LNSTAT_GRP STRUCTURE

Minimum: 0 Maximum: LONG_MAX Default: 1 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Line Track Continuous Tracking Status Group structure
Description: This structure provides line tracking continuous tracking
functions. The individual fields are described below.

$LNSTAT_GRP.$cont_trk_on

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

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

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

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

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

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Location Tolerance
Description: When position values are compared with the approximately
equal operator >=.

$LS_CONFIG.$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: Takes effect Immediately

$LS_CONFIG.$brk_on_lag

Minimum: 0 Maximum: 2000 Default: 364 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: Takes effect Immediately

$LS_CONFIG.$io_scanrate

Minimum: 4 Maximum: 1000 Default: 12 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: I/O Scan Rate
Description: This is the time interval to scan the active Local Stop I/O ports.
Power Up: Takes effect Immediately

$LS_CONFIG.$sdi_off_lag

Minimum: 0 Maximum: 200 Default: 100 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: SDI1 Off Delay
Description: This is the hardware delay to turn off the SDI1 signal.
Power Up: Takes effect Immediately
$LS_CONFIG.$sdi_on_lag

Minimum: 0 Maximum: 200 Default: 100 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: SDI1 ON Delay
Description: This is the hardware delay to turn on the SDI1 signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$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: Takes effect Immediately

$LS_IOPORT[1].$sdi1_p_stat

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: SDI1 Port Status
Description: This is the port status of the SDI1 signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdi1_p_type

Minimum: 1 Maximum: 32 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: SDI1 Port Type
Description: This is the port type of the SDI1 signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdi2_p_num

Minimum: -3 Maximum: 1024 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: SDI2 Port Number
Description: This is the port number of the SDI2 signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdi2_p_stat

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.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdi2_p_type

Minimum: 1 Maximum: 32 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: SDI2 Port Type
Description: This is the port type of the SDI2 signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdo_p_num

Minimum: -3 Maximum: 1024 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: SDO Port Number
Description: This is the port number of the SDO signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdo_p_stat

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: SDO Port Status
Description: This is the port status of rhe SDO signal.
Power Up: Takes effect Immediately

$LS_IOPORT[1].$sdo_p_type

Minimum: 1 Maximum: 32 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: SDO Port Type
Description: This is the port type of the SDO signal.
Power Up: Takes effect Immediately

2.13 M
$MA_PLAN STRUCTURE

Minimum: 1 Maximum: 32 Default: 1 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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: Not

available 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.
See Also: $MACROTABLE[n] where n means $MACRO_MAXNU.

$MACROLDUIMT

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

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

available 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.

$MACROTABLE STRUCTURE

Minimum: 0 Maximum: 24 Default: 5 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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.

$MACROTABLE[1].$assign_id
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not
available 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.

$MACROTABLE[1].$assign_type

Minimum: 0 Maximum: 255 Default: 1 KCL/Data: RO Program: Not

available 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.

$MACROTABLE[1].$ept_index

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

Not available UIF: RO CRTL: RO 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: Not
available 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.

$MACROTABLE[1].$mon_no

Minimum: -2147483648 Maximum: 2147483647 Default: 0 KCL/Data: RO

Program: Not available 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: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Program Opening ID
Description: Reserved for Internal use by FANUC Robotics.
Power Up: Changes to this variable take effect immediately.

$MACROTABLE[1].$prev_subtyp

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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: Not
available 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.

$MACROTABLE[1].$sys_lev_msk

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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

$MACROTABLE[1].$user_work

Minimum: 0 Maximum: 255 Default: 2 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Work Area for Macro System
Description: Reserved for Internal use by FANUC Robotics.
Power Up: Changes to this variable take effect immediately.

$MACRSOPENBL STRUCTURE
Minimum: 0 Maximum: 255 Default: 2 KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
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: Not available

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: Not available

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: Not available

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Macro Enable, SOP PDI8 Input
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: Not available

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: Not available
UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Macro Enable, SOP PDIa Input
Description: Enables/disables the execution of macros from the SOP pdia
input. Not currently used.
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: Not available

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: Not available

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

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: Not available

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: Not available
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

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

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: Not available

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

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

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.

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

$MACRUOPENBL STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Not available

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: Not available

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.

$MACRUOPENBL.$uop_estop

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

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

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: Not available

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.
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: Not available

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: Not available

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: Not available
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: Not available

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Macro Enable, UOP RSR2/PNS2 Input
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: Not available

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: Not available

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: Not available

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

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: Not available

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: Not available

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

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

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

available 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.

$MAXUALRMNUM

Minimum: 1 Maximum: 999 Default: 10 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Maximum Number of User-defined Alarm Messages that can be
Defined
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: Takes effect upon Controlled Start

$MCR STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Not available

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 of $brk_output. If it is set to FALSE, the brakes cannot
be set or released manually. By default, the value of $brk_out_enb is set to
FALSE. $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.

$MCR.$brk_output[6]

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

available UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Changes to this variable take effect immediately.

$MCR.$dry_run

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

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.

$MCR.$enbl

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

UIF: RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS
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 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

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

available 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 with $progoverride to obtain a total override value,
which is then multiplied by the motion speed. As a safety feature, the value of
$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.

$MCR.$mjog_debug

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

Program: Not available 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: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

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

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: Not available

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.

$MCR.$otf_lin_no

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available 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: Not

available 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: Not

available 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: Not available

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.
Power Up: Changes to this variable take effect immediately.

$MCR.$spc_reset

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

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

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

available UIF: Not available CRTL: Not available
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: Not available

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.

$MCR_GRP[1].$chk_jnt_spd[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$MCR_GRP[1].$crc_rsm_tol

Minimum: 0. Maximum: 10000 Default: 0.2 KCL/Data: RW Program: Not

available 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: Not

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

$MCR_GRP[1].$dry_run_spd

Minimum: 0.001 Maximum: 2000. Default: 300. KCL/Data: RW Program:

Not available 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: Not
available 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.

$MCR_GRP[1].$dsp_upd_blk[9]

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

UIF: Not available CRTL: Not available Data Type: BYTE
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: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$MCR_GRP[1].$fjog_enb

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

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

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

$MCR_GRP[1].$forceupdate

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RW Program: Not

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

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: Not available

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 panel HOLD button or teach pendant HOLD key sets the value of
$hold to TRUE. To set $HOLD to FALSE, use the KCL> RESUME command.
Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$intplockhol

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Interpreter Lock Hold
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: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Debug Flag for INTR Task
Description: Reserved for Internal use by FANUC Robotics. This is a debug
mask used by INTR task.
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: Not available

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: Not available

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

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

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

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.

$MCR_GRP[1].$master_type

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

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

$MCR_GRP[1].$otf_org_spd

Minimum: 0. Maximum: 2000. Default: 300. KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL 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.

$MCR_GRP[1].$otf_spd_chg
Minimum: -100 Maximum: 100 Default: 0 KCL/Data: RW Program: Not
available 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.

$MCR_GRP[1].$otf_spd_upd

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: On-The-Fly Speed Update Request
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.

$MCR_GRP[1].$otf_speed

Minimum: 0. Maximum: 2000. Default: 300. KCL/Data: RW Program: Not

available 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.

$MCR_GRP[1].$pg_org_rsm

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

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

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: Not available

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:

Not available 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 by $MCR_GRP.$progoverride.
$prgoverride, a scaling factor, is expressed as a percentage 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

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: 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: Not available

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

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 to the stopped position. In this case, if program motype
was CIRCULAR, LINEAR will be used. In all cases, the original program
motype will 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: Not

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

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

Not available 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: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Resume Termtype
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: Not available

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

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.

$MCR_GRP[1].$sflt_enb[9]
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available
UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.
Power Up: Changes to this variable take effect immediately.

$MCR_GRP[1].$sflt_fup

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

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: Not

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

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: Not available

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.
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: Not available

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 synchronous adjust mode is enabled. If it is set to FALSE, you axes while
synchronous adjust mode is enabled. If it is FALSE, you cannot 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: Not available

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: Not available

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.

$MCR_GRP[1].$turn_on_srv

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

UIF: RW CRTL: RW Data Type: BOOLEAN_SK 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: Not available

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

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

available UIF: Not available CRTL: Not available
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.

$MCTCFG.$debug

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Motion Cycle Time Recording Debug Flag.
Description: Reserved for Internal use by FANUC Robotics.

$MCTCFG.$mct_enbl

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$MEMO STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Not

available 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: RO Program:

Not available UIF: RO CRTL: RO Data Type: LONG Memory: CMOS
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.
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:

Not available 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 prevents from creating or teaching the program for safety. The default
value is 60000. The unit of this system variable is BYTE. Do not change 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: Not

available 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

Minimum: 0 Maximum: 10000 Default: 2000 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Miscellaneous system variables for each groups.
Description: This system variable has miscellaneous system variables by
each motion group

$MISC[1].$hpd_trq[9]
Minimum: -100.00 Maximum: 100.00 Default: 0.00 KCL/Data: RW Program:
Not available UIF: Not available CRTL: Not available Data Type: REAL
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.
See Also: $MISC_MSTR.$hpd_enb

$MISC_MSTR.$hpd_enb

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

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.

$MJPTMIR[1-5] STRUCTURE

Minimum: MIN_MJPTMIR Maximum: MAX_MJPTMIR Default: 0 KCL/Data:

RO Program: Not available UIF: Not available CRTL: Not available Data
Type: MJPTMIR_T
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.

$MJPTMIR[1].$cir_cnt

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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.

$MJPTMIR[1].$curpx_task

Minimum: -1 Maximum: 16 Default: -1 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: current task ID
Description: This means the current task ID when program pause. When
program pause is selected task ID.
Power Up: Changes to this variable take effect immediately.

$MJPTMIR[1].$dircton_a
Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:
RO Program: Not available UIF: RO CRTL: RO Data Type: VECTOR
Memory: CMOS
Name: Path jog frame
Description: Approach vector of path jog frame.
Power Up: Changes to this variable take effect immediately.

$MJPTMIR[1].$dircton_l

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type: VECTOR
Memory: CMOS
Name: Path jog frame
Description: Location vector of path jog frame.
Power Up: Changes to this variable take effect immediately.

$MJPTMIR[1].$dircton_n

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type: VECTOR
Memory: CMOS
Name: Path jog frame
Description: Normal vector of path jog frame.
Power Up: Changes to this variable take effect immediately.

$MJPTMIR[1].$dircton_o

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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.

$MJPTMIR[1].$motype

Minimum: MT_JNT_JOG Maximum: MT_CIRCULAR Default: 7 KCL/Data:

RO Program: Not available UIF: RO CRTL: RO 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.

$MJPTMIR[1].$pathjog_flg
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available
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.

$MJPTMIR[1].$prb_frm

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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.

$MJPTMIR[1].$r_reverse

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

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.

$MJPTMIR[1].$tool_frm

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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.

$MJPTMIR[1].$used_utool

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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

$MJPTMIR[1].$utool_num
Minimum: 1 Maximum: 100 Default: 5 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of tool
Description: This means the tool number is used in pause program.
Power Up: Changes to this variable take effect immediately.

$MJPTMIR[1].$z_r_frm

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

RO Program: Not available 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.

$MKCFG STRUCTURE

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

Not available Program: Not available UIF: Not available CRTL: Not available
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.

$MKCFG.$debug

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

Program: Not available 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: Not

available 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:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Motion-Basic Conflict mask.
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:

Not available 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:

Not available 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:

Not available 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.)
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: Not available

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 1 = Enable Position Confirmation in TP Editor. The "@" symbol will
be display on any taught position that equals the robots current position. 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 upon Cold Start

$MNUFRAME[1,6]

Minimum: NIL Maximum: NIL Default: NIL KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: POSITION
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
$MNUFRAMENUM[gnum] is zero the null frame is used. If
$MNUFRAMENUM[gnum] is 14 $GROUP[gnum].$UFRAME is used.

$MNUFRAMENUM[2]

Minimum: 0x0 Maximum: 0x15 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: User Frame Number
Description: Used as the index into $MNUFRAME.

$MNUTOOL[1,6]

Minimum: NIL Maximum: NIL Default: NIL KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: POSITION
Name: Tool Frame Array
Description: This system variables contains the positional value of the tool
frame used by the teach pendant system. This is a two dimensional array. The
inner dimension is the tool number (1-6).The outer dimension is the group
number (gnum). The tool number is $MNUTOOLNUM[gnum]. When
$MNUTOOLNUM[gnum] is between 1 and 6 the system uses the following
toolframe: $MNUTOOL[gnum, $MNUTOOLNUM[gnum]] If
$MNUTOOLNUM[gnum] is zero the null frame is used. If
$MNUTOOLNUM[gnum] is 14 $GROUP[gnum].$UTOOL is used.

$MNUTOOLNUM[2]

Minimum: 0x0 Maximum: 0x15 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: User Tool Frame Number
Description: Used as the index into $MNUTOOL.

$MODEM_INF[1].$MDM_ANSWER

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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: Not
available 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: Not
available 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

$MODEM_INF[1].$MDM_IDENT
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Modem IDENTIFICATION string..descrpASCII string that shows what
data the modem returned for identification...pwrupNot used at powerup

$MODEM_INF[1].$MDM_INIT

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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: Not
available 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: Not
available 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

$MODEM_INF[1].$MDM_STATUS

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Modem STATUS string.descrpASCII string that reflects the current
status of the MODEM..pwrupNot used at powerup

$MONITOR_MSG[32]

Minimum: "" Maximum: "EXEC1 " Default: "EXEC1 " KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
STRING
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

Minimum: "" Maximum: "EXEC1 " Default: "EXEC1 " KCL/Data: Not
available Program: Not available UIF: Not available CRTL: Not available
Name: Motion Output Record
Description: Variable structure containing motion status information.
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.

$MOR.$brk_status

Minimum: 0 Maximum: 63 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE_SK Memory: CMOS
Name: Brake Status
Description: Indicates the brake output status.
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: Not available

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: 0.0 Default: 0. KCL/Data: RO Program: Not

available UIF: Not available 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.
$MOR.$safety_stat

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

UIF: RO CRTL: RO Data Type: INTEGER_SK Memory: CMOS
Name: Safety signals status
Description: $MOR.$safety_stat is bit parameter of safety signals. The bits
assignment of $MOR.$safety_stat is as follows. * Bit position 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.

$MOR.$smh_done

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

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

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

available UIF: Not available CRTL: Not available
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: Not available

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

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.

$MOR_GRP[1].$atperch

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

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

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: Not available

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: Not available

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.
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: Not available
UIF: Not available CRTL: Not available Data Type: INTEGER
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: Not available 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. It is used in conjunction with $cur_prframe and $pfr_resume to resume
a stopped motion smoothly for moves in the Path Relative Frame.
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: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Current Disturbance Torque
Description: Current disturbance torque updated automatically by the
system.
Power Up: Updated automatically by the system.

$MOR_GRP[1].$cur_prframe

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

NO Program: Not available 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: Not available
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: Not available

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: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Current Total Cartesian Acceleration Length For Cartesian Filter
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: Not available

UIF: Not available CRTL: Not available Data Type: REAL
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.

$MOR_GRP[1].$current_pos

Minimum: MIN_POSX Maximum: MAX_POSX Default: DEF_POSX

KCL/Data: NO Program: Not available 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: Not available

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.
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: Not available

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: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$MOR_GRP[1].$dvc_axes

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Time Scale axes image
Description: Each bit corresponds to one axis. The bit is set to 1 when the
motion command from INTR exceeds the motor speed limit.
$MOR_GRP[1].$dvc_delay

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: ITPs delayed by Time Scale
Description: [ITP] total of time delayed by time scale

$MOR_GRP[1].$dvc_reduce

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available 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

$MOR_GRP[1].$err_value[9]

Minimum: -10000000. Maximum: 10000000. Default: 0. KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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.
See Also: None

$MOR_GRP[1].$error_cnt[9]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$MOR_GRP[1].$fb_comp_cnt[9]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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.
See Also: None

$MOR_GRP[1].$filter_empt

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

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

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program: Not available

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.

$MOR_GRP[1].$fltr_nc_emp

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

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: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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 for the specified position. The value of $in_position
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.

$MOR_GRP[1].$jogged
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: BOOLEAN_SK Memory: CMOS
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: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Line Tracking Encoder Error Count (not supported)
Description: Line tracking encoder error count.

$MOR_GRP[1].$line_offset

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

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: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$MOR_GRP[1].$max_dis_trq[9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Maximum Disturbance Torque
Description: Maximum disturbance torque updated automatically by system.
Power Up: Automatically updated by Filter task

$MOR_GRP[1].$max_torque[9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Maximum Torque
Description: Maximum torque information updated by DSP
Power Up: Updated automatically by the system

$MOR_GRP[1].$min_dis_trq[9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Minimum Disturbance Torque
Description: Minimum disturbance torque updated automatically by system.
Power Up: Updated automatically by the system

$MOR_GRP[1].$motion_cmnd[9]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$MOR_GRP[1].$move_dist

Minimum: 0. Maximum: -0. Default: 0. KCL/Data: NO Program: Not

available 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: Not available 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: Not
available UIF: RO CRTL: RO Data Type: REAL_SK Memory: CMOS
Name: Original path resume offset information
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.
See Also: None

$MOR_GRP[1].$overrun_cnt

Minimum: LONG_MIN Maximum: LONG_MAX Default: 0 KCL/Data: RW

Program: Not available 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: Not available

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.

$MOR_GRP[1].$pccomer_cnt[9]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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.
See Also: None

$MOR_GRP[1].$pendmocount

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: NO Program: Not available

UIF: NO CRTL: NO Data Type: INTEGER_SK Memory: CMOS
Name: Reserved for future use (not supported)
Description: $pendmocount keeps track of how many motions have been
issued but have not yet been completed. It is automatically incremented each
time 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: Not available

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.

$MOR_GRP[1].$segfraction

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

available 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: Not

available 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: Not available

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: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: SPC (Serial Pulse Coder) Status
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: Not available

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: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Average Torque
Description: Average torque information by DSP.
Power Up: Updated automatically by the system.

$MOR_GRP[1].$tune[9]

Minimum: MIN_TUNE Maximum: MAX_TUNE Default: DEF_TUNE

KCL/Data: RW Program: Not available UIF: Not available CRTL: Not
available Data Type: TUNE_T
Name: Tuning information
Description: Tuning information for motion auto tuning
Power Up: Changes to this variable take effect immediately.#
See Also: None

$MOR_GRP[1].$tune_val

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Tuning variables
Description: Internal use

$MOR_GRP_SV[].$cur_sv_ang

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

UIF: Not available CRTL: Not available Data Type: REAL
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.
See Also: $MOR.$smh_done

$MOTASK_DATA

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

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Motion Task Data
Description: Reserved for Internal use by FANUC Robotics. Do not change
this variable. The system sets this variable on cold start.

2.14 N
$NULL_CYCLE

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

Program: Not available 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: Not available

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: Not

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

Minimum: "" Maximum: " " Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Operator Work
Description: Controls the buttons and lamps on the SOP/UOP and teach
pendant. Individual fields within this structure are described below.

$OPWORK.$enbl_on

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

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: Not available UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS
Name: Interpreter Mask
Description: Not currently used.

$OPWORK.$intppaused

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

Not available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: Program is Paused
Description: This variable remains > 0 while the program is temporarily
stopped. The system updates it automatically.

$OPWORK.$intprunning

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

Not available 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.

$OPWORK.$op_inv_mask[3]

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Inverted signal mask
Description: Indicates which signals are inverted.

$OPWORK.$op_prev_img[3]

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Operator Panel Previous output image.
Description: Controls the buttons and lamps on the SOP/UOP and teach
pendant

$OPWORK.$opt_out

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Enable/Disable use of UOP Optional Output.
Description: When set to TRUE enables the optional UOP output signals.

$OPWORK.$orgovrdval

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RO Program: Not

available 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 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[3]

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Current output image.
Description: Current output image.

$OPWORK.$sopbusymsk

Minimum: 0 Maximum: 0xFFFFFFFF Default: 524287 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS
Name: System Operator Panel Busy Mask
Description: This is the task mask indicating not to turn on the SOP busy lamp.
This is output when the operator control panel I/O is being processed. When it
is > 0, a BUSY signal is output from the operator control panel. The system
updates it automatically.

$OPWORK.$sysbusy

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

Not available UIF: RO CRTL: RO Data Type: ULONG Memory: CMOS
Name: System Busy
Description: This variable remains > 0 while the system is processing. The
system updates it automatically.

$OPWORK.$tpbusymsk
Minimum: 0 Maximum: 0xFFFFFFFF Default: 524287 KCL/Data: RO
Program: Not available UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS
Name: Teach Pendant Busy Mask
Description: Task mask indicating not to turn on the teach pendant busy lamp.
This is output when the teach pendant is processing. When it is > 0, the lamp
will be lit while the teach pendant is processing. The system updates it
automatically.

