Expert Documentation
System Variables
For KUKA System Software 5.5 and 5.6
Issued: 15.09.2011
Version: KSS 5.5, 5.6 Systemvariablen V2 en
KUKA Roboter GmbH
System Variables
© Copyright 2011
KUKA Roboter GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without
the express permission of KUKA Roboter GmbH.
Other functions not described in this documentation may be operable in the controller. The user has
no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software
described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to
guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
Translation of the original documentation
KIM-PS5-DOC
2 / 179
Publication:
Pub KSS 5.5, 5.6 Systemvariablen (PDF) en
Bookstructure:
KSS 5.5, 5.6 Systemvariablen V2.1
Version:
KSS 5.5, 5.6 Systemvariablen V2 en
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
Contents
Contents
1
Introduction ..................................................................................................
13
1.1
Target group ..............................................................................................................
13
1.2
Industrial robot documentation ...................................................................................
13
1.3
Representation of warnings and notes ......................................................................
13
1.4
Terms used ................................................................................................................
14
2
Safety ............................................................................................................
15
2.1
General ......................................................................................................................
15
2.1.1
Liability ..................................................................................................................
15
2.1.2
Intended use of the industrial robot ......................................................................
15
2.1.3
EC declaration of conformity and declaration of incorporation .............................
16
2.1.4
Terms used ...........................................................................................................
17
2.2
Personnel ...................................................................................................................
17
2.3
Workspace, safety zone and danger zone .................................................................
19
2.4
Triggers for stop reactions .........................................................................................
19
2.5
Safety functions .........................................................................................................
20
2.5.1
Overview of safety functions .................................................................................
20
2.5.2
ESC safety logic ...................................................................................................
20
2.5.3
Mode selector switch ............................................................................................
21
2.5.4
Operator safety .....................................................................................................
22
2.5.5
EMERGENCY STOP device ................................................................................
23
2.5.6
External EMERGENCY STOP device ..................................................................
24
2.5.7
Enabling device ....................................................................................................
24
2.5.8
External enabling device .......................................................................................
25
2.6
Additional protective equipment .................................................................................
25
2.6.1
Jog mode ..............................................................................................................
25
2.6.2
Software limit switches .........................................................................................
25
2.6.3
Mechanical end stops ...........................................................................................
26
2.6.4
Mechanical axis range limitation (optional) ...........................................................
26
2.6.5
Axis range monitoring (optional) ...........................................................................
26
2.6.6
Release device (optional) .....................................................................................
27
2.6.7
KCP coupler (optional) ..........................................................................................
27
2.6.8
Labeling on the industrial robot .............................................................................
27
2.6.9
External safeguards ..............................................................................................
28
2.7
Overview of operating modes and safety functions ...................................................
28
2.8
Safety measures ........................................................................................................
29
2.8.1
General safety measures ......................................................................................
29
2.8.2
Testing safety-related controller components .......................................................
30
2.8.3
Transportation .......................................................................................................
30
2.8.4
Start-up and recommissioning ..............................................................................
31
2.8.5
Virus protection and network security ...................................................................
33
2.8.6
Manual mode ........................................................................................................
33
2.8.7
Simulation .............................................................................................................
34
2.8.8
Automatic mode ....................................................................................................
34
2.8.9
Maintenance and repair ........................................................................................
34
2.8.10
Decommissioning, storage and disposal ..............................................................
36
2.8.11
Safety measures for “single point of control” ........................................................
36
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System Variables
4 / 179
2.9
Applied norms and regulations ..................................................................................
37
3
System variables .........................................................................................
39
3.1
Variables in $OPERATE.DAT ...................................................................................
39
3.1.1
$ABS_RELOAD ...................................................................................................
39
3.1.2
$ACC ....................................................................................................................
39
3.1.3
$ACC_AXIS ..........................................................................................................
39
3.1.4
$ACC_AXIS_C .....................................................................................................
40
3.1.5
$ACC_C ...............................................................................................................
40
3.1.6
$ACC_CAR_ACT .................................................................................................
40
3.1.7
$ACC_CAR_MAX .................................................................................................
41
3.1.8
$ACC_EXTAX ......................................................................................................
41
3.1.9
$ACC_EXTAX_C ..................................................................................................
41
3.1.10
$ACT_BASE .........................................................................................................
42
3.1.11
$ACT_EX_AX .......................................................................................................
42
3.1.12
$ACT_TOOL ........................................................................................................
42
3.1.13
$ADVANCE ..........................................................................................................
42
3.1.14
$ANIN ...................................................................................................................
43
3.1.15
$ANOUT ...............................................................................................................
43
3.1.16
$ASYNC_AXIS .....................................................................................................
44
3.1.17
$ASYNC_FLT .......................................................................................................
45
3.1.18
$ASYNC_STATE ..................................................................................................
45
3.1.19
$ASYS ..................................................................................................................
45
3.1.20
$AXIS_ACT ..........................................................................................................
46
3.1.21
$AXIS_ACTMOD ..................................................................................................
46
3.1.22
$AXIS_BACK .......................................................................................................
46
3.1.23
$AXIS_CAL ..........................................................................................................
46
3.1.24
$AXIS_FOR ..........................................................................................................
47
3.1.25
$AXIS_INC ...........................................................................................................
47
3.1.26
$AXIS_INT ...........................................................................................................
47
3.1.27
$AXIS_JUS ..........................................................................................................
47
3.1.28
$AXIS_RET ..........................................................................................................
48
3.1.29
$B_IN ...................................................................................................................
48
3.1.30
$B_OUT ...............................................................................................................
48
3.1.31
$BASE ..................................................................................................................
48
3.1.32
$BASE_C .............................................................................................................
49
3.1.33
$BASE_KIN ..........................................................................................................
49
3.1.34
$BRAKE_SIG .......................................................................................................
49
3.1.35
$CAL_DIFF ..........................................................................................................
49
3.1.36
$CALP ..................................................................................................................
50
3.1.37
$CIRC_TYPE .......................................................................................................
50
3.1.38
$CIRC_TYPE_C ...................................................................................................
50
3.1.39
$CMD ...................................................................................................................
50
3.1.40
$COUPLERESOLVERDIFF .................................................................................
51
3.1.41
$COSYS ...............................................................................................................
51
3.1.42
$CPVELREDMELD ..............................................................................................
51
3.1.43
$CURR_ACT ........................................................................................................
51
3.1.44
$CURR_RED ........................................................................................................
52
3.1.45
$CYCFLAG ..........................................................................................................
52
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
Contents
3.1.46
$DATA_LD_EXT_OBJ ..........................................................................................
53
3.1.47
$DATA_SER .........................................................................................................
53
3.1.48
$DATAPATH .........................................................................................................
53
3.1.49
$DATE ..................................................................................................................
54
3.1.50
$DEVICE ..............................................................................................................
55
3.1.51
$DIRECTION ........................................................................................................
55
3.1.52
$DISPLAY_REF ...................................................................................................
55
3.1.53
$DISPLAY_VAR ...................................................................................................
55
3.1.54
$DIST_NEXT ........................................................................................................
56
3.1.55
$DISTANCE ..........................................................................................................
56
3.1.56
$EMT_MODE .......................................................................................................
56
3.1.57
$ENCODERFAILURE ...........................................................................................
56
3.1.58
$EXTSTARTTYP ..................................................................................................
57
3.1.59
$FILTER ...............................................................................................................
57
3.1.60
$FILTER_C ...........................................................................................................
57
3.1.61
$FLAG ..................................................................................................................
58
3.1.62
$FOL_ERROR ......................................................................................................
58
3.1.63
$HOME .................................................................................................................
58
3.1.64
$IDENT_STARTP .................................................................................................
58
3.1.65
$IDENT_STATE ...................................................................................................
59
3.1.66
$IN ........................................................................................................................
59
3.1.67
$INPOSITION .......................................................................................................
59
3.1.68
$INSIM_TBL .........................................................................................................
60
3.1.69
$INTERPRETER ..................................................................................................
60
3.1.70
$INTERRUPT .......................................................................................................
61
3.1.71
$IOSIM_OPT ........................................................................................................
61
3.1.72
$IPO_MODE .........................................................................................................
62
3.1.73
$IPO_MODE_C ....................................................................................................
63
3.1.74
$JERK ...................................................................................................................
63
3.1.75
$JUS_TOOL_NO ..................................................................................................
63
3.1.76
$KCP_CONNECT .................................................................................................
63
3.1.77
$KEYMOVE ..........................................................................................................
64
3.1.78
$KR_SERIALNO ...................................................................................................
64
3.1.79
$LINE_SEL_OK ....................................................................................................
64
3.1.80
$LINE_SELECT ....................................................................................................
64
3.1.81
$MEAS_PULSE ....................................................................................................
65
3.1.82
$MODE_MOVE ....................................................................................................
65
3.1.83
$MODE_OP ..........................................................................................................
65
3.1.84
$MOT_STOP ........................................................................................................
66
3.1.85
$MOUSE_ACT .....................................................................................................
66
3.1.86
$MOUSE_DOM ....................................................................................................
66
3.1.87
$MOUSE_ROT .....................................................................................................
67
3.1.88
$MOUSE_TRA .....................................................................................................
67
3.1.89
$MOVE_BCO .......................................................................................................
67
3.1.90
$MOVE_STATE ....................................................................................................
67
3.1.91
$NULLFRAME ......................................................................................................
68
3.1.92
$NUM_IN ..............................................................................................................
68
3.1.93
$NUM_OUT ..........................................................................................................
68
3.1.94
$NUMSTATE ........................................................................................................
69
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System Variables
6 / 179
3.1.95
$OPT_VAR_IDX ...................................................................................................
69
3.1.96
$ORI_TYPE ..........................................................................................................
69
3.1.97
$ORI_TYPE_C .....................................................................................................
69
3.1.98
$OUT ....................................................................................................................
70
3.1.99
$OUT_C ...............................................................................................................
70
3.1.100 $OUTSIM_TBL .....................................................................................................
71
3.1.101 $OV_ASYNC ........................................................................................................
72
3.1.102 $OV_JOG .............................................................................................................
73
3.1.103 $OV_PRO ............................................................................................................
73
3.1.104 $OV_ROB ............................................................................................................
73
3.1.105 $PAL_MODE ........................................................................................................
73
3.1.106 $PHGBRIGHT ......................................................................................................
74
3.1.107 $PHGCONT ..........................................................................................................
74
3.1.108 $PHGINFO ...........................................................................................................
74
3.1.109 $PHGTEMP ..........................................................................................................
75
3.1.110 $POS_ACT ...........................................................................................................
75
3.1.111 $POS_ACT_MES .................................................................................................
75
3.1.112 $POS_BACK ........................................................................................................
75
3.1.113 $POS_FOR ..........................................................................................................
75
3.1.114 $POS_INT ............................................................................................................
76
3.1.115 $POS_RET ...........................................................................................................
76
3.1.116 $POWER_FAIL ....................................................................................................
76
3.1.117 $POWEROFF_DELAYTIME ................................................................................
76
3.1.118 $PRO_IP ..............................................................................................................
77
3.1.119 $PRO_MODE .......................................................................................................
77
3.1.120 $PRO_MODE0 .....................................................................................................
78
3.1.121 $PRO_MODE1 .....................................................................................................
79
3.1.122 $PRO_NAME .......................................................................................................
80
3.1.123 $PRO_NAME0 .....................................................................................................
80
3.1.124 $PRO_NAME1 .....................................................................................................
80
3.1.125 $PRO_START ......................................................................................................
81
3.1.126 $PRO_STATE ......................................................................................................
81
3.1.127 $PRO_STATE0 ....................................................................................................
81
3.1.128 $PRO_STATE1 ....................................................................................................
81
3.1.129 $RCV_INFO .........................................................................................................
82
3.1.130 $REBOOTDSE .....................................................................................................
82
3.1.131 $RED_VEL ...........................................................................................................
82
3.1.132 $RED_VEL_C ......................................................................................................
83
3.1.133 $REVO_NUM .......................................................................................................
83
3.1.134 $RINT_LIST .........................................................................................................
83
3.1.135 $ROB_TIMER .......................................................................................................
84
3.1.136 $ROBROOT .........................................................................................................
84
3.1.137 $ROBROOT_C .....................................................................................................
84
3.1.138 $ROBROOT_KIN .................................................................................................
85
3.1.139 $ROBRUNTIME ...................................................................................................
85
3.1.140 $ROBTRAFO ........................................................................................................
85
3.1.141 $ROTSYS .............................................................................................................
85
3.1.142 $ROTSYS_C ........................................................................................................
86
3.1.143 $SAFETY_SW ......................................................................................................
86
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
Contents
3.1.144 $SEN_PINT ..........................................................................................................
86
3.1.145 $SEN_PINT_C ......................................................................................................
87
3.1.146 $SEN_PREA .........................................................................................................
87
3.1.147 $SEN_PREA_C ....................................................................................................
87
3.1.148 $SIMULATE ..........................................................................................................
88
3.1.149 $SINT_LIST ..........................................................................................................
88
3.1.150 $SLAVE_AXIS_INC ..............................................................................................
89
3.1.151 $SOFTPLCBOOL .................................................................................................
89
3.1.152 $SOFTPLCINT .....................................................................................................
90
3.1.153 $SOFTPLCREAL ..................................................................................................
90
3.1.154 $STOPMB_ID .......................................................................................................
90
3.1.155 $STOPNOAPROX ................................................................................................
90
3.1.156 $TECH ..................................................................................................................
91
3.1.157 $TECH_C .............................................................................................................
91
3.1.158 $TECHANGLE ......................................................................................................
92
3.1.159 $TECHANGLE_C .................................................................................................
92
3.1.160 $TECHIN ..............................................................................................................
92
3.1.161 $TECHPAR ...........................................................................................................
93
3.1.162 $TECHPAR_C ......................................................................................................
93
3.1.163 $TECHSYS ...........................................................................................................
93
3.1.164 $TECHSYS_C ......................................................................................................
94
3.1.165 $TECHVAL ...........................................................................................................
94
3.1.166 $TIMER .................................................................................................................
94
3.1.167 $TIMER_FLAG .....................................................................................................
95
3.1.168 $TIMER_STOP .....................................................................................................
95
3.1.169 $TOOL ..................................................................................................................
95
3.1.170 $TOOL_C .............................................................................................................
96
3.1.171 $TOOL_KIN ..........................................................................................................
96
3.1.172 $TORQ_DIFF .......................................................................................................
96
3.1.173 $TORQ_DIFF2 .....................................................................................................
96
3.1.174 $TORQ_VEL .........................................................................................................
97
3.1.175 $TORQMON .........................................................................................................
97
3.1.176 $TORQMON2 .......................................................................................................
98
3.1.177 $TORQMON_COM ...............................................................................................
98
3.1.178 $TORQUE_AXIS ..................................................................................................
99
3.1.179 $TRACE ................................................................................................................
99
3.1.180 $TRANSSYS ........................................................................................................
100
3.1.181 $TSYS ..................................................................................................................
100
3.1.182 $VEL .....................................................................................................................
100
3.1.183 $VEL_ACT ............................................................................................................
101
3.1.184 $VEL_AXIS ...........................................................................................................
101
3.1.185 $VEL_AXIS_ACT ..................................................................................................
101
3.1.186 $VEL_AXIS_C ......................................................................................................
102
3.1.187 $VEL_C ................................................................................................................
102
3.1.188 $VEL_EXTAX .......................................................................................................
102
3.1.189 $VEL_EXTAX_C ...................................................................................................
103
3.1.190 $WAIT_FOR .........................................................................................................
103
3.1.191 $WAIT_FOR_INDEXRES .....................................................................................
103
3.1.192 $WAIT_FOR_ON ..................................................................................................
104
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System Variables
3.1.193 $WBOXDISABLE .................................................................................................
104
3.1.194 $WORLD ..............................................................................................................
104
3.1.195 $ZERO_MOVE .....................................................................................................
104
3.2
Variables in $CUSTOM.DAT .....................................................................................
105
3.2.1
$ABS_CONVERT .................................................................................................
105
3.2.2
$ASYNC_MODE ..................................................................................................
105
3.2.3
$BIN_IN ................................................................................................................
106
3.2.4
$BIN_OUT ............................................................................................................
107
3.2.5
$CLOCKSYNCMASTER ......................................................................................
108
3.2.6
$COOP_KRC .......................................................................................................
108
3.2.7
$COUNT_I ............................................................................................................
109
3.2.8
$CP_VEL_TYPE ..................................................................................................
109
3.2.9
$CP_STATMON ...................................................................................................
109
3.2.10
$EDIT_MODE .......................................................................................................
110
3.2.11
$EXT_MOD_1 … $EXT_MOD_4 .........................................................................
110
3.2.12
$IBUS_ON ............................................................................................................
111
3.2.13
$IBUS_OFF ..........................................................................................................
111
3.2.14
$IBS_SLAVEIN ....................................................................................................
111
3.2.15
$KCP_CLIENTS ...................................................................................................
112
3.2.16
$KCP_HOSTIPADDR ...........................................................................................
112
3.2.17
$KCP_POS ..........................................................................................................
112
3.2.18
$NEARPATHTOL .................................................................................................
113
3.2.19
$PRO_I_O ............................................................................................................
113
3.2.20
$PSER_1 … $PSER_4 ........................................................................................
113
3.2.21
$RED_T1_OV_CP ................................................................................................
113
3.2.22
$SINGUL_ERR_JOG ...........................................................................................
114
3.2.23
$SINGUL_ERR_PRO ...........................................................................................
114
3.2.24
$SPREADACTION ...............................................................................................
114
3.2.25
$SR_OV_RED ......................................................................................................
115
3.2.26
$SR_VEL_RED ....................................................................................................
115
3.2.27
$SR_WORKSPACE_RED ....................................................................................
115
3.2.28
$SYNCCMD_SIM .................................................................................................
116
3.2.29
$SYNCLINESELECTMASK .................................................................................
116
3.2.30
$TARGET_STATUS .............................................................................................
117
3.2.31
$TECH_ANA_FLT_OFF .......................................................................................
117
3.2.32
$TECH_CONT ......................................................................................................
118
3.2.33
$TECH_FUNC ......................................................................................................
118
3.2.34
$TORQMON_COM_DEF .....................................................................................
118
3.2.35
$TORQMON_DEF ................................................................................................
119
3.2.36
$TORQMON_TIME ..............................................................................................
119
3.2.37
$TORQMON2_DEF ..............................................................................................
119
3.2.38
$TORQMON2_TIME ............................................................................................
120
3.2.39
$V_CUSTOM ........................................................................................................
120
3.2.40
$VEL_FLT_OFF ...................................................................................................
120
3.2.41
$WORKSPACE ....................................................................................................
121
3.2.42
$WORKSPACE_NAME ........................................................................................
121
3.2.43
$WORKSPACERESTOREACTIVE ......................................................................
122
$WS_CONFIG ......................................................................................................
122
Variables in $OPTION.DAT .......................................................................................
123
3.2.44
3.3
8 / 179
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Contents
3.3.1
$ABS_ACCUR ......................................................................................................
123
3.3.2
$ASYNC_OPT ......................................................................................................
123
3.3.3
$CHCK_MOVENA ................................................................................................
123
3.3.4
$DATA_INTEGRITY .............................................................................................
124
3.3.5
$DIGIN_FILT ........................................................................................................
124
3.3.6
$DRIVE_CART .....................................................................................................
124
3.3.7
$DRIVE_CP ..........................................................................................................
125
3.3.8
$ENDLESS ...........................................................................................................
125
3.3.9
$EXT_ACCU_MON ..............................................................................................
125
3.3.10
$EXT_AXIS ...........................................................................................................
125
3.3.11
$IDENT_OPT ........................................................................................................
126
3.3.12
$IMPROVEDCPBLENDING .................................................................................
126
3.3.13
$IMPROVEDMIXEDBLENDING ...........................................................................
126
3.3.14
$IOWR_ON_ERR .................................................................................................
127
3.3.15
$LOOP_CONT ......................................................................................................
127
3.3.16
$LOOP_MSG ........................................................................................................
127
3.3.17
$MOT_STOP_OPT ...............................................................................................
128
3.3.18
$MOTIONCOOP ...................................................................................................
128
3.3.19
$MSG_T ...............................................................................................................
128
3.3.20
$PHASE_MONITORING ......................................................................................
129
3.3.21
$PROGCOOP .......................................................................................................
130
3.3.22
$SEP_ASYNC_OV ...............................................................................................
130
3.3.23
$SET_IO_SIZE .....................................................................................................
130
3.3.24
$SINGUL_STRATEGY .........................................................................................
130
3.3.25
$TCP_IPO ............................................................................................................
131
3.3.26
$TECH_OPT .........................................................................................................
131
3.3.27
$T2_OUT_WARNING ...........................................................................................
131
3.3.28
$T2_OV_REDUCE ...............................................................................................
131
3.3.29
$V_OPTION ..........................................................................................................
132
3.3.30
$VAR_TCP_IPO ...................................................................................................
132
Variables in $ROBCOR.DAT .....................................................................................
132
3.4
3.4.1
$ADAP_ACC ........................................................................................................
132
3.4.2
$COMPENSATED_LOAD ....................................................................................
133
3.4.3
$CUSTOM_MODEL_NAME .................................................................................
133
3.4.4
$CUSTOM_MODEL_VERSION ...........................................................................
133
3.4.5
$DEF_L_M ............................................................................................................
133
3.4.6
$DEF_L_CM .........................................................................................................
134
3.4.7
$DEF_L_J .............................................................................................................
134
3.4.8
$DEF_LA3_M .......................................................................................................
134
3.4.9
$DEF_LA3_CM .....................................................................................................
134
3.4.10
$DEF_LA3_J ........................................................................................................
135
3.4.11
$DYN_DAT ...........................................................................................................
135
3.4.12
$EKO_DAT ...........................................................................................................
135
3.4.13
$EKO_MODE .......................................................................................................
136
3.4.14
$EMSTOP_ADAP .................................................................................................
136
3.4.15
$EMSTOP_GEARTORQ ......................................................................................
136
3.4.16
$EMSTOP_MOTTORQ ........................................................................................
137
3.4.17
$EMSTOP_TORQRATE .......................................................................................
137
3.4.18
$ENERGY_MON ..................................................................................................
137
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System Variables
3.4.19
$ITER ...................................................................................................................
137
3.4.20
$MODEL_NAME ..................................................................................................
138
3.4.21
$MODEL_TYPE ...................................................................................................
138
3.4.22
$OPT_APPROX ...................................................................................................
138
3.4.23
$OPT_FLT_PTP ...................................................................................................
138
3.4.24
$OPT_MOVE .......................................................................................................
139
3.4.25
$OPT_TIME_PTP .................................................................................................
139
3.4.26
$PROG_TORQ_MON ..........................................................................................
139
3.4.27
$SYNC .................................................................................................................
140
3.4.28
$USE_CUSTOM_MODEL ....................................................................................
140
3.4.29
$V_ROBCOR .......................................................................................................
140
3.5
10 / 179
Variables in $MACHINE.DAT in the directory …\STEU\MADA .................................
141
3.5.1
Signal declarations ...............................................................................................
141
3.5.2
$ACCU_DEFECT .................................................................................................
141
3.5.3
$ALARM_STOP ...................................................................................................
141
3.5.4
$ALARM_STOP_INTERN ....................................................................................
142
3.5.5
$ASYNC_AX ........................................................................................................
142
3.5.6
$AUT ....................................................................................................................
142
3.5.7
$AUX_POWER .....................................................................................................
142
3.5.8
$AXWORKSTATE ................................................................................................
143
3.5.9
$BRAKES_OK ......................................................................................................
143
3.5.10
$BRAKETEST_CYCLETIME ................................................................................
143
3.5.11
$BRAKETEST_MONTIME ...................................................................................
144
3.5.12
$BRAKETEST_REQ_EX ......................................................................................
144
3.5.13
$BRAKETEST_REQ_INT .....................................................................................
144
3.5.14
$BRAKETEST_TIMER .........................................................................................
144
3.5.15
$BRAKETEST_WARN .........................................................................................
145
3.5.16
$BRAKETEST_WORK .........................................................................................
145
3.5.17
$COLL_ALARM ....................................................................................................
145
3.5.18
$COLL_ENABLE ..................................................................................................
146
3.5.19
$COMPLETE_NETWORK_OK ............................................................................
146
3.5.20
$CONF_MESS .....................................................................................................
146
3.5.21
$DIGIN1 … $DIGIN6 ............................................................................................
146
3.5.22
$DIGIN1CODE … $DIGIN6CODE .......................................................................
147
3.5.23
$DRIVES_OFF .....................................................................................................
147
3.5.24
$DRIVES_ON .......................................................................................................
147
3.5.25
$EMSTOP_PATH .................................................................................................
148
3.5.26
$EXT ....................................................................................................................
148
3.5.27
$EXT_START .......................................................................................................
148
3.5.28
$FAN_FOLLOW_UP_TIME ..................................................................................
148
3.5.29
$FAN_RED_LIMIT_TEMP ....................................................................................
149
3.5.30
$HW_WARNING ..................................................................................................
149
3.5.31
$IMM_STOP .........................................................................................................
149
3.5.32
$IN_HOME ...........................................................................................................
149
3.5.33
$IN_HOME1 … $IN_HOME5 ...............................................................................
150
3.5.34
$I_O_ACT ............................................................................................................
150
3.5.35
$I_O_ACTCONF ..................................................................................................
150
3.5.36
$LAST_BUFFERING_NOTOK .............................................................................
150
3.5.37
$LOCAL_NETWORK_OK ....................................................................................
151
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Contents
3.5.38
$MASTERINGTEST_MONTIME ..........................................................................
151
3.5.39
$MASTERINGTEST_OK ......................................................................................
151
3.5.40
$MASTERINGTEST_REQ_INT ............................................................................
152
3.5.41
$MASTERINGTEST_REQ_EX .............................................................................
152
3.5.42
$MASTERINGTEST_WORK ................................................................................
152
3.5.43
$MASTERINGTESTSWITCH_OK ........................................................................
153
3.5.44
$MOTOR_RED_TEMP .........................................................................................
153
3.5.45
$MOVE_ENABLE .................................................................................................
153
3.5.46
$MOVE_ENA_ACK ..............................................................................................
153
3.5.47
$NEAR_POSRET .................................................................................................
154
3.5.48
$ON_PATH ...........................................................................................................
154
3.5.49
$PERI_RDY ..........................................................................................................
154
3.5.50
$PHASE_VOLTAGE_MISSING ...........................................................................
154
3.5.51
$POS_TRACKER_ERROR ..................................................................................
155
3.5.52
$PR_MODE ..........................................................................................................
155
3.5.53
$PRO_ACT ...........................................................................................................
155
3.5.54
$PRO_MOVE .......................................................................................................
156
3.5.55
$RC_RDY1 ...........................................................................................................
156
3.5.56
$RDC_FLASH_DEFECT ......................................................................................
156
3.5.57
$ROB_CAL ...........................................................................................................
156
3.5.58
$ROB_STOPPED .................................................................................................
157
3.5.59
$SAFEGATE_OP .................................................................................................
157
3.5.60
$SR_AXISACC_OK ..............................................................................................
157
3.5.61
$SR_AXISSPEED_OK .........................................................................................
158
3.5.62
$SR_CARTSPEED_OK ........................................................................................
158
3.5.63
$SR_RANGE1_OK … $SR_RANGE8_OK ..........................................................
158
3.5.64
$SR_RANGEINPUT1_ACTIVE … $SR_RANGEINPUT4_ACTIVE .....................
159
3.5.65
$SR_SAFEMON_ACTIVE ....................................................................................
159
3.5.66
$SR_SAFEOPSTOP_ACTIVE .............................................................................
159
3.5.67
$SR_SAFEOPSTOP_OK .....................................................................................
160
3.5.68
$SR_SAFEREDSPEED_ACTIVE .........................................................................
160
3.5.69
$SR_STOP0 … $SR_STOP2 ...............................................................................
160
3.5.70
$SR_TOOL1_ACTIVE … $SR_TOOL3_ACTIVE .................................................
161
3.5.71
$SS_MODE ..........................................................................................................
161
3.5.72
$STOPMESS ........................................................................................................
161
3.5.73
$STROBE1 … $STROBE6 ...................................................................................
161
3.5.74
$STROBE1LEV … $STROBE6LEV ....................................................................
162
3.5.75
$T1 ........................................................................................................................
162
3.5.76
$T2 ........................................................................................................................
162
3.5.77
$T2_ENABLE .......................................................................................................
162
3.5.78
$USER_SAF .........................................................................................................
163
3.5.79
$V_STEUMADA ...................................................................................................
163
3.5.80
$WORKSTATE .....................................................................................................
163
3.5.81
$ZUST_ASYNC ....................................................................................................
164
4
KUKA Service ..............................................................................................
165
4.1
Requesting support ....................................................................................................
165
4.2
KUKA Customer Support ...........................................................................................
165
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11 / 179
System Variables
Index .............................................................................................................
12 / 179
173
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1 Introduction
1
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
For optimal use of our products, we recommend that our customers
take part in a course of training at KUKA College. Information about
the training program can be found at www.kuka.com or can be obtained 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
Safety
Representation of warnings and notes
These warnings are relevant to safety and must be observed.
These warnings mean that it is certain or highly probable
that death or severe physical injury will occur, if no precautions are taken.
These warnings mean that death or severe physical injury may occur, if no precautions are taken.
These warnings mean that minor physical injuries may
occur, if no precautions are taken.
These warnings mean that damage to property may occur, 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.
Hints
These hints serve to make your work easier or contain references to further
information.
Tip to make your work easier or reference to further information.
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13 / 179
System Variables
1.4
Terms used
Term
Description
KCP
The KCP (KUKA Control Panel) teach pendant has all the operator control and display functions required for operating and programming the
industrial robot.
Manipulator
The robot arm and the associated electrical installations
Stop category 0
The drives are deactivated immediately and the brakes are applied. The
manipulator and any external axes (optional) perform path-oriented
braking.
Note: This stop category is called STOP 0 in this document.
Stop category 1
The manipulator and any external axes (optional) perform path-maintaining braking. The drives are deactivated after 1 s and the brakes are
applied.
Note: This stop category is called STOP 1 in this document.
Stop category 2
The drives are not deactivated and the brakes are not applied. The
manipulator and any external axes (optional) are braked with a normal
braking ramp.
Note: This stop category is called STOP 2 in this document.
T1
Test mode, Manual Reduced Velocity (<= 250 mm/s)
T2
Test mode, Manual High Velocity (> 250 mm/s permissible)
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 system and the resulting normal vector.
The tool-based moving frame coordinate system is defined as follows:
XTTS: path tangent
YTTS: normal vector to the plane derived from the path tangent and the
+X axis of the TOOL coordinate system
ZTTS: vector of the right-angled system derived from XTTS and YTTS
The path tangent and the +X axis of the TOOL coordinate system must
not be parallel, otherwise the TTS cannot be calculated.
14 / 179
VxWorks
Real-time operating system
External axis
Motion axis which is not part of the manipulator but which is controlled
using the robot controller, e.g. KUKA linear unit, turn-tilt table, Posiflex.
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
2 Safety
2
Safety
2.1
General
2.1.1
Liability
The device described in this document is either an industrial robot or a component thereof.
Components of the industrial robot:

