System Variables - 卓智機器人

1 Expert DocumentationSystem VariablesFor KUKA System Software , and Roboter GmbHIssued: : KSS , , Systemvariablen V2 en (PDF) System Variables2 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) Copyright 2012 KUKA Roboter GmbHZugspitzstra e 140D-86165 AugsburgGermanyThis documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of KUKA Roboter functions not described in this documentation may be operable in the controller. The user has no claims to these functions, however, in the case of a replacement or service have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, how-ever, and necessary corrections will be incorporated in the subsequent to technical alterations without an effect on the of the original documentationKIM-PS5-DOCP ublication:Pub KSS , , Systemvariablen (PDF) enBookstructure:KSS , , Systemvariablen :KSS , , Systemvariablen V2 en (PDF)3 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF)Contents1 Introduction.

2 Group .. robot documentation .. of warnings and notes .. used ..102 Safety ..113 System Variables .. $ABS_ACCUR .. $ABS_RELOAD .. $ABS_UPDATE .. $ACC .. $ACC_C .. $ACC_AXIS .. $ACC_AXIS_C .. $ACC_CAR_ACT .. $ACC_CAR_MAX .. $ACC_EXTAX .. $ACC_EXTAX_C .. $ACCU_STATE .. $ACT_ADVANCE .. $ADVANCE .. $ACT_EX_AX .. $ACT_BASE .. $ACT_BASE_C .. $ACT_TOOL .. $ACT_TOOL_C .. $ANIN .. $ANOUT .. $APO .. $APO_C .. $ASYNC_AXIS .. $ASYNC_EX_AX_DECOUPLE .. $ASYNC_FLT .. $ASYNC_STATE .. $AXIS_ACT .. $AXIS_ACT_MEAS .. $AXIS_BACK .. $AXIS_FOR .. $AXIS_INT .. $AXIS_MOT .. $AXIS_RET .. $B_IN .. $B_OUT .. $BASE .. $BASE_C .. $BASE_KIN ..27 Contents4 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) System $BRAKE_SIG .. $CAB_FANSPEED.

3 $CIRC_MODE .. $CIRC_TYPE .. $CIRC_TYPE_C .. $CMD .. $CURR_ACT .. $CYCFLAG .. $DATA_EXT_OBJx .. $DATA_INTEGRITY .. $DATAPATH .. $DATE .. $DEVICE .. $DISTANCE .. $DIST_NEXT .. $DRIVES_ENABLE .. $ERR .. $EX_AX_IGNORE .. $FAST_MEAS_COUNT .. $FAST_MEAS_COUNT_RESET .. $FAST_MEAS_COUNT_TIME .. $FILTER .. $FILTER_C .. $FLAG .. $FOL_ERROR .. $FCT_CALL .. $GEAR_JERK .. $GEAR_JERK_C .. $HOLDING_TORQUE .. $HOLDING_TORQUE_MAND .. $HOME .. $IN .. $INPOSITION .. $INTERPRETER .. $IOBUS_INFO .. $IOSIM_IN .. $IOSIM_OPT .. inputs/outputs KUKA System Software or higher .. inputs/outputs KUKA System Software .. $IOSIM_OUT .. $IOSYS_IN_FALSE .. $IOSYS_IN_TRUE .. $IPO_MODE .. $IPO_MODE_C .. $IPO_WAIT_FOR.