$OPWORK.$uop_disable

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: UBYTE Memory: CMOS
Name: Enable/disable UOP signal.
Description: Peripheral devices I/O invalidity. Invalidate all peripheral devices
I/O at one. 0 = Enable 1 = Disable

$OPWORK.$uopbusymsk

Minimum: 0 Maximum: 0xFFFFFFFF Default: 524287 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: ULONG Memory:
CMOS
Name: User Operator Panel Busy Mask
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.

$OPWORK.$user_output[3]

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: User Output
Description: Not currently used.

$ORIENTTOL

Minimum: 0. Maximum: 360. Default: 10. KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Orientation Error Tolerance

$OVRD_RATE

Minimum: 0 Maximum: 100 Default: 5 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Override change rate
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

Minimum: 0 Maximum: 100 Default: 5 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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.

$OVRDSLCT.$off_off_ovr

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program: Not

available 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: Not

available 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: Not

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

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:

Not available 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

Minimum: 1 Maximum: 0x7fffffff Default: 0x7fffffff KCL/Data: RW Program:

Not available 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

Minimum: 1 Maximum: 0x7fffffff Default: 0x7fffffff KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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:

Not available UIF: Not available CRTL: Not available Data Type: real
Name: Jog acceleration ratio coeffcients
Description: The values are used in jogging filter length calcuations
Power Up: Require a cold start to take effect

$PARAM_GROUP[1].$acc_pa_uma

Minimum: 0.0 Maximum: 50.0 Default: 0.0 KCL/Data: RW Program: Not

available 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.
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: Not

available 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: Not

available 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[4]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Acceleration Parameter
Description: Reserved for Internal use by FANUC Robotics.
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: Not

available 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: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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 in milliseconds. $accel_time1 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.

$PARAM_GROUP[1].$accel_time2[9]

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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: Requires a cold start to take effect.

$PARAM_GROUP[1].$armload[3]

Minimum: 0.0 Maximum: 10000 Default: 0.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Arm Payload
Description: Payload on robot arm for inertia calculation (units in Kg).
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$armload_x[3]

Minimum: -10000 Maximum: 10000 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Armload_x
Description: X position of armload (units in cm).
Power Up: You must perform a cold start for the change to take effect.

$PARAM_GROUP[1].$armload_y[3]

Minimum: -10000 Maximum: 10000 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Armload_y
Description: Y position of armload (units in cm).
Power Up: You must perform a cold start for the change to take effect.

$PARAM_GROUP[1].$armload_z[3]

Minimum: -10000 Maximum: 10000 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Armload_z
Description: Z position of armload (units in cm).
Power Up: You must perform a cold start for the change to take effect.

$PARAM_GROUP[1].$auto_sngstp

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

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: You must perform a cold start for the change to take effect.

$PARAM_GROUP[1].$axis_im_scl

Minimum: 0 Maximum: 32767 Default: 1 KCL/Data: RW Program: Not

available 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: You must perform a cold start for the change to take effect.

$PARAM_GROUP[1].$axisinertia[9]

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Reserved for Internal use by FANUC Robotics
Description: Reserved for Internal use by FANUC Robotics (units in Kg).
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$axismoment[9]
Minimum: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Reserved for Internal use by FANUC Robotics
Description: Reserved for Internal use by FANUC Robotics (units in Kg).
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$bcklsh_coun[9]

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$PARAM_GROUP[1].$belt_enable

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

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 that are equipped with belt-driven axes, such as the A-510,
$belt_enable should be TRUE. For all other robots, $belt_enable should be set
to 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: Requires a cold start to take effect.

$PARAM_GROUP[1].$cart_accel1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
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: Requires a cold start to take effect.

$PARAM_GROUP[1].$cart_accel2
Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: SHORT Memory: 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: Requires a cold start to take effect.

$PARAM_GROUP[1].$cartmo_mgn

Minimum: 0. Maximum: 1000. Default: 0.2 KCL/Data: RW Program: Not

available 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: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Limit Check Type
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: Not available 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: Not

available 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: Not

available 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: Requires a cold start to take effect.

$PARAM_GROUP[1].$cn_gear_n2

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program: Not

available 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.

$PARAM_GROUP[1].$cnt_acc_mgn

Minimum: 0. Maximum: 100.0 Default: 1.0 KCL/Data: RW Program: Not

available 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: Not

available 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: Not

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

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.

$PARAM_GROUP[1].$contwindow

Minimum: 0 Maximum: MAX Default: 0 KCL/Data: NO Program: Not

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

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Lower cutoff value for override when $GROUP.$CNSTNTPT HJT is
TRUE.
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: Not
available 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.

$PARAM_GROUP[1].$decel_ratio

Minimum: 0. Maximum: 10. Default: 1.0 KCL/Data: RW Program: Not

available 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

Minimum: 0. Maximum: 10. Default: 1.0 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Decoupling torque (between J2 and J3 axes) parameter (1)
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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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: Requires a cold start to take effect.

$PARAM_GROUP[1].$decoup_mgn[3]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Decoupling torque (between J2 and J3 axes) parameter (3)
Description: Not used.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decoup_mgn[4]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Decoupling torque (between J2 and J3 axes) parameter (4)
Description: Not used.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$decp_mgn_wr STRUCTURE

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Decoupling torque (considering wrist axes) control parameters
Description: Decoupling torque (considering wrist axes) control parameters
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not
available UIF: Not available CRTL: Not available Data Type: REAL
Name: Decoupling torque (considering wrist axes) parameter (4)
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Description: Reserved for future use (not supported).
Power Up: Effective on cold start.

$PARAM_GROUP[1].$duty_enb[1-9]

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

UIF: Not available 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.
See Also: This variable is used for Duty diagnosis.

$PARAM_GROUP[1].$duty_param1[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:

RW Program: Not available UIF: Not available CRTL: 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.
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: Not available UIF: Not available CRTL: Not available Data
Type: REAL
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.
See Also: This variable is used for Duty diagnosis.

$PARAM_GROUP[1].$dvc_ac0_max[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available 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.

$PARAM_GROUP[1].$dvc_ac1_max[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available CRTL: RW Data Type: REAL
Memory: CMOS
Name: Time Scale max acceleration1
Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

$PARAM_GROUP[1].$dvc_acc_max[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available CRTL: RW Data Type: REAL
Memory: CMOS
Name: Time Scale max acceleration
Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

$PARAM_GROUP[1].$dvc_acc_min[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available CRTL: RW Data Type: REAL
Memory: CMOS
Name: Time Scale min acceleration
Description: [cnt/msec/msec] -> [cnt/ITP/ITP]

$PARAM_GROUP[1].$dvc_jrk_max[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available CRTL: RW Data Type: REAL
Memory: CMOS
Name: Time Scale max jerk
Description: [cnt/ITP/ITP/ITP] -> [cnt/msec/msec/msec]

$PARAM_GROUP[1].$dvc_jrk_min[1-9]

Minimum: -10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

RW Program: Not available UIF: Not available CRTL: RW Data Type: REAL
Memory: CMOS
Name: Time Scale min jerk
Description: [cnt/ITP/ITP/ITP] -> [cnt/msec/msec/msec]

$PARAM_GROUP[1].$encscales[9]
Minimum: -10000000000. Maximum: 10000000000. Default: 0 KCL/Data:
RW Program: Not available UIF: Not available CRTL: Not available Data
Type: REAL
Name: Encoder Scale Factor
Description: For rotational axes, $encscales[i] specifies the number of
encoder pulses per degree of movement of axis i. For translational axes,
$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: 0 Maximum: 32767 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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.

$PARAM_GROUP[1].$exp_enbl

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

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

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

available 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: Not

available 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.

$PARAM_GROUP[1].$ffg_mgn_j3

Minimum: 0. Maximum: 10. Default: 1. KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Margin for feed forward (J3)
Description: Not used
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$fwp_time1

Minimum: 0 Maximum: 10000 Default: 192 KCL/Data: RW Program: Not

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

available 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: Not available UIF: Not available CRTL: Not available Data
Type: REAL
Name: Gear Ratio
Description: Gear ratio of mechanical unit for each axis.
Power Up: Requires a cold start to take effect.
$PARAM_GROUP[1].$inpos_time[9]

Minimum: 0 Maximum: 100000 Default: 5000 KCL/Data: RW Program: Not

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

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: Not

available 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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Joint Velocity Limits
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: Not

available 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: Not available 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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Local condition enable flag at quick stop.
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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Enable LCH (Local Condition Handler) warning
Description: If true, MOTN-200 warning message is posted when segment is
too short for specified time-before value
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$linear_rate

Minimum: 1 Maximum: MAX_MOTYPE_RATE Default: 1 KCL/Data: RW

Program: Not available 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: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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.
Power Up: Effective on cold start.

$PARAM_GROUP[1].$lowerlimsdf[9]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Master Position
Description: $master_pos defines the mastering position of the robot as
determined by the mastering fixture. The value of $master_pos is 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: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Maximum Amplifier Current
Description: Reserved for Internal use by FANUC Robotics.
$PARAM_GROUP[1].$max_payload

Minimum: 0. Maximum: 100000. Default: -0. KCL/Data: RW Program: Not

available 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:

Not available 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: Not available

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.

$PARAM_GROUP[1].$min_acc_cmc

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available 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

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available 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: Not

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

available 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: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Minimum Acceleration Time
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: Not

available 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 is enabled. It is used for standard short move
softpart and Turbo 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: Not

available 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: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$PARAM_GROUP[1].$mot_lim_stp

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

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

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

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Mount Angle
Description: For robots that support angle mounting, this is the angle of
inclination.
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: Not
available UIF: Not available CRTL: Not available Data Type: REAL
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: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Move Error Limit (not supported)
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$mrrdum2

Minimum: 0 Maximum: 1000 Default: 0 KCL/Data: NO Program: Not

available UIF: NO CRTL: NO Data Type: SHORT Memory: CMOS
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: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Path Acceleration Time 1
Description: Used for IntelliTrak. This is the time, in milliseconds, of the first
stage Cartesian 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: Not

available 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: Not

available 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: Not

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

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Inertia of payload (x)
Description: The X 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_iy

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RW Program: Not

available 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: Not

available 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

Minimum: -10000. Maximum: 10000. Default: 0. KCL/Data: RW Program:

Not available 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: -10000. Maximum: 10000. Default: 0. KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data 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:

Not available 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:
Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Perch Position (Reserved for future use).
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: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Not available

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:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Application process speed limit
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:
Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Application process speed
Description: Application process speed. A tuning variable for Cartesian filter.
The unit is in mm. When this speed is greater than 0 and less than 2000, 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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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[4-5]

Minimum: 0 Maximum: 1000000 Default: 20 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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.

$PARAM_GROUP[1].$rotspeedlim

Minimum: 0.001 Maximum: 1440. Default: 500. KCL/Data: RO Program:

Not available 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.

$PARAM_GROUP[1].$servo_ctrl

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

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

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

available 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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Software Lower Limit Extended Axis 1
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: Not available

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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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: Not available

UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS
Name: Software Limit Number Joint 1
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:
Not available UIF: Not available CRTL: Not available Data Type: REAL
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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Singularity Stop Control Switch
Description: Singularity stop control switch. If $snglrty_stp is set to TRUE, the
robot will stop near the singularity 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: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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]

Minimum: 0 Maximum: 100000000 Default: 3670016 KCL/Data: RW

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

Not available 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: Not

available 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 mm/sec. However,internally this is converted to a percentage
of maximum speed, so that at maximum speed the command joint velocity is
the 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: Not available

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

$PARAM_GROUP[1].$stoperlim[9]

Minimum: 0 Maximum: 100000000 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Stop Error Limit
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$stoptol[9]

Minimum: 0 Maximum: 100000000 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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 be changed for robot axes. For extended axes, you are responsible
for setting the value correctly by the controlled start extended axes 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: Not available

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

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: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available 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: 1. Default: 1. KCL/Data: RW Program: Not

available UIF: Not available 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.
$PARAM_GROUP[1].$sv_dh_costh[1-9]

Minimum: -1. Maximum: 1. Default: 1. KCL/Data: RW Program: Not

available UIF: Not available CRTL: RW Data Type: REAL Memory: CMOS
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: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available 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: 1. Default: 0. KCL/Data: RW Program: Not

available UIF: Not available 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: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_dh_sinth[1-9]

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

available UIF: Not available 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.

$PARAM_GROUP[1].$sv_dmy_lnk[1-9]

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

UIF: Not available CRTL: RW Data Type: BOOLEAN Memory: CMOS
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. Maximum: 1000000. Default: 0. KCL/Data: RW
Program: Not available UIF: RW CRTL: RW Data Type: REAL 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: Not available 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: Not available 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.

$PARAM_GROUP[1].$sv_lnk_ix[1-9]

Minimum: 0. Maximum: 100000000000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: RW Data Type: REAL
Memory: CMOS
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: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_lnk_iy[1-9]

Minimum: 0. Maximum: 100000000000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available 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: 100000000000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available 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: 1000000. Default: 0 KCL/Data: RW Program: Not

available UIF: Not available 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.

$PARAM_GROUP[1].$sv_lnk_x[1-9]

Minimum: -1000000. Maximum: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: 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: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_lnk_y[1-9]

Minimum: -1000000. Maximum: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available 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: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available 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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Enables/disables motion command delay
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: Not available

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: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_off_enb[9]

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

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

Not available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Servo Off Time
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: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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

$PARAM_GROUP[1].$sv_thet0[1-9]

Minimum: -6.2832 Maximum: 6.2832 Default: 0. KCL/Data: RW Program:

Not available UIF: Not available CRTL: RW Data Type: REAL Memory:
CMOS
Name: Theta0
Description: When calculating theta from each joint axis, this Theta0 is added
as an offset angle. [rad] Do not change this system variable.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sv_z_sign[1-9]

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

UIF: Not available CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Z sign
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: Not

available UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS
Name: Synchronous Error Limit (Not supported)
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sync_gain

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: NO Program: Not

available UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS
Name: Synchronous Gain Factor (not supported)
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$sync_offset

Minimum: 0 Maximum: 100000 Default: 0 KCL/Data: NO Program: Not

available UIF: NO CRTL: NO Data Type: INTEGER Memory: CMOS
Name: Synchronous Compensation Offset (not supported)
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$t1t2_sngstp

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Singularity stop at T1 and T2 mode.
Description: Specifies whether or not the robot should stop in T1 or T2 mode
when entering a singularity zone.
Power Up: Requires a cold start to take effect.

$PARAM_GROUP[1].$torque_cons[9]

Minimum: 10000000000. Maximum: 10000000000. Default: 0. KCL/Data:

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

available 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: Not

available 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]

Minimum: -100000. Maximum: 100000. Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Alarm Type Switch for Motor Speed Limit
Description: If set to true, a servo alarm will occur when motor speed limit is
exceeded during CMC motion. If set to FALSE, only a warning will occur.
Power Up: Requires a cold start to take effect.

$PARAM_MENU[21]

Minimum: "" Maximum: " " Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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: Changes to this variable take effect immediately.

$PASSSUPER STRUCTURE

Minimum: "" Maximum: " " Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Super User Password variable structure
Description: This set of variables provides super user password information
that controls the password functionality.

$PASSSUPER.$level

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Install Users Level
Description: This variable indicates the password level associated with the
install user.

$PASSSUPER.$name

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available 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.

$PASSSUPER.$time_out

Minimum: -1 Maximum: 10080 Default: 15 KCL/Data: RO Program: Not

available 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.

$PASSWORD STRUCTURE

Minimum: -1 Maximum: 10080 Default: 15 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Password configuration record
Description: This structure contains password information.
Power Up: Changes take effect immediately.

$PASSWORD.$count_down[4]

Minimum: 0 Maximum: 151200000 Default: 0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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: The system decrements the countdown every CPU tick after a
password is specified.
See Also: PASSWORD.$time_out system variable

$PASSWORD.$curr_level[4]

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Current password level
Description: Specifies the current password level. The levels are
OPERATOR = 0 PROGRAM = 1 SETUP = 2, INSTALL = 3.
Power Up: Changed on the SETUP Passwords screen after a password is
entered correctly.

$PASSWORD.$curr_user[4]

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Current User
Description: This indicates which user is currently logged in.

$PASSWORD.$levels[4]

Minimum: MIN_INT Maximum: MAX_INT Default: 0 KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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: Not available
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.

$PASSWORD.$num_users

Minimum: 10 Maximum: 100 Default: 10 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Number of Users
Description: This indicates how many password users to allow.

$PASSWORD.$time_out[4]

Minimum: -1 Maximum: 10080 Default: 15 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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: Change is effective immediately after a password is specified.
See Also: PASSWORD.$count_down

$PATH_ADJUST STRUCTURE

Minimum: -1 Maximum: 10080 Default: 15 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Setup of torch posture conversion function
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.

$PATH_ADJUST.$conv_enbl

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

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.
$PATH_ADJUST.$create

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

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.

$PATH_ADJUST.$match_first

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: ABSOLUTE/MATCH first selection for reference torch posture
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.

$PATH_ADJUST.$num_addpnt

Minimum: 0 Maximum: 9 Default: 1 KCL/Data: RW Program: Not available

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.

$PATH_ADJUST.$part_of_prg

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

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: Changes to this variable take effect immediately.

$PATH_ADJUST.$pitch_len

Minimum: 0 Maximum: 20 Default: 3 KCL/Data: RW Program: Not

available 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.

$PATH_ADJUST.$ref_plane

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RW Program: Not available

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: Changes to this variable take effect immediately.

$PATH_ADJUST.$smooth_enbl

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

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: Changes to this variable take effect immediately.

$PATH_ADJUST.$travel_angl

Minimum: -360 Maximum: 360 Default: 0 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately.

$PATH_ADJUST.$work_angl

Minimum: -360 Maximum: 360 Default: 90 KCL/Data: RW Program: Not

available 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.

$PATHAJ_3POS[1] Structure

Minimum: -360 Maximum: 360 Default: 90 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: 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: Changes to these variables take effect immediately.

$PATHAJ_3POS[1].$approach_x

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

UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: X element of approach vector in position data
Description: For internal use only. Do not modify this system variable. This
system variable indicates X element of approach vector in the recorded
position.
Power Up: Changes to this variable take effect immediately

$PATHAJ_3POS[1].$approach_y

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

UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
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: Changes to this variable take effect immediately.

$PATHAJ_3POS[1].$approach_z

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

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: Changes to this variable take effect immediately.

$PATHAJ_3POS[1].$e[1-2]

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

UIF: Not available CRTL: Not available Data Type: REAL
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.

$PATHAJ_3POS[1].$grp_num
Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Recorded position group number
Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position group number.
Power Up: Changes to this variable take effect immediately.

$PATHAJ_3POS[1].$index

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

available 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: Changes to this variable take effect immediately.

$PATHAJ_3POS[1].$pos_type

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program: Not

available 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.

$PATHAJ_3POS[1].$x

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

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: Changes to this variable take effect immediately.

$PATHAJ_3POS[1].$y

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

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: Changes to this variable take effect immediately.

$PATHAJ_3POS[1].$z
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program: Not available
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: Changes to this variable take effect immediately.

$PATHAJ_AJST STRUCTURE

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: Information of base plane (ADJUST)
Description: This is normal vector information of base plane when ADJUST
(torch posture) is selected in base plane selection screen. Individual fields
within this structure are described below.
Power Up: Changes to these variables take effect immediately.

$PATHAJ_AJST.$dummy

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

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.

$PATHAJ_AJST.$dummy1

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

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.

$PATHAJ_AJST.$dummy2

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

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: Not available

UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Recorded position group number
Description: For internal use only. Do not modify this system variable. This
system variable indicates the recorded position group number.
Power Up: Changes to this variable take effect immediately.

$PATHAJ_AJST.$index

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

available 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: Changes to this variable take effect immediately.

$PATHAJ_AJST.$pos_type

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program: Not

available 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.

$PATHAJ_AJST.$posdat

Minimum: MIN_POSX Maximum: MAX_POSX Default: DEF_POSX

KCL/Data: RW Program: Not available 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: Changes to this variable take effect immediately.

$PAUSE_NCONT

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Pause when no contact. In the menu, it is defined as Error on Failure.
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: Changes take effect immediately.
See Also: $SEARCH_DIST, $CONT_R_NUM The chapter on "Touch
Sensing" in the FANUC Robotics SYSTEM R-J3 Controller ArcTool Setup and
Operations Manual

$PAUSE_PROG

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
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: Change of this system variable effects immediately.There is no
need of Power off/on.
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:

Not available 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: Effective at cold start or when the controller client is reconnected.

$PCCRT

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: Changes take effect immediately.

