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System.Variables¶

Variables¶

$A4PAR¶

Set axis 4 parallel to the last rotational main axis

Name	Type	Unit	Constraint
`$A4PAR`	`INT`		`0` when unset. `1` when set

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$ABS_ACCUR¶

Switch absolutely accurate robot model on/off

Name	Type
`$ABS_ACCUR`	`BOOL`

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$ABS_CONVERT¶

Conversion of point coordinates into absolutely accurate robot model

Name	Type
`$ABS_CONVERT`	`BOOL`

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$ABS_RELOAD¶

Reload absolutely accurate robot model

Name	Type
`$ABS_RELOAD`	`BOOL`

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$ACC¶

Accelerations in the ADVANCE run

Name	Type
`$ACC`	`CP`

Field	Type	Unit	Description
`CP`	`REAL`	m/s²	Path acceleration in the `ADVANCE` run
`ORI1`	`REAL`	°/s²	Swivel acceleration in the `ADVANCE` run
`ORI2`	`REAL`	°/s²	Rotational acceleration in the `ADVANCE` run

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$ACC_ACT_MA¶

Limit value of axial command acceleration

Name	Type	Unit	Constraint
`$ACC_ACT_MA`	`INT`	%	[0,100]

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$ACC_AXIS[]¶

Acceleration of the axes A1..A6 in the ADVANCE run

Name	Type	Unit	Constraint
`$ACC_AXIS[]`	`INT[6]`	%	[0,100]

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$ACC_AXIS_C[]¶

Acceleration of the axes A1..A6 in the MAIN run

Name	Type	Unit	Constraint
`$ACC_AXIS_C[]`	`INT[6]`	%	[0,100]

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$ACC_C¶

Accelerations in the MAIN run

Name	Type
`$ACC_C`	`CP`

Field	Type	Unit	Constraint	Description
`CP`	`REAL`	m/s²	> 0	Path acceleration in the `MAIN` run
`ORI1`	`REAL`	°/s²		Swivel acceleration in the `MAIN` run
`ORI2`	`REAL`	°/s²		Rotational acceleration in the `MAIN` run

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$ACC_CAR_ACT¶

The current values of the acceleration components and the total acceleration

Name	Type
`$ACC_CAR_ACT`	`ACC_CAR`

Field	Type	Unit	Constraint	Description
`X`	`REAL`	m/s²		`X` component of the acceleration expressed in `$ACC_CAR_TOOL` frame.
`Y`	`REAL`	m/s²		`Y` component of the acceleration expressed in `$ACC_CAR_TOOL` frame.
`Z`	`REAL`	m/s²		`Z` component of the acceleration expressed in `$ACC_CAR_TOOL` frame.
`ABS`	`REAL`	m/s²	>= 0	Acceleration magnitude.

Comments

...

Notes

Acceleration due to gravity (9.81 m/s²) is automatically calculated into the acceleration caused by the motion.

Note that A, B and C fields are not used.

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$ACC_CAR_LIMIT¶

Maximum permissible value for the acceleration components and the total acceleration

Name	Type
`$ACC_CAR_LIMIT`	`ACC_CAR`

Field	Type	Unit	Constraint	Description
`X`	`REAL`	m/s²		Maximum permissible value for the `X` component of the acceleration expressed in `$ACC_CAR_TOOL` frame.
`Y`	`REAL`	m/s²		Maximum permissible value for the `Y` component of the acceleration expressed in `$ACC_CAR_TOOL` frame.
`Z`	`REAL`	m/s²		Maximum permissible value for the `Z` component of the acceleration expressed in `$ACC_CAR_TOOL` frame.
`ABS`	`REAL`	m/s²	>= 0	Maximum permissible value for the acceleration magnitude.

Comments

...

Notes

If the variable $ACC_CAR_STOP is set to true, then if the acceleration value is exceeded the robot is stopped (ramp-down braking) and an acknowledgement message is generated.

Note that A, B and C fields are not used.

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$ACC_CAR_MAX¶

Saves the greatest absolute values of $ACC_CAR_ACT

Name	Type
`$ACC_CAR_MAX`	`ACC_CAR`

Comments

...

Notes

This variable can be set to 0 to determine the maximum values.

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$ACC_CAR_STOP¶

Activates/Deactivates stop reaction when the value specified in $ACC_CAR_LIMIT is exceeded.

Name	Type
`$ACC_CAR_STOP`	`BOOL`

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$ACC_CAR_TOOL¶

A point on the tool mounted on the robot at which the current effective acceleration is measured

Name	Type
`$ACC_CAR_TOOL`	`FRAME`

Comments

...