Manipulator

Robot controller

Teach pendant

Connecting cables

External axes (optional)
e.g. linear unit, turn-tilt table, positioner

Software

Options, accessories
The industrial robot is built using state-of-the-art technology and in accordance with the recognized safety rules. Nevertheless, misuse of the industrial
robot may constitute a risk to life and limb or cause damage to the industrial
robot and to other material property.
The industrial robot may only be used in perfect technical condition in accordance with its intended use and only by safety-conscious persons who are fully aware of the risks involved in its operation. Use of the industrial robot is
subject to compliance with this document and with the declaration of incorporation supplied together with the industrial robot. Any functional disorders affecting the safety of the industrial robot must be rectified immediately.
Safety information
Safety information cannot be held against KUKA Roboter GmbH. Even if all
safety instructions are followed, this is not a guarantee that the industrial robot
will not cause personal injuries or material damage.
No modifications may be carried out to the industrial robot without the authorization of KUKA Roboter GmbH. Additional components (tools, software,
etc.), not supplied by KUKA Roboter GmbH, may be integrated into the industrial robot. The user is liable for any damage these components may cause to
the industrial robot or to other material property.
In addition to the Safety chapter, this document contains further safety instructions. These must also be observed.
2.1.2
Intended use of the industrial robot
The industrial robot is intended exclusively for the use designated in the “Purpose” chapter of the operating instructions or assembly instructions.
Further information is contained in the “Purpose” chapter of the operating instructions or assembly instructions of the industrial robot.
Using the industrial robot for any other or additional purpose is considered impermissible misuse. The manufacturer cannot be held liable for any damage
resulting from such use. The risk lies entirely with the user.
Operating the industrial robot and its options within the limits of its intended
use also involves observance of the operating and assembly instructions for
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15 / 179
System Variables
the individual components, with particular reference to the maintenance specifications.
Any use or application deviating from the intended use is deemed to be impermissible misuse. This includes e.g.:
Misuse
2.1.3

Transportation of persons and animals

Use as a climbing aid

Operation outside the permissible operating parameters

Use in potentially explosive environments

Operation without additional safeguards

Outdoor operation
EC declaration of conformity and declaration of incorporation
This industrial robot constitutes partly completed machinery as defined by the
EC Machinery Directive. The industrial robot may only be put into operation if
the following preconditions are met:

The industrial robot is integrated into a complete system.
Or: The industrial robot, together with other machinery, constitutes a complete system.
Or: All safety functions and safeguards required for operation in the complete machine as defined by the EC Machinery Directive have been added
to the industrial robot.

Declaration of
conformity
The complete system complies with the EC Machinery Directive. This has
been confirmed by means of an assessment of conformity.
The system integrator must issue a declaration of conformity for the complete
system in accordance with the Machinery Directive. The declaration of conformity forms the basis for the CE mark for the system. The industrial robot must
be operated in accordance with the applicable national laws, regulations and
standards.
The robot controller is CE certified under the EMC Directive and the Low Voltage Directive.
Declaration of
incorporation
The industrial robot as partly completed machinery is supplied with a declaration of incorporation in accordance with Annex II B of the EC Machinery Directive 2006/42/EC. The assembly instructions and a list of essential
requirements complied with in accordance with Annex I are integral parts of
this declaration of incorporation.
The declaration of incorporation declares that the start-up of the partly completed machinery remains impermissible until the partly completed machinery
has been incorporated into machinery, or has been assembled with other parts
to form machinery, and this machinery complies with the terms of the EC Machinery Directive, and the EC declaration of conformity is present in accordance with Annex II A.
The declaration of incorporation, together with its annexes, remains with the
system integrator as an integral part of the technical documentation of the
complete machinery.
16 / 179
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2 Safety
2.1.4
Terms used
Term
Description
Axis range
Range of each axis, in degrees or millimeters, within which it may move.
The axis range must be defined for each axis.
Stopping distance
Stopping distance = reaction distance + braking distance
The stopping distance is part of the danger zone.
Workspace
The manipulator is allowed to move within its workspace. The workspace is derived from the individual axis ranges.
Operator
(User)
The user of the industrial robot can be the management, employer or
delegated person responsible for use of the industrial robot.
Danger zone
The danger zone consists of the workspace and the stopping distances.
KCP
The KCP (KUKA Control Panel) teach pendant has all the operator control and display functions required for operating and programming the
industrial robot.
Manipulator
The robot arm and the associated electrical installations
Safety zone
The safety zone is situated outside the danger zone.
Stop category 0
The drives are deactivated immediately and the brakes are applied. The
manipulator and any external axes (optional) perform path-oriented
braking.
Note: This stop category is called STOP 0 in this document.
Stop category 1
The manipulator and any external axes (optional) perform path-maintaining braking. The drives are deactivated after 1 s and the brakes are
applied.
Note: This stop category is called STOP 1 in this document.
Stop category 2
The drives are not deactivated and the brakes are not applied. The
manipulator and any external axes (optional) are braked with a normal
braking ramp.
Note: This stop category is called STOP 2 in this document.
System integrator
(plant integrator)
System integrators are people who safely integrate the industrial robot
into a complete system and commission it.
T1
Test mode, Manual Reduced Velocity (<= 250 mm/s)
T2
Test mode, Manual High Velocity (> 250 mm/s permissible)
External axis
Motion axis which is not part of the manipulator but which is controlled
using the robot controller, e.g. KUKA linear unit, turn-tilt table, Posiflex.
2.2
Personnel
The following persons or groups of persons are defined for the industrial robot:

User

Personnel
All persons working with the industrial robot must have read and understood the industrial robot documentation, including the safety
chapter.
User
Personnel
The user must observe the labor laws and regulations. This includes e.g.:

The user must comply with his monitoring obligations.

The user must carry out instructions at defined intervals.
Personnel must be instructed, before any work is commenced, in the type of
work involved and what exactly it entails as well as any hazards which may ex-
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17 / 179
System Variables
ist. Instruction must be carried out regularly. Instruction is also required after
particular incidents or technical modifications.
Personnel includes:

System integrator

Operators, subdivided into:

Start-up, maintenance and service personnel

Operating personnel

Cleaning personnel
Installation, exchange, adjustment, operation, maintenance and repair must be performed only as specified in the operating or assembly
instructions for the relevant component of the industrial robot and only
by personnel specially trained for this purpose.
System integrator
The industrial robot is safely integrated into a complete system by the system
integrator.
The system integrator is responsible for the following tasks:
Operator
Example

Installing the industrial robot

Connecting the industrial robot

Performing risk assessment

Implementing the required safety functions and safeguards

Issuing the declaration of conformity

Attaching the CE mark

Creating the operating instructions for the complete system
The operator must meet the following preconditions:

The operator must be trained for the work to be carried out.

Work on the industrial robot must only be carried out by qualified personnel. These are people who, due to their specialist training, knowledge and
experience, and their familiarization with the relevant standards, are able
to assess the work to be carried out and detect any potential hazards.
The tasks can be distributed as shown in the following table.
Tasks
18 / 179
Operator
Programmer
System integrator
Switch robot controller
on/off
x
x
x
Start program
x
x
x
Select program
x
x
x
Select operating mode
x
x
x
Calibration
(tool, base)
x
x
Master the manipulator
x
x
Configuration
x
x
Programming
x
x
Start-up
x
Maintenance
x
Repair
x
Decommissioning
x
Transportation
x
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2 Safety
Work on the electrical and mechanical equipment of the industrial robot may only be carried out by specially trained personnel.
2.3
Workspace, safety zone and danger zone
Workspaces are to be restricted to the necessary minimum size. A workspace
must be safeguarded using appropriate safeguards.
The safeguards (e.g. safety gate) must be situated inside the safety zone. In
the case of a stop, the manipulator and external axes (optional) are braked
and come to a stop within the danger zone.
The danger zone consists of the workspace and the stopping distances of the
manipulator and external axes (optional). It must be safeguarded by means of
physical safeguards to prevent danger to persons or the risk of material damage.
Fig. 2-1: Example of axis range A1
2.4
1
Workspace
3
Stopping distance
2
Manipulator
4
Safety zone
Triggers for stop reactions
Triggers for stop
reactions
Stop reactions of the industrial robot are triggered in response to operator actions or as a reaction to monitoring functions and error messages. The following table shows the different stop reactions according to the operating mode
that has been set.
STOP 0, STOP 1 and STOP 2 are the stop definitions according to DIN EN
60204-1:2006.
Trigger
Safety gate opened
EMERGENCY STOP pressed
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T1, T2
AUT, AUT
EXT
-
STOP 1
STOP 0
STOP 1
19 / 179
System Variables
Trigger
T1, T2
AUT, AUT
EXT
Enabling withdrawn
STOP 0
-
Start key released
STOP 2
-
“Drives OFF” key pressed
STOP 0
STOP key pressed
STOP 2
Operating mode changed
STOP 0
Encoder error
(DSE-RDC connection broken)
STOP 0
Motion enable canceled
STOP 2
Robot controller switched off
STOP 0
Power failure
2.5
Safety functions
2.5.1
Overview of safety functions
Safety functions:

Mode selection

Operator safety (= connection for the guard interlock)

Local EMERGENCY STOP device (= EMERGENCY STOP button on the
KCP)

External EMERGENCY STOP device

Enabling device

External enabling device

Local safety stop via qualifying input

RoboTeam: disabling of robots that have not been selected
These circuits conform to the requirements of Performance Level d and category 3 according to EN ISO 13849-1. This only applies under the following
conditions, however:

The EMERGENCY STOP is not triggered more than once a day on average.

