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FANUC Robotics Documentation W

This document provides documentation on system variables for FANUC robotics including $WAITRELEASE, $WAITTMOUT, and several $WVWRIST variables. It describes the purpose and parameters of each variable such as minimum/maximum values, data type, and whether the value takes effect immediately or on cold start. The documentation is intended to help users understand and utilize these system variables for FANUC robots.

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Ctor Rigel
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168 views

FANUC Robotics Documentation W

This document provides documentation on system variables for FANUC robotics including $WAITRELEASE, $WAITTMOUT, and several $WVWRIST variables. It describes the purpose and parameters of each variable such as minimum/maximum values, data type, and whether the value takes effect immediately or on cold start. The documentation is intended to help users understand and utilize these system variables for FANUC robots.

Uploaded by

Ctor Rigel
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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FANUC Robotics Documentation

Full Document Search 2.23 W


$WAITRELEASE

Minimum: 0    Maximum: 1    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS
FANUC Robotics SYSTEM R-J3iB Name: WAIT release
About This Manual
Safety Description: If a program is waiting for an input or timer to expire, setting this variable to TRUE will cause the program to move to the next
statement without satisfying the wait condition.
1. GENERAL INFORMATION
2. SYSTEM VARIABLE LISTINGPower Up: N/A
Glossary
Screen: FCTN WAIT RELEASE

$WAITTMOUT

Minimum: 0    Maximum: 0x7FFF    Default: 3000    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: INTEGER    Memory:
CMOS

Name: TIMEOUT Time for WAIT instructions

Description: If a WAIT instruction includes a TIMEOUT clause, this specifies the time. Units are in 100ths of a second.

Power Up: N/A

$WVWRIST.$debug

Minimum: 0x80000000    Maximum: 0x7FFFFFFF    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type:
INTEGER    Memory: CMOS

Name: debug

Description: Internal use only.

Power Up: Takes effect immediately

$WVWRIST.$run_ang

Minimum: -90.0    Maximum: 90.0    Default: 10.0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: REAL    Memory:
CMOS

Name: run_ang

Description: System returns the actual angle between the TOOL Z-X plane and the TOOL Z-PATH during execution.

Power Up: Takes effect immediately

$WVWRIST.$tol_ang

Minimum: 0.0    Maximum: 90.0    Default: 10.0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: REAL    Memory:
CMOS

Name: tol_ang

Description: This is the upper limit for $run_ang. When actual run_ang reaches its limit value, the robot will stop executing and display the error
message, "run_ang exceeds tol_ang".

Power Up: Takes effect immediately

See Also: $run_ang definition.

$WVWRIST.$wrist_enb

Minimum: 0    Maximum: 1    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS

Name: wrist_enb

Description: 1: wrist axis weaving is enabled. 0: wrist axis weaving is disabled. (default)

Power Up: Takes effect immediately

See Also: Wrist Axes Weaving

$WVWRIST.$wst_accel1

Minimum: 8    Maximum: 1000    Default: 32    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: INTEGER    Memory:
CMOS

Name: Wrist Acceleration 1

Description: Defines acceleration time for wrist axes motion during wrist axes weave operation.

Power Up: On_Cold_Start

$WVWRIST.$wst_accel2

Minimum: 8    Maximum: 1000    Default: 32    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: INTEGER    Memory:
CMOS

Name: Wrist Acceleration 2

Description: Defines acceleration 2 time for wrist axes motion during wrist axes weave operation.

default.htm[6/12/2013 1:27:30 AM]


FANUC Robotics Documentation

Power Up: On_Cold_Start

default.htm[6/12/2013 1:27:30 AM]

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