10.4.6. System Variable
10.4.6. 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.
Table 10‑25 Robot language system variable
Command | Description | property | Supported version |
_RN1~16 or _RN[1]~_RN[16] | Counter register 1~16 |
| V40.01-00~ |
_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. |
| V40.01-00~ |
_PALCNT | To count the work corresponding to the pallet number when the palletizing process is carried out. |
| V40.01-00~ |
_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 %. |
| V40.01-00~ |
_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 %. |
| V40.01-00~ |
_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 %. |
| V40.01-00~ |
_INT.NO | Variable to gain the number of the interrupt that occurs in the interrupt function. | Read only | V40.01-00~ |
_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 | V40.01-00~ |
_SensorPos | Sensor position in the sensor synchronization function (Distance between the start limit switch and the work) | Read only | V40.01-00~ |
_StoPoDt1~10 or _StoPoDt[1] ~ _StopoDt[10] | Variable for the axis data to be saved by StoPoCnd statement |
| V40.01-00~ |
_MacInSpd | (Macro Inspection Speed) LCD inspection robot speed. The unit is % | Read only | V40.01-00~ |
_TIPWEAR | Total abrasion of the servo gun or the equalizer less gun |
| V40.01-00~ |
_OrtAcDcR | Posture interpolation ratio variable. 1 ~ 100 can be entered |
| V40.01-00~ |
_SensorPls1 | Encoder pulse count of the conveyor board channel 1 | Read only | V40.01-00~ |
_SensorPls2 | Encoder pulse count of the conveyor board channel 2 | Read only | V40.01-00~ |
_SensorStat | Conveyor board state Bit 0: Encoder disconnection error state (active high) Bit 1: Start limit switch (active high) | Read only | V40.01-00~ |
_MECHTYPE | Type number of the robot’s main body currently selected in the system. | Read only | V40.01-00~ |
_TOTAL_AX | Total number of axes currently set in the system. | Read only | V40.01-00~ |
_AUX_AX | Total number of additional axes currently set in the system. | Read only | V40.01-00~ |
_AX_{name} | Axis number (1-base) for the selected axis name ({Name}) | Read only | V40.01-00~ |
_CnstOrnt | Set whether to fix the TCP angle during the CMOV and SMOV movement. 0: Change the TCP angle, 1 : Fix the TCP angle |
| V40.01-00~ |
_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 | V40.01-00~ |
_Faststop | Sets whether to execute Faststop when the Until condition is met. Faststop: Erases the servo filter and outputs the current value as the instruction value. |
| V40.01-00~ |
_Wrstlntp | Sets whether to handle the passing the B axis dead zone while executing the MOVE command as an error. 0: Move without an error through interpolation for the wrist axis 1: Handle it as an error |
| V40.01-00~ |
_SpotRunNo1~4 | Count of weldings normally performed by the spot welders To be cleared automatically when the program starts. 1~4: Spot welder number |
| V40.01-00~ |
_SensorSpd1~4 | Acquires the moving speed of the conveyor or press when using the sensor synchronization function. 1~4: Sensor number | Read only | V40.01-00~ |
_F* | Loads the sensor value when using the force sensor (X,Y,Z,Rx,Ry,Rz) Example of use: _F*.X | Read only | V40.01-00~ |
ArcOnTime | Actual welding time The time when the signal (WCR) is input during welding from the welding machine between ARCON and ARCOF (in seconds) commands | Read only | V40.06-00~ |
WCRTime | Welding command time Elapsed time from ARCON to ARCOF (in seconds) | Read only | V40.06-00~ |