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 10‑22 Robot language system variable

_RN1~16  or _RN[1]~_RN[16]	Counter register 1~16
_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.
_PALCNT	To count the work corresponding to the pallet number when the palletizing process is carried out.
_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 %.
_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 %.
_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 %.
_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
_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
_OrtAcDcR	Posture interpolation ratio variable. 1 ~ 100 can be entered
_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
_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
_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.
_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
_SpotRunNo1~4	Count of weldings normally performed by the spot welders To be cleared automatically when the program starts. 1~4: Spot welder number
_SensorSpd1~4	Acquires the moving speed of the conveyor or press when using the sensor synchronization function. 1~4: Sensor number	Read only
_F*	Loads the sensor value when using the force sensor (X,Y,Z,Rx,Ry,Rz) Example of use: _F*.X	Read only