$PCCRT_HOST

Minimum: "" Maximum: "" Default: "PCCRT " KCL/Data: RW Program: Not
available 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: Requires a cold start to take effect.

$PCHAMP_CFG
Minimum: MIN_CFG Maximum: MAX_CFG Default: DEF_CFG KCL/Data:
RO Program: Not available UIF: FP CRTL: RW Data Type: PCHAMP_T
Memory: CMOS
Name: Process Champion option
Description: Process Champion configuration parameters
Power Up: na
See Also: na

$PCHAMP_CFG.$Enable

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

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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$EventCount

Minimum: 0 Maximum: 26 Default: 0 KCL/Data: RO Program: Not available

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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$EVENTENABLE[26]

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

UIF: Not available CRTL: Not available Data Type: UBYTE
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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$InputFile

Minimum: "" Maximum: "" Default: "FR:\CHAMP.DT " KCL/Data: RW

Program: Not available 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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$OutFileExt

Minimum: "" Maximum: " Default: ".ls KCL/Data: "" Program: Not available
UIF: RW CRTL: RW Data Type: RW Memory: STRING
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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$SeqCount

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$Setup

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

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: Changes to this variable take effect immediately.
See Also: na

$PCHAMP_CFG.$TimeOut
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
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: Changes to this variable take effect immediately.
See Also: na

$PCTP

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

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: Changes take effect immediately.

$PCTP_HOST

Minimum: "" Maximum: "" Default: "PCTP " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: PC Teach Pendant Host Name
Description: A string of up to 32 characters defining the name which
represents the PC teach pendant on the network. It should be unique across
the network. It must also be defined as an element in the $HOSTENT array.
Power Up: Requires a cold start to take effect.

$PG_DEFSPD STRUCTURE

Minimum: "" Maximum: "" Default: "PCTP " KCL/Data: Not available
Program: Not available UIF: Not available CRTL: Not available
Name: Default motion speed and unit for application motion speed statement
Description: This variables are used with application motion speed
statements; for example, the WELD_SPEED statement in ArcTool.
Power Up: Changes to this variable take effect immediately

$PG_DEFSPD.$ap_def_spd

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
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: Changes to this variable take effect immediately.

$PG_DEFSPD.$ap_def_unit

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

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 in step mode and backward execution. 0:%, 1:mm/sec, 2:cm/min,
3:IPM, 4:deg/sec, 5:sec
Power Up: Changes to this variable take effect immediately.

$PG_DEFSPD.$apsp_prexe

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

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: Changes to this variable take effect immediately.

$PG_DEFSPD.$dly_lastps

Minimum: 0 Maximum: 4000 Default: 2000 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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: Changes to this variable take effect immediately
See Also: This is not related to application speed statement.

$PG_MAX_SPED[1].$cart_speed

Minimum: 0.001 Maximum: 100000.0 Default: 0 KCL/Data: RW Program:

Not available 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: Changes to this variable take effect immediately.

$PG_MAX_SPED[1].$jnt_speed[9]

Minimum: 0.001 Maximum: 100000 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Joint Speed
Description: The joint motion speed in program is clamped by this value.
(Units are in deg/sec)
Power Up: Changes to this variable take effect immediately.

$PG_MAX_SPED[5] STRUCTURE

Minimum: 0.001 Maximum: 100000 Default: 0.0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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: Changes to this variable take effect immediately.

$PGDEBUG

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

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Program Debugging
Description: Not currently used.

$PGINP_WORD[5]

Minimum: "" Maximum: " " Default: "PRG " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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: Changes take effect immediately.

$PGTRACE_UP Structure
Minimum: "" Maximum: " " Default: "PRG " KCL/Data: Not available
Program: Not available UIF: Not available CRTL: 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: Changes to this variable take effect immediately.

$PGTRACE_UP.$disp_pxnn

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
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: Changes to this variable take effect immediately

$PGTRACE_UP.$trc_update

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

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: Changes to this variable take effect immediately.

$PGTRACECTL[1] STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Changes to this variable take effect immediately.

$PGTRACECTL[1].$task_id

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately.
$PGTRACECTL[1].$task_status

Minimum: -2 Maximum: 10 Default: 2 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: SHORT Memory: 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: Changes to this variable take effect immediately.

$PGTRACECTL[1].$trc_btm_idx

Minimum: -32768 Maximum: 32767 Default: 1 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately.

$PGTRACECTL[1].$trc_top_idx

Minimum: -32768 Maximum: 32767 Default: 1 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately.

$PGTRACEDT[1,1].$ept_index

Minimum: -32768 Maximum: 32767 Default: -1 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: EPT index of executing program
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: Changes to this variable take effect immediately.

$PGTRACEDT[1,1].$exec_type

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: FWD/BWD execution type
Description: For internal use only. Do not modify this system variable. 1:No
execution 2:FWD execution 3:BWD execution
Power Up: Changes to this variable take effect immediately.

$PGTRACEDT[1,1].$file_ofst

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately.

$PGTRACEDT[1,1].$line_num

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately.

$PGTRACEDT[1,1].$line_st

Minimum: 1 Maximum: 4 Default: 4 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
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: Changes to this variable take effect immediately.

$PGTRACELEN

Minimum: 1 Maximum: 999 Default: 200 KCL/Data: RO Program: Not

available 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: You must perform a cold start for the change of take effect.

$PING_CTRL.$DATALEN

Minimum: 0 Maximum: 4096 Default: 56 KCL/Data: RO Program: Not

available 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
See Also: Ethernet Options Setup and Operations Manual

$PING_CTRL.$DEBUG

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

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
See Also: Ethernet Options Setup and Operations Manual

$PING_CTRL.$NPACKETS

Minimum: 0 Maximum: 0x7FFFFFFF Default: 1 KCL/Data: RO Program:

Not available 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
See Also: Ethernet Options Setup and Operations Manual

$PING_CTRL.$TIMEOUT

Minimum: 0 Maximum: 32767 Default: 2 KCL/Data: RW Program: Not

available 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
See Also: Ethernet Options Setup and Operations Manual

$PLID_GRP Structure

Minimum: 0 Maximum: 32767 Default: 2 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: 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.
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: Not
available UIF: Not available CRTL: Not available Data Type: REAL
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]. This value is based on the acceptable
armload (ex. mounted to J3 axis in S-420iF)[kg].

$PLID_GRP.$armload2

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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.

$PLID_GRP.$cal_pos[1-9]

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

UIF: Not available CRTL: Not available Data Type: REAL
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
same position as Payload calibration, because gravity that affects to robot
relies on robot position.

$PLID_GRP.$cal_tcmd[1-9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Torque command at Payload calibration.
Description: For internal use only. Do not modify this system variable. This
variable is the torque command of each axis received from the servo at
Payload calibration. "$est_tcmd - $cal_tcmd" is used for calculating payload.

$PLID_GRP.$calaxes

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of axes in group that Payload calibration was done.
Description: For internal use only. Do not modify this system variable. This
variable is used to check whether the system that Payload estimation is
executed is the same as one that Payload calibration was. For example, when
the calibration system has no extended axis but the estimation one has it, the
payload estimation might not have a good result because the extended axis
can affect to gravity moment of robot axes.

$PLID_GRP.$caldone

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Payload calibration completion flag
Description: For internal use only. Do not modify this system variable. This
variable indicates that Payload calibration is already done or not. It is set to
TRUE when Payload calibration is completed. It is used to check whether
Payload estimation can be executed or not. If $caldone is FALSE, Payload
estimation cannot be executed.

$PLID_GRP.$calexec

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Payload calibration executing flag
Description: For internal use only. Do not modify this system variable. When
Payload calibration starts, $calexec is set to TRUE. And while $calexec is
TRUE, torque command($cal_tcmd) is received from servo. When Payload
calibration finishes, $calexec returns to FALSE.

$PLID_GRP.$dsp_enbl

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Enable or disable flag to display Payload identification screen.
Description: For internal use only. Do not modify this system variable. This
variable is used to check whether the Payload identification screen can be
displayed or not. It is set to TRUE in the robot which is supported for Payload
identification.

$PLID_GRP.$error_mgn

Minimum: 0 Maximum: 10000 Default: 200 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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 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: Changes to this variable take effect immediately.

$PLID_GRP.$est_tcmd[1-9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
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.

$PLID_GRP.$estdone

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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. It is set to TRUE when Payload estimation is completed. It is set to FALSE
when Payload calibration is re-executed and completed.

$PLID_GRP.$estexec

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Payload estimation executing flag
Description: For internal use only. Do not modify this system variable. When
Payload estimation starts, $estexec is set to TRUE. And while $estexec is
TRUE, torque command ($est_tcmd) is received from servo. When Payload
estimation finishes, $estexec returns to FALSE.

$PLID_GRP.$id_result[1-10]

Minimum: .0 Maximum: -0.1 Default: .0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Identification result.
Description: For internal use only. Do not modify this system variable. This
variable identifies the result of payload parameters. $id_result[1] -- payload
$id_result[2] -- payload_x $id_result[3] -- payload_y $id_result[4] -- payload_z
$id_result[5] -- payload_ix $id_result[6] -- payload_iy $id_result[7] --
payload_iz $id_result[8] -- armload 1 $id_result[9] -- armload 2 $id_result[10] --
armload 3

$PLID_GRP.$max_diff

Minimum: -1.0 Maximum: 1.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Difference from gravity 0 position to large side.
Description: For internal use only. Do not modify this system variable.
Payload identification uses the gravity moment that affects J2 axis in current
spec. So J2 axis must be in the position where gravity intends to affect. Both
$max_diff and $min_diff means broader position that identification works well.
And both of them are described in sine of axis. Concretely, if $min_diff < sin(J2
axis) < $max_diff, Payload identification will not work.

$PLID_GRP.$min_diff

Minimum: -1.0 Maximum: 1.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Difference from gravity 0 position to small side.
Description: For internal use only. Do not modify this system variable.
Payload identification uses the gravity moment that affects the J2 axis in
current spec. The J2 axis must be in the position where gravity intends to affect.
Both $max_diff and $min_diff means broader position that identification works
well. And both of them are described in sine of axis. Concretely, if $min_diff <
sin(J2 axis) < $max_diff, Payload identification will not work.

$PLID_GRP.$payload

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload of test work piece.
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
$PARAM_GROUP.$PAYLOAD and $GROUP.$PAYLOAD. This value is
based on the weight[kg] of test work piece.

$PLID_GRP.$payload_ix
Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload_ix of test work piece.
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
$PARAM_GROUP.$PAYLOAD_IX. This value is based on the inertia around
center of gravity[kgcm^2] of test work piece.

$PLID_GRP.$payload_iy

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload_iy of test work piece.
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
$PARAM_GROUP.$PAYLOAD_IY. This value is based on the inertia around
center of gravity[kgcm^2] of test work piece.

$PLID_GRP.$payload_iz

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload_iz of test work piece.
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
$PARAM_GROUP.$PAYLOAD_IZ. This value is based on the inertia around
center of gravity[kgcm^2] of test work piece.

$PLID_GRP.$payload_x

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload_x of test work piece.
Description: For internal use only. Do not 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
$PARAM_GROUP.$PAYLOAD_X. And this value is based on the center of
gravity[cm] of test work piece.

$PLID_GRP.$payload_y
Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload_y of test work piece.
Description: For internal use only. Do not 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
$PARAM_GROUP.$PAYLOAD_Y. And this value is based on the center of
gravity[cm] of test work piece.

$PLID_GRP.$payload_z

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload_z of test work piece.
Description: For internal use only. Do not 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
$PARAM_GROUP.$PAYLOAD_Z. And this value is based on the center of
gravity[cm] of test work piece.

$PLID_GRP.$tcmdsucc

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Success of torque command reception.
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
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.

$PLID_SV Structure

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: 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.

$PLID_SV.$armload1

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available 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, This $armload1 is set from $PARAM_GROUP.$armload[1]. If you turn
off the controller while you are modifying, $PARAM_GROUP.$armload[1], it is
recovered at the next hot start.

$PLID_SV.$armload2

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available 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[2] in Payload setup/identification
screen, this $armload2 is set from $PARAM_GROUP.$armload[2]. If you turn
off the controller while you are modifying, $PARAM_GROUP.$armload[2], it is
recovered at the next hot start.

$PLID_SV.$cal_pos_sav[1-9]

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

UIF: Not available CRTL: Not available Data Type: REAL
Name: Saved calibration position
Description: For internal use only. Do not modify this system variable. This
variable is used in Payload identification screen and calibration only. Before
executing calibration, $cal_pos_sav is set from $PLID_GRP.$cal_pos. If you
turn off the controller while you are modifying, $cal_pos is recovered from
$cal_pos_sav at the next hot start.

$PLID_SV.$cur_group

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
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.
$PLID_SV.$cur_scrn

Minimum: 1 Maximum: 4 Default: 1 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Current screen.
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.

$PLID_SV.$flag_save

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$PLID_SV.$no_recover

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Flag to show the necessity of power failure recovery .
Description: For internal use only. Do not modify this system variable. In
Payload identification/setup screen, when modification is completed,
$no_recover is set to TRUE. So $no_recover means the necessity of power
failure recovery. If $no_recover is TRUE, power failure recovery will not be
needed because any modification is completed when the controller is turned
OFF.

$PLID_SV.$payload

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved payload
Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP/$GROUP.$payload in the Payload
setup/identificati on screen, this $payload is set from $GROUP.$payload. If
power down in modifying, $PARAM_GROUP/$GROUP.$p ayload are
recovered at next hot start. And when F4, DEFAULT, is selected in the
Payload setup screen, then power down and power failure recovery is needed,
the all below parameters, $PARAM_GROUP.$payload_x -
$PARAM_GROUP.$armload[2], must be recovered with
$PARAM_GROUP/$GROUP.$payload.

$PLID_SV.$payload_ix

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved payload_ix
Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$payload_ix in the Payload setup/identification
screen, this $payload_ix is set from $PARAM_GROUP.$payload_ix. If you
turn off the controller while you are modifying, $PARAM_GROUP.$payload_ix
is recovered at the next hot start.

$PLID_SV.$payload_iy

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
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, this $payload_iy is set from $PARAM_GROUP.$payload_iy. If you
turn off the controller while you are modifying, $PARAM_GROUP.$payload_iy
is recovered at the next hot start.

$PLID_SV.$payload_iz

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved payload_iz
Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$payload_iz in the Payload setup/identification
screen, this $payload_iz is set from $PARAM_GROUP.$payload_iz. If you
turn off the controller while you are modifying, $PARAM_GROUP.$payload_iz
is recovered at the next hot start.

$PLID_SV.$payload_x

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved payload_x
Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$payload_x in the Payload setup/identification
screen, this $payload_x is set from $PARAM_GROUP.$payload_x. If you turn
off the controller while modifying, $PARAM_GROUP.$payload_x is recovered
at the next hot start.

$PLID_SV.$payload_y

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved payload_y
Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$payload_y in the Payload setup/identification
screen, this $payload_y is set from $PARAM_GROUP.$payload_y. If you turn
off the controller while modifying, $PARAM_GROUP.$payload_y is recovered
at the next hot start.

$PLID_SV.$payload_z

Minimum: 0.0 Maximum: 0.0 Default: 0.0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved payload_z
Description: For internal use only. Do not modify this system variable. Before
modifying $PARAM_GROUP.$payload_z in the Payload setup/identification
screen, this $payload_z is set from $PARAM_GROUP.$payload_z. If you turn
off the controller while modifying, $PARAM_GROUP.$payload_z is recovered
at the next hot start.

$PLID_SV.$pi_type

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

UIF: Not available CRTL: Not available Data Type: BYTE
Name: Payload Identification type.
Description: For internal use only. Do not modify this system variable. This
variable indicates which operation is executing in the Payload identification
screen at power down. It is used in only Payload identification screen. At hot
start and when $cur_scrn is 2, $pi_type is used to decide which data should be
recovered, calibration or estimation. -- 0 : Calibration -- 1 : Estimation

$PLID_SV.$result_sav[1-10]

Minimum: .0 Maximum: -0.1 Default: .0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: RO Data Type: REAL Memory: CMOS
Name: Saved identification result
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.

$PLID_SV.$save_done

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Flag to finish saving data for power failure recovery.
Description: For internal use only. Do not modify this system variable. In
Payload identification/setup screen, all current necessary data are saved
before modification. This variable is set to TRUE after finishing saving all data
to be saved. If $save_done is FALSE, power failure recovery, except screen
and group, will not be needed because any necessary data are not modified
when the controller is turned OFF.

$PLID_SV.$tcmd_save[1-9]

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

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Saved torque command
Description: For internal use only. Do not modify this system variable. This
variable is used in Payload identification screen only. Before executing
calibration or estimation, $tcmd_save is set from $PLID_GRP.$cal_tcmd or
$PLID_GRP.$est_tcmd. If the controller is turned OFF during calibration
execution or estimation, according to $pi_type, $cal_tcmd or $est_tcmd is
recovered from $tcmd_save at next hot start.

$PMON_LOGGER STRUCTURE

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: PC Monitor Event Logger Configuration
Description: This structure contains configuration information for the PC
Monitor 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: Requires a cold start to take effect.

$PMON_LOGGER.$FILTER

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: PMON logger filter mask
Description: The $FILTER field is used to determine what class of events will
be posted to the event logger. This integer is divided into 32 boolean bit fields.
Setting this integer to zero ( all FALSE ) disables event logging. The various bit
values are OR ed together. (Saved in SYSVARS.SV)
Power Up: Requires a cold start to take effect.

$PMON_LOGGER.$HOSTNAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: PMON logger hostname
Description: Contains information regarding the host system to connect to.
$HOSTNAME is the node name of the host (typically a PC, which PMON
connects to send alarms as they occur). The network node name referred to by
$HOSTNAME should be entered in the $HOSTENT system variable.
Power Up: Requires a cold start to take effect.

$PMON_LOGGER.$SERVEROK

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: PMON event logger Server OK flag
Description: $SERVEROK is used as a means to check if the PMON server
on the PC is up and running. PMON initializes it to TRUE. When a send fails, it
sets this variable to FALSE. When the connection is reestablished, the PC side
sets this variable to TRUE again . (Saved in SYSVARS.SV)
Power Up: Requires a cold start to take effect.

$PMON_LOGGER.$SERVNAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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.

$PMR STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Path Modification Record Route Correction Record Variable Delta Axis
Coordinate System
Description: Scheduled to be removed.
$PMR.$delta_axis[9]

Minimum: -100000. Maximum: 100000. Default: 0. KCL/Data: NO Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Path Modification Record Route Correction Record Variable for the
Delta Axis Coordinate System
Description: Scheduled to be removed Indicates the initial value of
positioning form.

$PMR_GRP[1] STRUCTURE

Minimum: -100000. Maximum: 100000. Default: 0. KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Description: Scheduled to be removed

$PMR_GRP[1].$delta_frame

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

NO Program: Not available UIF: NO CRTL: NO Data Type: POSITION
Memory: CMOS
Name: Delta Frame Coordinate System
Description: Scheduled to be removed. $deltaframe represents the positional
data needed to integrate the robot motion with an external sensor. The value of
$deltaframe is used to provide dynamic path modification by incorporating it
into path planning to change the nominal path. $deltaframe can be set based
on external sensor data, internal auxiliary axes positions (table coordinates), a
generated vector (for weaving applications), or by some other method. Its
value can be with respect to the world coordinate system or the user frame,
based on the application and on the value of $tframenum.

$PMR_GRP[1].$delta_speed

Minimum: -100000. Maximum: 100000. Default: 0. KCL/Data: NO Program:

Not available UIF: NO CRTL: NO Data Type: REAL Memory: CMOS
Name: Delta Speed
Description: Scheduled to be removed.

$PMR_GRP[1].$delta_tool

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

NO Program: Not available UIF: NO CRTL: NO Data Type: POSITION
Memory: CMOS
Name: Delta Tool Coordinate System
Description: Scheduled to be removed. $deltatool represents the position
change with respect to the tool frame based on external sensor data. The
value of $deltatool, is incorporated into path planning to change the nominal
path dynamically. Its value can be used with respect to the tool coordinate
system or the path relative coordinate system attached to the path trajectory
depending on the value of $ttoolnum. $ttoolnum can be set in a KAREL
program to determine the desired coordinate system. The difference between
cases -1 and -2 and cases -3 and -4 are as follows: In cases -1 and -2, the
direction of the x-vector of Path Relative Frame is pointing from the start
position of the segment to the destination position; while in cases -3 and -4, the
direction of the x-vector of Path Relative Frame is pointing from the destination
position of the segment to the start position.