The operating mode is not changed more than 10 times a day on average.

Number of switching cycles of the main contactors: max. 100 per day
If these conditions are not met, KUKA Roboter GmbH must be contacted.
In the absence of operational safety functions and safeguards, the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deactivated, the industrial robot may not be operated.
2.5.2
ESC safety logic
The function and triggering of the electronic safety functions are monitored by
the ESC safety logic.
The ESC (Electronic Safety Circuit) safety logic is a dual-channel computeraided safety system. It permanently monitors all connected safety-relevant
components. In the event of a fault or interruption in the safety circuit, the pow-
20 / 179
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
2 Safety
er supply to the drives is shut off, thus bringing the industrial robot to a standstill.
The ESC safety logic triggers different stop reactions, depending on the operating mode of the industrial robot.
The ESC safety logic monitors the following inputs:

Operator safety

Local EMERGENCY STOP (= EMERGENCY STOP button on the KCP)

External EMERGENCY STOP

Enabling device

External enabling device

Drives OFF

Drives ON

Operating modes

Qualifying inputs
The ESC safety logic monitors the following outputs:
2.5.3

Operating mode

Drives ON

Local E-STOP
Mode selector switch
The industrial robot can be operated in the following modes:

Manual Reduced Velocity (T1)

Manual High Velocity (T2)

Automatic (AUT)

Automatic External (AUT EXT)
The operating mode is selected using the mode selector switch on the KCP.
The switch is activated by means of a key which can be removed. If the key is
removed, the switch is locked and the operating mode can no longer be
changed.
If the operating mode is changed during operation, the drives are immediately
switched off. The manipulator and any external axes (optional) are stopped
with a STOP 0.
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21 / 179
System Variables
Fig. 2-2: Mode selector switch
1
T2 (Manual High Velocity)
2
AUT (Automatic)
3
AUT EXT (Automatic External)
4
T1 (Manual Reduced Velocity)
Operating mode
Use
Velocities

T1
T2
AUT
AUT EXT
2.5.4
For test operation, programming and teaching
For test operation
For industrial robots
without higher-level
controllers
Program verification:
Programmed velocity, maximum 250 mm/s

Jog mode:
Jog velocity, maximum 250 mm/
s

Program verification:
Programmed velocity

Program mode:
Programmed velocity

Jog mode: Not possible

Program mode:
Only possible with a
connected safety circuit
For industrial robots
with higher-level controllers, e.g. PLC
Programmed velocity

Jog mode: Not possible
Only possible with a
connected safety circuit
Operator safety
The operator safety input is used for interlocking physical safeguards. Safety
equipment, such as safety gates, can be connected to the dual-channel input.
If nothing is connected to this input, operation in Automatic mode is not possible. Operator safety is not active in the test modes T1 (Manual Reduced Velocity) and T2 (Manual High Velocity).
22 / 179
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2 Safety
In the event of a loss of signal during Automatic operation (e.g. safety gate is
opened), the manipulator and the external axes (optional) stop with a STOP 1.
Once the signal is active at the input again, automatic operation can be resumed.
Operator safety can be connected via the peripheral interface on the robot
controller.
It must be ensured that the operator safety signal is not
automatically reset when the safeguard (e.g. safety gate)
is closed, but only after an additional manual acknowledgement signal has
been given. Only in this way can it be ensured that automatic operation is not
resumed inadvertently while there are still persons in the danger zone, e.g.
due to the safety gate closing accidentally.
Failure to observe this precaution may result in death, severe physical injuries or considerable damage to property.
2.5.5
EMERGENCY STOP device
The EMERGENCY STOP device for the industrial robot is the EMERGENCY
STOP button on the KCP. The button must be pressed in the event of a hazardous situation or emergency.
Reactions of the industrial robot if the EMERGENCY STOP button is pressed:
Manual Reduced Velocity (T1) and Manual High Velocity (T2) modes:

The drives are switched off immediately. The manipulator and any external
axes (optional) are stopped with a STOP 0.
Automatic modes (AUT and AUT EXT):

The drives are switched off after 1 second. The manipulator and any external axes (optional) are stopped with a STOP 1.
Before operation can be resumed, the EMERGENCY STOP button must be
turned to release it and the stop message must be acknowledged.
Fig. 2-3: EMERGENCY STOP button on the KCP
1
EMERGENCY STOP button
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System Variables
Tools and other equipment connected to the manipulator
must be integrated into the EMERGENCY STOP circuit
on the system side if they could constitute a potential hazard.
Failure to observe this precaution may result in death, severe physical injuries or considerable damage to property.
2.5.6
External EMERGENCY STOP device
There must be EMERGENCY STOP devices available at every operator station that can initiate a robot motion or other potentially hazardous situation.
The system integrator is responsible for ensuring this.
There must always be at least one external EMERGENCY STOP device installed. This ensures that an EMERGENCY STOP device is available even
when the KCP is disconnected.
External EMERGENCY STOP devices are connected via the customer interface. External EMERGENCY STOP devices are not included in the scope of
supply of the industrial robot.
2.5.7
Enabling device
The enabling devices of the industrial robot are the enabling switches on the
KCP.
There are 3 enabling switches installed on the KCP. The enabling switches
have 3 positions:

Not pressed

Center position

Panic position
In the test modes, the manipulator can only be moved if one of the enabling
switches is held in the central position. If the enabling switch is released or
pressed fully down (panic position), the drives are deactivated immediately
and the manipulator stops with a STOP 0.
The enabling switches must not be held down by adhesive tape or other means or manipulated in any other
way.
Death, serious physical injuries or major damage to property may result.
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2 Safety
Fig. 2-4: Enabling switches on the KCP
1-3
2.5.8
Enabling switches
External enabling device
External enabling devices are required if it is necessary for more than one person to be in the danger zone of the industrial robot. They can be connected via
the peripheral interface on the robot controller.
External enabling devices are not included in the scope of supply of the industrial robot.
2.6
Additional protective equipment
2.6.1
Jog mode
In the operating modes T1 (Manual Reduced Velocity) and T2 (Manual High
Velocity), the robot controller can only execute programs in jog mode. This
means that it is necessary to hold down an enabling switch and the Start key
in order to execute a program.
If the enabling switch is released or pressed fully down (panic position), the
drives are deactivated immediately and the manipulator and any external axes
(optional) stop with a STOP 0.
Releasing only the Start key causes the industrial robot to be stopped with a
STOP 2.
2.6.2
Software limit switches
The axis ranges of all manipulator and positioner axes are limited by means of
adjustable software limit switches. These software limit switches only serve as
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System Variables
machine protection and must be adjusted in such a way that the manipulator/
positioner cannot hit the mechanical end stops.
The software limit switches are set during commissioning of an industrial robot.
Further information is contained in the operating and programming instructions.
2.6.3
Mechanical end stops
The axis ranges of main axes A1 to A3 and wrist axis A5 of the manipulator
are limited by means of mechanical end stops with buffers.
Additional mechanical end stops can be installed on the external axes.
If the manipulator or an external axis hits an obstruction
or a buffer on the mechanical end stop or axis range limitation, this can result in material damage to the industrial robot. KUKA Roboter GmbH must be consulted before the industrial robot is put back into
operation. (>>> 4 "KUKA Service" Page 165)
The affected buffer must be replaced with a new one before operation of the
industrial robot is resumed. If a manipulator (or external axis) collides with a
buffer at more than 250 mm/s, the manipulator (or external axis) must be exchanged or recommissioning must be carried out by KUKA Roboter GmbH.
2.6.4
Mechanical axis range limitation (optional)
Some manipulators can be fitted with mechanical axis range limitation in axes
A1 to A3. The adjustable axis range limitation systems restrict the working
range to the required minimum. This increases personal safety and protection
of the system.
In the case of manipulators that are not designed to be fitted with mechanical
axis range limitation, the workspace must be laid out in such a way that there
is no danger to persons or material property, even in the absence of mechanical axis range limitation.
If this is not possible, the workspace must be limited by means of photoelectric
barriers, photoelectric curtains or obstacles on the system side. There must be
no shearing or crushing hazards at the loading and transfer areas.
This option is not available for all robot models. Information on specific robot models can be obtained from KUKA Roboter GmbH.
2.6.5
Axis range monitoring (optional)
Some manipulators can be fitted with dual-channel axis range monitoring systems in main axes A1 to A3. The positioner axes may be fitted with additional
axis range monitoring systems. The safety zone for an axis can be adjusted
and monitored using an axis range monitoring system. This increases personal safety and protection of the system.
This option is not available for all robot models. Information on specific robot models can be obtained from KUKA Roboter GmbH.
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2.6.6
Release device (optional)
Description
The release device can be used to move the manipulator manually after an accident or malfunction. The release device can be used for the main axis drive
motors and, depending on the robot variant, also for the wrist axis drive motors. It is only for use in exceptional circumstances and emergencies (e.g. for
freeing people).
The motors reach temperatures during operation which
can cause burns to the skin. Contact must be avoided.
Appropriate safety precautions must be taken, e.g. protective gloves must be
worn.
Procedure
1. Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.
2. Remove the protective cap from the motor.
3. Push the release device onto the corresponding motor and move the axis
in the desired direction.
The directions are indicated with arrows on the motors. It is necessary to
overcome the resistance of the mechanical motor brake and any other
loads acting on the axis.
Moving an axis with the release device can damage the
motor brake. This can result in personal injury and material damage. After using the release device, the affected motor must be exchanged.
2.6.7
KCP coupler (optional)
The KCP coupler allows the KCP to be connected and disconnected with the
robot controller running.
The operator must ensure that decoupled KCPs are immediately removed from the system and stored out of
sight and reach of personnel working on the industrial robot. This serves to
prevent operational and non-operational EMERGENCY STOP facilities from
becoming interchanged.
Failure to observe this precaution may result in death, severe physical injuries or considerable damage to property.
Further information is contained in the assembly or operating instructions for the robot controller.
2.6.8
Labeling on the industrial robot
All plates, labels, symbols and marks constitute safety-relevant parts of the industrial robot. They must not be modified or removed.
Labeling on the industrial robot consists of:

Identification plates

Warning labels

Safety symbols

Designation labels

Cable markings

Rating plates
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System Variables
Further information is contained in the technical data of the operating
instructions or assembly instructions of the components of the industrial robot.
2.6.9
External safeguards
Safeguards
The access of persons to the danger zone of the manipulator must be prevented by means of safeguards.
Physical safeguards must meet the following requirements:

They meet the requirements of EN 953.

They prevent access of persons to the danger zone and cannot be easily
circumvented.

They are sufficiently fastened and can withstand all forces that are likely
to occur in the course of operation, whether from inside or outside the enclosure.

They do not, themselves, represent a hazard or potential hazard.

The prescribed minimum clearance from the danger zone is maintained.
Safety gates (maintenance gates) must meet the following requirements:

They are reduced to an absolute minimum.

The interlocks (e.g. safety gate switches) are linked to the operator safety
input of the robot controller via safety gate switching devices or safety
PLC.

Switching devices, switches and the type of switching conform to the requirements of Performance Level d and category 3 according to EN ISO
13849-1.

Depending on the risk situation: the safety gate is additionally safeguarded
by means of a locking mechanism that only allows the gate to be opened
if the manipulator is safely at a standstill.

The button for acknowledging the safety gate is located outside the space
limited by the safeguards.
Further information is contained in the corresponding standards and
regulations. These also include EN 953.
Other safety
equipment
2.7
Other safety equipment must be integrated into the system in accordance with
the corresponding standards and regulations.
Overview of operating modes and safety functions
The following table indicates the operating modes in which the safety functions
are active.
Safety functions
T1
Operator safety
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T2
AUT
AUT EXT
-
-
active
active
EMERGENCY STOP device
active
active
active
active
Enabling device
active
active
-
-
Reduced velocity during program verification
active
-
-
-
Jog mode
active
active
-
-
Software limit switches
active
active
active
active
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2.8
Safety measures
2.8.1
General safety measures
The industrial robot may only be used in perfect technical condition in accordance with its intended use and only by safety-conscious persons. Operator
errors can result in personal injury and damage to property.
It is important to be prepared for possible movements of the industrial robot
even after the robot controller has been switched off and locked. Incorrect installation (e.g. overload) or mechanical defects (e.g. brake defect) can cause
the manipulator or external axes to sag. If work is to be carried out on a
switched-off industrial robot, the manipulator and external axes must first be
moved into a position in which they are unable to move on their own, whether
the payload is mounted or not. If this is not possible, the manipulator and external axes must be secured by appropriate means.
In the absence of operational safety functions and safeguards, the industrial robot can cause personal injury or
material damage. If safety functions or safeguards are dismantled or deactivated, the industrial robot may not be operated.
Standing underneath the robot arm can cause death or
serious physical injuries. For this reason, standing underneath the robot arm is prohibited!
The motors reach temperatures during operation which
can cause burns to the skin. Contact must be avoided.
Appropriate safety precautions must be taken, e.g. protective gloves must be
worn.
KCP
The user must ensure that the industrial robot is only operated with the KCP
by authorized persons.
If more than one KCP is used in the overall system, it must be ensured that
each KCP is unambiguously assigned to the corresponding industrial robot.
They must not be interchanged.
The operator must ensure that decoupled KCPs are immediately removed from the system and stored out of
sight and reach of personnel working on the industrial robot. This serves to
prevent operational and non-operational EMERGENCY STOP facilities from
becoming interchanged.
Failure to observe this precaution may result in death, severe physical injuries or considerable damage to property.
External
keyboard,
external mouse
An external keyboard and/or external mouse may only be used if the following
conditions are met:

Start-up or maintenance work is being carried out.

The drives are switched off.

There are no persons in the danger zone.
The KCP must not be used as long as an external keyboard and/or external
mouse are connected.
The external keyboard and/or external mouse must be removed as soon as
the start-up or maintenance work is completed or the KCP is connected.
Faults
The following tasks must be carried out in the case of faults in the industrial
robot:
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System Variables
Modifications

Switch off the robot controller and secure it (e.g. with a padlock) to prevent
unauthorized persons from switching it on again.

Indicate the fault by means of a label with a corresponding warning (tagout).

Keep a record of the faults.

Eliminate the fault and carry out a function test.
After modifications to the industrial robot, checks must be carried out to ensure
the required safety level. The valid national or regional work safety regulations
must be observed for this check. The correct functioning of all safety circuits
must also be tested.
New or modified programs must always be tested first in Manual Reduced Velocity mode (T1).
After modifications to the industrial robot, existing programs must always be
tested first in Manual Reduced Velocity mode (T1). This applies to all components of the industrial robot and includes modifications to the software and
configuration settings.
2.8.2
Testing safety-related controller components
All safety-related controller components are rated for a service life of 20 years
(with the exception of the input/output terminals for safe bus systems). The
controller components must nonetheless be tested regularly to ensure that
they are still functional.
Check:

E-STOP pushbutton, mode selector switch
The E-STOP pushbutton and the mode selector switch must be actuated
at least once every 6 months in order to detect any malfunction.

SafetyBUS Gateway outputs
If relays are switched on at an output, they must be switched off at least
once every 6 months in order to detect any malfunction.
Additional checks are required during start-up and recommissioning.
(>>> 2.8.4 "Start-up and recommissioning" Page 31)
If input/output terminals are used in the robot controller
for safe bus systems, these must be exchanged after
10 years at the latest. If this is not done, the integrity of the safety functions
is not assured. This can result in death, physical injuries and damage to property.
2.8.3
Transportation
Manipulator
The prescribed transport position of the manipulator must be observed. Transportation must be carried out in accordance with the operating instructions or
assembly instructions of the manipulator.
Robot controller
The robot controller must be transported and installed in an upright position.
Avoid vibrations and impacts during transportation in order to prevent damage
to the robot controller.
Transportation must be carried out in accordance with the operating instructions or assembly instructions of the robot controller.
External axis
(optional)
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The prescribed transport position of the external axis (e.g. KUKA linear unit,
turn-tilt table, etc.) must be observed. Transportation must be carried out in ac-
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2 Safety
cordance with the operating instructions or assembly instructions of the external axis.
2.8.4
Start-up and recommissioning
Before starting up systems and devices for the first time, a check must be carried out to ensure that the systems and devices are complete and operational,
that they can be operated safely and that any damage is detected.
The valid national or regional work safety regulations must be observed for this
check. The correct functioning of all safety circuits must also be tested.
The passwords for logging onto the KUKA System Software as “Expert” and “Administrator” must be changed before start-up and must
only be communicated to authorized personnel.
The robot controller is preconfigured for the specific industrial robot. If cables are interchanged, the manipulator and the external axes (optional) may receive incorrect data and can thus
cause personal injury or material damage. If a system consists of more than
one manipulator, always connect the connecting cables to the manipulators
and their corresponding robot controllers.
If additional components (e.g. cables), which are not part of the scope
of supply of KUKA Roboter GmbH, are integrated into the industrial
robot, the user is responsible for ensuring that these components do
not adversely affect or disable safety functions.
If the internal cabinet temperature of the robot controller
differs greatly from the ambient temperature, condensation can form, which may cause damage to the electrical components. Do not
put the robot controller into operation until the internal temperature of the
cabinet has adjusted to the ambient temperature.
Interruptions/
cross-connections
Interruptions or cross-connections affecting safety functions and not detected
by the robot controller or SafeRDC must either be precluded (e.g. by the construction) or detected by the customer (e.g. by means of a PLC or by testing
the outputs).
Recommendation: design the construction in such a way as to preclude cross-connections. For this, observe the remarks in EN ISO
13849-2, tables D.5, D.6 and D.7.
Overview: possible cross-connections that are not detected by the robot
controller or SafeRDC
Cross-connection
Possible in the case of …
Cross-connection to 0 V

ESC output Drives ON

ESC output E-STOP

ESC output Drives ON

ESC output E-STOP

ESC output Operating
Mode

SafeRDC inputs
Cross-connection to 24 V
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System Variables
Cross-connection
Possible in the case of …
Cross-connection between the contacts of an
output

ESC output Drives ON

ESC output E-STOP

ESC output Operating
Mode
Cross-connection between the contacts of
different outputs
Cross-connection of an ESC output with an
ESC input
Function test
Cross-connection between the channels of
different ESC inputs
ESC inputs
Cross-connection between 2 SafeRDC inputs
SafeRDC inputs
Cross-connection of a SafeRDC output with a
SafeRDC input
SafeRDC outputs, SafeRDC inputs
The following tests must be carried out before start-up and recommissioning:
General test:
It must be ensured that:

The industrial robot is correctly installed and fastened in accordance with
the specifications in the documentation.