Notes

In the same way as $TOOL, $ACC_CAR_TOOL is also specified relative to the flange by means of the X, Y and Z coordinates. The angles of rotation A, B and C indicate the positions of the 3 axes of the coordinate system in which the acceleration components are then specified. The individual acceleration components and the total acceleration are all evaluated cyclically.

Acceleration caused by gear unit torsion or flexion of the robot is not taken into consideration.

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$ACC_EXTAX[]¶

Acceleration of the external axes E1..E7 in the ADVANCE run

Name	Type	Unit	Constraint
`$ACC_EXTAX[]`	`INT[6]`	%	[0,100]

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$ACC_EXTAX_C[]¶

Acceleration of the external axes E1..E7 in the MAIN run

Name	Type	Unit	Constraint
`$ACC_EXTAX_C[]`	`INT[6]`	%	[0,100]

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$ACC_MA¶

Maximum values for path, swivel and rotational accelerations

Name	Type
`$ACC_MA`	`CP`

Field	Type	Unit	Description
`CP`	`REAL`	m/s²	Maximum path acceleration
`ORI1`	`REAL`	°/s²	Maximum swivel acceleration
`ORI2`	`REAL`	°/s²	Maximum rotational acceleration

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$ACC_OV¶

Data for acceleration with changes of override

Name	Type
`$ACC_OV`	`CP`

Field	Type	Unit	Description
`CP`	`REAL`	m/s²	Path acceleration with change of override
`ORI1`	`REAL`	°/s²	Swivel acceleration with change of override
`ORI2`	`REAL`	°/s²	Rotational acceleration with change of override

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$ACT_BASE¶

Number of the current BASE system

Name	Type	Unit	Constraint
`$ACT_BASE`	`INT`	index

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$ACT_EX_AX¶

Number of the current external base kinematic system

Name	Type	Unit	Constraint
`$ACT_EX_AX`	`INT`	index

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$ACT_TOOL¶

Number of the current tool coordinate system

Name	Type	Unit	Constraint
`$ACT_TOOL`	`INT`	index

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$ACT_VAL_DIF¶

Maximum permissible difference of encoder actual values when switching on system.

Name	Type	Unit	Constraint
`$ACT_VAL_DIF`	`INT`	increments

Comments

...

Notes

If the limit values are exceeded, the message Perform mastering appears.

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$ADAP_ACC¶

Activation of acceleration adaptation.

Name	Type	Constraint
`$ADAP_ACC`	`ADAP_ACC`	`#NONE` ,`#STEP1` ,`#STEP2`

Comments

...

Notes

#STEP1 and #STEP2 require valid dynamic data ($DYN_DAT).

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$ADVANCE¶

Specification of the ADVANCE run.

Name	Type	Unit	Constraint
`$ADVANCE`	`INT`	motion blocks	[0,5]

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$ALARM_STOP¶

Specification of the ADVANCE run.

Name	Type
`$ALARM_STOP`	`SIGNAL`

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$ANA_DEL_FLT¶

Analog output filter

Name	Type	Constraint
`$ANA_DEL_FLT`	`SW_ONOFF`	`#ON` ,`#OFF`

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$ANIN[]¶

Analog inputs $ANIN[1]..$ANIN[8]

Name	Type	Unit	Constraint
`$ANIN[]`	`REAL[8]`		[-1.0, 1.0]

Comments

...

Notes

-1.0maps to -10V
+1.0maps to +10V

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$ANOUT[]¶

Analog outputs $ANIN[1]..$ANIN[16]

Name	Type	Unit	Constraint
`$ANOUT[]`	`REAL[16]`		[-1.0, 1.0]

Comments

...

Notes

-1.0maps to -10V
+1.0maps to +10V

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$APO_DIS_PTP[]¶

Maximum approximation distance for PTP motions.

Name	Type	Unit	Constraint
`$APO_DIS_PTP[]`	`REAL[12]`	`mm` or `°`

Comments

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Notes

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$ASYNC_AX¶

Motion input for asynchronous external axes E1..E6, negative or positive direction.

