FANUC Robotics Documentation V

FANUC Robotics Documentation
Full Document Search 2.22 V

$VC_MORGRP STRUCTURE
Name: AccuPath Status Variable Structure

FANUC Robotics SYSTEM R-J3iB Description: This is the AccuPath status variable. Refer to the descriptions of the individual fields that follow.
About This Manual
Safety Power Up: N/A
1. GENERAL INFORMATION Screen: SYSTEM Variables screen.
2. SYSTEM VARIABLE LISTING
Glossary $VC_MORGRP[1].$hist_cdist[1-20]
Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: BOOLEAN
Memory: CMOS
Name: Maintain CD value indicator
Description: If the motion option CDy is used and the system can maintain y(mm) corner distance, it is TRUE; otherwise, it is FALSE. If the motion
option CDy is not used, it is TRUE. The history buffer is updated if it is set to FALSE.
Power Up: N/A
Screen: SYSTEM Variables screen.
See Also: $hist_index, $hist_progid[], $hist_lineno[],
$VC_MORGRP[1].$hist_cspeed[1-20]
Memory: CMOS
Name: Constant corner speed indicator
Description: It is TRUE if constant corner speed can be maintained; otherwise, it is set to FALSE. It is TRUE if the location travel time is greater
than orientation travel time; otherwise, it is set to FALSE. The history buffer is updated if this is set to FALSE.
Power Up: N/A
$VC_MORGRP[1].$hist_index
Minimum: 0 Maximum: BUFFER_NUM Default: 0 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: INTEGER
Memory: CMOS
Name: Current index of history buffer
Description: All $hist_XXXX variables are used together as a history buffer to inform the user concerning various warning status of AccuPath that
occurs during program motion. It is implemented as a ring buffer. The total size is 20. The value of $hist_index points to the latest recorded data.
Data is recorded only when certain events occur, such as when it is a short segment, when corner speed cannot be maintained, when corner
distance specified cannot be maintained, and so forth. Refer to the individual $hist_XXXX variables for details on warning events.
Power Up: N/A
See Also: $hist_progid[], $hist_lineno[],$hist_short[], $hist_cspeed[], $hist_cdist[], $hist_orndom[]
$VC_MORGRP[1].$hist_lineno[1-20]
Memory: CMOS
Name: Program line number field of history buffer
Description: When the history buffer is updated, this field records the current program line number.
Power Up: N/A
See Also: $hist_index, $hist_progid[],$hist_short[], $hist_cspeed[], $hist_cdist[], $hist_orndom[]
$VC_MORGRP[1].$hist_maxacc[20]
Minimum: 0.0 Maximum: 100000.0 Default: 0.0 KCL/Data: RW Program: RW UIF: Not available CRTL: Not available Data Type:
Array of Real Memory: Not available
Name: maximum acceleration values
Description: Internal use only. Record maximum acceleration values for debug purpose
Power Up: Takes effect immediately
$VC_MORGRP[1].$hist_maxjrk[20]
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Name: maximum jerk values
Description: Internal use only. Record maximum jerk values for debug purpose
$VC_MORGRP[1].$hist_minspd[20]
Name: minimum corner speeds
Description: Internal use only. Record minimum corner speeds for debug purpose
$VC_MORGRP[1].$hist_orndom[1-20]
Memory: CMOS
Name: Orientation dominant indicator
Description: It is TRUE if orientation travel time is greater than location travel time, else FALSE. History buffer is updated if TRUE.
Power Up: N/A
$VC_MORGRP[1].$hist_progid[1-20]
Memory: CMOS
Name: Program ID field of history buffer
Description: When the history buffer is updated, this field records the current program ID. The program ID is a unique number assigned internally to
each program.
Power Up: N/A
See Also: $hist_index, $hist_lineno[],$hist_short[], $hist_cspeed[], $hist_cdist[], $hist_orndom[]
$VC_MORGRP[1].$hist_short[1-20]
Memory: CMOS
Name: Short segment indicator
Description: It is TRUE if short segment; otherwise, it is set to FALSE. The history buffer is updated if it is set to TRUE.
Power Up: N/A
$VC_MORGRP[1].$speed
Minimum: 0.0 Maximum: 10000.0 Default: 0.0 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory:
CMOS
Name: TCP speed information
Description: TCP speed in mm/sec is updated dynamically when AccuPath is active.
Power Up: N/A
$VC_MORGRP[1].$ttl_maxacc
CMOS
Name: maximum acceleration value
Description: Internal use only. Record maximum acceleration value for debug purpose
$VC_MORGRP[1].$ttl_maxjrk
CMOS
Name: maximum jerk value
Description: Internal use only. Record maximum jerk value for debug purpose
$VC_MORGRP[1].$ttl_minspd
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CMOS
Name: minimum corner speed
Description: Internal use only. Record minimum corner speed for debug purpose
$VC_PARAMGRP STRUCTURE
Name: AccuPath Parameter Group Variable Structure
Description: This is the AccuPath setup parameter, which is robot or application tool dependent. Refer to the descriptions of the individual fields that
follow.
$VC_PARAMGRP[1].$cnstnt_spd
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Constant speed switch
Description: This variable controls the use of constant speed feature for CNT100 termtype motion. When the variable is FALSE, the system will not
maintain constant speed when moving around path corner. When the variable is TRUE, the system will maintain constant speed when moving
around a path corner by default, but might slow down if it is not possible. In order to do so, the corner distance might be increased compared to the
case of when $cnstnt_spd = FALSE. This variable is set by the application tool. It is set to TRUE for the P-200 robot.
$VC_PARAMGRP[1].$dcdh_ratio
Minimum: 0.0 Maximum: 1.0 Default: 1.0 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Corner distance ratio
Description: Internal use only. This variable is set by the application tool. It is used when $shortmo_imp is TRUE.
$VC_PARAMGRP[1].$hist_spdlim
Minimum: 0 Maximum: 100 Default: 100 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: INTEGER Memory:
CMOS
Name: Threshold of speed limit
Description: Internal use only. This variable is set by the application tool. When the planned speed is slower than the rate of program speed
specified by this variable, system detect speed slowdown and history buffer in $VC_MORGRP[] is updated.
$VC_PARAMGRP[1].$shortmo_imp
Name: Short motion improvement switch
Description: Internal use only. This variable is set by the application tool. Default: FALSE. If TRUE, short motion is improved when half distance rule
is applied.
$VC_PARAMGRP[1].$shrt_ratio
Minimum: 0.0 Maximum: 1.0 Default: 1.0 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Short ratio
Description: Internal use only. This variable is set by the application tool. It is used when $shortmo_imp is TRUE.
$VC_PARAMGRP[1].$warnmessenb
Name: Warning message enable switch
Description: FALSE: Warning message for AccuPath is not displayed. When the variable is TRUE, the warning message for AccuPath is displayed.
This has to be set to FALSE during the production cycle.
Screen: SYSTEM Variable screen
$VCCFG.$comp_switch
Minimum: 0 Maximum: 0x7FFFFFFF Default: 251 KCL/Data: RW Program: RW UIF: RW CRTL: RW Data Type: INTEGER
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Memory: CMOS
Name: Compatibility switch
Description: This variable is used to switch among different versions of Accupath software for comparison purpose. Default value is 251, which
means V5.20P Accupath is used. To use V5.11P Accupath software, set the value to be 123.
$VDATE
Minimum: "" Maximum: "" Default: "06/17/2004 " KCL/Data: RO Program: RO UIF: RO CRTL: RO Data Type: STRING
Memory: CMOS
Name: Software Release Date
Description: Displays the application software release date.
Power Up: N/A
Screen: STATUS Version IDs screen
$VERSION
Minimum: "" Maximum: "" Default: "V6.4047 06/17/2004" KCL/Data: RO Program: RO UIF: RO CRTL: RO Data Type: STRING
Memory: RAM
Name: Software Build Version
Description: Displays the software build version and build date.
Power Up: N/A
Screen: STATUS Version IDs screen
$VISIONMOUT
Minimum: 0 Maximum: 0x7FFF Default: 3000 KCL/Data: RW Program: RW UIF: Not available CRTL: Not available Data Type:
INTEGER Memory: Not available
Name: Vision Timeout
Description: Not currently used.
Power Up: N/A
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Full Document Search 2.22 V

