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KSS_81_82_83_System_Variables_en.pdf
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详细说明：库卡机器人变量手册 ，用于编写机器人程序时读取与写入系统变量，实现与外部系统联系。KUKA
Contents
1 Introduction
1.1 target gro
1.2 ndustrial robot documentation
1.3 Representation of warnings and notes
1.4 Terms used
2 Safet
3 System variables
3.1 ABS ACCUR
3.2 ABS RELOAD
13
3.3 ABS UPDATE
13
3.4 $ ACC
14
3.5 ACC C
14
3.6 SACC AXIS
14
3.7 ACC AXIS C
15
3.8 SACC CAR ACT
3.9 ACC CAR MAX
3.10 SACC EXTAX
3.11 SACC EXTAX C
16
3.12 SACU STATE
17
3.13 ACT ADVANCE
17
3.14 ADVANCE
3.15 ACT EX AX
18
3.16 SACT BASE
3.17 ACT BASE C
18
3.18 SACT TOOL
19
3.19 ACT TOOL C
3.20 ANIN
19
3.21 ANOUT..
3.22$APo
3.23 SAPO C
21
3.24 ASYNC AXIS
21
3.25 ASYNC EX AX DECOUPLE
22
3.26 SASYNC FLT
3.27 SASYNC STATE
3.28 SAXIS ACT
24
3.29 SAXIS ACT MEAS
24
3.30 AXIS BACK
24
3.31 AXIS FOR
3.32 SAXIS INT
26
3.33 SAXIS MOT
26
3.34 SAXIS RET
26
3.35$B|N
3.36 B OUT
3.37$BASE.
3.38$ BASE C∴.……
27
3.39 SBASE KIN
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KUKA System Variables
3.40 SBRAKE SIG
28
3.41 SCAB FANSPEED
28
3.42 SCIRC MODE
3.43 SCIRC TYPE
31
3.44SC| RC TYPE C∴....…....………
31
3.45 SCMD
国面面
3.46 SCURR ACT
32
3.47 SCYCFLAG
32
3.48 SDATA EXT OBJX
3.49 SDATA INTEGRITY
3.50 SDATAPATH
33
3.51 SDATE
34
3.52 SDEVICE
35
3.53 SDISTANCE
3.54 SDIST NEⅩT
:::::
355SDR∨ ES ENABLE∴
35
3.56 SERR
3.57SEⅩAX| GNORE.
3.58 SFAST MEAS COUNT
37
3.59 SFAST MEAS COUNT RESET
37
3.60 SFAST MEAS COUNT TIME
361SF‖LTER
3.62SF‖ TER C
3.63 SFLAG
3.64 SFOL ERROR
39
3.65 SFCT CALL
39
3.66 SGEAR JERK
39
3.67 SGEAR JERK C
40
3.68 SHOLDING TORQUE
3.69 SHOLDING TORQUE MAND
41
3.70 SHOME
3.71S|N
3.72S|NPoS|T|ON…
42
3. 73 SINTERPRETER
42
3.74 SIOBUS INFO
43
3.75 SIOSIM IN
43
3.76 SIOSIM OPT
44
3.76. 1 Simulating inputs/outputs- KUKa System Software 8.2 or higher
3. 76.2 Simulating inputs/outputs- KUKa System Software 8.1
45
3.77 SIOSIM OUT
4
3.78 SIOSYS IN FALSE
3.79 SIOSYS IN TRUE
46
3.80 SIPO MODE
47
3.81 SIPO MODE C
47
3.82 SIPO WAIT FOR
47
3.83 SIPO WAIT FOR ON
3.84 SIPO WAIT STATE
3.85S| S OFFICE L|TE∴
48
3.86 SI2T OL
48
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Contents
S KUKA
3.87 SJERK
4
3.88 JERK C
49
3.89 KCP CONNECT
50
3.90 SKCP IP
3.91 KCP TYPE
50
3.92$ KDO ACT……
50
3.93 SKR SERIALNO
I.8....