4 $IPO_WAIT_FOR_ON .. $IPO_WAIT_STATE .. $IS_OFFICE_LITE .. $I2T_OL ..485 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) $JERK .. $JERK_C .. $KCP_CONNECT .. $KCP_IP .. $KCP_TYPE .. $KDO_ACT .. $KR_SERIALNO .. $LDC_ACTIVE .. $LDC_LOADED .. $LDC_RESULT .. $LK_MASTER .. $LK_SLAVES .. $LOAD .. $LOAD_C .. $LOAD_A1 .. $LOAD_A1_C .. $LOAD_A2 .. $LOAD_A2_C .. $LOAD_A3 .. $LOAD_A3_C .. $MAMES_ACT .. $MASTERINGTEST_GROUP .. $MASTERINGTEST_REQ_INT .. $MEAS_PULSE .. $MODE_OP .. $MOT_STOP .. $MOT_TEMP .. $MOUSE_ACT .. $MOUSE_DOM .. $MOUSE_ON .. $MOUSE_ROT .. $MOUSE_TRA .. $MOVE_BCO .. $NULLFRAME .. $NUM_IN .. $NUM_OUT .. $ORI_TYPE .. $ORI_TYPE_C .. $OUT .. $OUT_C .. $OV_ASYNC .. $OV_PRO .. $OV_ROB .. $PAL_MODE .. $PATHTIME .. $PC_FANSPEED.

5 $PINGCOOPKRC .. $POS_ACT .. $POS_ACT_MES ..686 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) System $POS_BACK .. $POS_FOR .. $POS_INT .. $POS_RET .. $POWER_FAIL .. $POWEROFF_DELAYTIME .. $PRO_IP .. $PRO_IP0 .. $PRO_IP1 .. $PRO_MODE .. $PRO_MODE0 .. $PRO_MODE1 .. $PRO_NAME .. $PRO_NAME0 .. $PRO_NAME1 .. $PRO_STATE .. $PRO_STATE0 .. $PRO_STATE1 .. $RCV_INFO .. $RED_VEL .. $RED_VEL_C .. $REVO_NUM .. $RINT_LIST .. $ROB_TIMER .. $ROBNAME .. $ROBROOT_C .. $ROBROOT_KIN .. $ROBRUNTIME .. $ROBTRAFO .. $ROTSYS .. $ROTSYS_C .. $RUNTIME_DATA0 .. $RUNTIME_DATA1 .. $RUNTIME_ERROR0 .. $RUNTIME_ERROR1 .. $RVM .. $SAFETY_DRIVES_ENABLED .. $SAFETY_SW .. $SAFE_FS_STATE .. $SAFE_IBN .. $SAFE_IBN_ALLOWED .. $SEN_PINT .. $SEN_PINT_C .. $SEN_PREA .. $SEN_PREA_C .. $SERVO_SIM.

6 $SET_IO_SIZE .. $SINGUL_DIST .. $SINT_LIST ..867 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) $SOFTPLCBOOL .. $SOFTPLCINT .. $SOFTPLCREAL .. $SOFT_PLC_EVENT .. $SPL_TECH .. $SPL_TECH_C .. $SPL_TECH_LINK .. $SPL_TECH_LINK_C .. $SPL_TSYS .. $SPL_VEL_MODE .. $SPL_VEL_RESTR .. $SR_ACTIVETOOL .. $SSB_ACTIVE .. $STOPMB_ID .. $STOPNOAPROX .. $SUPPRESS_ABS_ACCUR .. $TECH .. $TECH_C .. $TECHANGLE .. $TECHANGLE_C .. $TECHIN .. $TECHPAR .. $TECHPAR_C .. $TECHSYS .. $TECHSYS_C .. $TECHVAL .. $TIMER .. $TIMER_FLAG .. $TIMER_STOP .. $TOOL .. $TOOL_C .. $TORQ_DIFF .. $TORQ_DIFF2 .. $TORQMON .. $TORQMON_COM .. $TORQUE_AXIS_ACT .. $TORQUE_AXIS_LIMITS .. $TORQUE_AXIS_MAX .. $TORQUE_AXIS_MAX_0 .. $TRACE .. $TSYS .. $VEL .. $VEL_C .. $VEL_ACT .. $VEL_AXIS .. $VEL_AXIS_C.