Name	Type
`$ASYNC_AX`	`SIGNAL`

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$ASYNC_AXi_M¶

Motion input for asynchronous external axes E1..E6, negative direction

Name	Type
`$ASYNC_AXi_M`	`SIGNAL`

Comments

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Notes

SIGNAL $ASYNC_AX1_M $IN[1026]
SIGNAL $ASYNC_AX2_M $IN[1026]
SIGNAL $ASYNC_AX3_M $IN[1026]
SIGNAL $ASYNC_AX4_M $IN[1026]
SIGNAL $ASYNC_AX5_M $IN[1026]
SIGNAL $ASYNC_AX6_M $IN[1026]

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$ASYNC_AXi_P¶

Motion input for asynchronous external axes E1..E6, positive direction

Name	Type
`$ASYNC_AXi_P`	`SIGNAL`

Comments

...

Notes

SIGNAL $ASYNC_AX1_P $IN[1026]
SIGNAL $ASYNC_AX2_P $IN[1026]
SIGNAL $ASYNC_AX3_P $IN[1026]
SIGNAL $ASYNC_AX4_P $IN[1026]
SIGNAL $ASYNC_AX5_P $IN[1026]
SIGNAL $ASYNC_AX6_P $IN[1026]

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$ASYNC_AXIS¶

Bit arrays to switch external axes to asynchronous mode

Name	Type	Unit	Constraint
`$ASYNC_AXIS`	`INT`		Bit = `0` (synchronous mode) Bit = `1` (asynchronous mode)

Comments

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Notes

When $ASYNC_AXIS is assigned in a KRL program, the newly-defined asynchronous axes are valid from this position until a new assignment is made.

When $ASYNC_AXIS is defined, the ADVANCE run will be stopped if the value of $ASYNC_AXIS changes. Before a new value of $ASYNC_AXIS is saved, the system will wait until all synchronous motions (through advance run stop) and all asynchronous motions have been completed, and all axes are in position. Thus the instruction $ASYNC_AXIS = ... can be used – along with the system variable $ASYNC_STATE – to synchronize in time synchronous and asynchronous motions. $ASYNC_AXIS can only be modified in the KRL program, and not in the interrupt or in the SUBMIT interpreter.

The bits correspond to the external axes in ascending order :

Bit 0 : external axis 1,
Bit 1 : external axis 2,
...

If the bit is set, the external axis will be switched to asynchronous mode; if it is reset, the external axis will be switched back to synchronous mode.

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$ASYNC_FLT¶

Filter for asynchronous external axes

Name	Type	Unit	Constraint
`$ASYNC_FLT`	`INT`	ms	[0,16]

Comments

...

Notes

The value of $ASYNC_FLT is the filter length in milliseconds for all asynchronously coordinated motions. It corresponds to the system variable FILTER for synchronous motions.

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$ASYNC_MODE¶

Mode for asynchronous external axes

Name	Type	Unit	Constraint
`$ASYNC_MODE`	`INT`	ms	[0,16]

Comments

...

Notes

In the machine data of the controller, the bit mask $ASYNC_MODE can be used to set various asynchronous motion execution modes.

It is not possible to change modes while the robot controller is running. The modes can be combined in any way desired.

Certain modes must be set in order to use special applications. In the standard setting (default mode) no $ASYNC_MODE bits are set. Only bit 0 is used at this time :

Bit 0 = 0 : default mode
Bit 0 = 1 (1^st bit) : mode 1
Bit 1 = (2^nd bit) : mode 2 block selection response

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$ASYNC_OPT¶

Option flag for asynchronous axes are possible

Name	Type
`$ASYNC_OPT`	`BOOL`

Comments

...

Notes

true : asynchronous axes possible
false : asynchronous axes not possible

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$ASYNC_STATE¶

Current asynchronous motion execution state

Name	Type	Constraint
`$ASYNC_STATE`	`ASYNC_STATE`	`#BUSY` ,`#IDLE` ,`#CANCELLED` ,`#PEND`

Comments

...

Notes

$ASYNC_STATE can be used to check the current asynchronous motion execution state.

Asynchronous and normal robot motions can be synchronized using this variable.

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$ASYNC_T1_FAST¶

Control of the velocity reduction factor in Test 1 mode

Name	Type	Unit	Constraint
`$ASYNC_T1_FAST`	`INT`		[0,1]

Comments

...

Notes

0 : activated
1 : deactivated

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$ASYS¶

Assignment of the jog keys

Name	Type	Constraint
`$ASYS`	`ASYS`	`#ROBOT` ,`#EXTAX` ,`#EXTAX2`

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$AUT¶

Signal declaration Automatic mode

Name	Type
`$AUT`	`SIGNAL`

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$AUX_POWER¶

Signal declaration for external power supply

Name	Type
`$AUX_POWER`	`SIGNAL`

Comments

...