$PMR_GRP[1].$delta_world

Minimum: MIN_POS Maximum: MAX_POS Default: DEF_POS KCL/Data:

NO Program: Not available UIF: NO CRTL: NO Data Type: POSITION
Memory: CMOS
Name: Delta World Coordinate System
Description: Scheduled to be removed

$PNS_CUR_LIN

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: Changes to this variable take effect immediately.
See Also: $PNS_END_EXE, $PNS_NUMBER, $PNS_TASK_ID

$PNS_END_CUR

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

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: Changes to this variable take effect immediately.

$PNS_END_EXE

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

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: Changes to this variable take effect immediately.
See Also: $PNS_CUR_LIN, $PNS_NUMBER, $PNS_TASK_ID

$PNS_NUMBER

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately.
See Also: $PNS_CUR_LIN, $PNS_END_EXE, $PNS_TASK_ID

$PNS_OPTION

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

UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
Name: PNS program select option
Description: This variable is set to TRUE when the Common Shell PNS
Option is enabled.
Power Up: na
See Also: na

$PNS_PROGRAM

Minimum: "" Maximum: "" Default: "PNS " KCL/Data: RW Program: Not
available 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).

$PNS_TASK_ID

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately.
See Also: $PNS_CUR_LIN, $PNS_END_EXE, $PNS_NUMBER

$POWERFL

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: Not available

UIF: NO CRTL: NO Data Type: BOOLEAN Memory: CMOS
Name: No longer used

$PPA_IO_IDX

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

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Mapped PPABN (Pneumatic pressure abnormal signal) I/O index
number
Description: Not used
Power Up: Changes take effect immediately.

$PPA_IO_TYPE

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Mapped PPABN (Pneumatic pressure abnormal signal) I/O type
Description: Not used
Power Up: Changes take effect immediately.

$PPA_MAP_ENB

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Mapped PPABN (Pneumatic pressure abnormal signal) is enabled
Description: Not used
Power Up: Changes take effect immediately.

$PRGADJ STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Program Adjust
Description: On-line position correction variables. Individual fields within this
structure are described below.

$PRGADJ.$next_cycle

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

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.

$PRGADJ.$p_limit

Minimum: 0 Maximum: 0x100000.0 Default: 0.5 KCL/Data: RW Program:

Not available 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).

$PRGADJ.$r_limit

Minimum: 0 Maximum: 0x100000.0 Default: 0.5 KCL/Data: RW Program:

Not available 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).

$PRGADJ.$speed_adj

Minimum: 0 Maximum: 200 Default: 100 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Program Adjust Speed Adjustment Min/max
Description: Movement speed correction value. Not currently used. When
implemented will define the maximum value that you can enter in the Program
Adjust menu for the Speed adjustment value. The default of 100 means the
program will run at programmed speed, 50 means at half the programmed
speed, 200 means twice the programmed speed, and so forth.

$PRGADJ.$w_limit

Minimum: 0 Maximum: 0x100000.0 Default: 0.5 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Program Adjust W Adjustment Min/max
Description: Defines the maximum value that you can enter in the Program
Adjust menu for the W adjustment value. The minimum W adjustment value
you can enter is -($PRGADJ.$w_limit).

$PRGADJ.$x_limit

Minimum: 0 Maximum: 0x100000.0 Default: 26.0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Program Adjust X Adjustment Min/max
Description: Defines the maximum value that you can enter in the Program
Adjust menu for the X adjustment value. The minimum X adjustment value you
can enter is -($PRGADJ.$x_limit).

$PRGADJ.$y_limit

Minimum: 0 Maximum: 0x100000.0 Default: 26.0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Program Adjust Y Adjustment Min/max
Description: Defines the maximum value that you can enter in the Program
Adjust menu for the Y adjustment value. The minimum Y adjustment value you
can enter is -($PRGADJ.$y_limit).

$PRGADJ.$z_limit

Minimum: 0 Maximum: 0x100000.0 Default: 26.0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Program Adjust Z Adjustment Min/max
Description: Defines the maximum value that you can enter in the Program
Adjust menu for the Z adjustment value. The minimum Z adjustment value you
can enter is -($PRGADJ.$z_limit).

$PRIORITY

Minimum: 0 Maximum: 255 Default: 128 KCL/Data: RW Program: Not

available 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 routines will interrupt each other, thereby executing in
reverse order from which they appear in the condition handler definition.

$PROTOENT STRUCTURE

Minimum: 0 Maximum: 255 Default: 128 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
Name: Protocol Entry
Description: An array of structures defining the available protocols on the
controller. Individual fields within this structure are described below.
Power Up: Requires a cold start to take effect.
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: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Protocol Name
Description: Name of an available protocol on the controller.
Power Up: Requires a cold start to take effect.
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: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Protocol Number
Description: Number associated with this particular protocol.
Power Up: Requires a cold start to take effect.
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.
Description: The default value is port 8080. Most proxy servers typically use
port 8080 as the default listening port.
Power Up: Takes effect Immediately

$PRPORT_NUM

Minimum: 3 Maximum: 4 Default: 4 KCL/Data: RW Program: Not available

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: No

$PURGE_ENBL

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Purge enabled
Description: Enables the purging of the FROM disk. If $PURGE_ENBL is set
to FALSE, the FROM disk cannot be purged. You can set $PURGE_ENBL to
FALSE before running a program or application which requires fast cycle time.

$PWF

Minimum: 1 Maximum: 4 Default: 4 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available
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
Power Up: This variable can be set at any time but has effect only at
power-up.
See Also: $SEMIPOWERFL
$PWFENBDO

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: NO Program: Not

available UIF: NO CRTL: NO Data Type: LONG Memory: CMOS
Name: No longer used

$PWR_HOT

Minimum: "" Maximum: "" Default: " " KCL/Data: NO Program: Not
available 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 used in the hot start program. The execution time for the
power hot program is limited to 5 seconds. This program should be used for
very limited functions only.

$PWR_NORMAL

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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: Changes to this variable take effect immediately.

$PWR_SEMI

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: 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: This can be set at any time but has effect only on power up
See Also: $SEMIPWFAIL

$PWR_UP_RTN STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
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 is as follows, an error is posted: Non exist one
TPE program KAREL built-in KAREL routine KAREL program which has
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

2.17 Q
$QSKIP_GRP[1-9].$error_cnt2[1]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Changes to this system variable take effect immediately.

$QSKIP_GRP[1] Structure

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: 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: Changes to these system variables take effect immediately.

$QSKIP_GRP[1].$qskp_curan(g,1-9)

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

available UIF: Not available CRTL: Not available Data Type: REAL
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: Changes to this system variable take effect immediately.

$QSKIP_GRP[1].$qskp_errcnt[1-9]

Minimum: 0 Maximum: 0x7fffffff Default: 0 KCL/Data: RW Program: Not

available UIF: Not available 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: Changes to this system variable take effect immediately.

2.18 R
$RA_PARAMGRP[1].$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.

If this is set to FALSE, the system will NOT modify the taught position even if it is inside
the singularity zone.

$RA_PARAMGRP[1].$use_wjnt

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: This is the choice of orientation control methods for singular motions.
Description: If this is set to TRUE, this function predicts a singularity for a
programmed motion. Then this function will use wrist joint motion to get rid of
the singularity. If this is set to FALSE, this function predicts a singularity for a
programmed motion. Then this function will use a new orientation control
method that minimizes orientation error for the motion if applicable.
$RA_PARAMGRP[1].$warnmessenb

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 variable used to enable the warning message display.
Description: If this is set to TRUE, the singularity avoidance function predicts
a singularity during programmed motion. During T1/T2 mode, the system will
post a warning message on teach pendant (which can also be seen in ALARM
history screen) to display the program line where singularity occurs. During
AUTO mode, no such a message can be seen. If this is set to FALSE, no
warning message will be displayed.

$RCVTMOUT

Minimum: 0 Maximum: 0x7FFF Default: 3000 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: RCV Instruction Time-out Time
Description: If RCV (Received data from V120) statement cannot get any
data from the V120 within the $RCVTMOUT time, the program jumps to the
specified LABEL statement. $RCVTMOUT is in units of 0.01 seconds.

$RE_EXEC_ENB

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: 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: Changes to this variable take effect immediately

$REFPOS1 STRUCTURE

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

available UIF: Not available CRTL: Not available
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.
See Also: $REFPOS2, $REFPOS3, $REFPOS4, $REFPOS5,
$REFPOSxx_T Structure

$REFPOS2 STRUCTURE
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not
available UIF: Not available CRTL: Not available
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.
See Also: $REFPOS1, $REFPOS3, $REFPOS4, $REFPOS5,
$REFPOSxx_T Structure

$REFPOS3 STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Reference Point (Group 3) Variable
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.
See Also: $REFPOS1, $REFPOS2, $REFPOS4, $REFPOS5,
$REFPOSxx_T Structure

$REFPOS4 STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Reference Point (Group 4) Variable
Description: Stores a set value of movement for group 4 at a reference point.
It is set automatically using the SETUP Reference Position screen.
$REFPOS4 uses the REFPOS41_T structure.
See Also: $REFPOS1, $REFPOS2, $REFPOS3, $REFPOS5,
$REFPOSxx_T Structure

$REFPOS5 STRUCTURE

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

available UIF: Not available CRTL: Not available
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.
See Also: $REFPOS1, $REFPOS2, $REFPOS3, $REFPOS4,
$REFPOSxx_T Structure

$REFPOSMAXNO[5]
Minimum: 1 Maximum: 10 Default: 1 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
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.

$REFPOSxx_T.$atperch

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Reference point position.
Description: Displays if there is a robot currently at reference point. xx
represents 11,21,31,41,51.

$REFPOSxx_T.$comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
Name: Comment
Description: Text providing additional information at the reference point. xx
represents 11,21,31,41,51.

$REFPOSxx_T.$dout_indx

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

Not available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Signal Number of Reference Point General-Purpos e Output
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.

$REFPOSxx_T.$dout_type

Minimum: 0 Maximum: 50 Default: 2 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Signal Form of Reference Point General-purpose Output
Description: Digital signal indicating there is a robot at reference point. xx
represents 11,21,31,41,51. Setting 2:Digital signal ( SDO ) and 8:Robot signal
( RDO )

$REFPOSxx_T.$enabled

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Reference Point Effective.
Description: Makes the function effective at reference point. xx represent
11,21,31,41,51.

$REFPOSxx_T.$homepos

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: The change to this system variable takes effect immediately.

$REFPOSxx_T.$perchpos[9]

Minimum: -1000000. Maximum: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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.

$REFPOSxx_T.$perchtol[9]

Minimum: -1000000. Maximum: 1000000. Default: 0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Perch Tolerance
Description: Range of error tolerance at a reference point position. This
variable sets the range of error tolerance of the coordinate value of the
reference point for each axis from the position. xx represents 11,21,31,41,51.

$REMOTE

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

Program: Not available 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.
$RESM_DRYPRG

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Description: This system variable contains program name. When there is a
request for resume, this program is runned before system is resumed.
Power Up: Change of this system variable effects immediately.There is no
need of Power off/on.
See Also: Function spec and design spec of VAG special dry run function.

$RESUME_PROG

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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. A KAREL "shell" program can access this string
during an error recovery process. This string typically contains 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: No

$RGSPD_PREXE

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

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.
Power Up: Changes to this variable take effect after power up.

$RMT_MASTER

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

Program: Not available 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.

$ROBOT_NAME

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Robot Name
Description: Specifies the application entity name that represents this node
on the network. Available only if the KSL, MOTET or MAP option has been
installed. Used only for MAP.
Power Up: Requires a cold start to take effect.
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:

Not available 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: Effective at cold start or when the PC client is reconnected.

$RPM_CFG STRUCTURE

Minimum: 0 Maximum: 0x7FFFFFFF Default: 120 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: RPM Configuration Record
Description: Variable structure containing configuration information for the
RPM. Individual fields within this structure are described below.

$RPM_CFG.$data_size

Minimum: 4 Maximum: 32 Default: 32 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.

$RPM_CFG.$debug
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW
Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Debug flag used in RPM
Description: Debug flag used in RPM.
Power Up: Effective immediately.

$RPM_CFG.$group_num

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: RPM Group Number
Description: Specifies in which group RPM is available.
Power Up: Requires a cold start to take effect.

$RPM_CFG.$n_buffers

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.

$RPM_GSB STRUCTURE

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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.

$RPM_GSB.$last_bfr

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RW Program: Not

available 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.

$RPM_GSB.$last_posn

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RW Program: Not

available 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.

$RPM_GSB.$last_prog

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Last Program Recorded
Description: The program that is the last one to use the RPM function.

$RPM_PG STRUCTURE

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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: Effective immediately

$RPM_PG.$buffer_no

Minimum: 1 Maximum: 32767 Default: 1 KCL/Data: RO Program: Not

available 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.

$RPM_PG.$pitch

Minimum: 0 Maximum: 1000 Default: 10 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: RPM Pitch Value
Description: Specifies how often RPM will record the offset into its buffer.
When the pitch mode is time, RPM records offset data into specified buffer
every $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: Effective immediately.
See Also: FANUC Robotics SYSTEM R-J3 Controller ArcTool Setup and
Operations Manual

$RPM_PG.$pitch_mode
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Pitch Mode used in RPM
Description: Specifies the RPM recording mode. 0 : distance 1 : time
Power Up: Effective immediately.

$RPM_PLAN STRUCTURE

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

available UIF: Not available CRTL: Not available
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.

$RPM_PLAN.$bfr_stat[5]

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

UIF: Not available CRTL: Not available Data Type: RPM_GSB_T
Name: Buffer Status Record
Description: The buffer status record for each group.

$RS232_CFG.$AUXTASK

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Internal task number
Description: Reserved for internal use by FANUC Robotics.
Power Up: Reserved

$RS232_CFG.$COMMENT

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Comment
Description: Text describing serial port use.
Power Up: No

$RS232_CFG.$CUSTOM

Minimum: 0x00000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Custom (reserved)
Description: Reserved for internal use by FANUC Robotics.
Power Up: Reserved
$RS232_CFG.$DEVICEUSE

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Device use
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

$RS232_CFG.$FLOWCONTROL

Minimum: 0x80000000 Maximum: 0x0FFFFFFF Default: 275 KCL/Data:

RO Program: Not available 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: Yes

$RS232_CFG.$PARITY

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Parity
Description: Parity used for serial port. None 1 Odd 2 Even 3
Power Up: Yes

$RS232_CFG.$SPEED

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Baud rate
Description: Baud rate used for serial port. 1200 baud 4 2400 baud 3 4800
baud 2 9600 baud 1
Power Up: Yes

$RS232_CFG.$STOPBITS

Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Stop bits
Description: Stop bits used for serial port. 1 stop bit 1 1.5 stop bits 2 2 stop
bits 3
Power Up: Yes
$RS232_CFG.$TIMEOUT

Minimum: 0 Maximum: 3600 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Time limit
Description: Internally used timeout limit.
Power Up: No.

$RS232_CFG[1-10] STRUCTURE

Minimum: 0 Maximum: 3600 Default: 0 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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: Yes
See Also: FANUC Robotics SYSTEM R-J3 Controller application-specific
Setup and Operations Manual

$RS232_NPORT

Minimum: 1 Maximum: 10 Default: 4 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Maximum number of serial ports
Description: This is the maximum number of serial ports that can be used by
the system. You must set this to the actual number of serial ports used, if it is
greater than four.
Power Up: Yes

$RSM_DIALM[1].$edge

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

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: Requires a cold start to take effect.

$RSM_DIALM[1].$port_num

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.
$RSM_DIALM[1].$port_type

Minimum: 1 Maximum: 99 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Port type of DI alarm
Description: It specifies the port type to be monitored for DI alarm.
Power Up: Requires a cold start to take effect.

$RSM_DIALM[1].$sev_alarm

Minimum: 1 Maximum: 2 Default: 1 KCL/Data: RW Program: Not available

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

$RSM_DIALM[1].$ualm_msg_no

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RW Program: Not

available 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

$RSM_DIALM[3] STRUCTURE

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
Name: DI alarm monitor function table.
Description: This system variable is used by DI alarm monitor feature in the
auto error recovery function.
Power Up: Changes to some variables take effect immediately and the other
system variables need cold/controlled start to do available.
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: Not

available 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: Takes effect by cold start
$RSMFST_SV STRUCTURE

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Resume Fast Fault
Description: Individual fields within this structure are listed below.

$RSMFST_SV.$def_maint

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available 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: Changes to this variable take effect immediately.

$RSMFST_SV.$fastdo_stat

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

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: Changes to this variable take effect immediately.

$RSMFST_SV.$ffast_dsp

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

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: Requires a cold start to take effect.

$RSMFST_SV.$ffast_enbl
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
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: Changes to this variable take effect immediately.

$RSMFST_SV.$use_dry_run

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: 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: Changes to this variable take effect immediately.

$RSMPRG_ALRM[1-10]

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

available UIF: Not available 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: Requires a cold start to take effect.

$RSMPRG_DSBL

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

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: Requires a cold start to take effect.

$RSMPRG_SV STRUCTURE

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

available UIF: Not available CRTL: Not available
Name: Error Recovery (Resume program) function data
Description: This system variable is used by error recovery function.
Power Up: Changes to some variables take effect immediately and the other
system variables need cold/controlled start to do available.

$RSMPRG_SV.$alarm_hapen

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Defined alarm happens
Description: This is the status parameter.
Power Up: Takes effect immediately
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:

Not available 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: Do not change.
See Also: Do not change this variable because of the internal data.

$RSMPRG_SV.$autorcv_enb

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Auto error recovery enable parameter for customer condition
Description: This is the status parameter.
Power Up: Takes effect immediately
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: Not available

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: Not available

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: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Current mode
Description: This is the status parameter.
Power Up: Takes effect immediately
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: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Resume program is defined ?
Description: This is the status parameter.
Power Up: Takes effect immediately
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: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Desired mode
Description: This is the status parameter.
Power Up: Takes effect immediately
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: Not available

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
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: Not

available UIF: RW CRTL: RW Data Type: RSMDIO_T Memory: CMOS
Name: Reset DI for incomplete end DO
Description: It shows the assignment of the incomplete reset DI
Power Up: Requires a cold start to take effect.

$RSMPRG_SV.$incomp_do

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.

$RSMPRG_SV.$max_count

Minimum: 0 Maximum: 100 Default: 2 KCL/Data: RW Program: Not

available 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

$RSMPRG_SV.$mo_group

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

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

$RSMPRG_SV.$mode

Minimum: 1 Maximum: 3 Default: 1 KCL/Data: RW Program: Not available

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

$RSMPRG_SV.$no_dsb_optn

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

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

$RSMPRG_SV.$no_step

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

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

$RSMPRG_SV.$num_alarm

Minimum: 0 Maximum: 20 Default: 10 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.
See Also: Do not set more than 32 to this data

$RSMPRG_SV.$num_di_alm

Minimum: 0 Maximum: 5 Default: 3 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Number of monitored DI alarm
Description: It means the number of DI alarm codes to be monitored.
Power Up: Requires a cold start to take effect.
See Also: Do not set more than 5 to this data

$RSMPRG_SV.$pxno_defprg

Minimum: 0 Maximum: 32 Default: 0 KCL/Data: RO Program: Not available

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Index number of register to count for continuous execution
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: Requires a cold start to take effect.

$RSMPRG_SV.$remote

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Remote condition
Description: This is the status parameter.
Power Up: Takes effect immediately
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: Not

available 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: Requires a cold start to take effect.

$RSMPRG_SV.$rsmprg_do

Minimum: MIN Maximum: MAX Default: DEF KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.

$RSMPRG_SV.$rsmprg_enb

Minimum: 1 Maximum: 3 Default: 2 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Original and resume program status
Description: This is the status parameter.
Power Up: Takes effect immediately
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: Not available

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Resume program DO status
Description: It means the resume program DO status
Power Up: Do not change.
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: Not available

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
See Also: This is internal parameter. Do not change this value.

$RSR[8]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
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: Changes to this variable take effect immediately.

