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5.7.2 Different system variables
Name
$ACC
Data type
Structure
Units
m 2, º 2
s s
$ACC_AXIS[n]
Integer
%
$ACC_CAR_ACT
Frame
m
$ACC_OV
Structure
$CURR_RED
Real
%
$POS_ACT
Structure
mm, º
Current limitations of axes 1-12 in % of maximum
current. 1st digit: axis, 2nd digit: ± limit.
Current robot position, cartesian.
$OV_PRO
Integer
%
Program override, value min:0,value max:100
$NULLFRAME
Structure
$SOFTN_END[n]
Real
mm, º
$SOFTP_END[n]
Real
mm, º
$TIMER[n]
Integer
ms
$TORQUE_AXIS
Integer
$VEL
Structure
$INTERRUPT
Boolean
Program is processing an interrupt.
$WAIT_FOR[470]
Character
Interpreter waiting at a WAITFOR statement.
$WORKSPACE[n]
Structure
Definition of workspace monitoring [n]=[1].....[8]
$WORKSPACE[n].MODE
Enum
Functional principle of the workspace monitoring
function. #OFF, #INSIDE,#OUTSIDE.
s2
Description
Path,swivel and rotational accelerations in the
advance run.
Acceleration of the axes in the advance run.
[n]=[1]....[6]
The current values of the acceleration components
and the total acceleration.
Data for acceleration with changes of override.
All values for offset(X,Y,Z)and rotation(A,B,C)
are set to zero.
Position of the software limit switches at the
negative end of the axis (axes 1....12)
Position of the software limit switches at the
positive end of the axis (axes 1....12)
Value of timer[n] increases by 1 each
milli-second if $TIMER_STOP=FALSE
Axis in position when command value reached,
switch[1] to $TORQUE_AXIS='B000001'
Velocities in the advance run.
m ,º
s s
Tab. 12 Types of system variables
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