Notes

If $AUX_POWER has the value true, the external power supply is active; if the value is false, the external power supply is not active.

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$AXIS_ACT¶

Current axis-specific robot position

Name	Type
`$AXIS_ACT`	`E6AXIS`

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$AXIS_ACTMOD¶

Display of axis angle modulo 180°

Name	Type
`$AXIS_ACTMOD`	`E6AXIS`

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$AXIS_BACK¶

Start position of the current motion block, axis-specific

Name	Type
`$AXIS_BACK`	`E6AXIS`

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$AXIS_CAL¶

Display whether axis is referenced

Name	Type
`$AXIS_CAL`	`AXIS_CAL`

Comments

...

Notes

true when axis is referenced. false otherwise.

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$AXIS_DIR[]¶

Direction of rotation for axis A1..A6 and external axis E1..E6

Name	Type	Unit	Constraint
`$AXIS_DIR[]`	`INT[12]`		{-1; 1}

Comments

...

Notes

1..6 : axis A1..A6
7..12 : external axis E1..E6

1 for positive direction. -1 for negative direction.

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$AXIS_FOR¶

Target position of the current motion block, axis-specific

Name	Type
`$AXIS_FOR`	`E6AXIS`

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$AXIS_HOME[]¶

Definition of the various home positions

Name	Type
`$AXIS_HOME[]`	`E6AXIS[5]`

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$AXIS_INC¶

Incremental actual values of the axes

Name	Type
`$AXIS_INC`	`AXIS_INC`

Comments

...

Notes

Indication of the axis position in increments.

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$AXIS_INT¶

Robot position at the time of an interrupt

Name	Type
`$AXIS_INT`	`E6AXIS`

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$AXIS_JUS¶

Display whether axis is mastered

Name	Type
`$AXIS_JUS`	`AXIS_CAL`

Comments

...

Notes

true when axis is mastered. false otherwise.

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$AXIS_RESO[]¶

Resolution of the position sensing system

Name	Type	Unit	Constraint
`$AXIS_RESO[]`	`INT[12]`	increments / revolution

Comments

...

Notes

Number of pulses per revolution of the encoder:

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$AXIS_RET¶

Axis positions when leaving the programmed path, axis-specific

Name	Type
`$AXIS_RET`	`E6AXIS`

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$AXIS_SEQ[]¶

Change in sequence of axis ... to axis ...

Name	Type	Unit	Constraint
`$AXIS_SEQ[]`	`INT[12]`

Comments

...

Notes

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$AXIS_TYPE[]¶

Axis type identification

Name	Type	Unit	Constraint
`$AXIS_TYPE[]`	`INT[12]`		[1,5]

Comments

...

Notes

Types :

1 : Linear
2 : Spindle
3 : Rotational
4 : Finitely rotating
5 : Infinitely rotating

Index :

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$AXWORKSPACE[]¶

Definition of axis-specific workspace monitoring

Name	Type
`$AXWORKSPACE[]`	`AXBOX[8]`

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$BASE¶

Base coordinate system in relation to the world coordinate system in the ADVANCE run.

Name	Type
`$BASE`	`FRAME`

Comments

...

Notes

Offset and rotation of the base coordinate system in relation to the world coordinate system in the ADVANCE run.

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$BASE_C¶

Base coordinate system in relation to the world coordinate system in the MAIN run

Name	Type
`$BASE_C`	`FRAME`

Comments

...

Notes

Offset and rotation of the base coordinate system in relation to the world coordinate system in the MAIN run.

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$BASE_KIN[]¶

External kinematic / axes in base

Name	Type
`$BASE_KIN[]`	`CHAR[29]`

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$BOUNCE_TIME¶

Bounce time for EMT signals

Name	Type	Unit	Constraint
`$BOUNCE_TIME`	`INT`	ms

Comments

...

Notes

The signal is only accepted if it remains stable over the entire time period defined in $BOUNCE_TIME.

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$BRAKE_SIG¶

Bit array for axis A1..A6 and external axis E1..E6 brakes

Name	Type	Unit	Constraint
`$BRAKE_SIG`	`INT`		{0,1}

Comments

...