There are no foreign bodies or loose parts on the industrial robot.

All required safety equipment is correctly installed and operational.

The power supply ratings of the industrial robot correspond to the local
supply voltage and mains type.

The ground conductor and the equipotential bonding cable are sufficiently
rated and correctly connected.

The connecting cables are correctly connected and the connectors are
locked.
Test of safety-oriented circuits:
A function test must be carried out for the following safety-oriented circuits to
ensure that they are functioning correctly:

Local EMERGENCY STOP device (= EMERGENCY STOP button on the
KCP)

External EMERGENCY STOP device (input and output)

Enabling device (in the test modes)

Operator safety (in the automatic modes)

Qualifying inputs (if connected)

All other safety-relevant inputs and outputs used
Test of reduced velocity control:
This test is to be carried out as follows:
1. Program a straight path with the maximum possible velocity.
2. Calculate the length of the path.
3. Execute the path in T1 mode with the override set to 100% and time the
motion with a stopwatch.
It must be ensured that no persons are present within the
danger zone during path execution. Death or severe
physical injuries may result.
4. Calculate the velocity from the length of the path and the time measured
for execution of the motion.
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Control of reduced velocity is functioning correctly if the following results are
achieved:
Machine data

The calculated velocity does not exceed 250 mm/s.

The robot executes the path as programmed (i.e. in a straight line, without
deviations).
It must be ensured that the rating plate on the robot controller has the same
machine data as those entered in the declaration of incorporation. The machine data on the rating plate of the manipulator and the external axes (optional) must be entered during start-up.
The industrial robot must not be moved if incorrect machine data are loaded. Death, severe physical injuries or
considerable damage to property may otherwise result. The correct machine
data must be loaded.
2.8.5
Virus protection and network security
The user of the industrial robot is responsible for ensuring that the software is
always safeguarded with the latest virus protection. If the robot controller is integrated into a network that is connected to the company network or to the Internet, it is advisable to protect this robot network against external risks by
means of a firewall.
For optimal use of our products, we recommend that our customers
carry out a regular virus scan. Information about security updates can
be found at www.kuka.com.
2.8.6
Manual mode
Manual mode is the mode for setup work. Setup work is all the tasks that have
to be carried out on the industrial robot to enable automatic operation. Setup
work includes:

Jog mode

Teach

Programming

Program verification
The following must be taken into consideration in manual mode:

If the drives are not required, they must be switched off to prevent the manipulator or the external axes (optional) from being moved unintentionally.
New or modified programs must always be tested first in Manual Reduced
Velocity mode (T1).

The manipulator, tooling or external axes (optional) must never touch or
project beyond the safety fence.

Workpieces, tooling and other objects must not become jammed as a result of the industrial robot motion, nor must they lead to short-circuits or be
liable to fall off.

All setup work must be carried out, where possible, from outside the safeguarded area.
If the setup work has to be carried out inside the safeguarded area, the following must be taken into consideration:
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System Variables
In Manual Reduced Velocity mode (T1):

If it can be avoided, there must be no other persons inside the safeguarded area.
If it is necessary for there to be several persons inside the safeguarded area, the following must be observed:


Each person must have an enabling device.

All persons must have an unimpeded view of the industrial robot.

Eye-contact between all persons must be possible at all times.
The operator must be so positioned that he can see into the danger area
and get out of harm’s way.
In Manual High Velocity mode (T2):
2.8.7

This mode may only be used if the application requires a test at a velocity
higher than Manual Reduced Velocity.

Teaching and programming are not permissible in this operating mode.

Before commencing the test, the operator must ensure that the enabling
devices are operational.

The operator must be positioned outside the danger zone.

There must be no other persons inside the safeguarded area. It is the responsibility of the operator to ensure this.
Simulation
Simulation programs do not correspond exactly to reality. Robot programs created in simulation programs must be tested in the system in Manual Reduced
Velocity mode (T1). It may be necessary to modify the program.
2.8.8
Automatic mode
Automatic mode is only permissible in compliance with the following safety
measures:

All safety equipment and safeguards are present and operational.

There are no persons in the system.

The defined working procedures are adhered to.
If the manipulator or an external axis (optional) comes to a standstill for no apparent reason, the danger zone must not be entered until an EMERGENCY
STOP has been triggered.
2.8.9
Maintenance and repair
After maintenance and repair work, checks must be carried out to ensure the
required safety level. The valid national or regional work safety regulations
must be observed for this check. The correct functioning of all safety circuits
must also be tested.
The purpose of maintenance and repair work is to ensure that the system is
kept operational or, in the event of a fault, to return the system to an operational state. Repair work includes troubleshooting in addition to the actual repair
itself.
The following safety measures must be carried out when working on the industrial robot:

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Carry out work outside the danger zone. If work inside the danger zone is
necessary, the user must define additional safety measures to ensure the
safe protection of personnel.
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
Switch off the industrial robot and secure it (e.g. with a padlock) to prevent
it from being switched on again. If it is necessary to carry out work with the
robot controller switched on, the user must define additional safety measures to ensure the safe protection of personnel.

If it is necessary to carry out work with the robot controller switched on, this
may only be done in operating mode T1.

Label the system with a sign indicating that work is in progress. This sign
must remain in place, even during temporary interruptions to the work.

The EMERGENCY STOP systems must remain active. If safety functions
or safeguards are deactivated during maintenance or repair work, they
must be reactivated immediately after the work is completed.
Faulty components must be replaced using new components with the same
article numbers or equivalent components approved by KUKA Roboter GmbH
for this purpose.
Cleaning and preventive maintenance work is to be carried out in accordance
with the operating instructions.
Robot controller
Even when the robot controller is switched off, parts connected to peripheral
devices may still carry voltage. The external power sources must therefore be
switched off if work is to be carried out on the robot controller.
The ESD regulations must be adhered to when working on components in the
robot controller.
Voltages in excess of 50 V (up to 600 V) can be present in various components
for several minutes after the robot controller has been switched off! To prevent
life-threatening injuries, no work may be carried out on the industrial robot in
this time.
Water and dust must be prevented from entering the robot controller.
Counterbalancing system
Some robot variants are equipped with a hydropneumatic, spring or gas cylinder counterbalancing system.
The hydropneumatic and gas cylinder counterbalancing systems are pressure
equipment and, as such, are subject to obligatory equipment monitoring. Depending on the robot variant, the counterbalancing systems correspond to category 0, II or III, fluid group 2, of the Pressure Equipment Directive.
The user must comply with the applicable national laws, regulations and standards pertaining to pressure equipment.
Inspection intervals in Germany in accordance with Industrial Safety Order,
Sections 14 and 15. Inspection by the user before commissioning at the installation site.
The following safety measures must be carried out when working on the counterbalancing system:
Hazardous
substances

The manipulator assemblies supported by the counterbalancing systems
must be secured.

Work on the counterbalancing systems must only be carried out by qualified personnel.
The following safety measures must be carried out when handling hazardous
substances:

Avoid prolonged and repeated intensive contact with the skin.

Avoid breathing in oil spray or vapors.

Clean skin and apply skin cream.
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System Variables
To ensure safe use of our products, we recommend that our customers regularly request up-to-date safety data sheets from the manufacturers of hazardous substances.
2.8.10
Decommissioning, storage and disposal
The industrial robot must be decommissioned, stored and disposed of in accordance with the applicable national laws, regulations and standards.
2.8.11
Safety measures for “single point of control”
Overview
If certain components in the industrial robot are operated, safety measures
must be taken to ensure complete implementation of the principle of “single
point of control”.
Components:

Submit interpreter

PLC

OPC Server

Remote control tools

External keyboard/mouse
The implementation of additional safety measures may be required.
This must be clarified for each specific application; this is the responsibility of the system integrator, programmer or user of the system.
Since only the system integrator knows the safe states of actuators in the periphery of the robot controller, it is his task to set these actuators to a safe
state, e.g. in the event of an EMERGENCY STOP.
External
keyboard/mouse
These components can be used to modify programs, outputs or other parameters of the robot controller, without this being noticed by any persons located
inside the system.
Safety measures:
OPC server,
remote control
tools

Only use one operator console at each robot controller.

If the KCP is being used for work inside the system, remove any keyboard
and mouse from the robot controller beforehand.
These components can be used with write access to modify programs, outputs
or other parameters of the robot controller, without this being noticed by any
persons located inside the system.
Safety measures:

KUKA stipulates that these components are to be used exclusively for diagnosis and visualization.
Programs, outputs or other parameters of the robot controller must not be
modified using these components.
Submit interpreter, PLC
If motions, (e.g. drives or grippers) are controlled with the Submit interpreter
or the PLC via the I/O system, and if they are not safeguarded by other means,
then this control will take effect even in T1 and T2 modes or while an EMERGENCY STOP is active.
If variables that affect the robot motion (e.g. override) are modified with the
Submit interpreter or the PLC, this takes effect even in T1 and T2 modes or
while an EMERGENCY STOP is active.
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Safety measures:
2.9

Do not modify safety-relevant signals and variables (e.g. operating mode,
EMERGENCY STOP, safety gate contact) via the Submit interpreter or
PLC.

If modifications are nonetheless required, all safety-relevant signals and
variables must be linked in such a way that they cannot be set to a dangerous state by the Submit interpreter or PLC.
Applied norms and regulations
Name
Definition
Edition
2006/42/EC
Machinery Directive:
2006
Directive 2006/42/EC of the European Parliament and of
the Council of 17 May 2006 on machinery, and amending
Directive 95/16/EC (recast)
2004/108/EC
EMC Directive:
2004
Directive 2004/108/EC of the European Parliament and of
the Council of 15 December 2004 on the approximation of
the laws of the Member States relating to electromagnetic
compatibility and repealing Directive 89/336/EEC
97/23/EC
Pressure Equipment Directive:
1997
Directive 97/23/EC of the European Parliament and of the
Council of 29 May 1997 on the approximation of the laws
of the Member States concerning pressure equipment
(Only applicable for robots with hydropneumatic counterbalancing system.)
EN ISO 13850
Safety of machinery:
2008
Emergency stop - Principles for design
EN ISO 13849-1
Safety of machinery:
2008
Safety-related parts of control systems - Part 1: General
principles of design
EN ISO 13849-2
Safety of machinery:
2008
Safety-related parts of control systems - Part 2: Validation
EN ISO 12100-1
Safety of machinery:
2003
Basic concepts, general principles for design - Part 1:
Basic terminology, methodology
EN ISO 12100-2
Safety of machinery:
2003
Basic concepts, general principles for design - Part 2:
Technical principles
EN ISO 10218-1
Industrial robots:
EN 614-1
Safety of machinery:
2008
Safety
2006
Ergonomic design principles - Part 1: Terms and general
principles
EN 61000-6-2
Electromagnetic compatibility (EMC):
2005
Part 6-2: Generic standards; Immunity for industrial environments
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System Variables
Name
Definition
Edition
EN 61000-6-4
Electromagnetic compatibility (EMC):
2007
Part 6-4: Generic standards; Emission standard for industrial environments
EN 60204-1
Safety of machinery:
2006
Electrical equipment of machines - Part 1: General
requirements
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3 System variables
3
System variables
3.1
Variables in $OPERATE.DAT
3.1.1
$ABS_RELOAD
Description
Reloading of the positionally accurate robot model
This variable can be used to reload the active positionally accurate robot model, i.e. the file robot serial number.PID from the directory C:\KRC\ROBOTER\
IR_SPEC. For this purpose, $ABS_RELOAD is set to TRUE. As soon as the
active positionally accurate robot model has been reloaded, the variable is automatically reset again.
The positionally accurate robot model is deactivated:
$ABS_ACCUR=TRUE
Precondition

Syntax
$ABS_RELOAD=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Reloading of the robot model is triggered.

FALSE: Trigger is not active.
Default: FALSE
3.1.2
$ACC
Description
Acceleration of the TCP in the advance run
The variable of structure type CP contains the programmed Cartesian acceleration for the following components:

CP: Path acceleration in [m/s2]

ORI1: Swivel acceleration in [°/s2]

ORI2: Rotational acceleration in [°/s2]
Limit values for Cartesian acceleration:

0.0 … $ACC_MA
The maximum Cartesian acceleration $ACC_MA is defined in the machine
data.
Further information about the variable $ACC_MA can be found in the
machine data documentation.
If $ACC violates the limit values, the message Value assignment inadmissible is displayed. Program execution is stopped or the associated motion instruction is not executed during jogging.
Example
3.1.3
$ACC={CP 5.0,ORI1 500.0,ORI2 500.0}
$ACC_AXIS
Description
Acceleration of the robot axes in the advance run
The variable contains the programmed axis acceleration as a percentage of
the maximum axis acceleration $ACC_ACT_MA.
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System Variables
Further information about the variable $ACC_ACT_MA can be found
in the machine data documentation.
$ACC_AXIS[Axis number]=Acceleration
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Acceleration
Type: INT; unit: %

3.1.4
1 … 6: Robot axis A1 ... A6
1 … 100
$ACC_AXIS_C
Description
Acceleration of the robot axes in the main run
The variable contains the axis acceleration of the motion currently being executed as a percentage of the maximum axis acceleration $ACC_ACT_MA.
Further information about the variable $ACC_ACT_MA can be found
in the machine data documentation.
$ACC_AXIS_C[Axis number]=Acceleration
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Acceleration

3.1.5
1 … 6: Robot axis A1 ... A6
Type: INT; unit: %
1 … 100
$ACC_C
Description
Acceleration of the TCP in the main run
The variable of structure type CP contains the current Cartesian acceleration
for the following components:

CP: Path acceleration in [m/s2]

ORI1: Swivel acceleration in [°/s2]

ORI2: Rotational acceleration in [°/s2]
Example
3.1.6
$ACC_C={CP 5.0,ORI1 500.0,ORI2 500.0}
$ACC_CAR_ACT
Description
Current Cartesian acceleration
The variable of structure type ACC_CAR contains the current Cartesian acceleration for the following components:


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X, Y, Z: Current Cartesian acceleration in [m/s2] for X, Y, Z
A, B, C: The current Cartesian acceleration in [m/s2] for A, B, C is not evaluated.
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ABS: Current Cartesian acceleration in [m/s2] for ABS, i.e. in relation to
the absolute value of the accelerations in X, Y, Z

The current Cartesian acceleration $ACC_CAR_ACT must not exceed the
maximum Cartesian acceleration $ACC_CAR_LIMIT specified in the machine
data. If the maximum permissible value in the X, Y, Z direction or in relation to
the absolute value is exceeded, the manipulator stops with a STOP 2. The acknowledgement message Maximum Cartesian acceleration exceeded is
displayed.
STOP 2 for monitoring of the Cartesian acceleration must be activated in the
machine data ($ACC_CAR_STOP = TRUE).
Further information about the variables $ACC_CAR_LIMIT and
$ACC_CAR_STOP can be found in the machine data documentation.
3.1.7
$ACC_CAR_MAX
Description
Maximum Cartesian acceleration
The variable of structure type ACC_CAR saves the value of the highest magnitude that the Cartesian acceleration $ACC_CAR_ACT reaches.

X, Y, Z: Cartesian acceleration in [m/s2] for X, Y, Z

A, B, C: The Cartesian acceleration in [m/s2] for A, B, C is not evaluated.
ABS: Cartesian acceleration in [m/s2] for ABS, i.e. in relation to the absolute value of the accelerations in X, Y, Z

The variable can be set to zero in the KRL program in order to determine the
maximum values.
Example
$ACC_CAR_MAX={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0 ABS 0.0}
3.1.8
$ACC_EXTAX
Description
Acceleration of the external axes in the advance run
The variable contains the programmed axis acceleration as a percentage of
the maximum axis acceleration $ACC_ACT_MA.
Further information about the variable $ACC_ACT_MA can be found
in the machine data documentation.
$ACC_EXTAX[Axis number]=Acceleration
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Acceleration
Type: INT; unit: %

3.1.9
1 … 6: External axis E1 … E6
1 … 100
$ACC_EXTAX_C
Description
Acceleration of the external axes in the main run
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System Variables
The variable contains the axis acceleration of the motion currently being executed as a percentage of the maximum axis acceleration $ACC_ACT_MA.
Further information about the variable $ACC_ACT_MA can be found
in the machine data documentation.
$ACC_EXTAX_C[Axis number]=Acceleration
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Acceleration
Type: INT; unit: %

3.1.10
1 … 6: External axis E1 … E6
1 … 100
$ACT_BASE
Description
Number of the current BASE coordinate system
Syntax
$ACT_BASE=Base number
Explanation of
the syntax
Element
Description
Base number
Type: INT

3.1.11
1 … 32
$ACT_EX_AX
Description
Number of the current external BASE kinematic system
Syntax
$ACT_EX_AX=Kinematic system number
Explanation of
the syntax
3.1.12
Element
Description
Kinematic
system
number
Type: INT

1…6
$ACT_TOOL
Description
Number of the current TOOL coordinate system
Syntax
$ACT_TOOL=Tool number
Explanation of
the syntax
Element
Description
Tool number
Type: INT

3.1.13
1 … 16
$ADVANCE
Description
Maximum number of motion instructions in the advance run
The variable is used to define the maximum number of motion instructions that
the robot controller can calculate and plan in advance. The actual number of
motion instructions calculated in advance is dependent on the capacity of the
computer.
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The advance run refers to the current position of the block pointer. The advance run is required, for example, in order to be able to calculate approximate
positioning motions.
$ADVANCE=Number
Syntax
Explanation of
the syntax
Element
Description
Number
Type: INT

1…5
Default: 3
3.1.14
$ANIN
Description
Maximum permissible voltage at analog inputs
If the permissible voltage is exceeded, the input adopts the maximum value
set here. A message is displayed until the voltage is inside the permissible
range again.
Inputs/outputs are configured in the control PC of the robot controller
by means of optional field bus cards. The configuration is customerspecific.
$ANIN[Input number]=Voltage
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT

Voltage
1 … 32
Type: REAL

-1.0 … +1.0
The default range setting corresponds to a voltage from 10 V to +10 V.
3.1.15
$ANOUT
Description
Maximum permissible voltage at analog outputs
If the permissible voltage is exceeded, the output adopts the maximum value
set here. A message is displayed until the voltage is inside the permissible
range again.
Inputs/outputs are configured in the control PC of the robot controller
by means of optional field bus cards. The configuration is customerspecific.
Syntax
$ANOUT[Output number]=Voltage
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System Variables
Explanation of
the syntax
Element
Description
Output
number
Type: INT
Voltage
Type: REAL


1 … 32
-1.0 … +1.0
The default range setting corresponds to a voltage from 10 V to +10 V.
3.1.16
$ASYNC_AXIS
Description
Switching of external axes to asynchronous mode
The variable allows external axes to be switched to asynchronous or synchronous mode in the KRL program. Mechanically coupled external axes must always be switched to asynchronous mode together.
This variable must not be used in the Submit interpreter or in an interrupt program.
When the variable $ASYNC_AXIS is defined, an advance run stop is triggered
if the value changes. The new value is not saved until all synchronous and
asynchronous movements have been completed and all axes are in position.
Axes of a ROBROOT kinematic system and axes of a mathematically
coupled BASE kinematic system cannot be switched to asynchronous mode.
Syntax
Explanation of
the syntax
$ASYNC_AXIS=Bit array
Element
Description
Bit array
Bit array with which external axes can be switched to synchronous or asynchronous mode.