$RSR_OPTION

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

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: na
See Also: na

2.19 S
$SA_IDX[1-2]

Minimum: MIN_SA_IDX Maximum: 1 Default: DEF_SA_IDX KCL/Data: RW

Program: Not available UIF: Not available 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: Takes effect upon Controlled Start

$SA_IDX[1].$dout[1]

Minimum: 1 Maximum: 255 Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Digital output port number
Description: The value define which digital output port will be turn on when
the position of the index device is within the tolerance of the specified index
position. This value will be automatically set when user load the index device
robot library.
Power Up: N/A
See Also: N/A

$SA_IDX[1].$dout_on[1-8]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: RO Data Type: BOOLEAN 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: Takes effect upon Controlled Start

$SA_IDX[1].$dout_on[1]

Minimum: FALSE Maximum: TRUE Default: FALSE KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
BOOLEAN
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
See Also: N/A

$SA_IDX[1].$dout_type[1-8]

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

available UIF: Not available 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 position. 1: Digital Output 2: device_net output. 3: PMC output.
Currently only digital outputs are supported.
Power Up: Takes effect upon Controlled Start

$SA_IDX[1].$dout_type[1]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
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
See Also: N/A

$SA_IDX[1].$group_num

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: 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
See Also: N/A

$SA_IDX[1].$index_tol

Minimum: 0 Maximum: 10 Default: 0.01 KCL/Data: RW Program: Not

available 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
See Also: N/A

$SA_IDX[1].$index_val[1]

Minimum: -1000000 Maximum: 100000 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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
See Also: N/A

$SA_IDX[1].$num_index
Minimum: 0 Maximum: 8 Default: 2 KCL/Data: RW Program: Not available
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
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
Power Up: Takes effect upon Controlled Start

$SACFG.$debug

Minimum: -100000000 Maximum: 100000000 Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Debug flag
Description: This variable is used internally by FANUC Robotic for software
debug purpose.
Power Up: N/A
See Also: N/A

$SACFG.$loop_time

Minimum: 8 Maximum: 2000 Default: 40 KCL/Data: RW Program: Not

available 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
See Also: N/A

$SBR[16] STRUCTURE

Minimum: 8 Maximum: 2000 Default: 40 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
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: Requires a cold start to take effect.

$SBR[i].$axis_num

Minimum: 0 Maximum: 16 Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$SBR[i].$grp_num

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Software Group Number
Description: Indicates to which motion group the hardware servo axis i is
connected.
Power Up: Requires a cold start to take effect.

$SBR[i].$mtr_id

Minimum: "" Maximum: "" Default: "123456789012345678" KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
STRING
Name: Motor ID String
Description: Motor identification string of the motor to which the hardware
servo axis i is connected.
Power Up: Requires a cold start to take effect.

$SBR[i].$mtr_inf_id

Minimum: "" Maximum: "" Default: "1234567890" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: Motor Information ID String
Description: Information string for the motor to which the hardware servo axis
i is connected.
Power Up: Requires a cold start to take effect.

$SBR[i].$param[151-300]

Minimum: -32768 Maximum: 32767 Default: 0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Servo Parameter
Description: List of servo parameters for hardware servo axis i.
Power Up: Requires a cold start to take effect.

$SBR[i].$sv_param_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: Servo Parameter ID String
Description: Servo parameter ID string for hardware servo axis i.
Power Up: Requires a cold start to take effect.

$SCAN_TIME

Minimum: 0 Maximum: 0x7FFF Default: 16 KCL/Data: RW Program: Not

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

$SCR STRUCTURE

Minimum: 0 Maximum: 0x7FFF Default: 16 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: System Configuration Record
Description: Displays the variable concerning system configuration.
Power Up: Set only during a controlled start.

$SCR.$amp_type[16]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
Name: Amplifier type
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: Set only during a controlled start

$scr.$brk_number[9]

Minimum: 0 Maximum: 8 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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: Setup only during controlled start

$SCR.$brkhold_enb

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Break Hold Enable
Description: Specifies whether or not to use the temporary stop alarm.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$cabinet_typ

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program: Not

available 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: Set only during a controlled start.

$SCR.$cap_amp_dis[16]

Minimum: 0.0 Maximum: 1000000.0 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
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: Changes take effect immediately.

$SCR.$chain_rsdn

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
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: Changes to this variable take effect immediately

$SCR.$chain_stat

Minimum: 0 Maximum: 10000 Default: 0 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately

$SCR.$chain_time

Minimum: 0 Maximum: 20000 Default: 1000 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately

$SCR.$chk_ch_sctm

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

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.
Power Up: Changes to this variable take effect immediately

$SCR.$coldovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Cold Start Override
Description: The speed override value on a cold start.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$cond_time

Minimum: 8 Maximum: 127 Default: 8 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Condition Time
Description: The condition handler scan time (in milliseconds).
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$coordovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program: Not

available 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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$dsp_type

Minimum: 0 Maximum: 100 Default: 3 KCL/Data: RO Program: Not

available 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
= 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.

$SCR.$dvc_c_ratio

Minimum: -1.0 Maximum: 1.0 Default: 0.004 KCL/Data: RO Program: Not

available 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
ratio of FDO by the value of this variable ($SCR.$dvc_c_ratio) to catch up with
the FDO input.

$SCR.$dvc_dbg

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Time Scale debug mode flag
Description: Time Scale function will print out the internal data on debug
console when the bit is set to 1.
$SCR.$dvc_enb

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Enable Time Scale
Description: TRUE : enable time scale. FALSE : disable time scale.
Compatible with motor speed limit used until V4.10P turned off for offset wrist
robots, dual drive, FlexTool.

$SCR.$dvc_mode

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Time Scale mode
Description: 0x1<0 : : velocity limit, ignored 0x1<1-5 : : reserved for future
enhancement. 0x1<6 : 1 : synchronize groups when velocity is reduced 0 : non
group synchronization 0x1<7 : 1 : perform Discharge current calculation 0 :
skip calculation/disable screen 0x1<8 : 1 : ignore time scale buffer for
inposition calculation. 0 : include time scale buffer for inposition calculation.

$SCR.$dvc_mode1

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Time Scale mode 1
Description: Reserved for future enhancement.

$SCR.$dvc_mode2

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Time Scale mode 2
Description: Reserved for future enhancement.

$SCR.$dvc_mode3

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 1 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Time Scale mode 3
Description: Upper limit of FDOs piled in filter mail box This restriction was
added to avoid timing problems caused by excessive FDO pile up.
$SCR.$enc_axis[2]

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

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Encoder Axis
Description: Used for line tracking. Specify which DSP axis is setup for line
tracking.
Power Up: Set only during a controlled start or in SETUP Encoder menu.
Requires a cold start to take effect.

$SCR.$enc_type[2]

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

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Encoder Type
Description: Used for line tracking. A O indicates incremental. A 1 indicates
absolute.
Power Up: Set only during a controlled start or in SETUP Encoder menu.
Requires a cold start to take effect.

$SCR.$fenceovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Fence Override
Description: The ceiling speed override value when the SFSPD signal is cut.
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$fine_pcnt

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program: Not

available 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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$fssb1[6]
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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

$SCR.$fssb2[6]

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

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

$SCR.$fssbdiagenb

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

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 FSSB diagnosis function : F Disable (default) When it is enabled,
current FSSB information is copied to $FSSB1/FSSB2 After FSSB diagnosis is
done, please set it to F.
Power Up: Changes to this variable take effect immediately

$SCR.$fwdenblovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RW Program: Not

available 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: Changes take effect immediately.

$SCR.$hw_c1_time1

Minimum: 0 Maximum: 32767 Default: 800 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: 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: Effective after cold start.

$SCR.$hw_c1_time2

Minimum: 0 Maximum: 32767 Default: 200 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: 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: Effective after cold start.

$SCR.$intask_ovru

Minimum: 0 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RW Program:

Not available 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.

$SCR.$itp_time

Minimum: 4 Maximum: 124 Default: 8 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS
Name: ITP Time
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: Not available

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: Set only during a controlled start

$SCR.$jog_aux_enb
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available
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: Changes to this variable take effect immediately

$SCR.$joglim

Minimum: 1 Maximum: 100 Default: 12 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Jog Limit
Description: The percentage of system maximum speed you can jog the
robot. It is set by the individual robot library to ensure ISO safety standards
(maximum speed of 250 mm/sec at TCP).
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$joglimrot

Minimum: 1 Maximum: 100 Default: 4 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Rotation Jog Speed Limit
Description: The percentage of maximum rotspeed applied during the
orientation jogging.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$jogovlim

Minimum: 1 Maximum: 100 Default: 100 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Jog Override
Description: The ceiling speed override value when you jog the robot. 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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$jogwst_mode

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Wrist jog mode selection.
Description: Selects wrist jog modes. When set to TRUE the selected wrist
jog function allows you to jog x, y, and z while maintaining the orientation of the
wrist. When set to FALSE, the wrist jog function allows you to jog x, y, and z
while fixing the wrist axes. In both cases, when you jog a wrist axis the other
wrist axes will remain stationary, and the rest of the robot axes will move to
accommodate the movement of the wrist axes.
Power Up: Changes take effect immediately.

$SCR.$kept_mirlim

Minimum: 1 Maximum: MBS_MIR_PG-2 Default: 5 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$kinem_enb

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

UIF: Not available CRTL: Not available Data Type: BYTE
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: Changes take effect immediately.

$SCR.$lchdly_time

Minimum: -1000 Maximum: 5000 Default: 0 KCL/Data: RW Program: Not

available 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: Changes take effect immediately.

$SCR.$made_pg_amr
Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program: Not available
UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of AMRs used in PG was made
Description: Not used
Power Up: Set only during a controlled start

$SCR.$made_pg_mir

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of MIRs used in PG was made
Description: Not used
Power Up: Set only during a controlled start

$SCR.$madegroups

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of groups made
Description: Not used
Power Up: Set only during a controlled start

$SCR.$madepgtasks

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Number of PG tasks made .
Description: Not used
Power Up: Set only during a controlled start

$SCR.$max_pre_fdo

Minimum: 0 Maximum: 10 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Max Pre-planned FDOs
Description: This integer variable gives the number of pre-planned motion
FDOs that the system will send, while waiting for the motion to start. It is used
by the motion system to cut the delay time by one interpolation period when
starting a motion from a full stop. A zero value disables the pre-planning. The
default is 1. Higher values of $max_pre_fdo will not give any additional delay
reduction and are allowed only for future expansion.
Power Up: Set only during a controlled start.

$SCR.$maxnumtask
Minimum: 0 Maximum: 14 Default: 1 KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Maximum Number of Tasks
Description: The maximum number of user programs which can be run
simultaneously.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$maxnumufram

Minimum: 1 Maximum: 9 Default: 9 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Maximum Number of User Frames
Description: Displays the total number of user frames the coordinate system
can register.
Power Up: Set only during a controlled start.

$SCR.$maxnumutool

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

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Maximum Number of Tool Frames
Description: Displays the total number of tool frames the coordinate system
can register.
Power Up: Takes effect after a controlled start.

$SCR.$maxpreapl

Minimum: 0 Maximum: 10 Default: 3 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Max Pre-planned Application
Description: The maximum number of application instructions that the system
can pre-plan.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$maxpremtn

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$mb_dsbl_msk

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RW Program: Not

available 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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$mb_ld_msk

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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: Set only during a controlled start

$SCR.$motn_ld_idx[1-32]

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

UIF: Not available CRTL: RO Data Type: BYTE Memory: CMOS
Name: Motion Softpart Load Index
Description: Internal variable which indicates which slot is loaded with which
softpart.

$SCR.$motn_ld_msk

Minimum: 0 Maximum: 1000000 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: 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: Set only during a controlled start

$SCR.$motn_pc_run[1-32]

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

UIF: Not available CRTL: RO Data Type: BYTE Memory: CMOS
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: Set only during a controlled start.

$SCR.$ne_mode

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

Program: Not available 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.
Power Up: Requires a cold start to take effect.

$SCR.$ne_sin_reso

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 1 KCL/Data: RW

Program: Not available 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: Requires a cold start to take effect.

$SCR.$num_dsp_axs

Minimum: 0 Maximum: 16 Default: 6 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Number of DSP Axes
Description: The number of DSP axes supported by servo hardware on the
system.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$num_gp_made

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RO Program: Not available

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: Set only during a controlled start.
$SCR.$num_group

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Number of Motion Groups
Description: The number of motion groups installed in the system. A robot
and extended axes are considered one motion group. Additional groups can
be installed to allow concurrent or independent group motion.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$num_motnsoc

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

Not available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Number of Motion Softpart Sockets
Description: Reserved for internal use by FANUC Robotics. The number of
motion softparts that have been plugged into the motion case socket.
Power Up: Set only during a controlled start.

$SCR.$num_pg_amr

Minimum: 1 Maximum: MBS_MIR_PG Default: 10 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Maximum number of AMR
Description: The number of AMR should be created by the system to be used
for Program.
Power Up: Set only during a controlled start

$SCR.$num_pg_mir

Minimum: 1 Maximum: 40 Default: 20 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$num_rlibsoc

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
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: Set only during a controlled start.

$SCR.$num_sys_mir

Minimum: 3 Maximum: MBS_MIR_SYS Default: 10 KCL/Data: RO

Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory:
CMOS
Name: Number of System MIRs
Description: Total number of system MIRs (Motion Instruction Records)
which exist per motion group. System MIRs are used by all motion sources
except programs.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$num_tot_axs

Minimum: 0 Maximum: 16 Default: 6 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Number of Total Axes
Description: The total number of all axes, for all groups, installed in the
system.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$ofstincval

Minimum: -1000 Maximum: 1000 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Offset Register Incremental Number
Description: The increment number with new TPE offset execution.
Power Up: Set only during a controlled start.

$SCR.$pg_dsbl_msk

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

Not available 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: Changes to this variable take effect immediately.

$SCR.$pre_exe_enb
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$pre_mb_cmp

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

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: Set only during a controlled start.

$SCR.$prev_ctrl

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Previous Start State is Control Start
Description: Reserved for internal use by FANUC Robotics. This variable
specifies whether or not the previous start state is a control start.
Power Up: Set only during a controlled start.

$scr.$proc_axs

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Process control axis
Description: Process control axis: T -> Process Control axis
Power Up: Changes to this variable take effect immediately

$SCR.$proc_ctrl

Minimum: 0 Maximum: 1000 Default: 0 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately

$SCR.$recov_ovrd
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: When Open Fence is Closed Whether or Not to Restore the Override
Description: If set to TRUE and the open fence is closed, this variable
restores the override.
Power Up: Changes take effect immediately.

$SCR.$resetinvert

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Reset Signal Inverted
Description: If set to TRUE, the rising edge of the reset signal is used.
Power Up: Changes take effect immediately.

$SCR.$runovlim

Minimum: 1 Maximum: 100 Default: 50 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Program Run Speed Limit
Description: The ceiling speed override value when you execute a program. 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: Changes take effect immediately.

$SCR.$sfjogovlim

Minimum: 1 Maximum: 100 Default: 50 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Safety Jog Speed Limit
Description: The ceiling speed override value when you jog the robot while
the SFSPD signal is turned off. 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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$sfrunovlim

Minimum: 1 Maximum: 100 Default: 30 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Program Run Override Limit
Description: The ceiling speed override value when you execute a program
while the SFSPD signal is turned off. 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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$sfspd_ovrd[2]

Minimum: 0 Maximum: 100 Default: 50 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Safety Override
Description: The override value when the SFSPD signal is turned off.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$subcpu

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

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.

$SCR.$sv_code_opt

Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Servo Code Option
Description: The servo code option.
Power Up: Set only during a controlled start.

$SCR.$svstat

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

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: Set only during the first controlled start.

$SCR.$tpenbleovrd

Minimum: 1 Maximum: 100 Default: 10 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR.$tpmotnenabl

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

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Teach Pendant Motion Enable
Description: Disables jogging if set to 1.
Power Up: Changes take effect immediately.

$SCR.$turn_axis[1]

Minimum: 0 Maximum: 9 Default: 4 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$SCR.$turn_axis[2]

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$SCR.$turn_axis[3]

Minimum: 0 Maximum: 9 Default: 6 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$SCR.$update_map1
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 33 KCL/Data: RW
Program: Not available 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: Requires a cold start to take effect.

$SCR.$update_map2

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 1 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: update map 2
Description: Each bit means update status of each modification Do not
change this system variable.
Power Up: Effective after COLD start

$SCR.$update_time

Minimum: 0 Maximum: 100000 Default: 80 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Inertia calculation update time
Description: The interval time for performing inertia/moment calculations. The
unit is msec.
Power Up: Set only during a controlled start

$SCR_GRP STRUCTURE

Minimum: 0 Maximum: 100000 Default: 80 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: Group System Configuration Record
Description: System configuration record for each group.
Power Up: Some fields in this structure will take effect immediately. Some can
only be set at a controlled start.

$SCR_GRP.$turn_axis[1]

Minimum: 0 Maximum: 9 Default: 4 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.
$SCR_GRP.$turn_axis[2]

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$SCR_GRP.$turn_axis[3]

Minimum: 0 Maximum: 9 Default: 6 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
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: Requires a cold start to take effect.

$SCR_GRP[1].$arm_type

Minimum: 0 Maximum: 20 Default: 0 KCL/Data: RO Program: Not available

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 15 = right
coordinates robot with normal arm length RIGHT_EXTEND 16 = right
coordinates robot with extended 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 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: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
Name: Axis Order
Description: A mapping array from the software axis index to servo hardware
registers. It indicates which axis is controlled by a particular servo 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: Set only during a controlled start.

$SCR_GRP[1].$axs_amp_num[1-2]

Minimum: 0 Maximum: 16 Default: 1 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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[5-6]

Minimum: 0 Maximum: 16 Default: 3 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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[7-9]

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
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: Set only during a controlled start. Requires a cold start to take
effect.

$SCR_GRP[1].$brk_number[9]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
Name: Brake Number
Description: Defines the brake number associated with the axis.
Power Up: Set only during a controlled 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: Not available 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: Set only during a controlled start.

$SCR_GRP[1].$coord_mask

Minimum: 0 Maximum: 32767 Default: 27 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Mask for Available Jog Coordinate Frames
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: Changes take effect immediately.

$SCR_GRP[1].$dd_motor[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Direct Drive Motor
Description: Indicates the axis uses a direct drive motor, if set to TRUE. Not
supported in this release.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$dest_data_p[8]

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
Name: MIR pointer for Distance Before
Description: When SFMTIME is loaded, Pointer of MIR is set.
Power Up: Effective immediately

$SCR_GRP[1].$dpos_dst

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

Not available 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: Effective immediately

$SCR_GRP[1].$dsp_ercnt[9]

Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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: Effective immediately

$SCR_GRP[1].$dst_mir_p

Minimum: 0x80000000 Maximum: 0x07FFFFFFF Default: 0 KCL/Data: RO

Program: Not available 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: Effective immediately

$SCR_GRP[1].$ext_length[3]

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Extended Axis Length
Description: Defines the link length of the extended axis.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$ext_offset[3]

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Extended Axis Offset
Description: Defines the joint offset (in mm) of the extended axis.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$ext_order[3]

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$ext_xyz_map[3]
Minimum: 0 Maximum: 3 Default: 0 KCL/Data: RO Program: Not available
UIF: Not available CRTL: Not available Data Type: BYTE
Name: Extended Axis Cartesian Map
Description: For integrating an extended axis to the robot for coordinated
Cartesian motion. $ext_xyz_map defines if the axis corresponds to the x, y, or
z robot base coordinate frame and linear axes. For rotary axes, $ext_xyz_map
defines the axis of rotation of the rotary axis. 0 = no map 1 = x axis 2 = y axis 3
= z axis
Power Up: Set only during a controlled start.

$SCR_GRP[1].$flextooltyp

Minimum: 0 Maximum: 100 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS
Name: FlexTool Type
Description: A value more than 0 means that this group is a FlexTool Robot.
Power Up: FlexTool robot set up program set this during Controlled start.

$SCR_GRP[1].$hw_strt_axs

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

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: Set only during a controlled start.

$SCR_GRP[1].$joglim_jnt[9]

Minimum: 0 Maximum: 100 Default: 12 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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: Set only during a controlled start.

$SCR_GRP[1].$kinem_enb

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

UIF: RW CRTL: RW Data Type: BYTE 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: Changes to this variable take effect immediately. You should not
change this variable.

$SCR_GRP[1].$link_length[6]

Minimum: 0. Maximum: 100000. Default: 0. KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Robot Link Length
Description: Reserved for internal used by FANUC Robotics. This variable is
used in the Kinematic calculation for certain robots.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$loadratio[9]

Minimum: 0. Maximum: 15. Default: 0. KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Load Ratio
Description: Defines the ratio between the external load inertia and the motor
inertia.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$m_dst_enb

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

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. It starts to accumulate when it is enabled. : T
Enable : F Disable
Power Up: Effective immediately

$SCR_GRP[1].$m_pos_enb

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

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: Effective immediately

$SCR_GRP[1].$mch_ang[9]
Minimum: -10000000. Maximum: 10000000. Default: 0. KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Effective immediately

$SCR_GRP[1].$move_dst

Minimum: 0.0 Maximum: 10000000.0 Default: 0. KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Moving distance accumulation
Description: When $M_DST_ENB = T, accumulation of TCP moving distance
is set
Power Up: Effective immediately

$SCR_GRP[1].$num_axes

Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

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: Set only during a controlled start.

$SCR_GRP[1].$num_dual

Minimum: 0 Maximum: MAX_NUM_DUAL Default: 0 KCL/Data: RW

Program: Not available 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: Set only during a controlled start.