Notes

0 : brake closed
1: brake open

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$BRK_DEL_COM¶

Time after which the axis brakes are closed on completion of positioning during jogging

Name	Type	Unit	Constraint
`$BRK_DEL_COM`	`INT`	ms

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$BRK_DEL_EX¶

Brake delay time for external axes

Name	Type	Unit	Constraint
`$BRK_DEL_EX`	`INT`	ms

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$BRK_DEL_PRO¶

Time after which the axis brakes are closed on completion of posi- tioning in the program

Name	Type	Unit	Constraint
`$BRK_DEL_PRO`	`INT`	ms

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$BRK_MAX_TM¶

Maximum deceleration time for path-maintaining Emergency Stop

Name	Type	Unit	Constraint
`$BRK_MAX_TM`	`INT`	ms

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$BRK_MODE¶

Brake control mode

Name	Type	Unit	Constraint
`$BRK_MODE`	`INT`	bit array	'Bbbbb'

Comments

...

Notes

The bits are counted from right to left :

Bit 0 : axes A1..A6 close (b = 1) / do not close (b = 0) at command end.
Bit 1 : axes A1..A6 close individually (b = 1) / together (b = 0).
Bit 2 : axes A1..A6 close (b = 1) / do not close (b = 0) during pauses in the motion.
Bit 3 : external axes E1..E6 brakes close individually (b = 1) / together (b = 0) with axes A1..A6 during motion pauses.

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$BRK_OPENTM¶

Time delay of command value output after axis brakes have been opened

Name	Type	Unit	Constraint
`$BRK_OPENTM`	`INT`	ms

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$BUS_PAR¶

L2 bus interface (KRC32)

Name	Type
`$BUS_PAR`	`BUS`

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$CABLE2_MON¶

Additional motor cable monitoring

Name	Type
`$CABLE2_MON`	`BOOL`

Comments

...

Notes

Specifies whether the connection of the second motor cable should be monitored (true for special machines) :

true : monitoring activated
false : monitoring deactivated

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$CAL_DIFF¶

Mastering difference for EMT mastering with check run

Name	Type	Unit	Constraint
`$CAL_DIFF`	`INT`

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$CALP¶

Reference point offset between mathematical zero point and encoder zero point

Name	Type
`$CALP`	`E6AXIS`

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$CIRC_TYPE¶

Orientation control with CIRC blocks in the ADVANCE run

Name	Type	Constraint
`$CIRC_TYPE`	`CIRC_TYPE`	`#BASE` ,`#PATH`

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$CIRC_TYPE_C¶

Orientation control with CIRC blocks in the MAIN run

Name	Type	Constraint
`$CIRC_TYPE_C`	`CIRC_TYPE`	`#BASE` ,`#PATH`

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$CMD¶

Display assignment number (handle) for command channel

Name	Type	Unit	Constraint
`$CMD`	`INT`

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$COM_NAME¶

Command which is to be processed after next start

Name	Type
`$COM_NAME`	`CHAR[486]`

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$COM_VAL_MI[]¶

Limitation of command speed for axis A1..A6 and external axis E1..E6

Name	Type	Unit	Constraint
`$COM_VAL_MI[]`	`REAL[12]`

Comments

...

Notes

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$CONF_MESS¶

Signal declaration for reset acknowledgement messages.

Name	Type
`$CONF_MESS`	`SIGNAL`

Comments

...

Notes

External confirmation

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$COSYS¶

Coordinate system for jogging

Name	Type	Constraint
`$COSYS`	`COSYS`	`#AX` ,`#CAR`

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$COUNT_I[]¶

Freely usable integer variables

Name	Type	Unit	Constraint
`$COUNT_I[]`	`INT[32]`

Comments

...

Notes

Used as counters in the VW package

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$COUP_COMP[,]¶

Axis coupling factors

Name	Type
`$COUP_COMP[,]`	`FRA[6,6]`

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$CP_VEL_TYPE¶

Reduction of the CP path velocity

Name	Type	Constraint
`$CP_VEL_TYPE`	`COSYS`	`#AX` ,`#CAR`

Comments

...

Notes

If the axis limit values are exceeded, the CP velocity is reduced. Reduction is always active in Cartesian jogging.

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$CP_VEL_TYPE¶

Reduction of the CP path velocity

Name	Type	Constraint
`$CP_VEL_TYPE`	`CP_VEL_TYPE`	`#CONSTANT` ,`#VAR_T1` ,`#VAR_ALL`

Comments

...

Notes

If the axis limit values are exceeded, the CP velocity is reduced. Reduction is always active in Cartesian jogging.

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$CPVELREDMELD¶

Generation of message if path velocity reduced

Name	Type	Unit	Constraint
`$CPVELREDMELD`	`INT`

Comments

...

Notes

The message contains the point name and the maximum reduction in the specific motion command.