Bit n = 0: External axis is switched to synchronous
mode.
Precondition:


External axis is not permanently switched to asynchronous mode. ($EX_AX_ASYNC)
Bit n = 1: External axis is switched to asynchronous
mode.
Precondition:

Asynchronous external axes are enabled.
($ASYNC_OPT=TRUE)

Mathematical coupling is canceled.
Note: Following a reset, asynchronous external axes are
automatically switched back to synchronous mode.
Example
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Bit n
5
4
3
2
1
0
Axis
E6
E5
E4
E3
E2
E1
PTP P10 VEL = 100% PDAT50 Tool[1]:Pen Base[17]:DKP400
PTP P11 VEL = 100% PDAT5 Tool[1]:Pen Base[0]
$ASYNC_AXIS = 'B0100'
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The mathematical coupling is canceled by programming a motion block with a
static base. External axis E3 is switched to asynchronous mode.
3.1.17
$ASYNC_FLT
Description
Filter for coordinated asynchronous motions
This filter can be used to smooth ASYPTP motions.
$ASYNC_FLT=Filter value
Syntax
Explanation of
the syntax
Element
Description
Filter value
Type: INT; unit: ms

0 ... 16 * interpolation cycle
The value must be an integer multiple of the interpolation
cycle (12 ms).
Default: $DEF_FLT_PTP
Example
$ASYNC_FLT = 96
Filter value = 6 * interpolation cycle
3.1.18
$ASYNC_STATE
Description
State of coordinated asynchronous motions
The variable can be used to poll the state of these motions in the KRL program.
$ASYNC_STATE=State
Syntax
Explanation of
the syntax
Example
Element
Description
State
Type: ENUM

#BUSY: asynchronous motions are active.

#CANCELLED: there are no active or stopped asynchronous motions. The last asynchronous motion was
canceled with ASYCANCEL.

#IDLE: there are no active or stopped asynchronous
motions. The last asynchronous motion was completed
and not canceled with ASYCANCEL.

#PEND: asynchronous motions were stopped with
ASYSTOP.
ASYPTP {E2 45}
WHILE $ASYNC_STATE == #BUSY
$OUT[10] = TRUE
ENDWHILE
$OUT[10] = FALSE
An ASYPTP motion of external axis E2 is started. An output is set during the
motion, e.g. to activate a warning lamp. The output is reset when the ASYPTP
motion is completed.
3.1.19
$ASYS
Description
Current assignment of the jog keys
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System Variables
$ASYS=Type
Syntax
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#ROBOT: Robot axes A1 to A6

#EXTAX: External axes E1 to E6

#EXTAX2: External kinematic system
Default: #ROBOT
3.1.20
$AXIS_ACT
Description
Current axis-specific robot position (setpoint)
The variable of structure type E6AXIS contains the current axis angles or axis
positions.

A1 … A6: Setpoint position of the robot axes in [°] or [mm]

E1 … E6: Setpoint position of the external axes in [°] or [mm]
The variable represents only the axis-specific setpoint value. The real actual
value is only available with $AXIS_INC in increments.
Example
3.1.21
$AXIS_ACT={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1 250.0,E2
0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
$AXIS_ACTMOD
Description
Current axis-specific robot position with modulo 180°
The variable of structure type E6AXIS contains the current axis angles with
modulo 180°.
3.1.22

A1 … A6: Axis position of the robot axes in [°]

E1 … E6: Axis position of the external axes in [°]
$AXIS_BACK
Description
Axis-specific start position of the current motion block
The variable of structure type E6AXIS contains the axis angles or axis positions at the start position.

A1 … A6: Axis position of the robot axes in [°] or [mm]

E1 … E6: Axis position of the external axes in [°] or [mm]
$AXIS_BACK can be used to execute a PTP motion to return to the start position of an interrupted motion instruction. $AXIS_BACK corresponds to the
beginning of the window for an interruption within the approximation window
and to the end of the window for an interruption after the approximation window. $AXIS_BACK triggers an advance run stop in the KRL program.
3.1.23
$AXIS_CAL
Description
Display of the referenced axes
The variable of structure type AXIS_CAL contains the following components:
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
A1 … A6: State of the robot axes

E1 … E6: State of the external axes
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The components are TRUE if the axes are referenced and FALSE if they are
not referenced.
In the KRL program, it is checked whether external axis E1 is referenced.
Example
...
IF $AXIS_CAL.E1 == TRUE THEN
$OUT[20]=TRUE
ELSE
$OUT[17]=FALSE
ENDIF
...
3.1.24
$AXIS_FOR
Description
Axis-specific target position of the current motion block
The variable of structure type E6AXIS contains the axis angles or axis positions at the target position.

A1 … A6: Axis position of the robot axes in [°] or [mm]

E1 … E6: Axis position of the external axes in [°] or [mm]
$AXIS_FOR can be used to execute a PTP motion to the target position of an
interrupted motion instruction. $AXIS_FOR corresponds to the end of the window for an interruption within the approximation window and to the beginning
of the window for an interruption before the approximation window.
$AXIS_FOR triggers an advance run stop in the KRL program.
3.1.25
$AXIS_INC
Description
Current axis-specific robot position in increments
The variable of structure type AXIS_INC contains the incremental actual position.
3.1.26

I1 … I6: Actual position of the robot axes in [incr]

E1 … E6: Actual position of the external axes in [incr]
$AXIS_INT
Description
Axis-specific robot position in the case of an interrupt
The variable of structure type E6AXIS contains the axis angles or axis positions at the time of the interrupt.

A1 … A6: Axis position of the robot axes in [°] or [mm]

E1 … E6: Axis position of the external axes in [°] or [mm]
$AXIS_INT can be used to return to the axis-specific position at which an interrupt was triggered by means of a PTP motion. The variable is only admissible in an interrupt program and triggers an advance run stop.
3.1.27
$AXIS_JUS
Description
Display of the mastered axes
The variable of structure type AXIS_CAL contains the following components:

A1 … A6: State of the robot axes

E1 … E6: State of the external axes
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System Variables
The components are TRUE if the axes are mastered and FALSE if they are
not mastered. The variable can be used in the KRL program to unmaster an
axis.
Axis A1 is unmastered by means of an assignment.
Example
$AXIS_JUS.A1=FALSE
3.1.28
$AXIS_RET
Description
Axis-specific robot position when leaving the path
The variable of structure type E6AXIS contains the axis angles or axis positions at the time that the programmed path was left.

A1 … A6: Axis position of the robot axes in [°] or [mm]

E1 … E6: Axis position of the external axes in [°] or [mm]
When the robot is stationary, $AXIS_RET can be used to return to the axisspecific position at which the path was left by means of a PTP motion.
3.1.29
$B_IN
Description
Value of a binary input
Syntax
$B_IN[Input number]=Value
Explanation of
the syntax
Element
Description
Input number
Type: INT

Value
1 … 20
Type: INT
The range of values depends on the configuration of the
binary input ($BIN_IN in $CUSTOM.DAT).
3.1.30
$B_OUT
Description
Value of a binary output
Syntax
$B_OUT[Output number]=Value
Explanation of
the syntax
Element
Description
Output
number
Type: INT
Value
Type: INT

1 … 20
The range of values depends on the configuration of the
binary output ($BIN_OUT in $CUSTOM.DAT).
3.1.31
$BASE
Description
BASE coordinate system in the advance run
The variable of structure type FRAME defines the position of the workpiece in
relation to the WORLD coordinate system.
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
X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
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3.1.32
$BASE_C
Description
BASE coordinate system in the main run
The variable of structure type FRAME defines the current position of the workpiece in relation to the WORLD coordinate system.
3.1.33

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
$BASE_KIN
Description
Information about the external BASE kinematic system
The variable contains the name and a list of the external axes contained in the
transformation. The name and the external axes contained in the transformation are defined in the machine data, e.g. $ET1_NAME and $ET1_AX.
Further information about the machine data can be found in the machine data documentation.
$BASE_KIN[]="Information"
Syntax
Explanation of
the syntax
Element
Description
Information
Type: CHAR
Name and external axes of the transformation: max. 29
characters
3.1.34
$BRAKE_SIG
Description
Brake signals
Syntax
$BRAKE_SIG=Bit array
Explanation of
the syntax
Example
Element
Description
Bit array
Bit array with which axis brakes can be opened or closed.

Bit n = 0: Brake closed

Bit n = 1: Brake open
Bit n
12 …
5
4
3
2
1
0
Axis
E6
A6
A5
A4
A3
A2
A1
$BRAKE_SIG='B1000000'
The brakes of robot axes A1 to A6 are closed. The brake of external axis E1
is open.
3.1.35
$CAL_DIFF
Description
Difference from first mastering with the EMT
The difference from the first mastering, determined with “Teach offset”, is
saved in this variable.
Syntax
$CAL_DIFF=Offset
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System Variables
Explanation of
the syntax
3.1.36
Element
Description
Offset
Type: INT; unit: increments
$CALP
Description
Reference point offset between mathematical zero point and encoder zero
point
The variable of structure type E6AXIS contains the following components:
3.1.37

A1 … A6: Reference point offset in [°] or [mm], robot axes

E1 … E6: Reference point offset in [°] or [mm], external axes
$CIRC_TYPE
Description
Orientation control of CIRC in the advance run
The variable contains the programmed orientation control of a circular motion.
This can be base-related or path-related.
$CIRC_TYPE=Type
Syntax
Explanation of
the syntax
3.1.38
Element
Description
Type
Type: ENUM

#BASE: Base-related orientation control

#PATH: Path-related orientation control
$CIRC_TYPE_C
Description
Orientation control of CIRC in the main run
The variable contains the orientation control of the circular motion currently being executed. This can be base-related or path-related.
$CIRC_TYPE_C=Type
Syntax
Explanation of
the syntax
3.1.39
Element
Description
Type
Type: ENUM

#BASE: Base-related orientation control

#PATH: Path-related orientation control
$CMD
Description
Management number (handle) for command channel
This variable is write-protected. The CWRITE( ) function can be used to write
statements to the $CMD command channel.
Detailed information on the CWRITE() command can be found in the
CREAD/CWRITE documentation.
Syntax
Explanation of
the syntax
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$CMD=Number
Element
Description
Number
Type: INT
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3.1.40
$COUPLERESOLVERDIFF
Description
Difference between the current and saved resolver values on decoupling
The variable can only be displayed for decoupled axes. If the resolver difference is too great (> 30 increments), the mastering will be rejected on recoupling.
$COUPLERESOLVERDIFF[Axis number]=Difference
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Difference
3.1.41

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: increments
$COSYS
Description
Coordinate system for jog mode
Jogging can be axis-specific or Cartesian. The type of jogging is selected in
the right-hand status key bar. The selection is saved in the variable $COSYS.
$COSYS=Type
Syntax
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#AX: Axis-specific jogging

#CAR: Cartesian jogging
Default: #AX
3.1.42
$CPVELREDMELD
Description
Message in the event of path velocity reduction
If the message display is active, the following message is displayed at a block
change: Velocity reduction by Reduction in % for point Point name
The message contains the point name and the maximum velocity reduction in
the associated motion instruction.
$CPVELREDMELD=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: INT

0: No message display

1: Message display in T1 and T2 modes

100: Message display in every operating mode
Default: 0
3.1.43
$CURR_ACT
Description
Actual current of axes
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System Variables
The variable is write-protected and contains the actual current as a percentage
of the maximum amplifier current. It can be used to limit $CURR_RED to the
current value set for the current.
$CURR_ACT[Axis number]=Current
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Current

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: REAL; unit: %

3.1.44
-100.0 … +100.0
$CURR_RED
Description
Current limitation of axes
The current limitation is specified as a percentage of the maximum current.
The variable can be used to modify the positive or negative limit of the speed
controller output and thus the current limitation.
$CURR_RED[Axis number,Index]=Current limitation
Syntax
Element
Description
Axis number
Type: INT
Index
Current
limitation
3.1.45

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT

1: Defines the positive limit

2: Defines the negative limit
Type: REAL; unit: %

1.0 … 100.0
$CYCFLAG
Description
Management of cyclical flags
Cyclical flags are updated cyclically irrespective of program execution.
Syntax
Explanation of
the syntax
Cycflags[Number]=State
Element
Description
Number
Type: INT

State
1 … 256
Type: BOOL

TRUE

FALSE
Default: FALSE
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3.1.46
$DATA_LD_EXT_OBJ
Description
Counter for data packets received via an external module of type
LD_EXT_OBJ
The variable can be used to monitor whether data are available for reading.
Further information on use of the counter is contained in the CREAD/
CWRITE documentation.
$DATA_LD_EXT_OBJIndex=Number
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the data channel

Number
1…2
Type: INT
Number of data packets received via the channel
3.1.47
$DATA_SER
Description
Counter for data packets received via a serial interface
The variable can be used to monitor whether data are available for reading.
Further information on use of the counter is contained in the CREAD/
CWRITE documentation.
$DATA_SERIndex=Number
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the data channel

Number
1…4
Type: INT
Number of data packets received via the channel
3.1.48
$DATAPATH
Description
Extended compiler search path
Using the Cross function SHOWVAR, variables can be read from the kernel
system of the robot. In the case of SHOWVAR for a runtime variable, the compiler search path must be extended to the current program or the current interpreter environment. The name of the program is specified with $DATAPATH.
Syntax
$DATAPATH[Index]="Name"
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System Variables
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the search path

Name
1 … 32
Type: CHAR
Program name: max. 16 characters
Program: PALLETIZING.SRC
Example
DEF Palletizing()
REAL Position
Position = 5.5
Pallet = 9.9
UP()
END
DEF UP()
REAL Start
Start = 1.1
END
Data lists: PALLETIZING.DAT and $CONFIG.DAT
DEFDAT Palletizing
REAL Origin = 7.7
ENDDAT
DEFDAT $CONFIG
REAL Pallet
ENDDAT
Case 1: The search path is extended to the program PALLETIZING.SRC.
...
$DATAPATH[1] = "Palletizing"
...
If the program PALLETIZING.SRC is not selected, only the runtime variables
of the program that are declared in the associated data list or in $CONFIG.DAT can be displayed using SHOWVAR (Origin, Pallet).
Case 2: The search path is extended to the current interpreter environment.
...
$DATAPATH[1] = "."
...
If the program PALLETIZING.SRC is not selected, all the runtime variables of
the program, including the associated subprograms, can be displayed using
SHOWVAR (Position, Pallet, Start, Origin).
If the program PALLETIZING.SRC is selected, only the runtime variables declared in the program can be displayed using SHOWVAR (Position).
3.1.49
$DATE
Description
System time and system date
Syntax
$DATE={CSEC ms,SEC s,MIN min,HOUR h,DAY DD,MONTH MM,YEAR
YYYY}
Explanation of
the syntax
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Element
Description
—
Type: INT (all components)
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3.1.50
$DEVICE
Description
Operating state of the KCP
Syntax
$DEVICE=State
Explanation of
the syntax
3.1.51
Element
Description
State
Type: ENUM

#ACTIVE: KCP is switched on.

#BLOCK: KCP is blocked.

#PASSIVE: KCP is connected but not switched on.

#OFF: KCP is not connected.
$DIRECTION
Description
Direction in which a program is executed
Syntax
$DIRECTION=Direction
Explanation of
the syntax
Element
Description
Direction
Type: ENUM

#FORWARD: The program is executed forwards.

#BACKWARD: The program is executed backwards.
Default: #FORWARD
3.1.52
$DISPLAY_REF
Description
New form output when $DISPLAY_VAR is changed
Syntax
$DISPLAY_REF=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: New form output

FALSE: No new form output
Default: FALSE
3.1.53
$DISPLAY_VAR
Description
Observable variables
Syntax
$DISPLAY_VAR[Index]={NAME[] "Variable", Path[] "File list" TITLE[]
"Name"}
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the variable

Variable
1 …32
Type: CHAR
Name of the variable: max. 32 characters
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System Variables
Element
Description
File list
Type: CHAR
Name of the associated file list: max. 12 characters
Name
Type: CHAR
Output name of the variable: max. 12 characters
3.1.54
$DIST_NEXT
Description
Distance to the next point of the motion currently being executed
Syntax
$DIST_NEXT=Distance
Explanation of
the syntax
3.1.55
Element
Description
Distance
Type: REAL; unit: mm
$DISTANCE
Description
Arc length of a CP motion
Syntax
$DISTANCE=Distance
Explanation of
the syntax
3.1.56
Element
Description
Distance
Type: REAL; unit: mm
$EMT_MODE
Description
Selected method for EMT mastering
Syntax
$EMT_MODE=Method
Explanation of
the syntax
Element
Description
Method
Type: ENUM

#FIRST_CAL: First mastering

#TOOL_TEACH: Teach offset.
The difference from the first mastering is saved.

#CHECK_CAL: Check load mastering with offset.
The first mastering is checked.

#RECALC_CAL: Restore first mastering.
Since an offset that has been taught is retained, even if
mastering is lost, the robot controller can calculate the
first mastering.
3.1.57
$ENCODERFAILURE
Description
Encoder error of the resolver signal of a decoupled axis
The variable can be used to check whether an encoder error has occurred in
the last 50 ms before the logical coupling of an axis.
Multiple consecutive encoder errors do not increase the maximum value of
50 ms. A loop in the KRL program can be used to monitor a longer time. The
value of the variable can be polled for each active coupled or decoupled axis.
Syntax
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$ENCODERFAILURE[Axis number]=State
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Explanation of
the syntax
Element
Description
Axis number
Type: INT
State

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: BOOL

TRUE: An encoder error has occurred in the last 50 ms.

FALSE: No encoder error has occurred in the last
50 ms.
Default: FALSE
3.1.58
$EXTSTARTTYP
Description
Flag for automatic mode without external signals
Syntax
$EXTSTARTTYP=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Automatic mode possible

FALSE: Automatic mode not possible
Default: FALSE
3.1.59
$FILTER
Description
Smooth ramp in the advance run
The variable sets the filter value for motions in the KRL program. The filter prevents an abrupt increase to the maximum acceleration value. The motion time
of a motion instruction is extended by an integer multiple of the interpolation
cycle (12 ms).
Motion time extension = $FILTER * IPO cycle
$FILTER=Filter value
Syntax
Explanation of
the syntax
Element
Description
Filter value
Type: INT

0 ... 16
With $FILTER = 0 the filter is deactivated.
3.1.60
$FILTER_C
Description
Smooth ramp in the main run
The variable displays the current filter value for motions.
Syntax
Explanation of
the syntax
$FILTER_C=Filter value
Element
Description
Filter value
Type: INT

0 ... 16
With $FILTER = 0 the filter is deactivated.
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System Variables
3.1.61
$FLAG
Description
Management of flags
Syntax
$FLAG[Number]=State
Explanation of
the syntax
Element
Description
Number
Type: INT

State
1 … 1,024
Type: BOOL

TRUE

FALSE
Default: FALSE
3.1.62
$FOL_ERROR
Description
Following error of an axis relative to the velocity
Syntax
$FOL_ERROR[Axis number]=Following error
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Following
error
3.1.63

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: REAL; unit: ms
$HOME
Description
HOME directory of the compiler
Syntax
$HOME[]="Directory"
Explanation of
the syntax
Element
Description
Directory
Type: CHAR (max. 3 characters)

/R1: Robot system 1

/R2: Robot system 2
Default: /R1
3.1.64
$IDENT_STARTP
Description
Start position for load data determination
The variable of structure type E6AXIS contains the axis angles or axis positions for the start of load data determination.
Example
58 / 179

A1 … A6: Axis position of the robot axes in [°] or [mm]

E1 … E6: Axis position of the external axes in [°] or [mm]
$IDENT_STARTP={A1 0.0,A2 -90.0,A3 90.0,A4 0.0,A5 0.0,A6 0.0,E1
0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
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3.1.65
$IDENT_STATE
Description
State of load data determination
Syntax
$IDENT_STATE=State
Explanation of
the syntax
3.1.66
Element
Description
State
Type: ENUM

#I_END: Load data determination has finished.

#I_READY: Ready for load data determination

#I_TEST: Test run is being carried out.

#I_MEAS: Measurement run is being carried out.

