10.3.7.4. System Variable
10.3.7.4. System Variable
These variables are used for the acquisition or setup of internal state of the system.
Values cannot be inputted in read-only variable. In other words, read-only variable cannot be on the left side of assignment statement.
_RN1~16 or _RN[1]~_RN[16] | Frequency register 1~16 |
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_TEINPUT | Variable to set the method for recognizing the end of a string when entering the string through the controller by using the serial port. + value : When they entered ASCII code value matches with the set value of _TEINPUT, the end of the string will be recognized. - value : When the absolute value of the set value of –TEINPUT matches with the count of the entered strings, the end of the string will be recognized. |
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_PALCNT | To count the work corresponding to the pallet number when the palletizing process is carried out. |
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_SPDRATE | To select the ratio of the playback speed of the robot when trying to arbitrarily change and apply it in the program. Its unit is %. |
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_ACCRATE | To select the ratio of the acceleration speed of the robot when trying to arbitrarily change and apply it in the program. Its unit is %. |
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_DECRATE | To select the ratio of the deceleration speed of the robot when trying to arbitrarily change and apply it in the program. Its unit is %. |
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_INT.NO | Variable to gain the number of the interrupt that occurs in the interrupt function. | Read only |
_INT.TARGET | Select the arrival completion of the step which is in the process of moving when the interrupt function is being executed.
0: After the interrupt activity is completed, moving to the step, which was in the process of moving previously, will occur.
1: After the interrupt activity is completed, moving to the next step of the step that was in the process of moving previously will occur. | Read only |
_SensorPos | Sensor position in the sensor synchronization function (Distance between the start limit switch and the work) | Read only |
_StoPoDt1~10 or _StoPoDt[1] ~ _StopoDt[10] | Variable for the axis data to be saved by StoPoCnd statement |
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_MacInSpd | (Macro Inspection Speed) LCD inspection robot speed. The unit is % | Read only |
_TIPWEAR | Total abrasion of the servo gun or the equalizer less gun |
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_OrtAcDcR | Posture interpolation ratio variable. 1 ~ 100 can be entered |
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_SensorPls1 | Encoder pulse count of the conveyor board channel 1 | Read only |
_SensorPls2 | Encoder pulse count of the conveyor board channel 2 | Read only |
_SensorStat | Conveyor board state Bit 0: Encoder disconnection error state (active high) Bit 1: Start limit switch (active high) | Read only |
_MECHTYPE | Type number of the robot’s main body currently selected in the system. | Read only |
_TOTAL_AX | Total number of axes currently set in the system. | Read only |
_AUX_AX | Total number of additional axes currently set in the system. | Read only |
_AX_{name} | Axis number (1-base) for the selected axis name ({Name}) | Read only |
_CnstOrnt | Set whether to fix the TCP angle during the CMOV and SMOV movement. 0: Change the TCP angle, 1 : Fix the TCP angle |
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_CNVYNUM | Conveyor number (1,2) currently in synchronization when using multiple conveyors | Read-only |
_INTNUM | Occurred interrupt number. If interrupt does not occur, this variable is 0. | Read-only |
_ZRATIO | Retrieve the distance ratio (Z2/(Z1+Z2) of Z1 and Z2, when the distance of the lift axis (Z1, Z2) of the LCD transfer robot is different Example: V1!=_ZRATIO | Read only |