0 : Generation of message deactivated.
1 : Generation of message in the event of block change in jog mode.
100 : Generation of message in the event of block change in all modes.

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$CURR_ACT[]¶

Actual current of axes

Name	Type	Unit	Constraint
`$CURR_ACT[]`	`REAL[12]`	%	[-100,100]

Comments

...

Notes

Current value of current of axes A1..A6 and external axes E1..E6 in percentage of maximum servo drive module current $CURR_MAX (-100% to +100%).

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$CURR_CAL[]¶

Current calibration of axis in the power module

Name	Type	Unit	Constraint
`$CURR_CAL[]`	`REAL[12]`

Comments

...

Notes

For KRC 1a and KRC 2 : calibration = 1.

1 : High power
2 : Medium / low power
4 : Low power
1..6 : axis A1..A6
7..12 : external axis E1..E6

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$CURR_COM_EX[]¶

Current limitation for external axes in jog mode

Name	Type	Unit	Constraint
`$CURR_COM_EX[]`	`REAL[6]`

Comments

...

Notes

1..6 : external axis E1..E6

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$CURR_LIM[]¶

Current limitation

Name	Type	Unit	Constraint
`$CURR_LIM[]`	`INT[12]`	%	[0,100]

Comments

...

Notes

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$CURR_MAX[]¶

Maximum effective current on power module output

Name	Type	Unit	Constraint
`$CURR_MAX[]`	`REAL[12]`	A

Comments

...

Notes

Effective current must be present

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$CURR_MON[]¶

Permissible rated current

Name	Type	Unit	Constraint
`$CURR_MON[]`	`REAL[12]`

Comments

...

Notes

Defines the limit for i² x t monitoring for 55°C

1..6 : axis A1..A6
7..12 : external axis E1..E6

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$CURR_RED[,]¶

Current limitation for axes in % of the maximum current

Name	Type	Unit	Constraint
`$CURR_RED[,]`	`REAL[12,2]`

Comments

...

Notes

[1..6,:] : axis A1..A6
[7..12,:] : external axis E1..E6
[:,1] : positive limit
[:,2] : negative limit

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$CYC_DEFi[]¶

Input text for the corresponding cyclical flag

Name	Type
`$CYC_DEFi[]`	`CHAR[470]`

Comments

...

Notes

i in [1,32]

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$CYCFLAG[]¶

Cyclical flags

Name	Type
`$CYCFLAG[]`	`BOOL[32]`

Comments

...

Notes

There are 32 cyclical flags available. These flags are cyclically updated independently of program execution. The default value is false.

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$DATA_INTEGRITY¶

A variable of type SIGNAL is output either as groups of bits or one bit at a time

Name	Type
`$DATA_INTEGRITY`	`BOOL`

Comments

...

Notes

If the signal variable is output as groups of bits, the signal must be defined in one of the defined data objects OUTB, OUTW or OUTDW.

true : data are output as groups of bits
false : data are output one bit at a time

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$DATA_SERx¶

Number of serial receive messages read in the channel x buffer

Name	Type	Unit	Constraint
`$DATA_SERx`	`INT`

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$DATAPATH[]¶

Name of the SRC file whose variables in the data list are to be accessed using the variable modification function

Name	Type
`$DATAPATH[]`	`CHAR[16]`

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$DATE¶

System time and system date

Name	Type
`$DATE`	`DATE`

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$DECEL_MB¶

Deceleration time during maximum braking

Name	Type	Unit	Constraint
`$DECEL_MB`	`REAL`	ms

Comments

...

Notes

Braking ramp for dynamic braking. In maximum braking, the current actual speed value is taken as the command speed value and run down the ramp set in the machine datum $DECEL_MB to zero.

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$DEF_A4FIX¶

Fixing of axis 4 when palletizing

Name	Type
`$DEF_A4FIX`	`BOOL`

Comments

...

Notes

Defines whether the robot has 5 or 6 axes. When a program is loaded or reset, $PAL_MODE = $DEF_A4FIX is set, i.e. palletizing mode is thus automatically activated for a 5-axis robot and not for a normal 6-axis robot.

true : 5-axis robot (axis 4 fixed)
false : 6-axis robot

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$DEF_FLT_CP¶

Default filter for CP motion

Name	Type	Unit	Constraint
`$DEF_FLT_CP`	`INT`

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$DEF_FLT_PTP¶

Default filter for PTP motion

Name	Type	Unit	Constraint
`$DEF_FLT_PTP`	`INT`

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$DEF_L_CM¶

Center of mass frame for the default load on the flange in the flange coordinate system