$SCR_GRP[1].$num_pt

Minimum: 0 Maximum: 22 Default: 14 KCL/Data: NO Program: Not

available UIF: NO CRTL: NO Data Type: BYTE Memory: CMOS
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: Set only during a controlled start.

$SCR_GRP[1].$num_rob_axs
Minimum: 0 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available
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: Set only during a controlled start.

$SCR_GRP[1].$num_seg

Minimum: 0 Maximum: 10 Default: 6 KCL/Data: NO Program: Not available

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: Set only during a controlled start.

$SCR_GRP[1].$ofst[9] STRUCTURE

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

UIF: Not available CRTL: Not available Data Type: AX_OFS_T
Name: Axis Offset Variable Structure
Description: Defines the offsets (in mm) between neighboring axes.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR_GRP[1].$ofst[9].$X

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

Program: Not available UIF: RW CRTL: RW Data Type: AX_OFS_T
Memory: CMOS
Name: Axis Offset
Description: Defines the offsets (in mm) between neighboring axes.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR_GRP[1].$ofst[9].$Y

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

Program: Not available UIF: RW CRTL: RW Data Type: AX_OFS_T
Memory: CMOS
Name: Axis Offset
Description: Defines the offsets (in mm) between neighboring axes.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.
$SCR_GRP[1].$ofst[9].$Z

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

Program: Not available UIF: RW CRTL: RW Data Type: AX_OFS_T
Memory: CMOS
Name: Axis Offset
Description: Defines the offsets (in mm) between neighboring axes.
Power Up: Set only during a controlled start. Requires a cold start to take
effect.

$SCR_GRP[1].$op_brk_num[9]

Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
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: No

$SCR_GRP[1].$robot_id

Minimum: "" Maximum: "" Default: "12345678901234567890" KCL/Data:

RO Program: Not available UIF: RO CRTL: RO Data Type: STRING
Memory: CMOS
Name: Robot Identification
Description: Defines the robot identification string.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$robot_model

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Robot Model
Description: Defines the robot model string.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$rotary_axs[9]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Rotary Axis
Description: Indicates the axis is rotary, if set to TRUE; otherwise, it is a linear
axis.
Power Up: Set only during a controlled start.
$SCR_GRP[1].$sv_code_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Servo Code Identification
Description: Defines the servo code identification string.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$sync_m_axis

Minimum: 1 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Synchronous Master Axis (not supported)
Description: Indicates which robot axis motor has been designated as the
master axis for robot models with dual drive (synchronous) control. Not
supported in this release.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$sync_s_axis

Minimum: 1 Maximum: 9 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Synchronous Slave Axis (not supported)
Description: Indicates which robot axis motor has been designated as the
slave axis for robot models with dual drive, or synchronous, control. Not
supported in this release.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$update_map

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 9 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: update map
Description: Each bit means update status of the modification for this group.
Do not change this system variable.
Power Up: Requires a cold start to take effect.

$SCR_GRP[1].$use_tbcart

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Turbo Move Switch for Cartesian Motion
Description: If set to TRUE, the Cartesian (linear and circular) turbo move
softpart is used for the motion system. If set to FALSE, the Cartesian standard
short move softpart is used for the motion system. This flag is initialized during
robot library initialization.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$use_tbjnt

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Turbo Move Switch for Joint Motion
Description: If set to TRUE, the Joint turbo move softpart is used for the
motion system. If set to FALSE, the Joint standard short move softpart is used
for the motion system. This flag is initialized during robot library initialization.
Power Up: Can be set at any time.

$SCR_GRP[1].$wrist_type

Minimum: 0 Maximum: 20 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Wrist Type
Description: Defines the type of wrist and the number of robot axes used with
that wrist. The meanings associated with the values 0 through 9 depend on
which robot is being described: NORMAL_WRIST 0 = normal wrist
F_FORWARD 1 = F forward wrist F_DOWN 2 = F down wrist E_FORWARD 3
= E forward wrist E_DOWN 4 = E down wrist NO_WRIST 5 = no wrist
F_FORWARD_HS 6 = high speed F forward wrist F_DOWN_HS 7 = high
speed F down wrist E_FORWARD_HS 8 = high speed E forward wrist
E_DOWN_HS 9 = high speed E down wrist INLINE 10 = in line wrist OFFSET
11 = offset wrist INLINE_HS 12 = high speed in line wrist OFFSET_HS 13 =
high speed offset wrist
Power Up: Set only during a controlled start.

$SCR_GRP[1].$wrst_axis_e

Minimum: 1 Maximum: 9 Default: 6 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Wrist Axis End
Description: The axis number of the last wrist axis. For a 6 axis robot, this is
normally 6.
Power Up: Set only during a controlled start.

$SCR_GRP[1].$wrst_axis_s

Minimum: 1 Maximum: 9 Default: 4 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Wrist Axis Start
Description: The axis number of the first wrist axis. For a 6 axis robot, this is
normally 4.
Power Up: Set only during a controlled start.

$SEL_DEFAULT

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

available 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.
See Also: $KAREL_ENB, $JOBPROC_ENB

$SEMIPOWERFL

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Enable semi-hot start power-fail recovery
Description: If $SEMIPOWERFL is TRUE, TPP programs which running or
paused when the controller is powered-down are in paused state and 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: This variable can be set at any time but has effect only at
power-up.
See Also: $SEMIPWFDO, $PWR_SEMI, $PWF_IO

$SEMIPWFDO

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
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: This variable can be set at any time but has effect only at
power-up.
See Also: $SEMIPOWERFL
$SERVENT[1-2] STRUCTURE

Minimum: 0 Maximum: 256 Default: 0 KCL/Data: Not available Program:

Not available UIF: Not available CRTL: Not available
Name: Server Entry
Description: An array of structures defining the Internet Protocol Services.
Individual fields within this structure are described below.
Power Up: Requires a cold start to take effect.
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: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Service name
Description: Identifies the service.
Power Up: Requires a cold start to take effect.
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: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Port
Description: Port number associated with this service.
Power Up: Requires a cold start to take effect.
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: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Server Protocol
Description: Name of the Protocol associated with this service.
Power Up: Requires a cold start to take effect.
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: " " Default: "SVCPRG1 " KCL/Data: RO Program:
Not available UIF: Not available 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 program is executed through these KAREL programs. The number
of the array[16], indicates the number of PX task. The RESUME PROGRAM
for PX task 1 is executed through SVCPRG_1.PC.
Power Up: Changes to this variable take effect immediately.

$SERVICE_KRL[1-5]

Minimum: "" Maximum: "" Default: "SVCPRG_[1-5] " KCL/Data: RO

Program: Not available UIF: Not available CRTL: Not available Data Type:
STRING
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: Changes to this variable take effect immediately.

$SERVICE_PRG[1-16]

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available 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 is executed, the specified program is assigned to this variable. The
length of the array[16], indicates the number of PX tasks.
Power Up: Changes to this variable take effect immediately.

$SFLT_WAILIM

Minimum: 0 Maximum: 2000 Default: 1000 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Waiting limiter for SOFTFLOAT ON
Description: Waiting limiter for SOFTFLOAT ON [ms]
Power Up: Changes to this variable take 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 set s the pushing depth during force calibration
Description: This variable determines whether pushing depth is automatically
calculated during force calibration. If $SGSYSCFG.$auto_calpus ==FALSE,
then you have to enter the pushing depth manually. If
$SGSYSCFG.$auto_calpus ==TRUE, then the pushing depth is estimated
based on data from tuning.
Power Up: Takes effect Immediately

$SHELL_CFG STRUCTURE

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

available UIF: Not available CRTL: Not available
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: Yes

$SHELL_CFG.$COM_TIMEOUT

Minimum: 0 Maximum: 99999 Default: 1000 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Communication timeout

$SHELL_CFG.$CONT_ONLY

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

UIF: RW CRTL: RW Data Type: BOOLEAN 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 START can only continue a paused program, and has no effect if no
program is running.

$SHELL_CFG.$ERR_REPORT

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Error Report
Description: A report containing the errors that occurred.

$SHELL_CFG.$ext_sem1

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$ext_sem2

Minimum: 0 Maximum: 99 Default: 0 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$extend_enb

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RW Program: Not available UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
Name: Enable KAREL extension logic
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: na
See Also: na

$SHELL_CFG.$init_tmo

Minimum: 0 Maximum: 180 Default: 30 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$isol_enb

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

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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$JOB_BASE

Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program: Not

available 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.

$SHELL_CFG.$JOB_ROOT

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program: Not
available 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.

$SHELL_CFG.$karel_sop

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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).

$SHELL_CFG.$karel_uop

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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.

$SHELL_CFG.$maint_styl

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

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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$manrq_tmo

Minimum: 0 Maximum: 600 Default: 30 KCL/Data: RW Program: Not

available 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: Requires a cold start to take effect
See Also: na

$SHELL_CFG.$num_rsr[4]

Minimum: 0 Maximum: 9999 Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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 input signals therefore the sum of all $num_rsr array
elements cannot exceed 8. This sysvar is not used for a single tasking RSR
system 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.

$SHELL_CFG.$OPTIONS

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RW Program: Not available UIF: RW CRTL: RW Data Type:
INTEGER Memory: CMOS
Name: Options

$SHELL_CFG.$PNS_ENABLE

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: 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: Requires a cold start to take effect.

$SHELL_CFG.$prod_mode

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

Not available 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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$PRODSTARTYP

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

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Production start type

$SHELL_CFG.$QUE_ENABLE

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Queue Enable

$SHELL_CFG.$RSR_ACK_PUL

Minimum: 0 Maximum: 9999 Default: 400 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: RSR Acknowledgement Pulse Length
Description: Defines the length of the pulse sent out on ACK1-ACK4 when
$SHELL_CFG.$rsr_ackenbl = TRUE.

$SHELL_CFG.$RSR_ACKENBL

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

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.

$SHELL_CFG.$rsr_enable[4]

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

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: RSR enable

$SHELL_CFG.$RSR1_NAME

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program: Not
available 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.

$SHELL_CFG.$RSR2_NAME

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: RSR2 Name
Description: Not currently used. This is the name of the job that will be run
when RSR2 is detected.

$SHELL_CFG.$RSR3_NAME

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program: Not
available 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.

$SHELL_CFG.$RSR4_NAME

Minimum: "" Maximum: "" Default: "RSR " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: RSR4 Name
Description: Not currently used. This is the name of the job that will be run
when RSR4 is detected.

$SHELL_CFG.$sel_type

Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Program selection type
Description: Specifies the program selection option: 0=RSR, 1=PNS, 2=Style
table, 9=custom.
Power Up: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$shell_ext

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Extended Shell Support
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: Requires a cold start to take effect.
See Also: na

$SHELL_CFG.$SHELL_NAME

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

$SHELL_CFG.$TPFWD_KAREL
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
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).

$SHELL_CFG.$UOP_SEL_STA

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: PNS Selected Program
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.

$SHELL_CFG.$USE_ABORT

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

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.

$SHELL_CHK[1].$enable

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Shell startup check enable
Description: TRUE enables this check when initially running a program.
Power Up: na
See Also: na

$SHELL_CHK[1].$errpost

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Shell startup check post error
Description: #If TRUE and the check ultimately fails, an error message is
posted.
Power Up: na
See Also: na

$SHELL_CHK[1].$force

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Shell startup check force
Description: If TRUE, the shell will force the condition to the proper state (e.g.,
set the speed override to 100%). This is not available for all checks.
Power Up: na
See Also: na

$SHELL_CHK[1].$prompt

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Shell startup check prompt
Description: If TRUE and the check fails, the user will be prompted for what
action to take. Depending on the specific check, the options can be to force the
condition, ignore it, recheck, or abort the program startup.
Power Up: na
See Also: na

$SHELL_CHK[1].$resume

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

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Shell startup check resume
Description: TRUE enables this check when continuing a paused program.
Power Up: na
See Also: na

$SHELL_CHK[1].$warn

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

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: na
See Also: na
$SHELL_CHK[16]

Minimum: na Maximum: na Default: na KCL/Data: na Program: Not

available UIF: Not available CRTL: Not available Data Type: STRUCTURE
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
See Also: na

$SHELL_COMM

Minimum: MIN_SHELL_WRK Maximum: MAX_SHELL_WRK Default:

DEF_SHELL_WRK KCL/Data: RW Program: Not available UIF: RW CRTL:
RW Data Type: SHELL_COMM_T Memory: CMOS
Name: Shell Communication
Description: These variables are used to communicate between the C Shell
and KAREL Extension Shell.
Power Up: na
See Also: na

$SHELL_COMM.$func

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RO Program: Not available UIF: RO CRTL: RO Data Type:
INTEGER Memory: CMOS
Name: Shell function code (Internal use only)
Description: Function code from C to KAREL Extension Shell
Power Up: na
See Also: na

$SHELL_COMM.$parm1

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RO Program: Not available 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
See Also: na

$SHELL_COMM.$parm2
Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000
KCL/Data: RO Program: Not available 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
See Also: na

$SHELL_COMM.$parm3

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RO Program: Not available UIF: RO CRTL: RO Data Type:
INTEGER Memory: CMOS
Name: Shell parameter 3 (Internal use only)
Description: Parameter between C and KAREL extension shells.
Power Up: na
See Also: na

$SHELL_COMM.$parm4

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RO Program: Not available 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: na
See Also: na

$SHELL_COMM.$status

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: RO Program: Not available UIF: 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: na
See Also: na

$SHELL_WRK STRUCTURE

Minimum: 0x00000000 Maximum: 0xFFFFFFFF Default: 0x00000000

KCL/Data: Not available Program: Not available UIF: Not available CRTL:
Not available
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: Yes

$SHELL_WRK.$by_manual

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

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Cursor Moved Manually
Description: Indicates that you has manually moved the cursor in the edited
program.

$SHELL_WRK.$chk_force

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available 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: na
See Also: na

$SHELL_WRK.$chk_ignore

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available 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: na
See Also: na

$SHELL_WRK.$chk_raw

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data 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: na
See Also: na

$SHELL_WRK.$chk_stat
Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:
Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Final pre-startup checks
Description: A bit-mask that indicates the final status of the pre-startup
checks. If this is non-zero, then the program did not start or continue
Power Up: na
See Also: na

$SHELL_WRK.$cur_decsn

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Current decision code
Description: Current value of the decision code as read at the time that the
current style #program was initiated.
Power Up: na
See Also: na

$SHELL_WRK.$cur_opta

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Current option A 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: na
See Also: na

$SHELL_WRK.$cur_optb

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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: na
See Also: na

$SHELL_WRK.$cur_optc

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Current option C 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: na
See Also: na

$SHELL_WRK.$cur_option

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: current option
Description: (not currently used)
Power Up: na
See Also: na

$SHELL_WRK.$cur_style

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Current style
Description: Current style program number.
Power Up: na
See Also: na

$SHELL_WRK.$curr_line

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
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: Yes

$SHELL_WRK.$cust_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Custom program name
Description: When using the "custom" program start option
($SHELL_CFG.$SEL_MODE = 9), this string must be initialized with the name
of the program to run when the production start signal is received by the shell.
Power Up: Retains last value.
See Also: na

$SHELL_WRK.$isol_mode
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Isolate mode
Description: TRUE if the controller is in "isolated" and FALSE if it is
"interlocked". Only valid if interlock/isolate mode support is enabled.
Power Up: na
See Also: na

$SHELL_WRK.$karel_iouop

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: KAREL UOP control
Description: If TRUE and KAREL_UOP=TRUE then KAREL controls UOP
INS, and the system will do ATPERCH.
Power Up: na
See Also: na

$SHELL_WRK.$man_decsn

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data 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: na
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:

Not available 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: na
See Also: na

$SHELL_WRK.$man_optb
Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:
Not available 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: na
See Also: na

$SHELL_WRK.$man_optc

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: na
See Also: na

$SHELL_WRK.$man_option

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
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: na
See Also: $SHELL_WRK.$MAN_OPTA, $SHELL_WRK.$MAN_OPTA,
$SHELL_WRK.$MAN_OPTA, $SHELL_WRK.$MAN_STYLE,
$SHELL_WRK.$MAN_DECSN

$SHELL_WRK.$man_style

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Manual style
Description: Manual style program number.
Power Up: na
See Also: na

$SHELL_WRK.$rout_name
Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Current Routine
Description: Name of the routine which is currently being edited. This might
not be the same as $TP_DEFPROG. When the teach pendant system goes
into a subroutine, $TPDEFPROG is not set but this variable will be.
Power Up: Yes

$SHELL_WRK.$shell_start

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Shell Start
Description: Not currently used.

$SHELL_WRK.$strtchk_ept

Minimum: 0 Maximum: 0xFFFF Default: 0xFFFF KCL/Data: RW Program:

Not available 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.

$SHELL_WRK.$strtchk_lin

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available 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 Yes to the question that ’Are you sure to start?’, the current line
number is saved in this variable. This variable is used to check if it is possible
to start or not at the next start.

$SHELL_WRK.$task_num

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RO Program:

Not available 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: Yes

$SHELL_WRK.$wrk_busy
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Work Busy
Description: Not currently used.

$SHFTOV_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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.

$SPOTAPCOUPL[1].$coupled_eq[1-5]

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

UIF: Not available CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Spottool application equipment coupling
Description: This variable defines the equipment number that gets activated
when the group number is changed. For example if group 1 is selected and
$SPOTAPCOUPL[1].$coupled_eq[1] = TRUE, then equipment number 1 will
be activated..
Power Up: Takes effect Immediately

$SPOTWELDIO[1].$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 is edge based.
$SPOTWELDIO[1].$lvl_comp=TRUE means that the signal is level based.
Power Up: Takes effect upon Cold Start

$SSR STRUCTURE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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.
$SSR.$bwdstep

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: BYTE Memory: CMOS
Name: Single Step Backward
Description: If set to TRUE, then single step backward is enabled.
Power Up: Change takes effect immediately.

$SSR.$sglsteptask[14]

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
Name: Single Step Task Name
Description: Task name for single step operation.
Power Up: Change takes effect immediately.

$SSR.$singlestep

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: Change takes effect immediately.

$SSR.$stepstmttyp

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Single Step Statement Type
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: Change takes effect immediately.

$SSR.$steptasknum

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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: Change takes effect immediately.

$SSR.$stpsegtype
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: BYTE Memory: CMOS
Name: Single Step Segment Type
Description: Single step segment type.
Power Up: Change takes effect immediately.

$STOP_ON_ERR

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: No

$SVPRG_COUNT

Minimum: 0 Maximum: 999 Default: 0 KCL/Data: RO Program: Not

available 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: Changes to this variable take effect immediately

$SVPRG_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: Changes to this variable take effect immediately.

$SVPRG_TBL[1-5]
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Resume program table
Description: For internal use only. Do not modify this system variable. When
KAREL program for resume program is executed, the KAREL program
executes the resume program ($SERVICE_PRG) specified with the number.
The length of the array[5] indicates the number of motion groups.
Power Up: Changes to this variable take effect immediately.

$SVPRM_ENB

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: Servo Parameter Enable
Description: Displays the servo parameter screen if one exists.

$SYSDSP_PASS

Minimum: 0 Maximum: 999999 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: ULONG Memory: CMOS
Name: System Variable Screen Display Password
Description: Not currently used.

2.20 T
$TB_PARAM[1] STRUCTURE

Minimum: 0 Maximum: 999999 Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TurboMove joint softpart parameter
Description: The motion parameter for TurboMove joint softpart. Individual
fields within this structure are described below.

$TB_PARAM[1].$ma_brk_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$ma_grav_mgn
Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Gravity margin for acceleration of joint motion
Description: Margin parameter of Gravity torque for acceleration of
TurboMove joint motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$ma_load_trq

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$ma_nold_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$ma_stal_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$max_trq_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Max torque margin for joint motion
Description: Margin parameter for max motor torque for TurboMove joint
motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$md_brk_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$md_grav_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Gravity margin for deceleration of joint motion
Description: Margin parameter of Gravity torque for deceleration of
TurboMove joint motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$md_load_trq

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$md_nold_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Nold torque margin for deceleration of joint motion
Description: Margin parameter of torque at nold velocity
($TBJ_GRP.$mr_nold_vel) for deceleration of TurboMove joint motion.
Power Up: Changes take effect immediately.
$TB_PARAM[1].$md_stal_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$mr_brk_trq

Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Break torque of motor
Description: The torque of the motor at break point of motor torque curve for
TurboMove joint motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$mr_brk_vel

Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Break velocity of motor
Description: The velocity of the motor at break point of motor torque curve for
TurboMove joint motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$mr_max_trq

Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Max torque of motor
Description: Max torque of the motor for TurboMove joint motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$mr_nold_vel

Minimum: -100000. Maximum: 100000 Default: 5.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Nold velocity of motor
Description: The maximum motor velocity without load.
Power Up: Changes take effect immediately.
See Also: TurboMove Technote

$TB_PARAM[1].$mr_stal_trq

Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Stal torque of motor
Description: The torque of the motor at 0 velocity for TurboMove joint motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$pth_brk_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Break torque margin for joint cont motion
Description: Margin parameter of Break torque ($TBJ_GRP.$mr_brk_trq) for
TurboMove joint cont motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$pth_grv_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Gravity margin for joint cont motion
Description: Margin parameter of Gravity torque for TurboMove joint cont
motion.
Power Up: Changes take effect immediately.