Name: AccuPath Status Variable Structure

Name: Maintain CD value indicator

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

Name: Constant corner speed indicator

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

Name: Current index of history buffer

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_progid[], $hist_lineno[],$hist_short[], $hist_cspeed[], $hist_cdist[], $hist_orndom[]

Name: Program line number field of history buffer

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[],$hist_short[], $hist_cspeed[], $hist_cdist[], $hist_orndom[]

Name: maximum acceleration values

Power Up: Takes effect immediately

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Name: maximum jerk values

Power Up: Takes effect immediately

Name: minimum corner speeds

Power Up: Takes effect immediately

Name: Orientation dominant indicator

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

Name: Program ID field of history buffer

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_lineno[],$hist_short[], $hist_cspeed[], $hist_cdist[], $hist_orndom[]

Name: Short segment indicator

Power Up: N/A

Screen: SYSTEM Variables screen.

See Also: $hist_index, $hist_progid[], $hist_lineno[],

Name: TCP speed information

Description: TCP speed in mm/sec is updated dynamically when AccuPath is active.

Power Up: N/A

Screen: SYSTEM Variables screen.

Name: maximum acceleration value

Power Up: Takes effect immediately

Name: maximum jerk value

Power Up: Takes effect immediately

default.htm[6/12/2013 1:27:15 AM]

Name: minimum corner speed

Power Up: Takes effect immediately

Name: AccuPath Parameter Group Variable Structure

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

Name: Constant speed switch

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

Name: Corner distance ratio

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

Name: Threshold of speed limit

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

Name: Short motion improvement switch

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.