Name	Type
`$DEF_L_CM`	`FRAME`

Field	Type	Description
`X`	`REAL`	Offset in the `X` direction
`Y`	`REAL`	Offset in the `Y` direction
`Z`	`REAL`	Offset in the `Z` direction
`A`	`REAL`	Rotation about the `Z` axis
`B`	`REAL`	Rotation about the `Y` axis
`C`	`REAL`	Rotation about the `X` axis

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$DEF_L_J¶

Default moment of inertia of the load on the flange in the default center of mass coordinate system of the load

Name	Type
`$DEF_L_J`	`INERTIA`

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$DEF_L_M¶

Default mass of the load on the flange

Name	Type	Unit	Constraint
`$DEF_L_M`	`REAL`	kg ?

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$DEF_LA3_CM¶

Center of mass frame for the default mass of the supplementary load on axis 3 in the flange coordinate system

Name	Type
`$DEF_LA3_CM`	`FRAME`

Field	Type	Description
`X`	`REAL`	Offset in the `X` direction
`Y`	`REAL`	Offset in the `Y` direction
`Z`	`REAL`	Offset in the `Z` direction
`A`	`REAL`	Rotation about the `Z` axis
`B`	`REAL`	Rotation about the `Y` axis
`C`	`REAL`	Rotation about the `X` axis

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$DEF_LA3_J¶

DDefault moment of inertia of the supplementary load on axis 3

Name	Type
`$DEF_LA3_J`	`INERTIA`

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$DEF_LA3_M¶

Default mass of the supplementary load on axis 3

Name	Type	Unit	Constraint
`$DEF_LA3_M`	`REAL`	kg ?

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$DEF_OV_JOG¶

Default value for override in jog mode

Name	Type	Unit	Constraint
`$DEF_OV_JOG`	`INT`

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$DEVICE¶

Operator control device status

Name	Type	Constraint
`$DEVICE`	`DEVICE`	`#ACTIVE` ,`#BLOCK` ,`#PASSIVE` ,`#OFF`

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$DH_4¶

Denavit-Hartenberg parameters for the wrist (frame between A4 and A5)

Name	Type
`$DH_4`	`DHART`

Field	Type	Unit
`DHART_A`	`REAL`	mm
`DHART_D`	`REAL`	mm
`DHART_ALPHA`	`REAL`	°

Comments

...

Notes

Denavit-Hartenberg transformation

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$DH_5¶

Denavit-Hartenberg parameters for the wrist (frame between A5 and A6)

Name	Type
`$DH_5`	`DHART`

Field	Type	Unit
`DHART_A`	`REAL`	mm
`DHART_D`	`REAL`	mm
`DHART_ALPHA`	`REAL`	°

Comments

...

Notes

Denavit-Hartenberg transformation

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$DIGINi¶

Assignment of digital inputs 1 to 6

Name	Type
`$DIGINi`	`SIGNAL`

Comments

...

Notes

SIGNAL $DIGIN1 $IN[1026] TO $IN[1026]
SIGNAL $DIGIN2 $IN[1026] TO $IN[1026]
SIGNAL $DIGIN3 $IN[1026] TO $IN[1026]
SIGNAL $DIGIN4 $IN[1026] TO $IN[1026]
SIGNAL $DIGIN5 $IN[1026] TO $IN[1026]
SIGNAL $DIGIN6 $IN[1026] TO $IN[1026]

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$DIGINiCODE¶

Defines whether or not the value for $DIGINi is preceded by a sign

Name	Type	Constraint
`$DIGINiCODE`	`DIGINCODE`	`#SIGNED` ,`#UNSIGNED`

Comments

...

Notes

#SIGNED : with sign
#UNSIGNED : without sign

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$DIR_CAL¶

Defines the referencing direction for each axis A1..A6 and external axis E1..E6

Name	Type	Unit	Constraint
`$DIR_CAL`	`INT`	bit array	'Bbbbbbbbbbbbb'

Comments

...