#I_MEAS_OK: Measurement has no errors.

#I_CALC: Calculation is being carried out.
$IN
Description
Management of digital inputs
Inputs/outputs are configured in the control PC of the robot controller
by means of optional field bus cards. The configuration is customerspecific.
$IN[Input number]=State
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT

1 … 4,096
Note: This is the maximum possible range of values.
$SET_IO_SIZE can be used to reduce the number of digital I/Os.
Type: BOOL
State
State of the digital input

TRUE

FALSE
Default: FALSE
3.1.67
$INPOSITION
Description
Attainment of the positioning window
Syntax
$INPOSITION=Bit array
Explanation of
the syntax
Element
Description
Bit array
Bit array indicating the axes that have reached the positioning window.

Bit n = 0: Axis still moving

Bit n = 1: Axis in the positioning window
Bit n
12 …
5
4
3
2
1
0
Axis
E6
A6
A5
A4
A3
A2
A1
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System Variables
3.1.68
$INSIM_TBL
Description
Simulation of inputs

To simulate an input, it must be set to the desired simulated state (TRUE
or FALSE).

Simulation must also be activated.
(>>> 3.1.71 "$IOSIM_OPT" Page 61)
If simulation is not activated, the robot controller takes account of the real
state of all inputs, and the simulated state is not relevant.
Some inputs are write-protected and cannot be simulated.
Simulated inputs are labeled with SIM in the KUKA System Software while
write-protected ones are labeled with SYS. The display is called via the menu
sequence Monitor > I/O > Digital Inputs.
Robot controller response:
Before using the simulation function, the user must have
understood its functional principle. In particular, he must
be aware of the states the inputs/outputs revert to when simulation is deactivated and the effects this can have in the specific application.
Severe physical injuries or considerable damage to property may otherwise
result.

The robot controller processes both simulated input signals and real input
signals. If an output is assigned to an input in the [IOLINKING] section of
the file IOSYS.INI, the simulated input also sets the physical output!

When simulation is deactivated again:


Precondition

All inputs resume their real state.
When the robot controller is rebooted:

Simulation is automatically deactivated.

The simulated state of each input is set to #NONE.
Simulation can only be used if the entry ‘office’ is set to TRUE in the file
hw_inf.ini in the directory C:\KRC\ROBOTER\INIT.
[Version]
office=TRUE
$INSIM_TBL[Input number]=State
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
State
Type: ENUM

#NONE: The input is not simulated.

#SIM_TRUE: The input is TRUE (simulated).

#SIM_FALSE: The input is FALSE (simulated).
Default: #NONE
Input 8 is set to the simulated state TRUE.
Example
$INSIM_TBL[8]=#SIM_TRUE
3.1.69
$INTERPRETER
Description
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Selection of the robot or submit interpreter
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3 System variables
By default, the execution of a selected SUB program is not displayed in the editor. This can be changed using the variable $INTERPRETER. The SUB program can only be displayed, however, if a motion program is selected at the
same time.
$INTERPRETER=Type
Syntax
Explanation of
the syntax
Element
Description
Type
Type: INT

0: Submit interpreter is selected.
The selected SUB program is displayed in the editor.

1: Robot interpreter is selected.
The selected motion program is displayed in the editor.
Default: 1
3.1.70
$INTERRUPT
Description
State of an interrupt program
Syntax
$INTERRUPT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: An interrupt program is being executed.

FALSE: No interrupt program is being executed.
Default: FALSE
3.1.71
$IOSIM_OPT
Description
Activation or deactivation of simulation

If simulation is activated, the robot controller takes simulated inputs and
outputs into account.
(Inputs and outputs are simulated by means of the system variables
$INSIM_TBL and $OUTSIM_TBL.)

If simulation is not activated, the robot controller takes account of the real
state of all inputs and outputs, and the simulated state is not relevant.
Robot controller response:
Before using the simulation function, the user must have
understood its functional principle. In particular, he must
be aware of the states the inputs/outputs revert to when simulation is deactivated and the effects this can have in the specific application.
Severe physical injuries or considerable damage to property may otherwise
result.

If an output[x] is simulated, its real state (i.e. $OUT[x]) can no longer be
modified. To allow this, the simulated state of the output must first be set
to #NONE.

The robot controller processes both simulated input signals and real input
signals. If an output is assigned to an input in the [IOLINKING] section of
the file IOSYS.INI, the simulated input also sets the physical output!

When simulation is deactivated again:

All outputs resume the state they had prior to simulation.
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System Variables


Precondition

All inputs resume their real state.
When the robot controller is rebooted:

Simulation is automatically deactivated.

The simulated state of each input and output is set to #NONE.
The entry 'office' in the file hw_inf.ini in the directory C:\KRC\ROBOTER\INIT is set to TRUE.
[Version]
office=TRUE

Outputs can only be set if the enabling switch is pressed.
$IOSIM_OPT=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

FALSE: The simulation is deactivated.

TRUE: Simulation is activated.
Default: FALSE
Example 1
State before simulation: $OUT[8]==FALSE
1. The simulated state of the output is set to TRUE.
($OUTSIM_TBL[8]=#SIM_TRUE)
2. Simulation is activated. ($IOSIM_OPT =TRUE)
The real state now reflects the simulated state, i.e. $OUT[8]==TRUE.
$OUT[8] can no longer be modified.
3. Simulation is deactivated. ($IOSIM_OPT =FALSE)
Now $OUT[8]==FALSE!
Deactivation of the simulation has reset $OUT[8] to the state it had before the
simulation, i.e. FALSE. $OUT[8] can now be modified again.
Example 2
State before simulation: $OUT[9]==FALSE.
Furthermore, $OUTSIM_TBL[9]==#NONE, i.e. the output is not simulated.
1. Simulation is activated. ($IOSIM_OPT =TRUE)
2. The real state of the output is changed to TRUE. ($OUT[9]=TRUE)
3. Simulation is deactivated again. ($IOSIM_OPT=FALSE)
Now $OUT[9]==FALSE!
Deactivation of the simulation has reset $OUT[9] to the state it had before the
simulation, i.e. FALSE.
3.1.72
$IPO_MODE
Description
Interpolation mode in the advance run
Syntax
$IPO_MODE=Mode
Explanation of
the syntax
Element
Description
Mode
Type: ENUM

#BASE: The tool is a fixed tool.

#TCP: The tool is mounted on the mounting flange.
Default: #TCP
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3.1.73
$IPO_MODE_C
Description
Interpolation mode in the main run
Syntax
$IPO_MODE_C=Mode
Explanation of
the syntax
Element
Description
Mode
Type: ENUM

#BASE: The tool is a fixed tool.

#TCP: The tool is mounted on the mounting flange.
Default: #TCP
3.1.74
$JERK
Description
Jerk limitation for SPLINE
The variable of structure type JERK_STRUC limits the change of the acceleration over time during SPLINE movements.
The aggregate consists of the following components:

CP: Change to the path acceleration in [m/s3]

ORI: Change to the orientation acceleration in [°/s3]

AX: Change to the axis acceleration in [°/s3] for rotational axes or in [m/s3]
for linear axes
The maximum jerk for SPLINE motions $JERK_MA is defined in the machine
data.
Further information about the variable $JERK_MA can be found in the
machine data documentation.
Example
3.1.75
$JERK={CP 50.0,ORI 50000.0,AX {A1 1000.0,A2 1000.0,A3 1000.0,A4
1000.0,A5 1000.0,A6 1000.0,E1 1000.0,E2 1000.0,E3 1000.0,E4
1000.0,E5 1000.0,E6 1000.0}}
$JUS_TOOL_NO
Description
Number of the current tool for EMT mastering
Syntax
$JUS_TOOL_NO=Tool number
Explanation of
the syntax
Element
Description
Tool number
Type: INT

3.1.76
1 … 16
$KCP_CONNECT
Description
Indication of whether the KCP is connected to the robot controller
Syntax
$KCP_CONNECT=State
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System Variables
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: KCP is connected.

FALSE: KCP is not connected.
Default: TRUE
3.1.77
$KEYMOVE
Description
State of jog keys (plus/minus status keys)
The variable of structure type KEYMOVE contains the following components:
T1 … T6: First … last jog key (from the top on the KCP)

Explanation of
the state values
Element
Description
T1 … T6
Type: INT

0: Jog key is not active.

1: Jog key is active (plus/minus status key pressed).
Default: 0
3.1.78
$KR_SERIALNO
Description
Serial number of the robot
Syntax
$KR_SERIALNO=Number
Explanation of
the syntax
Element
Description
Number
Type: INT
Maximum 24 characters
3.1.79
$LINE_SEL_OK
Description
Indication of whether block selection is executed
Syntax
$LINE_SEL_OK=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Block selection

FALSE: No block selection
Default: FALSE
3.1.80
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$LINE_SELECT
Description
Editing with or without implicit block selection
Syntax
$LINE_SELECT=State
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Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: With implicit block selection

FALSE: Without implicit block selection
Default: TRUE
3.1.81
$MEAS_PULSE
Description
Activation of the Fast Measurement inputs
The variable can be used to activate the “Fast Measurement” option in an interrupt program.
Further information on the Fast Measurement inputs can be found in
the documentation Option - KR C2 - Fast Measurement - Functions for Measuring Components.
$MEAS_PULSE[Measurement input number]=State
Syntax
Explanation of
the syntax
Element
Description
Measurement input
number
Type: INT
State
Type: BOOL

1…5

TRUE: Measurement input is active.

FALSE: Measurement input is not active.
Default: FALSE
3.1.82
$MODE_MOVE
Description
Jog mode
Syntax
$MODE_MOVE=Jog mode
Explanation of
the syntax
Element
Description
Jog mode
Type: ENUM

#MM: Manual jogging

#MI: Incremental jogging

#MC: Manual referencing
Default: #MM
3.1.83
$MODE_OP
Description
Current operating mode
Syntax
$MODE_OP=Operating mode
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System Variables
Explanation of
the syntax
3.1.84
Element
Description
Operating
mode
Type: ENUM

#AUT: Automatic

#EX: Automatic external

#T1: T1

#T2: T2
$MOT_STOP
Description
Disabling of the external start
The variable is set if the robot is not on the programmed path and the external
start is disabled. The robot controller resets the variable if the user answers
Yes to the prompt for confirmation of whether the robot should nevertheless
be started. The external start from the higher-level controller is issued subsequently in this case.
“Block external start” option is activated: $MOT_STOP_OPT=TRUE
Precondition

Syntax
$MOT_STOP=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: External start is blocked.

FALSE: External start is not blocked.
Default: FALSE
3.1.85
$MOUSE_ACT
Description
Operating state of the Space Mouse
Syntax
$MOUSE_ACT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Space Mouse is active.

FALSE: Space Mouse is not active.
Default: FALSE
3.1.86
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$MOUSE_DOM
Description
Jog mode of the Space Mouse
Syntax
$MOUSE_DOM=Mode
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3 System variables
Explanation of
the syntax
Element
Description
Mode
Type: BOOL

TRUE: Dominant mode is active.
Only the coordinate axis with the greatest deflection of
the Space Mouse is moved.

FALSE: Dominant mode is not active.
Depending on the axis selection, either 3 or 6 axes can
be moved simultaneously.
Default: TRUE
3.1.87
$MOUSE_ROT
Description
Rotational motions with the Space Mouse On/Off
Syntax
$MOUSE_ROT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Rotational motions are possible.

FALSE: Rotational motions are not possible.
Default: TRUE
3.1.88
$MOUSE_TRA
Description
Translational motions with the Space Mouse On/Off
Syntax
$MOUSE_TRA=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Translational motions are possible.

FALSE: Translational motions are not possible.
Default: TRUE
3.1.89
$MOVE_BCO
Description
Indication of whether a BCO run is currently being executed
Syntax
$MOVE_BCO=State
Explanation of
the syntax
3.1.90
Element
Description
State
Type: BOOL

TRUE: BCO run is being carried out.

FALSE: BCO run is not being carried out.
$MOVE_STATE
Description
Current motion state
The variable is used in path planning to identify the individual path sections.
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System Variables
The identifier consists of 2 parts:

Designation for the current motion type (PTP, LIN or CIRC)

Designation for the current motion path section
$MOVE_STATE=Identifier
Syntax
Explanation of
the syntax
Element
Description
Identifier
Type: ENUM

#PTP_APO1, #LIN_APO1, #CIRC_APO1:
Motion in the first approximate positioning range (start
to middle)

#PTP_APO2, #LIN_APO2, #CIRC_APO2:
Motion in the second approximate positioning range
(middle to end)

#PTP_SINGLE, #LIN_SINGLE, #CIRC_SINGLE:
Motion outside the approximate positioning range

#NONE: No program is selected, the program has been
reset or canceled.
Default: #NONE
3.1.91
$NULLFRAME
Description
NULLFRAME
The variable of structure type FRAME can be used to set all components of a
coordinate system to zero:

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
Position of the BASE coordinate system in the NULLFRAME
Example
$BASE=$NULLFRAME
3.1.92
$NUM_IN
Description
Maximum number of digital inputs $IN
Syntax
$NUM_IN=Number
Explanation of
the syntax
Element
Description
Number
Type: INT
Default: 1,026
3.1.93
$NUM_OUT
Description
Maximum number of digital outputs $OUT
Syntax
$NUM_OUT=Number
Explanation of
the syntax
Element
Description
Number
Type: INT
Default: 1,024
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3.1.94
$NUMSTATE
Description
Function of the numeric keypad
The NUM key on the KCP is used to toggle between the numeric function and
the control function of the numeric keypad.
$NUMSTATE=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Number function is active.

FALSE: Control function is active.
Default: TRUE
3.1.95
$OPT_VAR_IDX
Description
Index of selected correction variables from the list $OPT_VAR[ ]
Syntax
$OPT_VAR_IDX=Index
Explanation of
the syntax
Element
Description
Index
Type: INT
The value corresponds to the left-hand array index in
$OPT_VAR[].
3.1.96
$ORI_TYPE
Description
Orientation control of a CP motion in the advance run
Syntax
$ORI_TYPE=Type
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#CONSTANT: The orientation of the TCP remains constant during the motion.

#VAR: The orientation of the TCP changes continuously during the motion.

#JOINT: The orientation of the TCP changes continuously during the motion. This is done by linear transformation (axis-specific motion) of the wrist axis angles.
Note: If $ORI_TYPE = #JOINT, the variable $CIRC_TYPE
is ignored.
3.1.97
$ORI_TYPE_C
Description
Orientation control of a CP motion in the main run
Syntax
$ORI_TYPE_C=Type
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System Variables
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#CONSTANT: The orientation of the TCP remains constant during the motion.

#VAR: The orientation of the TCP changes continuously during the motion.

#JOINT: The orientation of the TCP changes continuously during the motion. This is done by linear transformation (axis-specific motion) of the wrist axis angles.
Note: If $ORI_TYPE_C = #JOINT, the variable
$CIRC_TYPE_C is ignored.
3.1.98
$OUT
Description
Management of digital outputs
Inputs/outputs are configured in the control PC of the robot controller
by means of optional field bus cards. The configuration is customerspecific.
$OUT[Output number]=State
Syntax
Explanation of
the syntax
Element
Description
Output
number
Type: INT

1 … 4,096
Note: This is the maximum possible range of values.
$SET_IO_SIZE can be used to reduce the number of digital I/Os.
State
Type: BOOL
State of the digital output

TRUE

FALSE
Default: FALSE
3.1.99
$OUT_C
Description
Setting of digital outputs
The variable can be used, for example, in order to set a digital output at the
target point of an exact positioning motion or at the vertex of an approximate
positioning motion.
Syntax
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$OUT_C[Output number]=State
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Explanation of
the syntax
Element
Description
Output
number
Type: INT

1 … 4,096
Note: This is the maximum possible range of values.
$SET_IO_SIZE can be used to reduce the number of digital I/Os.
Type: BOOL
State
State of the digital output

TRUE

FALSE
Default: FALSE
3.1.100 $OUTSIM_TBL
Description
Simulation of outputs

To simulate an output, it must be set to the desired simulated state (TRUE
or FALSE).

Simulation must also be activated.
(>>> 3.1.71 "$IOSIM_OPT" Page 61)
If simulation is not activated, the robot controller takes account of the real
state of all outputs, and the simulated state is not relevant.
Some outputs are write-protected and cannot be simulated.
Simulated outputs are labeled with “SIM” in the KUKA System Software while
write-protected ones are labeled with “SYS”. The display is called via the menu
sequence Monitor > I/O > Digital Outputs.
Robot controller response:
Before using the simulation function, the user must have
understood its functional principle. In particular, he must
be aware of the states the inputs/outputs revert to when simulation is deactivated and the effects this can have in the specific application.
Severe physical injuries or considerable damage to property may otherwise
result.

If an output[x] is simulated, its real state (i.e. $OUT[x]) can no longer be
modified. To allow this, the simulated state of the output must first be set
to #NONE.

When simulation is deactivated again:


Precondition

All outputs resume the state they had prior to simulation.
When the robot controller is rebooted:

Simulation is automatically deactivated.

The simulated state of each output is set to #NONE.
The entry 'office' in the file hw_inf.ini in the directory C:\KRC\ROBOTER\INIT is set to TRUE.
[Version]
office=TRUE

Syntax
Outputs can only be set if the enabling switch is pressed.
$OUTSIM_TBL[Output number]=State
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System Variables
Explanation of
the syntax
Element
Description
Output
number
Type: INT
State
Type: BOOL

#NONE: The output is not simulated.

#SIM_TRUE: The output is TRUE (simulated).

#SIM_FALSE: The output is FALSE (simulated).
Default: #NONE
Example 1
State before simulation: $OUT[8]==FALSE
1. The simulated state of the output is set to TRUE.
($OUTSIM_TBL[8]=#SIM_TRUE)
2. Simulation is activated. ($IOSIM_OPT =TRUE)
The real state now reflects the simulated state, i.e. $OUT[8]==TRUE.
$OUT[8] can no longer be modified.
3. Simulation is deactivated. ($IOSIM_OPT =FALSE)
Now $OUT[8]==FALSE!
Deactivation of the simulation has reset $OUT[8] to the state it had before the
simulation, i.e. FALSE. $OUT[8] can now be modified again.
Example 2
State before simulation: $OUT[9]==FALSE.
Furthermore, $OUTSIM_TBL[9]==#NONE, i.e. the output is not simulated.
1. Simulation is activated. ($IOSIM_OPT =TRUE)
2. The real state of the output is changed to TRUE. ($OUT[9]=TRUE)
3. Simulation is deactivated again. ($IOSIM_OPT=FALSE)
Now $OUT[9]==FALSE!
Deactivation of the simulation has reset $OUT[9] to the state it had before the
simulation, i.e. FALSE.
3.1.101 $OV_ASYNC
Description
Override for coordinated asynchronous motions
The velocity of asynchronous axes is not influenced by the program override
(POV). The override for coordinated asynchronous motions (= ASYPTP motion) must be set with $OV_ASYNC in the KRL program. The override is specified as a percentage of the programmed velocity.
In T1 mode, the maximum velocity is 250 mm/s. By default, the velocity in T1 is independent of the override set with $OV_ASYNC.
Exception: The velocity reduction for coordinated asynchronous motions in T1 is deactivated by means of the variable $ASYNC_T1_FAST.
Syntax
Explanation of
the syntax
$OV_ASYNC=Override
Element
Description
Override
Type: INT; unit: %

0 … 100
Default: 100
Example
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$OV_ASYNC=20
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ASYPTP motions are carried out with 20% of the programmed velocity.
3.1.102 $OV_JOG
Description
Jog override (HOV)
Jog override is the velocity of the robot during jogging. The jog override is
specified as a percentage of the maximum possible jog velocity. This is 250
mm/s.
Syntax
$OV_JOG=Override
Explanation of
the syntax
Element
Description
Override
Type: INT; unit: %

0 … 100
Default: 10
3.1.103 $OV_PRO
Description
Program override (POV)
Program override is the velocity of the robot during program execution. The
program override is specified as a percentage of the programmed velocity.
Syntax
$OV_PRO=Override
Explanation of
the syntax
Element
Description
Override
Type: INT; unit: %

0 … 100
Default: 100
3.1.104 $OV_ROB
Description
Robot override
The robot override is the current velocity of the robot in program execution.
This variable is write-protected.
The robot override is determined by the program override $OV_PRO as a
function of $RED_VEL. If the program override is not reduced
($RED_VEL=100), $OV_ROB is identical to $OV_PRO.
Syntax
$OV_ROB=Override
Explanation of
the syntax
Element
Description
Override
Type: INT; unit: %

0 … 100
3.1.105 $PAL_MODE
Only relevant for palletizing robots with 6 axes!
Description
Palletizing mode
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System Variables
In the case of palletizing robots with 6 axes, palletizing mode is deactivated by
default and must be activated. When palletizing mode is active, axis A4 is
locked at 0° and the mounting flange is parallel to the floor. Active palletizing
mode is deactivated again after a cold restart of the robot controller.
Further information about activating the palletizing mode is contained
in the Operating and Programming Instructions for System Integrators.
Syntax
Explanation of
the syntax
$PAL_MODE=State
Element
Description
State
Type: BOOL

TRUE: Palletizing mode is active.