$TB_PARAM[1].$pth_nld_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TB_PARAM[1].$pth_stl_mgn
Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Changes take effect immediately.

$TBC_GRP STRUCTURE

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TurboMove Cartesian group variable
Description: TBC softpart motion parameter. Individual fields within this
structure are described below.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$cnt_scale

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: CNT motion scale
Description: This parameter is used to tune cont motion accel time for
TurboMove cartesian motion.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$min_acc_uca

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
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:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$min_c_id_e2
Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:
Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$min_c_id_e3

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$min_cat_uma

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Minimum accel time for TurboMove cartesian long motion
Description: Minimum accel time for TurboMove cartesian long motion.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$min_cyc_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$path_ratio

Minimum: 0 Maximum: 10000 Default: 1.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Accel time ratio for CF fine motion
Description: The ratio of 2nd/1st accel time for CF fine motion.
Power Up: A cold start is required to change this value.

$TBC_GRP[1].$payload_mgn

Minimum: 0. Maximum: 1000. Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload margin
Description: Margin parameter for payload value.
Power Up: Changes take effect immediately.
$TBC_GRP[1].$shortmo_scl

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Short motion scale
Description: This parameter is used to short motion accel time for TurboMove
cartesian motion. Currently not used.
Power Up: A cold start is required to change this value.

$TBC_GRP[1].$tbc_accel1

Minimum: 0 Maximum: 10000 Default: 256 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: 1st default accel time for JF cartesian motion
Description: 1st default accel time for JF cartesian motion.
Power Up: A cold start is required to change this value.

$TBC_GRP[1].$tbc_accel2

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: 2nd default accel time for JF cartesian motion
Description: 2nd default accel time for JF cartesian motion.
Power Up: A cold start is required to change this value.

$TBC_GRP[1].$TBC_PARAM STRUCTURE

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TurboMove cartesian softpart parameter
Description: The motion parameter for TurboMove cartesian softpart.
Individual fields within this structure are described below.
Power Up: The change effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$max_trq_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Cartesian motion max torque margin
Description: Margin parameter for max torque of the motor for TurboMove
Cartesian motion.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$mc_brk_mgn
Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Cartesian motion break torque margin.
Description: Margin parameter of Break torque ($TBJ_GRP.$MR_BRK_TRQ)
for TurboMove Cartesian motion.
Power Up: Changes take effect immediately.

$TBC_GRP[1].$TBC_PARAM[1].$mc_grav_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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

Minimum: -100000. Maximum: 100000 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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_PARAM[1].$shortmo_mgn

Minimum: -100000. Maximum: 100000 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TurboMove Cartesian configuration variable
Description: Sets or indicates TBC softpart configuration. Individual fields
within this structure are described below.
$TBCCFG.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: TBC softpart debug flag
Description: Flag for debug TBC softpart.

$TBCCFG.$group_mask

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TBC softpart Group Mask
Description: Indicates TBC softpart group mask.

$TBCCFG.$mb_conflict

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TBC softpart conflict information
Description: Indicates TBC softpart conflict information.

$TBCCFG.$mb_required

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TBC softpart conflict information

$TBJ_GRP STRUCTURE

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TurboMove Joint group variable
Description: TBJ softpart motion parameter. Individual fields within this
structure are described below.

$TBJ_GRP[1].$asym_param

Minimum: -100000. Maximum: 100000. Default: 2 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Asymmetrical acc/dec parameter
Description: This parameter is used for asymmetrical acc/dec ratio setting.
Power Up: A cold start is required to change this value.

$TBJ_GRP[1].$longmo_mgn
Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: REAL
Name: Long motion scale
Description: Margin parameter of minimum accel time according to J1 inertia
value.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$longmo_scl

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Long motion scale
Description: Margin parameter of minimum accel time according to J1 inertia
value.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$min_acc_shm

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Minimum accel time for TurboMove joint short motion
Description: Minimum accel time for TurboMove joint short motion.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$min_acc_uma

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Minimum accel time for TurboMove joint long motion
Description: Minimum accel time for TurboMove joint long motion.
Power Up: The change effect immediately

$TBJ_GRP[1].$min_c_id_e1

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$min_c_id_e2

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$min_c_id_e3

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$min_cyc_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: STRING
Name: TurboMove parameter version id
Description: TurboMove parameter version id.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$payload_mgn

Minimum: 0. Maximum: 1000. Default: 0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Payload margin
Description: Margin parameter for payload value.
Power Up: Changes take effect immediately.

$TBJ_GRP[1].$shortmo_mgn

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Short motion scale
Description: Currently not used.

$TBJ_GRP[1].$shortmo_scl

Minimum: 0. Maximum: 100. Default: 1 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Short motion scale
Description: Currently not used.

$TBJ_GRP[1].$tbj_accel1[i]

Minimum: 0 Maximum: 100000. Default: 256 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: 1st default accel time for i th joint motion
Description: 1st default accel time for i th joint motion.
Power Up: A cold start is required to change this value.

$TBJ_GRP[1].$tbj_accel2[i]

Minimum: 0 Maximum: 100000. Default: 256 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: 2nd default accel time for i th joint motion
Description: 2nd default accel time for i th joint motion .
Power Up: A cold start is required to change this value.

$TBJCFG STRUCTURE

Minimum: 0 Maximum: 100000. Default: 256 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TurboMove Joint configuration variable
Description: Set or indicate TBJ softpart configuration. Individual fields within
this structure are described below.

$TBJCFG.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: TBJ softpart debug flag
Description: Flag for debug TBJ softpart.

$TBJCFG.$group_mask

Minimum: 0 Maximum: 31 Default: 1 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TBJ softpart Group Mask
Description: Indicate TBJ softpart group mask.

$TBJCFG.$mb_conflict

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TBJ softpart conflict information
Description: Indicate TBJ softpart conflict information.

$TBJCFG.$mb_required

Minimum: 0 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: TBJ softpart conflict information
$TBJCFG.$tbj_select

Minimum: 1 Maximum: 2 Default: 1 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: TBJ selection flag
Description: For internal use only. Do not modify this system variable. If this
value is 2, asymmetric filter can be used for J CNT motion. If this value is 1,
asymmetric filter is used for only J PTP motion.
Power Up: You must perform a cold start for the change to take effect.

$TBJCFG.$update_time

Minimum: 0 Maximum: 100000 Default: 501 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Update time for inertia/moment calculation
Description: Update time for inertia/moment calculation. Currently not used.

$TBPARAM.$dyn_frc_mgn

Minimum: -100000 Maximum: 100000 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL
Name: Dynamic friction margin.
Description: For internal use only. Do not modify this system variable. Torque
curve can be changed with this parameter for reducer dynamic friction. This
value will be tuned by FANUC Robotics, so user must not change this value.

$TCPP_CFG STRUCTURE

Minimum: -100000 Maximum: 100000 Default: 0.0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
Name: TCP Speed Prediction Configuration System Variable Structure
Description: This set of variables controls the mode of operation of TCP
Speed Prediction. The individual fields within this structure are defined below.

$TCPP_CFG.$debug_main

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available 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: This value initializes to 0 and maintains its previous value over
subsequent power cycles.
$TCPP_CFG.$debug_task

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available 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: This value initializes to 0 and maintains its previous value over
subsequent power cycles.

$TCPP_CFG.$group_num

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER 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: This value initializes to group 1 and will maintain its value over
subsequent power cycles.

$TCPP_CFG.$num_tcppseg

Minimum: 0 Maximum: 10 Default: 6 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: 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: This value initializes to the result of the system variable
$SCR_GRP[grp_num].$num_seg + 1 and will maintain its value over
subsequent power cycles.

$TCPP_CFG.$oft_tim_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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 time might result in predicted speed value discontinuities, this
variable might be set to false which will prevent delay time changes until the
robot has stopped moving at the end of a program.
Power Up: This value initializes to TRUE and maintains its previous value
over subsequent power cycles.
See Also: $TCPPIR.$tcdelay

$TCPP_CFG.$tcpp_time

Minimum: 16 Maximum: 5000 Default: 28 KCL/Data: RW Program: Not

available 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: This value initializes to the result of $SCR.$itp_time *
$PARAM_GROUP[grp_num].$linear_rate and will maintain its previous value
over subsequent power cycles.

$TCPP_CFG.$vc_present

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: TCP Seed Prediction Velocity Control Present Flag
Description: This variable when set TRUE by the motion system indicates the
Velocity Control motion system is presently installed on the controller.
Power Up: This value initializes to FALSE and maintains its previous value
over subsequent power cycles.

$TCPP_CFG.$warning_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: TCP Speed Prediction Warning Message Enable
Description: This system variable when true allows the posting of warning
level error messages. (These are warnings only, not faults, which the user
might wish not to be displayed.) Currently these include the following: -
TCPP-011 "Pred time skips first motion" - TCPP-018 "Begin Error Mode at
line:nn" - TCPP-019 "Speed Ovrd Mode at line:nn"
Power Up: This value initializes to TRUE and maintains its previous value
over subsequent power cycles.

$TCPPIR STRUCTURE

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: TCP Speed Prediction Instruction Record System Variable Structure
Description: This set of variables allow the user to enable the TCP Speed
Prediction softpart and set the equipment delay (prediction) time. The
individual fields within this structure are defined below.

$TCPPIR.$enable_tcpp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: TCP Speed Prediction Enable Switch
Description: This allows the user to enable or disable the TCP Speed
Prediction softpart. A predicted speed output is generated when the softpart is
enabled.
Power Up: This value initializes to FALSE and maintains its previous value
over subsequent power cycles.

$TCPPIR.$tcdelay

Minimum: 0 Maximum: 2400 Default: 200 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: TCP Speed Prediction (Equipment) Delay Time (milliseconds)
Description: This value allows the user to specify the equipment delay time to
be used as the prediction time by the TCP Speed Prediction softpart. NOTE: A
negative value causes TCP Speed Prediction to generate a historical value
instead of a predicted value.
Power Up: This value initializes to 200 (msec) and maintains its previous
value over subsequent power cycles.

$TCPPSPEED STRUCTURE

Minimum: 0 Maximum: 2400 Default: 200 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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.
See Also: $TCPP_CFG.$tcpp_time

$TCPPSPEED.$accel

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

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: This value initializes to 0 at each power cycle and is automatically
updated by the TCP task softpart.
See Also: $TCPPSPEED.$speed

$TCPPSPEED.$motype

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

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.
Power Up: This value initializes to 0 at each power cycle and is automatically
updated by the TCP task softpart.

$TCPPSPEED.$prog_speed

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: TCP Speed Prediction Programmed Speed
Description: This is the programmed speed of the last active TCPP motion
segment at the time of the most recent TCP Speed prediction update.
Power Up: This value initializes to 0 at each power cycle and is automatically
updated by the TCP task softpart.

$TCPPSPEED.$speed

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: TCP Speed Prediction Speed (Absolute Velocity Magnitude)
(millimeters / second)
Description: This is the predicted speed of the robot TCP computed as the
absolute value of the magnitude of the predicted Cartesian velocity
($TCPPSPEED.$vspeed). It is referenced (without sign or direction) to the
WORLD frame for normal prediction, and to the currently selected Remote
TCP frame (also without sign or direction) for Remote TCP operation.
Power Up: This value initializes to 0 at each power cycle and is automatically
updated by the TCP task softpart.
See Also: $TCPPSPEED.$vspeed

$TCPPSPEED.$tcdelay_mon

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: REAL Memory: CMOS
Name: TCP Speed Prediction Delay Time Monitor (milliseconds)
Description: This is a copy of the TCPP equipment delay time
($TCPPIR.$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: This value initializes to 0 at each power cycle and is automatically
updated by the TCP task softpart.
See Also: $TCPPIR.$Tcdelay

$TCPPSPEED.$timestamp

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: TCP Speed Prediction Timestamp (ROS Ticks)
Description: This is the timestamp (in ROS ticks) corresponding to the most
recent time when the current values of the $TCPPSPEED data structure were
computed and recorded.
Power Up: This value initializes to 0 at each power cycle and is automatically
updated by the TCP task softpart.
See Also: $TCPPSPEED

$TCPPSPEED.$vspeed

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: VECTOR Memory: CMOS
Name: TCP Speed Prediction Velocity Vector (millimeters / second)
Description: This system variable is the predicted speed of the TCP recorded
as a vector with components x, y, and z. It is referenced to the WORLD frame
for normal TCP operation, and to the currently selected Remote TCP frame for
Remote TCP operation.
Power Up: These values initialize to 0.0 at each power cycle and are
automatically updated by the TCP task softpart.

$TH_CIRCUIT STRUCTURE

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: Touch sensor circuit enable port.
Description: The touch sensing software uses this output port to turn on/off
the touch sensing circuitry.
Power Up: Changes take effect immediately.
See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM
R-J3 Controller ArcTool Setup and Operations Manual

$th_debug
Minimum: 0xffffffff Maximum: 0x7fffffff Default: 0 KCL/Data: RW Program:
Not available UIF: RW CRTL: RW Data Type: 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: Changes take effect immediately.

$TH_DEFAULT STRUCTURE

Minimum: 0xffffffff Maximum: 0x7fffffff Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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: Changes take 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: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Changes take effect immediately.
See Also: Touch sensing schedule, master_flag.

$TH_DEFAULT.$th_max_spd

Minimum: 0 Maximum: 150 Default: 50 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Changes take effect immediately.

$TH_DEFAULT.$th_min_dist

Minimum: 0 Maximum: 200 Default: 10 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
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: Changes take effect immediately.

$TH_DEFAULT.$th_min_spd

Minimum: 0 Maximum: 50 Default: 5 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Minimum search speed
Description: The minimum allowable search speed. You cannot specify a
search speed less than this variable.
Power Up: Changes take effect immediately.

$TH_DEFAULT.$th_ptn_reg

Minimum: 0 Maximum: 10 Default: 10 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
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.
Power Up: Changes take effect immediately.

$TH_DEFAULT.$th_srch_reg

Minimum: 0 Maximum: 10 Default: 9 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Default search output position register number
Description: This variable is used when you specify an invalid search output
position register number.
Power Up: Changes take effect immediately.

$TH_MOTION STRUCTURE

Minimum: 0 Maximum: 10 Default: 9 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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: Changes take effect immediately.

$TH_MOTION.$accel_time
Minimum: 0 Maximum: 500 Default: 28 KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: SHORT
Name: Acceleration time.
Description: The motion acceleration time during a search motion.
Power Up: Changes take effect immediately.

$TH_MOTION.$re_termtyp

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: Return motion termination type
Description: The termination type of a search return motion.
Power Up: Changes take effect immediately.

$TH_MOTION.$ref_grp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: ref_grp
Description: Copy of the data from current touch sensing schedule.
Power Up: Changes take effect immediately.

$TH_MOTION.$return_dist

Minimum: 0 Maximum: 2000 Default: 20000 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: SHORT
Name: return_dist
Description: Copy of the data from current touch sensing schedule. Motion
system uses it to control the automatic return distance.
Power Up: Changes take effect immediately.

$TH_MOTION.$return_spd

Minimum: 0 Maximum: 1000 Default: 100 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Return Speed
Description: This variable specifies a return speed of a search motion.
Power Up: Changes take effect immediately.

$TH_MOTION.$search_dist

Minimum: 0 Maximum: 2000 Default: 100 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Search distance
Description: Maximum searching distance for a search motion.
Power Up: Changes take effect immediately.

$TH_MOTION.$search_on

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Search On flag
Description: If this system variable is ON, it is a search motion.
Power Up: Changes take effect immediately.

$TH_MOTION.$search_spd

Minimum: 0 Maximum: 500 Default: 50 KCL/Data: RO Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL
Name: Search speed
Description: Speed of search motion.
Power Up: Changes take effect immediately.

$TH_MOTION.$sim_detect

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Changes take effect immediately.

$TH_MOTION.$srchne_on

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Search no effect flag
Description: Reserved for Internal use by FANUC Robotics. Not currently
used.
Power Up: Changes take effect immediately.

$TH_MOTION.$time_stamp

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Time stamp
Description: The time when robot touches a part.
Power Up: Changes take effect immediately.

$TH_MOTION.$touch_pos
Minimum: 9 Maximum: 9 Default: {REAL} KCL/Data: RO Program: Not
available UIF: Not available CRTL: Not available Data Type: REAL
Name: Touched position
Description: The joint position where the robot is in contact with a part.
Power Up: Changes take effect immediately.

$TH_SEARCH

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Changes take effect immediately.

$TH_SENSOR STRUCTURE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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: Changes take effect immediately.

$TH_SENSOR.$port_number

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: SHORT
Name: I/O Port number
Description: Digital I/O port number.
Power Up: Changes take effect immediately.

$TH_SENSOR.$port_type

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BYTE
Name: I/O Port type.
Description: The digital I/O port type.
Power Up: Changes take effect immediately.

$TH_SENSOR.$threshold
Minimum: 0x80000000 Maximum: 0x7fffffff Default: 0 KCL/Data: RW
Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
Name: Threshold
Description: The threshold number for analog inputs.
Power Up: Changes take effect immediately.

$TH_SRCHNE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
Name: Search no effect flag
Description: Reserved for Internal use by FANUC Robotics. Not currently
used.
Power Up: Changes take effect immediately.

$TH_SRCHST

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Changes take effect immediately.

$TH_WELD STRUCTURE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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: Changes take effect immediately.

$th_wrkframe.$ref_grp[1-32]

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: Not available CRTL: RW Data Type: SHORT Memory: CMOS
Name: Touch frame reference group
Description: User set this value in Touch Frame Setup manual to specify
which motion group the touch frame is with respect to.
Power Up: Changes take effect immediately.
$THSCHEDULE STRUCTURE

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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: Changes take effect immediately.
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: Not available

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: Changes take effect immediately.
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: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Comment field for a touch sensing schedule.
Description: Allow users write comment about a touch schedule.
Power Up: Changes take effect immediately.
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: Not available

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: Changes take effect immediately.
See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM
R-J3 Controller ArcTool Setup and Operations Manual
$thschedule[1].$master_flag

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Master search flag.
Power Up: Changes take effect immediately.
See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM
R-J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$pattern_typ

Minimum: 0 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

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: Changes take effect immediately.
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: Not available

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: Changes take effect immediately.
See Also: AUTO_RETURN The chapter on "Touch Sensing" in the FANUC
Robotics SYSTEM R-J3 Controller ArcTool Setup and Operations Manual

$thschedule[1].$ref_grp

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Touch offset reference group
Description: User sets this value in touch sensing schedule to specify how the
offset is recorded.
Power Up: Changes take effect immediately.

$thschedule[1].$return_dist
Minimum: 0 Maximum: 2000 Default: 2000 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
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: Changes take effect immediately.

$thschedule[1].$return_spd

Minimum: 0 Maximum: 1000 Default: 100 KCL/Data: RW Program: Not

available 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: Changes take effect immediately.
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: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Touch sensing Search Distance.
Description: Allowable traveling distance for a search motion. This system
variable defines how much part deviation are allowed for a search before the
touch sensing software posts an error.
Power Up: Changes take effect immediately.
See Also: $PAUSE_NCONT and $CONT_R_NUM The chapter on "Touch
Sensing" in the FANUC Robotics SYSTEM R-J3 Controller ArcTool Setup and
Operations Manual

$thschedule[1].$search_pr

Minimum: 1 Maximum: 32 Default: 32 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: 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: Changes take effect immediately.
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: Not
available 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: Changes take effect immediately.
See Also: $PATTERN_TYP system variable The chapter on "Touch Sensing"
in the FANUC Robotics SYSTEM R-J3 Controller ArcTool Setup and
Operations Manual

$thschedule[1].$search_spd

Minimum: 0 Maximum: 500 Default: 50 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Touch sensor search speed.
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: Changes take effect immediately.
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: Not

available 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: Changes take effect immediately.
See Also: The chapter on "Touch Sensing" in the FANUC Robotics SYSTEM
R-J3 Controller ArcTool Setup and Operations Manual

$TIMER STRUCTURE

Minimum: 0 Maximum: 32 Default: 1 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: Program Timer Variable
Description: Time counter which can be started, stopped and reset by the
teach pendant program. See the following for an example.
TIMER[n]=START(/STOP/RESET) ---------------------- $TIMER[n] Individual
fields within this structure are described below.