7 $VEL_AXIS_ACT .. $VEL_EXTAX .. $VEL_EXTAX_C ..1148 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) System $WAIT_FOR .. $WAIT_FOR0 .. $WAIT_FOR1 .. $WAIT_FOR_INDEXRES .. $WAIT_FOR_ON .. $WAIT_FOR_ON0 .. $WAIT_FOR_ON1 .. $WAIT_STATE .. $WBOXDISABLE .. $WORLD ..1184 KUKA Service .. support .. Customer Support ..119 Index ..1279 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF)1 groupThis documentation is aimed at users with the following knowledge and skills: Advanced knowledge of the robot controller System Advanced KRL programming robot documentationThe industrial robot documentation consists of the following parts: Documentation for the manipulator Documentation for the robot controller Operating and programming instructions for the KUKA System Software Documentation relating to options and accessories Parts catalog on storage mediumEach of these sets of instructions is a separate of warnings and notesSafetyThese warnings are relevant to safety and must be hints serve to make your work easier or contain references to further optimal use of our products, we recommend that our customers take part in a course of training at KUKA College.

8 Information about the training program can be found at or can be ob-tained directly from our warnings mean that it is certain or highly probable that death or severe physical injury will occur, if no pre-cautions are warnings mean that death or severe physical inju-ry may occur, if no precautions are warnings mean that minor physical injuries may occur, if no precautions are warnings mean that damage to property may oc-cur, if no precautions are warnings contain references to safety-relevant information or general safety measures. These warnings do not refer to individual hazards or individual precautionary to make your work easier or reference to further / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) System usedTe r mDescriptionHTTPH ypertext Transfer ProtocolProtocol for transferring data via a KCP (KUKA Control Panel) teach pendant has all the operator con-trol and display functions required for operating and programming the industrial KCP variant for the KR C4 is called KUKA Object Access ProtocolProtocol for exchanging XML-based messages via a network.

9 Any trans-fer protocol can be used for sending the messages. Due to the greatest compatibility with other systems, HTTP is most commonly technological systemThe TTS is a coordinate System that moves along the path with the robot. It is calculated every time a LIN or CIRC motion is executed. It is derived from the path tangent, the +X axis of the TOOL coordinate sys-tem and the resulting normal tool-based moving frame coordinate System is defined as follows:XTTS: path tangentYTTS: normal vector to the plane derived from the path tangent and the +X axis of the TOOL coordinate systemZTTS: vector of the right-angled System derived from XTTS and YTTSThe path tangent and the +X axis of the TOOL coordinate System must not be parallel, otherwise the TTS cannot be / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF)2 Safety2 SafetyThe fundamental safety information for the industrial robot can be found in the Safety chapter of the Operating and Programming Instructions for System In-tegrators or the Operating and Programming Instructions for End Safety chapter in the operating and programming instructions must be observed.

10 Death to persons, severe injuries or considerable damage to property may otherwise / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF) System Variables13 / 131 Issued: Version: KSS , , Systemvariablen V2 en (PDF)3 System variables3 System $ABS_ACCURD escriptionIndicates whether the positionally accurate robot model is $ABS_ACCUR=StateExplanation of the $ABS_RELOADD escriptionReloading of the positionally accurate robot modelThis variable can be used to reload the active positionally accurate robot mod-el, the file robot serial from the RDC. For this purpose, $ABS_RELOAD is set to TRUE. As soon as the active positionally accurate robot model has been reloaded, the variable is automatically reset Positionally accurate robot model is active: $ABS_ACCUR=#ACTIVATEDS yntax$ABS_RELOAD=StateExplanation of the $ABS_UPDATED escriptionUpdating of the positionally accurate robot model by means of a SOAP-HTTP protocolPrecondition The positionally accurate robot model is deactivated: $ABS_ACCUR=TRUES yntax$ABS_UPDATE=StateExplanation of the syntaxThe variable is write-protected and can only be : ENUM #ACTIVATED: Positionally accurate robot model active #SUPPRESSED: Positionally accurate robot model currently suppressed (by $SUPPRESS_ABS_ACCUR) #NONE: No positionally accurate robot model availableElementDescriptionStateType: BOOL TRUE: Reloading of the robot model is triggered.