FALSE: Palletizing mode is not active.
Default: FALSE
3.1.106 $PHGBRIGHT
Description
Display brightness
The higher the set value, the brighter the display. The value is reset to the default value when the robot controller is switched off.
Syntax
Explanation of
the syntax
$PHGBRIGHT=Brightness
Element
Description
Brightness
Type: INT

0 … 15
Default: 7
3.1.107 $PHGCONT
Description
Display contrast
The higher the set value, the greater the contrast of the display. The value is
reset to the default value when the robot controller is switched off.
Syntax
Explanation of
the syntax
$PHGCONT=Contrast
Element
Description
Contrast
Type: INT

0 … 15
Default: 7
3.1.108 $PHGINFO
Description
Serial number of the KCP CPU
Syntax
$PHGINFO[]="Number"
Explanation of
the syntax
Element
Description
Number
Type: CHAR
Maximum 24 characters
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3.1.109 $PHGTEMP
Description
Current temperature in the KCP
Syntax
$PHGTEMP=Temperature
Explanation of
the syntax
Element
Description
Temperature
Type: INT; unit: °C
3.1.110 $POS_ACT
Description
Current Cartesian robot position
The variable of structure type E6POS defines the setpoint position of the TCP
in relation to the BASE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
3.1.111 $POS_ACT_MES
Description
Measured Cartesian robot position
The variable of structure type E6POS defines the actual position of the TCP in
relation to the BASE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
3.1.112 $POS_BACK
Description
Cartesian start position of the current motion block
The variable of structure type E6POS defines the start position of the TCP in
relation to the BASE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
$POS_BACK can be used to return to the start position of an interrupted motion instruction. $POS_BACK corresponds to the beginning of the window for
an interruption within the approximation window and to the end of the window
for an interruption after the approximation window. $POS_BACK triggers an
advance run stop in the KRL program.
3.1.113 $POS_FOR
Description
Cartesian target position of the current motion block
The variable of structure type E6POS defines the target position of the TCP in
relation to the BASE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
$POS_FOR can be used to move to the target position of an interrupted motion instruction. $POS_FOR corresponds to the end of the window for an interruption within the approximation window and to the beginning of the window
for an interruption before the approximation window. $POS_FOR triggers an
advance run stop in the KRL program.
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System Variables
3.1.114 $POS_INT
Description
Cartesian robot position in the case of an interrupt
The variable of structure type E6POS defines the position of the TCP in relation to the BASE coordinate system at the time of the interrupt.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
$POS_INT can be used to return to the Cartesian position at which an interrupt
was triggered. The variable is only admissible in an interrupt program and triggers an advance run stop.
3.1.115 $POS_RET
Description
Cartesian robot position when leaving the path
The variable of structure type E6POS defines the position of the TCP in relation to the BASE coordinate system at the time that the programmed path was
left.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
When the robot is stationary, $POS_RET can be used to return to the Cartesian position at which the path was left.
3.1.116 $POWER_FAIL
Description
Display of power failure
Syntax
$POWER_FAIL=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Power failure

FALSE: No power failure
Default: FALSE
3.1.117 $POWEROFF_DELAYTIME
Description
Wait time for shutdown of the robot controller
The robot controller is shut down after the time set here.
Syntax
Explanation of
the syntax
$POWEROFF_DELAYTIME=Wait time
Element
Description
Wait time
Type: INT; unit: s

1 … 30,000

0: The robot controller is shut down despite external
power supply.
Default: 3
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3.1.118 $PRO_IP
Description
Display of information about the program execution of the interpreter
Syntax
$PRO_IP={NAME[] "Advance run",SNR Advance run,NAME_C[] "Main
run",SNR_C Main run,I_EXECUTED State,P_ARRIVED State,P_NAME[]
"Name"}
Explanation of
the syntax
Element
Description
NAME
Type: CHAR
Name of the module in which the interpreter is in the
advance run: max. 32 characters
SNR
Type: INT
Number of the block in which the interpreter is in the
advance run (usually not equal to the line number of the
program)
NAME_C
Type: CHAR
Name of the module in which the interpreter is in the main
run: max. 32 characters
SNR_C
Type: INT
Number of the block in which the interpreter is in the main
run
I_EXECUTE
D
P_ARRIVED
Type: BOOL
Indicates whether the block has already been executed by
the interpreter

TRUE: Block has been executed.

FALSE: Block has not been executed.
Type: INT
Indicates where the robot is located on the path (only relevant for motion instructions)
P_NAME

0: Arrived at the target or auxiliary point of the motion

1: Target point not reached, i.e. robot is somewhere on
the path

2: Not relevant

3: Arrived at the auxiliary point of a CIRC or SCIRC motion

4: On the move in the section between the start and the
auxiliary point
Type: CHAR
Name or aggregate of the target or auxiliary point at which
the robot is located: max. 24 characters
3.1.119 $PRO_MODE
Description
Program run mode in the selected program interpreter
Syntax
$PRO_MODE=Type
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System Variables
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#GO: The program is executed through to the end without stopping.

#MSTEP: Motion Step
The program is executed with a stop after each motion
block and without advance processing.

#ISTEP: Incremental Step
The program is executed with a stop after each program
line. Program lines that cannot be seen and blank lines
are also taken into consideration. The program is executed without advance processing.

#BSTEP: Backward motion
This program run mode is automatically selected if the
Start backwards key is pressed.

#PSTEP: Program Step
The program is executed step by step without advance
processing. Subprograms are executed completely.

#CSTEP: Continuous Step
Approximate positioning points are executed with advance processing, i.e. they are approximated. Exact positioning points are executed without advance
processing and with a stop after the motion instruction.
Default: #ISTEP
3.1.120 $PRO_MODE0
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Description
Program run mode in the submit interpreter
Syntax
$PRO_MODE0=Type
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Explanation of
the syntax
Element
Description
Type
Type: ENUM

#GO: The program is executed through to the end without stopping.

#MSTEP: Motion Step
The program is executed with a stop after each motion
block and without advance processing.

#ISTEP: Incremental Step
The program is executed with a stop after each program
line. Program lines that cannot be seen and blank lines
are also taken into consideration. The program is executed without advance processing.

#BSTEP: Backward motion
This program run mode is automatically selected if the
Start backwards key is pressed.

#PSTEP: Program Step
The program is executed step by step without advance
processing. Subprograms are executed completely.

#CSTEP: Continuous Step
Approximate positioning points are executed with advance processing, i.e. they are approximated. Exact positioning points are executed without advance
processing and with a stop after the motion instruction.
Default: #ISTEP
3.1.121 $PRO_MODE1
Description
Program run mode in the robot interpreter
Syntax
$PRO_MODE1=Type
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System Variables
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#GO: The program is executed through to the end without stopping.

#MSTEP: Motion Step
The program is executed with a stop after each motion
block and without advance processing.

#ISTEP: Incremental Step
The program is executed with a stop after each program
line. Program lines that cannot be seen and blank lines
are also taken into consideration. The program is executed without advance processing.

#BSTEP: Backward motion
This program run mode is automatically selected if the
Start backwards key is pressed.

#PSTEP: Program Step
The program is executed step by step without advance
processing. Subprograms are executed completely.

#CSTEP: Continuous Step
Approximate positioning points are executed with advance processing, i.e. they are approximated. Exact positioning points are executed without advance
processing and with a stop after the motion instruction.
Default: #ISTEP
3.1.122 $PRO_NAME
Description
Name of the program in the selected program interpreter
Syntax
$PRO_NAME[]=Name
Explanation of
the syntax
Element
Description
Name
Type: CHAR
Program name: max. 24 characters
3.1.123 $PRO_NAME0
Description
Name of the program in the submit interpreter
Syntax
$PRO_NAME1[]=Name
Explanation of
the syntax
Element
Description
Name
Type: CHAR
Program name: max. 24 characters
3.1.124 $PRO_NAME1
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Description
Name of the program in the robot interpreter
Syntax
$PRO_NAME1[]=Name
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Explanation of
the syntax
Element
Description
Name
Type: CHAR
Program name: max. 24 characters
3.1.125 $PRO_START
Description
Start of program or command execution
Syntax
$PRO_START=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Program is being executed.

FALSE: Command is being executed.
3.1.126 $PRO_STATE
Description
Program state in the selected program interpreter
Syntax
$PRO_STATE=State
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#P_FREE: Program is not selected.

#P_ACTIVE: Program is active.

#P_END: End of program has been reached.

#P_RESET: Program has been reset.

#P_STOP: Program has been stopped.
3.1.127 $PRO_STATE0
Description
Program state in the submit interpreter
Syntax
$PRO_STATE0=State
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#P_FREE: Program is not selected.

#P_ACTIVE: Program is active.

#P_END: End of program has been reached.

#P_RESET: Program has been reset.

#P_STOP: Program has been stopped.
3.1.128 $PRO_STATE1
Description
Program state in the robot interpreter
Syntax
$PRO_STATE1=State
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System Variables
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#P_FREE: Program is not selected.

#P_ACTIVE: Program is active.

#P_END: End of program has been reached.

#P_RESET: Program has been reset.

#P_STOP: Program has been stopped.
3.1.129 $RCV_INFO
Description
Version identifier of the kernel system
Syntax
$RCV_INFO[]="Identifier"
Explanation of
the syntax
Element
Description
Identifier
Type: CHAR
Version identifier: max. 128 characters
Example
$RCV_INFO[]="KS V5.6.44 (krc1adm@deau1svr12pt-14) #1 Thu Nov 18
14:07:44 2010 RELEASE"
The identifier consists of the following components:

Version of kernel system: KS V5.6.44

Name of compiler: krc1adm

Name of computer: deau1svr12pt-14

Date and time of compilation: 18 November 2010 at 14:07
3.1.130 $REBOOTDSE
Description
Initialization of the DSE (for internal use by KUKA only)
The variable can be used to re-initialize the DSE, e.g. after the RDC or a KSD
has been exchanged.
Syntax
Explanation of
the syntax
$REBOOTDSE=State
Element
Description
State
Type: BOOL

TRUE: DSE is initialized.

FALSE: DSE is not initialized.
Default: FALSE
3.1.131 $RED_VEL
Description
Reduction factor for program override in the advance run
Syntax
$RED_VEL=Reduction factor
Explanation of
the syntax
Element
Description
Reduction
factor
Type: INT; unit: %

1 … 100
Default: 100
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3.1.132 $RED_VEL_C
Description
Reduction factor for program override in the main run
Syntax
$RED_VEL_C=Reduction factor
Explanation of
the syntax
Element
Description
Reduction
factor
Type: INT; unit: %

1 … 100
Default: 100
3.1.133 $REVO_NUM
Description
Counter for infinitely rotating axes
Syntax
$REVO_NUM[Axis number]=Number
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Number

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT
Number of revolutions
3.1.134 $RINT_LIST
Description
Information about interrupts in robot programs
This information can be displayed by means of the menu sequence Monitor
> Diagnosis > Interrupts.
A maximum of 32 interrupts can be declared simultaneously in robot and submit programs and up to 16 interrupts can be active at the same time.
Further information about interrupt programming is contained in the
“Operating and Programming Instructions for System Integrators”.
Syntax
Explanation of
the syntax
$RINT_LIST[Index]={INT_PRIO Priority,INT_STATE State,INT_TYPE
Type,PROG_LINE Line,PROG_NAME[] "Name"}
Element
Description
Index
Type: INT
Index of the interrupt

INT_PRIO
1 … 32
Type: INT
Priority of the interrupt
INT_STATE

1, 2, 4 … 39

81 …128
Bit array for interrupt states

Bit 0 = 1: Interrupt is declared and activated.

Bit 1 = 1: Interrupt is activated and enabled.

Bit 2 = 1: Interrupt is globally declared.
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System Variables
Element
Description
INT_TYPE
Type: INT
Type of interrupt
PROG_LINE

0: Standard interrupt

1: Interrupt due to an EMERGENCY STOP ($EMSTOP)

2: Interrupt due to activation of the Fast Measurement
inputs ($MEAS_PULSE)

3: Interrupt due to an error stop ($STOPMESS)

4: Interrupt due to a trigger (subprogram call)
Type: INT
Line number of the robot program in which the interrupt is
declared
PROG_NAME
Type: CHAR
Directory and name of the robot program in which the interrupt is declared: max. 32 characters
3.1.135 $ROB_TIMER
Description
Clock generator for measuring program runtimes
The variable is write-protected and counts in a cycle of 2 ms.
$ROB_TIMER can only be assigned to an integer variable or compared with an integer variable. If a real variable is used, this results in
values that are too high by a factor of around 100.
Syntax
$ROB_TIMER=Number
Explanation of
the syntax
Element
Description
Number
Type: INT
Number of cycles
3.1.136 $ROBROOT
Description
ROBROOT coordinate system in the advance run
The variable of structure type FRAME defines the position of the robot in relation to the WORLD coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
3.1.137 $ROBROOT_C
Description
ROBROOT coordinate system in the main run
The variable of structure type FRAME defines the current position of the robot
in relation to the WORLD coordinate system.
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
X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
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3.1.138 $ROBROOT_KIN
Description
Information about the external ROBROOT kinematic system
The variable contains the name and a list of the external axes contained in the
transformation. The name and the external axes contained in the transformation are defined in the machine data, e.g. $ET1_NAME and $ET1_AX.
Further information about the machine data can be found in the machine data documentation.
Syntax
$ROBROOT_KIN[]="Information"
Explanation of
the syntax
Element
Description
Information
Type: CHAR
Name and external axes of the transformation: max. 29
characters
3.1.139 $ROBRUNTIME
Description
Operating hours meter
The operating hours meter is running as long as the drives are switched on.
Syntax
$ROBRUNTIME=Operating hours
Explanation of
the syntax
Element
Description
Operating
hours
Type: INT; unit: min
3.1.140 $ROBTRAFO
Description
Robot name
This name is saved on the RDC and must match the transformation name
$TRAFONAME specified in the machine data.
Further information about the machine data can be found in the machine data documentation.
Syntax
Explanation of
the syntax
$ROBTRAFO[]="Name"
Element
Description
Name
Type: CHAR
Robot name: max. 32 characters
3.1.141 $ROTSYS
Description
Reference coordinate system for rotation in the advance run
The variable can be used to define the coordinate system in which the rotation
(A, B, C) is executed in relative motions and in jogging.
Syntax
$ROTSYS=Reference system
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System Variables
Explanation of
the syntax
Element
Description
Reference
system
Type: ENUM

#AS_TRA: Rotation in the coordinate system $TRANSSYS

#BASE: Rotation in the BASE coordinate system

#TCP: Rotation in the TOOL coordinate system
Default: #AS_TRA
3.1.142 $ROTSYS_C
Description
Reference coordinate system for rotation in the main run
The variable contains the coordinate system in which the rotation (A, B, C) is
currently executed in relative motions and in jogging.
Syntax
Explanation of
the syntax
$ROTSYS_C=Reference system
Element
Description
Reference
system
Type: ENUM

#AS_TRA: Rotation in the coordinate system $TRANSSYS

#BASE: Rotation in the BASE coordinate system

#TCP: Rotation in the TOOL coordinate system
Default: #AS_TRA
3.1.143 $SAFETY_SW
Description
State of the enabling switches
Syntax
$SAFETY_SW=State
Explanation of
the syntax
Element
Description
State
Type: ENUM

#PRESSED: An enabling switch is pressed (center position).

#RELEASED: No enabling switch is pressed or an enabling switch is fully pressed (panic position).
3.1.144 $SEN_PINT
Description
Exchange of integer values via a sensor interface
The sensor is used to transmit integer values to a sensor via an interface or to
receive integer values from a sensor.
Syntax
Explanation of
the syntax
$SEN_PINT[Index]=Value
Element
Description
Index
Type: INT
Index of the variable

Value
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1 … 20
Type: INT
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3.1.145 $SEN_PINT_C
The variable $SEN_PINT_C has no relation to the main run. It is used
in exactly the same way as the variable $SEN_PINT.
Description
Exchange of integer values via a sensor interface
The sensor is used to transmit integer values to a sensor via an interface or to
receive integer values from a sensor.
Syntax
$SEN_PINT_C[Index]=Value
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the variable

1 … 20
Type: INT
Value
3.1.146 $SEN_PREA
Description
Exchange of real values via a sensor interface
The sensor is used to transmit real values to a sensor via an interface or to
receive real values from a sensor.
Syntax
Explanation of
the syntax
$SEN_PREA[Index]=Value
Element
Description
Index
Type: INT
Index of the variable

1 … 20
Type: REAL
Value
3.1.147 $SEN_PREA_C
The variable $SEN_PREA_C has no relation to the main run. It is
used in exactly the same way as the variable $SEN_PREA.
Description
Exchange of real values via a sensor interface
The sensor is used to transmit real values to a sensor via an interface or to
receive real values from a sensor.
Syntax
Explanation of
the syntax
$SEN_PREA_C[Index]=Value
Element
Description
Index
Type: INT
Index of the variable

Value
1 … 20
Type: REAL
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System Variables
3.1.148 $SIMULATE
Description
Activation of simulation for offline programming with KUKA.Sim
In offline programming with KUKA.Sim the user location can be altered with
the Space Mouse. For this purpose, the variable $SIMULATE must be set to
TRUE.
Syntax
Explanation of
the syntax
$SIMULATE=State
Element
Description
State
Type: BOOL

TRUE: Simulation is active.

FALSE: Simulation is not active.
Default: FALSE
3.1.149 $SINT_LIST
Description
Information about interrupts in submit programs
This information can be displayed by means of the menu sequence Monitor
> Diagnosis > Interrupts.
A maximum of 32 interrupts can be declared simultaneously in robot and submit programs and up to 16 interrupts can be active at the same time.
Further information about interrupt programming is contained in the
“Operating and Programming Instructions for System Integrators”.
Syntax
Explanation of
the syntax
$SINT_LIST[Index]={INT_PRIO Priority,INT_STATE State,INT_TYPE
Type,PROG_LINE Line,PROG_NAME[] "Name"}
Element
Description
Index
Type: INT
Index of the interrupt

INT_PRIO
1 … 32
Type: INT
Priority of the interrupt
INT_STATE
INT_TYPE

1, 2, 4 … 39

81 …128
Bit array for interrupt states

Bit 0 = 1: Interrupt is declared and activated.

Bit 1 = 1: Interrupt is activated and enabled.