$TIMER[1].$comment

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Timer Comment
Description: Text used to describe the use of the timer.

$TIMER[1].$end_ept_idx

Minimum: 0 Maximum: 65535 Default: 65535 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Reserved for Internal use by FANUC Robotics
Description: Reserved for Internal use by FANUC Robotics

$TIMER[1].$end_lin_num

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Timer Ending Line Number
Description: Line number where the timer stopped.

$TIMER[1].$str_ept_idx

Minimum: 0 Maximum: 65535 Default: 65535 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Reserved for Internal use by FANUC Robotics.
Description: Reserved for Internal use by FANUC Robotics.

$TIMER[1].$str_lin_num

Minimum: 0 Maximum: 65535 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Timer Starting Line Number
Description: The line number where the timer started.

$TIMER[1].$tid_num

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RO Program: Not

available 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.
$TIMER[1].$timer_val

Minimum: 0 Maximum: 0x7fffffff Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Timer Value
Description: Indicates the count, in ms, since the timer started.

$tm_motion.$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: Takes effect upon Controlled Start

$TMI_CHAN

Minimum: 0 Maximum: 32 Default: 32 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Channels
Description: The number of simultaneous open connections which MOTET
can support.
Power Up: Requires a cold start to take effect.
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: 0 Maximum: 5 Default: 0 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: INTEGER Memory: 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: Changes take effect immediately.
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_ETHERAD

Minimum: "" Maximum: "" Default: " " KCL/Data: RO Program: Not
available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: ETHERNET address
Description: This is the ETHERNET board address and should be unique.
Ethernet addresses have the following format: HH:HH:HH:HH:HH:HH where H
is a hexadecimal number.
Power Up: Requires a cold start to take effect.
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_ROUTER

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: 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: Requires a cold start to take effect.
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: Not
available 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: Change takes effect immediately.
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

$TORQCTRL STRUCTURE

Minimum: "" Maximum: "" Default: " " KCL/Data: Not available Program:
Not available UIF: Not available CRTL: Not available
Name: Torque on/off control
Description: Holds information used by torque on/off control function.
Individual fields within this structure are described below.
$TORQCTRL.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Debug flag
Description: Not used at all.
Power Up: Changes will not effect the robot.

$TORQCTRL.$grp_stt[1]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: If the value is 1 when the controller is turned ON, torque of that
group will be turned on. Otherwise it is left alone.

$TORQCTRL.$sbr_pam21_v[1]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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: Only used by torque control function. Should not be changed.
See Also: $SBR[axes].$PARAM[21]

$TORQCTRL.$sv_err_clr[1]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Only used by torque control function. Should not be changed.

$TORQCTRL.$sv_err_mod[1]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: Only used by torque control function. Should not be changed.

$TP_CURSCRN[1].$scrn_id

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: 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.
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:

Not available 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 teach pendant screen at any time.
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

Minimum: 0 Maximum: 0xFFFFFFFF Default: 0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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.
See Also: $CT_CURSCRN for equivalent information on the CRT/KB

$TP_DEFPROG
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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

$TP_DISPLAY

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
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: Yes

$TP_INST_MSK[2]

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
INTEGER
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: No

$TP_INUSER

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available

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 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: No

$TP_LCKUSER
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available
UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Teach Pendant Lock USER Menu
Description: Setting $TP_LCKUSER = TRUE will allow the KAREL program
specified by $TP_DEFPROG to lock the USER menu on the 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: Not available

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.

$TP_SCREEN

Minimum: "" Maximum: "" Default: "tpsc" KCL/Data: RO Program: Not

available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Teach Pendant Screen
Description: The name of the current screen on the teach pendant.

$TP_USERSCRN

Minimum: "" Maximum: "" Default: "t_sc" KCL/Data: RW Program: Not

available 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.
See Also: ACT_SCREEN built-in in the FANU C Robotics SYSTEM R-J3
Controller application-specific Reference Manual.
$TP_USESTAT

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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 to it using the TPSTATUS predefined FILE variable.
If $TP_USESTAT is FALSE, or the program is paused or aborted, the
system-defined status line will be displayed and updated.
Power Up: No

$TP_WATCHDOG

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN
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: This is referred only once in a power up sequence.

$TPE_DETAIL

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: Changes to this variable take effect immediately.

$TPP_MON STRUCTURE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: TPP monitor
Description: This system variable is used to TPP monitor function.
Power Up: Takes effect after the controller is turned ON.

$TPP_MON.$global_mt
Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RO Program: Not available
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: Takes effect after the controller is turned ON.

$TPP_MON.$gmon_tid

Minimum: 0 Maximum: 16 Default: 0 KCL/Data: RO Program: Not available

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.
Power Up: Takes effect after the controller is turned ON

$TPP_MON.$local_mt

Minimum: 1 Maximum: 10 Default: 1 KCL/Data: RO Program: Not available

UIF: FP CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Local monitor
Description: This system variable, user can select the two type mode when
program is PAUSED for program monitor. 1:Stop the monitoring at program is
PAUSED. 2:Keep on monitoring even if program is PAUSED.
Power Up: Takes effect after the controller is turned ON.

$TPP_MON.$mon_num

Minimum: 1 Maximum: LIM_MONNUM_C Default: 50 KCL/Data: RO

Program: Not available UIF: FP CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Number of monitors
Description: For internal use only. Do not modify this system variable.
Power Up: Takes effect after the controller is turned ON.

$TPP_MON.$sysmon_adr

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: System monitor address
Description: For internal use only. Do not modify this system variable.
Power Up: Takes effect after the controller is turned ON
$TSR_GRP STRUCTURE

Minimum: 0 Maximum: 0 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: Time-optimal Control Variables
Description: Set the torque curve and the speed curve of each motor of each
axis. It is used for time-optimal control and cannot be changed. Individual fields
within this structure are described below.

$TSR_GRP[1].$ma_brk_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Acceleration Break Margin
Description: Defines the acceleration torque safety margin at the break in the
torque vs. velocity curve.

$TSR_GRP[1].$ma_grav_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Acceleration Gravity Margin
Description: Defines a scale of the acceleration load torque due to the effect
of gravity

$TSR_GRP[1].$ma_load_trq[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 0.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Acceleration Torque due to Static Load
Description: Defines the acceleration torque on the motor due to a static load.
Units are Kg-cm.

$TSR_GRP[1].$ma_stal_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Acceleration Stall Margin
Description: Defines the motor acceleration torque safety margin at stall or
zero velocity.
$TSR_GRP[1].$mc_acc_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Cartesian Motor Acceleration Margin
Description: Defines a scale factor to be used with linear motion
accelerations.

$TSR_GRP[1].$mc_brk_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
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.

$TSR_GRP[1].$mc_stal_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Cartesian Motor Stall Margin
Description: Defines the motor torque safety margin for cartesian motions at
stall or zero velocity.

$TSR_GRP[1].$md_brk_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Deceleration Break Margin
Description: Defines the deceleration torque safety margin at the break in the
torque vs. velocity curve.

$TSR_GRP[1].$md_grav_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Deceleration Gravity Margin
Description: Defines a scale of the deceleration load torque due to the effect
of gravity
$TSR_GRP[1].$md_load_trq[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 0.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Deceleration Torque due to Static Load
Description: Defines the deceleration torque on the motor due to a static load.
Unit is Kg-cm.

$TSR_GRP[1].$md_stal_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Deceleration Stall Margin
Description: Defines the motor deceleration torque safety margin at stall or
zero velocity.

$TSR_GRP[1].$min_c_id_e1

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Mincycle Version ID extra_1
Description: Reserved for Internal use by FANUC Robotics.

$TSR_GRP[1].$min_c_id_e2

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Mincycle Version ID extra_2
Description: Reserved for Internal use by FANUC Robotics.

$TSR_GRP[1].$min_c_id_e3

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Mincycle Version ID extra_3
Description: Reserved for Internal use by FANUC Robotics.

$TSR_GRP[1].$min_cyc_id

Minimum: "" Maximum: "" Default: "12345678" KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Mincycle Version ID
Description: Used to determine the mincycle parameter version.
$TSR_GRP[1].$mj_acc_mgn[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 1.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Joint Filter Acceleration Margin
Description: Defines a scale factor for use with non-filter acceleration.

$TSR_GRP[1].$mr_brk_trq[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Torque at Break in Torque vs Velocity Curve
Description: Defines the motor torque available at the break in the motor
torque vs velocity curve. Unit is Kg-cm.

$TSR_GRP[1].$mr_brk_vel[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Motor Velocity at Break in Torque vs Velocity Curve
Description: Defines the motor velocity at the break in the motor torque vs
velocity curve. Unit is radian/sec.

$TSR_GRP[1].$mr_max_trq[9]

Minimum: -100000.0 Maximum: 1000000. Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Maximum Motor Torque
Description: This variables is used to set the maximum allowable motor
torque for each axis. This maximum torque is used to determine the maximum
acceleration. Unit is Kg-cm.

$TSR_GRP[1].$mr_nold_vel[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 5.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Maximum Motor Velocity at No Load
Description: Defines the maximum motor velocity achievable when no load is
seen at the motor. Unit is radian/sec.
$TSR_GRP[1].$mr_stal_trq[9]

Minimum: -100000.0 Maximum: 100000.0 Default: 2.0 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:
REAL
Name: Maximum Motor Torque at Zero Velocity
Description: This variable defines the maximum available motor torque at
stall or zero velocity. Unit is Kg-cm.

$TX.$blnk_timer

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: Takes effect Immediately
See Also: $TX.$BLNK_ENABLE

$TX.$slow_timer

Minimum: 500 Maximum: 360000 Default: 1000 KCL/Data: 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: Takes effect Immediately

$TX.$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. $VERSION does not apply to the legacy (monochrome) teach
pendant.
Power Up: Takes effect Immediately
See Also: STATUS Version ID Menu - Browser Plugins

$TX_DIAGHOST[5]
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: Not available CRTL: Not available Data Type: STRING
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
See Also: n/a

2.21 U
$UALRM_MSG[10]

Minimum: "" Maximum: "" Default: "" KCL/Data: RW Program: Not available
UIF: Not available CRTL: Not available Data Type: STRING
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: Changes to this variable take effect immediately.

$UALRM_SEV[10]

Minimum: 0 Maximum: 255 Default: 6 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: BYTE
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: Changes to this system variable take effect immediately.

$UI_CONFIG.$browse_enab

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Removed
Description: Removed.
Power Up: Takes effect upon Cold Start
$UI_CONFIG.$mode[1-5]

Minimum: 3 Maximum: 1 Default: 3 KCL/Data: RW Program: Not available

UIF: Not available CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Status of iPendant connections.
Power Up: Takes effect upon Cold Start

$UNDO_CFG STRUCTURE

Minimum: 3 Maximum: 1 Default: 3 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
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: Power up is required after changing these variables.

$UNDO_CFG.$undo_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Undo Function Enable/Disable Switch
Description: 1: Enable undo function 0: Disable undo function
Power Up: Power up is required after changing this variable.

$UNDO_CFG.$warn_enb

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

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: Power up is required after changing this variable.

$USER_CONFIG.$cust_name

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Customer Name
Description: This indicates the Customer Name. Must be manually entered.
Power Up: NA

$USER_CONFIG.$env_corr
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not
available 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: NA

$USER_CONFIG.$env_dust

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: UBYTE Memory: CMOS
Name: Environmental Dust Factor
Description: This indicates the Dust factor (from 1 to 255). Must be manually
entered.
Power Up: NA

$USER_CONFIG.$env_heat

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available 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: NA

$USER_CONFIG.$env_vib

Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program: Not

available 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: NA

$USER_CONFIG.$line

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Line Name
Description: This indicates the Line Name. Must be manually entered.
Power Up: NA

$USER_CONFIG.$plant
Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Plant Name
Description: This indicates the Plant Name. Must be manually entered.
Power Up: NA

$USER_CONFIG.$process

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available 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

$USER_CONFIG.$ship_date

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Ship Date
Description: This indicates the Ship Date. Must be manually entered.
Power Up: NA

$USER_CONFIG.$warr_date

Minimum: "" Maximum: "" Default: " " KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: STRING Memory: CMOS
Name: Warranty Date
Description: This indicates the Warranty Date. Must be manually entered.
Power Up: NA

$USEUFRAME

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

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: Changes take effect immediately.
See Also: $MNUFRAME, $MNUFRAMENUM

$USRTOL_ENB
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available
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: Changes to this variable take effect immediately

$USRTOL_GRP[1].$dist_tol

Minimum: 0.1 Maximum: 1000 Default: 250 KCL/Data: RW Program: Not

available 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: Changes take effect immediately.

$USRTOL_GRP[1].$enable

Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not available

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: Changes take effect immediately.

$USRTOL_GRP[1].$ornt_tol

Minimum: 0.1 Maximum: 80 Default: 20 KCL/Data: RW Program: Not

available 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: Changes take effect immediately.

$USRTOL_GRP[1].$raux_tol

Minimum: 0.1 Maximum: 80 Default: 20 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Rotary joint axes tolerance
Description: The joint angle tolerance between current robot position and the
stop position for rotary axes (including aux. axes).
Power Up: Changes take effect immediately.

$USRTOL_GRP[1].$taux_tol
Minimum: 0.1 Maximum: 1000 Default: 250 KCL/Data: RW Program: Not
available 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: Changes take effect immediately.

$USRTOL_GRP[5] STRUCTURE

Minimum: 0.1 Maximum: 1000 Default: 250 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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: Changes take effect immediately.

$USRTOL_MENU

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: NO Program: Not available

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: Changes to this variable take effect immediately

2.22 V
$VC_MORGRP STRUCTURE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available
Name: AccuPath Status Variable Structure
Description: This is the AccuPath status variable. Refer to the descriptions of
the individual fields that follow.
Power Up: System updates dynamically. It is status data and not setup data.

$VC_MORGRP[1].$hist_cdist[1-20]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available 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: System updates dynamically. It is status data and not setup data.
See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$hist_cspeed[1-20]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available 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.
Power Up: System updates dynamically. It is status data and not setup data.
See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$hist_index

Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data: RW Program:

Not available 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: System updates dynamically. It is status data and not setup data.
See Also: $hist_progid[], $hist_lineno[],$hist_short[], $hist_cspeed[],
$hist_cdist[], $hist_orndom[]

$VC_MORGRP[1].$hist_lineno[1-20]

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available 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: System updates dynamically. It is status data and not setup data.
See Also: $hist_index, $hist_progid[],$hist_short[], $hist_cspeed[],
$hist_cdist[], $hist_orndom[]
$VC_MORGRP[1].$hist_maxacc[20]

Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: Array of
Real
Name: maximum acceleration values
Description: Internal use only. Record maximum acceleration values for
debug purpose
Power Up: Change takes effect immediately

$VC_MORGRP[1].$hist_maxjrk[20]

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: Array of
Real
Name: maximum jerk values
Description: Internal use only. Record maximum jerk values for debug
purpose
Power Up: Change takes effect immediately

$VC_MORGRP[1].$hist_minspd[20]

Minimum: 0.0 Maximum: 2000.0 Default: 0.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: Array of Real
Name: minimum corner speeds
Description: Internal use only. Record minimum corner speeds for debug
purpose
Power Up: Change takes effect immediately

$VC_MORGRP[1].$hist_orndom[1-20]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: RW Data Type: BOOLEAN Memory: CMOS
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: System updates dynamically. It is status data and not setup data.
See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$hist_progid[1-20]

Minimum: 0 Maximum: -1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available 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: System updates dynamically. It is status data and not setup data.
See Also: $hist_index, $hist_lineno[],$hist_short[], $hist_cspeed[],
$hist_cdist[], $hist_orndom[]

$VC_MORGRP[1].$hist_short[1-20]

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available 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: System updates dynamically. It is status data and not setup data.
See Also: $hist_index, $hist_progid[], $hist_lineno[],

$VC_MORGRP[1].$speed

Minimum: 0.0 Maximum: 10000.0 Default: 0.0 KCL/Data: RW Program:

Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: TCP speed information
Description: TCP speed in mm/sec is updated dynamically when AccuPath is
active.
Power Up: System updates the current command TCP speed dynamically.

$VC_MORGRP[1].$ttl_maxacc

Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data: RW Program:

Not available 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: Change takes effect immediately

$VC_MORGRP[1].$ttl_maxjrk

Minimum: 0.0 Maximum: 10000000.0 Default: 0.0 KCL/Data: RW Program:

Not available 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: Change takes effect immediately

$VC_MORGRP[1].$ttl_minspd
Minimum: 0.0 Maximum: 2000.0 Default: 2000.0 KCL/Data: RW Program:
Not available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: minimum corner speed
Description: Internal use only. Record minimum corner speed for debug
purpose
Power Up: Change takes effect immediately

$VC_PARAMGRP STRUCTURE

Minimum: 0.0 Maximum: 2000.0 Default: 2000.0 KCL/Data: Not available

Program: Not available UIF: Not available CRTL: Not available
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: Changes to this variable take effect immediately.

$VC_PARAMGRP[1].$cnstnt_spd

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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 termtype motion. When the variable is FALSE, the system will not
maintain constant speed when moving around path corner. When the variable
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: Changes to this variable take effect immediately.

$VC_PARAMGRP[1].$dcdh_ratio

Minimum: 0.0 Maximum: 1.0 Default: 1.0 KCL/Data: RW Program: Not

available 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.
Power Up: Changes to this variable take effect immediately.

$VC_PARAMGRP[1].$hist_spdlim

Minimum: 0 Maximum: 100 Default: 100 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately.

$VC_PARAMGRP[1].$shortmo_imp

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: Changes to this variable take effect immediately.

$VC_PARAMGRP[1].$shrt_ratio

Minimum: 0.0 Maximum: 1.0 Default: 1.0 KCL/Data: RW Program: Not

available 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: Changes to this variable take effect immediately.

$VC_PARAMGRP[1].$warnmessenb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: Changes to this variable take effect immediately.

$VCCFG.$comp_switch

Minimum: 0 Maximum: 0x7FFFFFFF Default: 251 KCL/Data: RW Program:

Not available 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: Change takes effect immediately.

$VDATE

Minimum: "" Maximum: "" Default: "08/29/2002 " KCL/Data: RO Program:

Not available UIF: RO CRTL: RO Data Type: STRING Memory: CMOS
Name: Software Release Date
Description: Displays the application software release date.
Power Up: This variable cannot be changed.

$VERSION

Minimum: "" Maximum: "" Default: "" KCL/Data: RO Program: Not available
UIF: RO CRTL: RO Data Type: STRING Memory: RAM
Name: Software Build Version
Description: Displays the software build version and build date.
Power Up: This variable cannot be changed.

$VISIONMOUT

Minimum: 0 Maximum: 0x7FFF Default: 3000 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER
Name: Vision Timeout
Description: Not currently used.

2.23 W
$WAITRELEASE

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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.

$WAITTMOUT

Minimum: 0 Maximum: 0x7FFF Default: 3000 KCL/Data: RW Program: Not

available 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.
$WVWRIST.$debug

Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data: RW

Program: Not available UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: debug
Description: Internal use only.
Power Up: Changes to this system variable take effect immediately.

$WVWRIST.$run_ang

Minimum: -90.0 Maximum: 90.0 Default: 10.0 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: run_ang
Description: System returns the actual angle between the TOOL Z-X plane
and the TOOL Z-PATH during execution.
Power Up: The change to this system variable takes effect immediately.

$WVWRIST.$tol_ang

Minimum: 0.0 Maximum: 90.0 Default: 10.0 KCL/Data: RW Program: Not

available 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: The change to this system variable takes effect immediately.
See Also: $run_ang definition.

$WVWRIST.$wrist_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

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: The change to this system variable takes effect immediately.
See Also: Wrist Axes Weaving

$WVWRIST.$wst_accel1

Minimum: 8 Maximum: 1000 Default: 32 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Wrist Acceleration 1
Description: Defines acceleration time for wrist axes motion during wrist axes
weave operation.
Power Up: Changes take effect after power up.

$WVWRIST.$wst_accel2

Minimum: 8 Maximum: 1000 Default: 32 KCL/Data: RW Program: Not

available UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Wrist Acceleration 2
Description: Defines acceleration 2 time for wrist axes motion during wrist
axes weave operation.
Power Up: Changes take effect after power up.

2.24 X
$XSCFG.$mlt_grp_enb

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available

UIF: RO CRTL: RO Data Type: BOOLEAN Memory: CMOS
Name: Max Speed Feature Enable for Multiple Group Systems
Description: This variable indicates whether or not the max speed feature is
enabled for multiple group motion. If this variable is set to TRUE, then the
feature is enabled. If this variable is set to FALSE, then the feature is disabled.