51
3.94 LDC ACTIVE
51
3.95 SLDC LOADED
51
3.96 LDC RESULT
52
3.97 SLK MASTER
52
3.98 SLK SLAVES
52
3.99 LOAD
53
3.100 LOAD C
3.101 SLOAD A1
55
3.102 SLOAD A1 C
55
3.103 SLOAD A2
56
3.104 SLOAD A2 C
56
3.105 LOAD A3
57
3.106 SLOAD A3 C
57
3.107 SMAMES ACT
58
3.108 SMASTERINGTEST GROUP
59
3. 109 SMASTERINGTEST REQ INT
3.110 SMEAS PULSE
60
3.111 SMODE OP
3.112SMOT STOP
60
3.113 SMOT TEMP
61
3.114 SMOUSE ACT
61
3.115 SMOUSE DOM
61
3.116 MOUSE ON
62
3.117 SMOUSE ROT
3.118 SMOUSE TRA
3.1 19 SMOVE BCO
62
3. 120 SNULLFRAME
62
3.121$NUM|N
63
3.122 NUM OUT
63
3.123 $ORI TYPE...
63
3.124 SORI TYPE C
64
3.125$OUT∴
3.126$OUTC…
64
3.127 SOV ASYNC
3.128 SOV PRO
3.129$vROB
.::.a
3.130 SPAL MODE
66
3.131 SPATHTIME
66
3.132 SPC FANSPEED
67
3.133 SPINGCOOPKRC
67
3.134 SPOS ACT
68
3.135 SPOS ACT MES
68
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KUKA System Variables
3.136 SPOS BACK
6
3.137 SPOS FOR
69
3.138 SPOS INT
69
3.139 SPOS RET
70
3.140 SPOWER FAIL
70
3.141 SPOWEROFF DELAYTIME
3.142 SPRO P
70
3.143 SPRO IPO
3.144 SPRO IP1
3.145 SPRO MODE
3. 146 SPRO MODEO
国面面
面面国B面EB国面
73
3. 147 SPRO MODE1
73
3. 148 SPRO NAME
3.149 SPRO NAMEO
74
3.150 SPRO NAME1
74
3.151 SPRO STATE
3.152 SPRO STATE0…
75
3.153 SPRO STATE1…
3.154 SRCV INFO
75
3.155 SRED VEL
76
3. 156 SRED VEL C
76
3.157SRE∨ONUM
3.158SR|NTL|ST∴
11着
3.159 SROB TIMER
77
3.160 SROBNAME
,,
3.161 SROBROOT O∴
7
3. 162 SROBROOT KIN
78
3. 163 SROBRUNTIME
79
3. 164 SROBTRAFO
79
3.165 SROTSYS
3.166 SROTSYS C
3.167SR∪ NTIME DATA0
3.168 SRUNTIME DATA1
80
3. 169 SRUNTIME ERRORO
3.170 SRUNTIME ERROR1
81
3.171 SRVM
81
3.172 SSAFETY DRIVES ENABLED
82
3.173 SSAFETY SW∴
3. 174 SSAFE FS STATE
83
3.175 SSAFE IBN
83
3.176 SSAFE IBN ALLOWED
83
3.177 SSEN PINT
84
1面正
3.178 SSEN P|NTC∴
84
3.179 SSEN PREA
84
3.180 SSEN PREA C
3.181 SSERVO SIM
3.182 SSET IO SIZE
3.183 SSINGUL D|ST…
3.184 SSINT LIST
86
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Contents
S KUKA
3.185 SSOFTPLCBOOL
87
3.186 SSOFTPLCINT
87
3.187 SSOFTPLCREAL
3.188 SSOFT PLC EVENT ....
3.189 SSPL TECH
89
3.190 SSPL TECH C
92
3.191 SSPL TECH LINK
93
3.192 SSPL TECH LINK C
94
3. SSPL TSYS
94
3.194 SPL VEL MODE
95
3.195 SSPL VEL RESTR
国面面
95
3.196$ SR ACTIVEd○OL
96
3.197 SSSB ACTIVE
3.198SSTOPMB ID
97
3.199 SSTOPNOAPROX
97
3.200 SSUPPRESS ABS ACCUR
.B
97
3.201 STECH
97
3.202 STECH C
101
3.203 STECHANGLE
102
3.204 STECHANGLE C
102
3.205$TECH|N…
102
3.206STECHPAR
103
3.207 TECHPAR C
103
3.208 TECHSYS
104
3.209 STECHSYS C
104
3.210 STECHVAL
105
3.211 STIMER
105
3212$ TIMER FLAG…
106
3.213 STIMER STOP
106
3.214$TOOL
3.215 $TOOL C
106
3.216 STORQ DIFF
107
3.217$T○RQD|FF2
107
3.218 STORQMON
107
3.219 TORQMON COM
108
3.220 STORQUE AXIS ACT
3.221 TORQUE AXIS LIMITS
109
3222$ TORQUE AⅩSMAX
110
3223$T○ RQUE AXIS MAⅩ0
111
3.224 TRACE
111
3.225 STSYS
3226$VEL
着重
3.227 VEL C
3.228 SVEL ACT
113
3.229 SVEL AXIS
113
3.230 VEL AXIS C
113
3.231 SVEL AXIS ACT
3.232 SVEL EXTAX
1面面
114
3.233 SVEL EXTAX C
114
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KUKA System Variables
3.234SWAT_FOR………
115
3.235 SWAIT FORO
15
3.236 SWAIT FOR1
3.237 SWAIT FOR INDEXRES
16
3.238 SWAIT FOR ON
116
3.239 SWAIT FOR ONO
116
3. 240 SWAIT FOR ON1
117
3.241 SWAIT STATE
17
3.242 SWBOXDISABLE
118
3. 243 SWORLD