Notes

Bit[n] = 0 : reference point of axis n is approached in the positive direction
Bit[n] = 1 : reference point of axis n is approached in the negative direction

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$DIS_WRP1¶

Average distance of wrist point from singularity 1 (Alpha 1 singularity)

Name	Type	Unit	Constraint
`$DIS_WRP1`	`REAL`

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$DIS_WRP2¶

Average distance of wrist point from singularity 2 (Alpha 5 singularity)

Name	Type	Unit	Constraint
`$DIS_WRP2`	`REAL`

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$DISPLAY_REF¶

New form output when $DISPLAY_VAR is changed

Name	Type
`$DISPLAY_REF`	`BOOL`

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$DISPLAY_VAR[]¶

Observable variables

Name	Type
`$DISPLAY_VAR[]`	`DISPLAY_VAR[32]`

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$DIST_NEXT¶

Distance still to be covered to the next point

Name	Type	Unit	Constraint
`$DIST_NEXT`	`REAL`

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$DISTANCE¶

Curve length, CP motion

Name	Type	Unit	Constraint
`$DISTANCE`	`REAL`	mm

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$DRIVE_CART¶

Option bit: PTP points with Cartesian coordinates

Name	Type
`$DRIVE_CART`	`BOOL`

Comments

...

Notes

true : PTP points can have cartesian coordinates
`false : PTP points cannot have cartesian coordinates

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$DRIVE_CP¶

Option bit: Cartesian robot motion possible (LIN, CIRC)

Name	Type
`$DRIVE_CP`	`BOOL`

Comments

...

Notes

true : cartesian robot motion possible
`false : cartesian robot motion not possible

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$DRIVES_OFF¶

Signal declaration Drives OFF

Name	Type
`$DRIVES_OFF`	`SIGNAL`

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$DRIVES_ON¶

Signal declaration Drives ON

Name	Type
`$DRIVES_ON`	`SIGNAL`

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$DSECHANNEL¶

Assignment of axes to channels of the digital servoelectronics (DSE)

Name	Type	Unit	Constraint
`$DSECHANNEL`	`INT`

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$DYN_DAT[]¶

Model data of the robot for acceleration adaptation, higher motion profile and kinetic energy

Name	Type	Unit	Constraint
`$DYN_DAT[]`	`REAL[350]`

Comments

...

Notes

Contains the model data of the robot, which are required for acceleration adaptation, the higher motion profile and the calculation of kinetic energy (moments of inertia, friction values, etc.)

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$OV_PRO¶

Program override

Name	Type	Unit	Constraint
`$OV_PRO`	`INT`	%	[0, 100]

Comments

...

Notes

Program override is the velocity of the robot during program execution.

The program override is specified as a percentage of the programmed velocity. In T1 mode, the maximum velocity is 250 mm/s, irrespective of the value that is set.

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$PRO_MODE¶

Program run mode dependent on $INTERPRETER

Name	Type	Constraint
`$PRO_MODE`	`PRO_MODE`	`#ISTEP` ,`#PSTEP` ,`#MSTEP` ,`#CSTEP` ,`#GO` ,`#BSTEP`

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$PRO_MODE0¶

Program run mode of the SUBMIT interpreter

Name	Type	Constraint
`$PRO_MODE0`	`PRO_MODE`	`#ISTEP` ,`#PSTEP` ,`#MSTEP` ,`#CSTEP` ,`#GO` ,`#BSTEP`

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$PRO_MODE1¶

Program run mode of the ROBOT interpreter

Name	Type	Constraint
`$PRO_MODE1`	`PRO_MODE`	`#ISTEP` ,`#PSTEP` ,`#MSTEP` ,`#CSTEP` ,`#GO` ,`#BSTEP`

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$PRO_NAME0[]¶

Process name of the SUBMIT interpreter

Name	Type
`$PRO_NAME0[]`	`CHAR[24]`

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$PRO_NAME1[]¶

Process name of the ROBOT interpreter

Name	Type
`$PRO_NAME1[]`	`CHAR[24]`

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$PRO_NAME[]¶

Process name dependent on $INTERPRETER

Name	Type
`$PRO_NAME[]`	`CHAR[24]`

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$PRO_STATE¶

Process state dependent on $INTERPRETER

Name	Type	Constraint
`$PRO_STATE`	`PRO_STATE`	`#P_FREE` ,`#P_RESET` ,`#P_ACTIVE` ,`#P_STOP` ,`#P_END`

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$PRO_STATE0¶

Process state of the SUBMIT interpreter

Name	Type	Constraint
`$PRO_STATE0`	`PRO_STATE`	`#P_FREE` ,`#P_RESET` ,`#P_ACTIVE` ,`#P_STOP` ,`#P_END`

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$PRO_STATE1¶

Process state of the ROBOT interpreter

Name	Type	Constraint
`$PRO_STATE1`	`PRO_STATE`	`#P_FREE` ,`#P_RESET` ,`#P_ACTIVE` ,`#P_STOP` ,`#P_END`