illustrate
1. This form is purely a personal summary. If it is inconsistent with the official or the facts, the official or the facts shall prevail.
2. The sorting is purely random, please don't mind.
3. For reference only.
| variable | type | describe |
|---|---|---|
| $SEMIPOWERFL | BOOLEN | Enable/disable hot start |
| $MASTER_ENABLE | BOOLEN | Display of position calibration interface |
| $DMR_GRP[group].MASTER_DONE | BOOLEN | Indicates whether the master process has been completed, the system variable needs to be modified after SRVO-038 alarm |
| $DMR_GRP[group].MASTER_COUN | INTEGER | Displays the mastering count data of the axis of each joint. The system sets it automatically when mastering is performed. Record the encoder data corresponding to the Master bit, that is, the zero point data |
| $DMR_GRP[group].REF_COUNT | INTEGER | Encoder value SPC_COUNT for fast zero point calibration |
| $DMR_GRP[group].REF_POS | REAL | Corresponding robot position during quick zero point calibration |
| $MNUFRAMENUM[group] | BYTE | The currently active user coordinate system |
| $MNUFRAME[group,axi] | POSITION | Each user coordinate system position |
| $MNUTOOLNUM[group] | BYTE | The currently active tool coordinate system |
| $MNUTOOL[group,axi] | POSITION | The position of each tool coordinate system |
| $PARAM_GROUP[group].ENCSCALES[axi] | REAL | Set the change value of the pulse encoder when the shaft rotates 1deg or advances 1mm, the calculation formula is $ENCSCALES=2E19*reduction ratio/360 |
| $PARAM_GROUP[group].MOT_SPD_LIM[axi] | REAL | Maximum speed of each axis motor (RPM) |
| $PARAM_GROUP[group].GEAR_RATIO | REAL | The reciprocal of the reduction ratio of each axis |
| $SHFTOV_ENB | BOOLEN | Valid/invalid of speed change magnification |
| $SCR.* | INTEGER | Modification of speed multiplier under various conditions |
| $PARAM_GROUP[group].UPPERLIMS | REAL | Each axis soft limit |
| $RMT_MASTER | INTEGER | Remote control device, set to 0 for external control |
| $VISION_CFG.PC_SETUP | BOOLEN | Whether to allow visual teaching on the computer |
| $VISION_CFG.DATA_PATH | STRING | Path to save vision data |
| $VISION_CFG.LOG_PATH | STRING | path to save visual history |
| $SCR_GRP[group].MCH_POS、MCH_SPD、DPOS_DST | POSITION | The current speed, position, displacement and other information of the robot. It should be noted that these variables will be updated in real time after $SCR_GRP[group].M_POS_ENB and M_DST_ENB are enabled |
| $PARAM_GRP[1].ACCEL_TIME1[9] | INTEGER | first acceleration time |
| $PARAM_GRP[1].CART_ACCEL1[9] | INTEGER | Acceleration time in Cartesian coordinate system |
| $OVRD_RATE | INTEGER | "Click "+%", "-%" speed increase size" |
| $PNSF_SET.BY_PWFAIL | BOOLEN | When the DCS alarm of Profinet cannot be eliminated through system - DCS: the system variable needs to be modified: $PNSF_SET.BY_PWFAIL=0 |
| M C R . MCR. MCR.GENOVERRIDE | INTEGER | Indicates the global speed override during program execution |
| $WAITTMOUT | BOOLEN | Instruction instruction: wait ... TMIEOUT LBL[] waiting time, if the condition is not satisfied within this time, then jump to another label. The unit is 1/100s. |
| $FILE_MAXSEC | INTEGER | Define the RAM storage space, positive - RAM is located in SRAM; negative - RAM is located in DRAM. The size of each block is 521byte. |
| $UI_CONFIG.READONLY | BOOLEN | False Files can be uploaded via FTP? |
| $DCS_CFG.SYS_PARRAM | BOOLEN | When it is changed to 1, the DCS Position/Speed Check function can be blocked to solve the SYST-218 alarm |
| $PRGADJ | Some parameters of the Program adjust function | |
| $HSCDMNGRP[1].THRESHOLD | INTEGER | 碰撞检测灵敏度 |
| $SLGNSTUP[1].PROC_WET_RUN | BOOLEN | 设定干湿模式 |
| $MCR_GRP.MACHINELOCK | BOOLEN | Machine Lock 是否启用 |
| $VR[1].OFFSET | POSITION | 视觉寄存器对应偏移值 |
| $SSR.SINGLESTEP | BOOLEN | 机器人单步模式 |
| $TOUCH_DSBL | BOOLEN | 示教器触摸屏功能是否启用 |
| $KAREL_ENB | BOOLEN | Karel程序及变量的界面是否显示 |
| $HSCDMNGRP[1] | 碰撞检测相关变量 |