118
4 KUKA Service
119
4.1 Requesting support
国
面面B
19
4.2 KUKA Customer Support
Index
127
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1 Introduction KUKA
Introduction
1.1 Target group
This documentation is aimed at users with the following knowledge and skills
Advanced knowledge of the robot controller system
Advanced KRl programming skills
且
For optimal use of our products, we recommend that our customers
take part in a course of training at KUKA College. Information about
thetrainingprogramcanbefoundatwww.kuka.comorcanbeob-
tained directly from our subsidiaries
1.2 Industrial robot documentation
The industrial robot documentation consists of the following parts
Documentation for the manipulator
Documentation for the robot controller
Operating and programming instructions for the KUKA System Software
Documentation relating to options and accessories
Parts catalog on storage medium
Each of these sets of instructions is a separate document
1.3 Representation of warnings and notes
Safety
These warnings are relevant to safety and must be observed
A DANGEr These warnings mean that it is certain or highly probable
that death or severe physical injury will occur, if no pre
cautions are taken
△ WARNING
These warnings mean that death or severe physical inju-
ry may occur, if no precautions are taken
A CAUTION These warnings mean that minor physical injuries may
occur, if no precautions are taken
NoTICE These warnings mean that damage to property may oc-
cur, if no precautions are taken
These warnings contain references to safety-relevant information or
△
general safety measures. These warnings do not refer to individual
hazards or individual precautionary measures
Notes
These hints serve to make your work easier or contain references to further
information
i
Tip to make your work easier or reference to further information
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KUKA System Variables
1.4
Terms used
Term
Description
Http
Hypertext Transfer Protocol
Protocol for transferring data via a network
KCP
The KCP(KUKA Control Panel) teach pendant has all the operator con-
trol and display functions required for operating and programming the
industrial robot
The kcp variant for the kr c4 is called KuKa smartPAD
SOAP
Simple Object Access Protoco
Protocol for exchanging XML-based messages via a network. Any trans-
fer protocol can be used for sending the messages. due to the greatest
compatibility with other systems, HT TP is most commonly used
TTS
Tool-based technological system
The TTS is a coordinate system that moves along the path with the
robot. It is calculated every time a LIN or CIRC motion is executed. It is
derived from the path tangent the +X axis of the tool coordinate sys
tem and the resulting normal vector
The tool-based moving frame coordinate system is defined as follows
XITs: path tangent
YITs: normal vector to the plane derived from the path tangent and the
+x axis of the tool coordinate system
ITs: vector of the right-angled system derived from XIts and YTTs
The path tangent and the +X axis of the tool coordinate system must
not be parallel, otherwise the Tts cannot be calculated
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