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FANUC Robotics SYSTEM R-J3 Controller Software Reference
Manual
MARS35GEN09801E REV. B
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2.2 SYSTEM VARIABLE LISTING
This section lists all system variables in alphabetical order. Table 2-2 lists and describes the
available system variable information. Table 2-3 describes the access rights of system variables.
Table 2-2. System Variable Information
ITEM DESCRIPTION
Minimum
Provides the minimum value for the system variable when values differ from
standard values.
Default Provides the default value of the system variable.
Maximum
Provides the maximum value for the system variable when values differ from
standard values.
KCL/Data
Indicates whether this variable can be accessed from the KCL/Teach Pendant
DATA screen.
Program Indicates whether this variable can be accessed from a KAREL program.
GET/SETVAR
Indicates whether this variable can be accessed using the GET_VAR or
SET_VAR built-ins.
Data Type Indicates the type of value associated with the system variable.
Name Provides the name and structure of the system variable.
Description Provides information about the system variable.
Power Up Indicates when a change to the system variable takes effect.
User Interface
Location
Indicates where you can view or modify the system variable
Table 2-3. Access Rights for system variables
ACCESS MEANING
NO No access
RO Read only
RW Read and write
FP Field protection; if it is a structure, one of the first three protections will apply.
$AB_INT_CFG STRUCTURE
Name: Allen-Bradley Interface Configuration

Description: This variable structure contains configuration information for the R-J3 style Allen-
Bradley interface.
It is intended to provide information to FANUC Robotics service personnel and the Hot Line. You
cannot modify this information because it is read only. You cannot decode this information
because it is packed into the fields of this structure.
If you suspect problems with the R-J3 style Allen-Bradley interface, FANUC Robotics service
personnel can use the information contained in this structure to help diagnose the problem.
If the R-H style Allen-Bradley interface is installed, this structure is not used and should contain 0
in all fields.
The individual fields within this structure are described below.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$address
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: Link Address
Description: This variable is the serial communications link address. Diagnostic information for
FANUC Robotics service personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$command
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: Command Byte
Description: This variable is the internal board configuration. Diagnostic information for FANUC
Robotics service personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$config
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER

Name: Configuration
Description: This variable is the general board configuration information. Diagnostic information
for FANUC Robotics service personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$dip_sw_0
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: DIP Switch 0
Description: The settings of DIP switch 0. Diagnostic information for FANUC Robotics service
personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$dip_sw_1
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: DIP Switch 1
Description: The settings of DIP switch 1. Diagnostic information for FANUC Robotics service
personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$gen_flt
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: General Fault Register
Description: Internal general fault information. Diagnostic information for FANUC Robotics
service personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen

$AB_INT_CFG.$leds
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: LED State
Description: Status of the LEDs on the interface board. Diagnostic information for FANUC
Robotics service personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$rate
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: Data Rate
Description: The serial communications data rate. Diagnostic information for FANUC Robotics
service personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$ser_flt
Minimum: 0 Default: 0 Maximum: 255
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: Serial Fault Register
Description: Internal serial fault information. Diagnostic information for FANUC Robotics service
personnel only.
Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AB_INT_CFG.$stat_reg
Minimum: 0 Default: 0 Maximum: 65535
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER
Name: Status Register
Description: Internal board status register information. Diagnostic information for FANUC
Robotics service personnel only.

Power Up: N/A
User Interface Location: SYSTEM Variables screen
$AC_CRC_ID[1-5]
Minimum: "" Default: " " Maximum: ""
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: STRING
Name: Small circle id
Description: For internal use only. Do not modify this system variable. When karel program for
setting the small circle servo parameters executes the value is set to the version loaded. Number
of array(5) means number of motion group.
Power Up: Changes to this variable take effect through the robot library or option.
User Interface Location: SYSTEM Variables screen
$AC_CRC _SET[1-5]
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RO Program: FP GET/SET_VAR: RW Data Type: INTEGER
Name: Small circle set
Description: For internal use only. Do not modify this system variable. When a KAREL program
that sets the small circle servo parameters executes, the value is set to 1 to indicate that the
option was loaded. The number of the array(5) corresponds to the number of the motion group.
Power Up: Changes to this variable take effect through the robot library or option.
User Interface Location: SYSTEM Variables screen
$ANGTOL[9]
Minimum: 0.0 Default: 10.0 Maximum: 360.0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL
Name: Axis Error Tolerance
Description: The maximum tolerance of each joint for the positional comparison operation. Two
positions are considered equal when the difference between each of their respective axis angles
(units: in deg) is less than $ANGTOL.
Power Up:
User Interface Location: SYSTEM Variables screen
$AP_MAXAX
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