Bit 2 = 1: Interrupt is globally declared.
Type: INT
Type of interrupt
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
0: Standard interrupt

1: Interrupt due to an EMERGENCY STOP ($EMSTOP)

2: Interrupt due to activation of the Fast Measurement
inputs ($MEAS_PULSE)

3: Interrupt due to an error stop ($STOPMESS)

4: Interrupt due to a trigger (subprogram call)
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Element
Description
PROG_LINE
Type: INT
Line number of the submit program in which the interrupt is
declared
PROG_NAME
Type: CHAR
Directory and name of the submit program in which the
interrupt is declared: max. 32 characters
3.1.150 $SLAVE_AXIS_INC
Description
Syntax
Actual position of the master/slave axes (for internal use by KUKA only)
$SLAVE_AXIS_INC[Axis number]={M Pos,S1 Pos,S2 Pos,S3 Pos,S4
Pos,S5 Pos}
Explanation of
the syntax
Element
Description
Axis number
Type: INT

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: increments
M
Actual position of the master axis
Example:

S1 … S5
Master of robot axis A1: $SLAVE_AXIS_INC[1].M
Type: INT; unit: increments
Actual position of 1st … 5th slave axes
Example:

2nd slave of external axis E1:
$SLAVE_AXIS_INC[7].S2
3.1.151 $SOFTPLCBOOL
Description
Exchange of Boolean values between ProConOS and the robot controller
With the aid of function blocks of the Mulitprog library KrcExVarLib, individual
or multiple values can be read from the array variable or written to the array
variable.
Further information about the function blocks can be found in the KUKA.PLC Multiprog documentation.
Syntax
Explanation of
the syntax
$SOFTPLCBOOL[Index]=Value
Element
Description
Index
Type: INT
Index of the variable

Value
1 … 1024
Type: BOOL
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System Variables
3.1.152 $SOFTPLCINT
Description
Exchange of integer values between ProConOS and the robot controller
With the aid of function blocks of the Mulitprog library KrcExVarLib, individual
or multiple values can be read from the array variable or written to the array
variable.
Further information about the function blocks can be found in the KUKA.PLC Multiprog documentation.
Syntax
Explanation of
the syntax
$SOFTPLCINT[Index]=Value
Element
Description
Index
Type: INT
Index of the variable

1 … 1024
Type: INT
Value
3.1.153 $SOFTPLCREAL
Description
Exchange of real values between ProConOS and the robot controller
With the aid of function blocks of the Mulitprog library KrcExVarLib, individual
or multiple values can be read from the array variable or written to the array
variable.
Further information about the function blocks can be found in the KUKA.PLC Multiprog documentation.
Syntax
Explanation of
the syntax
$SOFTPLCREAL[Index]=Value
Element
Description
Index
Type: INT
Index of the variable

Value
1 … 1024
Type: REAL
3.1.154 $STOPMB_ID
Description
Identification of the mailbox for stop messages
The variable is write-protected and required for reading the mailbox contents
with the MBX_REC function.
Syntax
Explanation of
the syntax
$STOPMB_ID=Identifier
Element
Description
Identifier
Type: INT
3.1.155 $STOPNOAPROX
Description
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Message type in the case of “approximation not possible”
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In modes T1 and T2, $STOPNOAPROX determines which message type is
displayed if approximation is not possible:

Notification message: 1123, 1155 or 1442

Acknowledgement message that triggers a stop: 1128
In AUT and AUT EXT modes, $STOPNOAPROX determines whether the notification messages 1123, 1155 or 1442 are displayed if approximation is not
possible.
Syntax
Explanation of
the syntax
$STOPNOAPROX=State
Element
Description
State
Type: BOOL


TRUE

Operating mode T1 or T2: Acknowledgement message that triggers a stop

Operating mode AUT or AUT EXT: Notification
message
FALSE

Operating mode T1 or T2: Notification message

Operating mode AUT or AUT EXT: No message
Default: FALSE
3.1.156 $TECH
Description
Function parameters for the function generator in the advance run
The variable of structure type TECH can be used to program up to 6 functions
that the system software executes in the advance run.
Further information about the function parameters is contained in the
programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECH[Index]={Function}
Element
Description
Index
Type: INT
Number of the function generator

Function
1…6
Type: TECH
Definition of the function parameters
3.1.157 $TECH_C
Description
Function parameters for the function generator in the main run
The variable of structure type TECH can be used to program up to 6 functions
that the system software executes in the main run.
Further information about the function parameters is contained in the
programming instructions for the function generator.
Syntax
$TECH_C[Index]={Function}
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System Variables
Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the function generator

Function
1…6
Type: TECH
Definition of the function parameters
3.1.158 $TECHANGLE
Description
Rotation of the correction coordinate system TTS in the advance run
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECHANGLE={A +z, B +y, C +x}
Element
Description
A
Type: REAL; unit: °
B
Rotation about the Z, Y or X axis of the TTS (positive direction)
C
3.1.159 $TECHANGLE_C
Description
Rotation of the correction coordinate system TTS in the main run
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECHANGLE_C={A +z, B +y, C +x}
Element
Description
A
Type: REAL; unit: °
B
Rotation about the Z, Y or X axis of the TTS (positive direction)
C
3.1.160 $TECHIN
Description
Input value for the function generator
The variable is write-protected and forms the interface between the digital or
analog inputs of the robot controller and the function generator.
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
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$TECHIN[Index]=Input value
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Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the function generator

Input value
1…6
Type: REAL
3.1.161 $TECHPAR
Description
Parameters of the function generator in the advance run
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECHPAR[Index 1,Index 2]=Parameter value
Element
Description
Index 1
Type: INT
Number of the function generator

Index 2
1…6
Type: INT
Number of the parameter

Parameter
value
1 … 10
Type: REAL
3.1.162 $TECHPAR_C
Description
Parameters of the function generator in the main run
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECHPAR_C[Index 1,Index 2]=Parameter value
Element
Description
Index 1
Type: INT
Number of the function generator

Index 2
1…6
Type: INT
Number of the parameter

Parameter
value
1 … 10
Type: REAL
3.1.163 $TECHSYS
Description
Correction coordinate system TTS in the advance run
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System Variables
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECHSYS=Coordinate system
Element
Description
Coordinate
system
Type: ENUM

#BASE

#ROBROOT

#TCP

#TTS

#WORLD
3.1.164 $TECHSYS_C
Description
Correction coordinate system TTS in the main run
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
Explanation of
the syntax
$TECHSYS_C=Coordinate system
Element
Description
Coordinate
system
Type: ENUM

#BASE

#ROBROOT

#TCP

#TTS

#WORLD
3.1.165 $TECHVAL
Description
Function value of the function generator
The variable is write-protected and contains the result of the programmed
function.
Further information about this variable is contained in the programming instructions for the function generator.
Syntax
$TECHVAL=Result
Element
Description
Result
Type: REAL
3.1.166 $TIMER
Description
Timer for cycle time measurement
The timer can be set forwards or backwards to any freely selected value.
Syntax
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$TIMER[Index]=Time
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Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the timer

Time
1 … 32
Type: INT; unit: ms
Default: 0
3.1.167 $TIMER_FLAG
Description
Flag for the timer
The variable indicates whether the value of the timer is greater than or equal
to zero.
Syntax
$TIMER_FLAG[Index]=State
Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the timer

State
1 … 32
Type: BOOL

TRUE: Value greater than zero

FALSE: Value equal to zero
3.1.168 $TIMER_STOP
Description
Starting and stopping of the timer
The timer is started or stopped when the advance run pointer has reached the
line with the timer.
Syntax
$TIMER_STOP[Index]=State
Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the timer

State
1 … 32
Type: BOOL

TRUE: Timer stopped

FALSE: Timer started
3.1.169 $TOOL
Description
TOOL coordinate system in the advance run
The variable of structure type FRAME defines the position of the TOOL coordinate system in relation to the FLANGE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
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System Variables
3.1.170 $TOOL_C
Description
TOOL coordinate system in the main run
The variable of structure type FRAME defines the current position of the TOOL
coordinate system in relation to the FLANGE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
3.1.171 $TOOL_KIN
Description
Information about the external TOOL kinematic system
The variable contains the name and a list of the external axes contained in the
transformation. The name and the external axes contained in the transformation are defined in the machine data, e.g. $ET1_NAME and $ET1_AX.
Further information about the machine data can be found in the machine data documentation.
Syntax
$TOOL_KIN[]="Information"
Explanation of
the syntax
Element
Description
Information
Type: CHAR
Name and external axes of the transformation: max. 29
characters
3.1.172 $TORQ_DIFF
Description
Maximum torque deviation (force-induced torque)
The values of $TORQ_DIFF are determined from the dynamic model
($DYN_DAT) during program execution. These values are compared with the
values from the previous program execution or with the default values. The
highest value is saved. The values are always calculated, even when collision
detection or torque monitoring is deactivated.
If collision detection or torque monitoring is active, the system compares the
values of $TORQ_DIFF with the saved values during the motion.
Syntax
Explanation of
the syntax
$TORQ_DIFF[Axis number]=Deviation
Element
Description
Axis number
Type: INT
Deviation

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Note: This value cannot be changed by the user.
3.1.173 $TORQ_DIFF2
Description
Maximum torque deviation (impact torque)
The values of $TORQ_DIFF2 are determined from the dynamic model
($DYN_DAT) during program execution. These values are compared with the
values from the previous program execution or with the default values. The
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highest value is saved. The values are always calculated, even when collision
detection or torque monitoring is deactivated.
If collision detection is active, the system compares the values of
$TORQ_DIFF2 with the saved values during the motion. If torque monitoring
is active, the variable is not evaluated.
Syntax
$TORQ_DIFF2[Axis number]=Deviation
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Deviation

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Note: This value cannot be changed by the user.
3.1.174 $TORQ_VEL
Description
Velocity limit for torque mode
When torque mode is activated, the following monitoring functions are disabled for the affected axis:

Command value

Standstill

Positioning time

Motor blocked
In order to be able still to detect hardware defects or sagging of the axis, the
actual velocity continues to be monitored. The maximum permissible velocity
of a torque-driven axis for the operating modes T2 and Automatic can be set
by means of $TORQ_VEL. If this velocity is exceeded, the drives are switched
off and a message is generated. (For T1, the velocity set in the machine data
applies. It cannot be influenced by means of $TORQ_VEL.)
Further information about torque mode is contained in the “Operating
and Programming Instructions for System Integrators”.
Syntax
$TORQ_VEL[Axis number]=Limit
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Limit

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: REAL; unit: %
Limit for the actual velocity as a percentage of the maximum
velocity:

0 … 150
3.1.175 $TORQMON
Description
Current factor for torque monitoring in program mode (force-induced torque)
If the robot collides with an object, the robot controller increases the axis
torques in order to overcome the resistance. This can result in damage to the
robot, tool or other objects.
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System Variables
The variable $TORQMON contains the current tolerance range for the axis
torques in program mode. This tolerance range is defined using the variable
$TORQMON_DEF in $CUSTOM.DAT.
Syntax
Explanation of
the syntax
$TORQMON[Axis number]=Factor
Element
Description
Axis number
Type: INT
Factor

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Default: 200
3.1.176 $TORQMON2
Description
Current factor for torque monitoring in program mode (impact torque)
If the robot collides with an object, the robot controller increases the axis
torques in order to overcome the resistance. This can result in damage to the
robot, tool or other objects.
The variable $TORQMON contains the current tolerance range for the axis
torques in program mode. This tolerance range is defined using the variable
$TORQMON2_DEF in $CUSTOM.DAT.
Syntax
Explanation of
the syntax
$TORQMON2[Axis number]=Factor
Element
Description
Axis number
Type: INT
Factor

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Default: 0
3.1.177 $TORQMON_COM
Description
Current factor of torque monitoring in jogging
If the robot collides with an object, the robot controller increases the axis
torques in order to overcome the resistance. This can result in damage to the
robot, tool or other objects.
The variable $TORQMON_COM contains the current tolerance range for the
axis torques in jogging. This tolerance range is defined using the variable
$TORQMON_COM_DEF in $CUSTOM.DAT.
Syntax
Explanation of
the syntax
$TORQMON_COM[Axis number]=Factor
Element
Description
Axis number
Type: INT
Factor

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Default: 200
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3.1.178 $TORQUE_AXIS
Description
Activation/deactivation of torque mode
When torque mode is activated, the following monitoring functions are disabled for the affected axis:

Command value

Stopped

Positioning time

Motor blocked
In order to be able still to detect hardware defects or sagging of the axis, the
actual velocity continues to be monitored.

T1: The monitoring limit set in the machine data applies.

T2 and Automatic: The monitoring limit can be set using $TORQ_VEL.
An assignment to $TORQUE_AXIS in a robot program triggers an advance
run stop.
Further information about torque mode is contained in the “Operating
and Programming Instructions for System Integrators”.
Syntax
Explanation of
the syntax
$TORQUE_AXIS=Bit array
Element
Description
Bit array
Bit array with which torque mode can be activated and
deactivated for one or more axes.

Bit n = 0: Activate

Bit n = 1: Deactivate
Examples:

Activate for A1: $TORQUE_AXIS='B00001'

Activate for E1: $TORQUE_AXIS='B1000000'

Deactivate for all axes: $TORQUE_AXIS=0
Bit n
12 …
5
4
3
2
1
0
Axis
E6
A6
A5
A4
A3
A2
A1
3.1.179 $TRACE
Description
Parameters for the TRACE function of the oscilloscope
The variable of structure type TRACE is written in the case of data recording
with the oscilloscope. The components of the aggregate can be used to start
the recording via a program.
Syntax
Explanation of
the syntax
$TRACE={NAME[]"Name",MODE Mode,STATE State}
Element
Description
Name
Type: CHAR
Name of the TRC file: max. 7 characters
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System Variables
Element
Description
Mode
Type: ENUM
Recording mode
State

#T_START: Starts the recording.

#T_STOP: Stops the recording.
Type: ENUM
State of the oscilloscope

#T_END: The oscilloscope does not record any data.

#TRIGGERED: The recording continues for the time defined by the trace length and trigger.

#T_WAIT: The oscilloscope is waiting for the trigger.
3.1.180 $TRANSSYS
Description
Reference coordinate system for jogging the robot
Syntax
$TRANSSYS=Reference system
Explanation of
the syntax
Element
Description
Reference
system
Type: ENUM

#ROBROOT: ROOBROOT coordinate system

#BASE: BASE coordinate system

#TCP: TOOL coordinate system

#WORLD: WORLD coordinate system
Default: #ROBROOT (Axis-specific jogging is possible.)
3.1.181 $TSYS
Description
TTS coordinate system
The variable of structure type FRAME defines the position of the TTS coordinate system in relation to the BASE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
3.1.182 $VEL
Description
Velocity of the TCP in the advance run
The variable of structure type CP contains the programmed Cartesian velocity
for the following components:

CP: Path velocity in [m/s]

ORI1: Swivel velocity in [°/s]

ORI2: Rotational velocity in [°/s]
Limit values for the Cartesian velocity:

0.0 … $VEL_MA
The maximum Cartesian velocity $VEL_MA is defined in the machine data.
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Further information about the variable $VEL_MA can be found in the
machine data documentation.
If $VEL violates the limit values, the message Value assignment inadmissible is displayed. Program execution is stopped or the associated motion instruction is not executed during jogging.
Example
$VEL={CP 2.0,ORI1 300.0,ORI2 300.0}
3.1.183 $VEL_ACT
Description
Current path velocity
Syntax
$VEL_ACT=Velocity
Explanation of
the syntax
Element
Description
Velocity
Type: REAL; unit: m/s

0.0 … $VEL_MA.CP
Further information about the variable $VEL_MA can be found in the
machine data documentation.
3.1.184 $VEL_AXIS
Description
Velocity of the robot axes in the advance run
The variable contains the programmed axis velocity as a percentage of the
maximum axis velocity $VEL_AXIS_MA.
Further information about the variable $VEL_AXIS_MA can be found
in the machine data documentation.
Syntax
Explanation of
the syntax
$VEL_AXIS[Axis number]=Velocity
Element
Description
Axis number
Type: INT

Velocity
1 … 6: Robot axis A1 ... A6
Type: INT; unit: %

1 … 100
3.1.185 $VEL_AXIS_ACT
Description
Current motor speed
The variable contains the direction of rotation and the speed of the motor as a
percentage of the maximum speed $VEL_AXIS_MA.
Further information about the variable $VEL_AXIS_MA can be found
in the machine data documentation.
Syntax
$VEL_AXIS_ACT[Axis number]=Rotational speed
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System Variables
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Rotational
speed

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: REAL; unit: %

-100.0 … +100.0
3.1.186 $VEL_AXIS_C
Description
Velocity of the robot axes in the main run
The variable contains the axis velocity of the motion currently being executed
as a percentage of the maximum axis velocity $VEL_AXIS_MA.
Further information about the variable $VEL_AXIS_MA can be found
in the machine data documentation.
Syntax
$VEL_AXIS_C[Axis number]=Velocity
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Velocity
1 … 6: Robot axis A1 ... A6
Type: INT; unit: %

1 … 100
3.1.187 $VEL_C
Description
Velocity of the TCP in the main run
The variable of structure type CP contains the current Cartesian velocity for
the following components:
Example

CP: Path velocity in [m/s]

ORI1: Swivel velocity in [°/s]

ORI2: Rotational velocity in [°/s]
$VEL={CP 2.0,ORI1 300.0,ORI2 300.0}
3.1.188 $VEL_EXTAX
Description
Velocity of the external axes in the advance run
The variable contains the programmed axis velocity as a percentage of the
maximum axis velocity $VEL_AXIS_MA.
Further information about the variable $VEL_AXIS_MA can be found
in the machine data documentation.
Syntax
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$VEL_EXTAX[Axis number]=Velocity
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Explanation of
the syntax
Element
Description
Axis number
Type: INT

Velocity
1 … 6: External axis E1 … E6
Type: INT; unit: %

1 … 100
3.1.189 $VEL_EXTAX_C
Description
Velocity of the external axes in the main run
The variable contains the axis velocity of the motion currently being executed
as a percentage of the maximum axis velocity $VEL_AXIS_MA.
Further information about the variable $VEL_AXIS_MA can be found
in the machine data documentation.
Syntax
$VEL_EXTAX_C[Axis number]=Velocity
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Velocity
1 … 6: External axis E1 … E6
Type: INT; unit: %

1 … 100
3.1.190 $WAIT_FOR
Description
WAIT FOR statement at which the program interpreter is currently waiting
Syntax
$WAIT_FOR[]="Statement"
Explanation of
the syntax
Element
Description
Statement
Type: CHAR
WAIT FOR statement: max. 2,047 characters
3.1.191 $WAIT_FOR_INDEXRES
Description
Identifier for the variable $WAIT_FOR in the program interpreter
If $WAIT_FOR_ON == TRUE, the variable $WAIT_FOR is parsed in the submit interpreter. If the program is waiting for an input, for example, the number
of the input is obtained via the index resolution.
Syntax
$WAIT_FOR_INDEXRES=Identifier
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System Variables
Explanation of
the syntax
Element
Description
Identifier
Type: ENUM

#NO_RESOLUTION: Interpreter is waiting at a condition that cannot be resolved.

#NO_WAIT: Interpreter is not waiting.

#WAIT_INDEX_RES: Interpreter is waiting and the index resolution is active.

#WAIT_NO_INDEX_RES: Interpreter is waiting and the
index resolution is not active.
Default: #NO_WAIT
3.1.192 $WAIT_FOR_ON
Description
Indication of whether the program interpreter is waiting at a WAIT FOR condition
Syntax
$WAIT_FOR_ON=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Interpreter is waiting.

FALSE: Interpreter is not waiting.
Default: FALSE
3.1.193 $WBOXDISABLE
Description
State of workspace monitoring
Syntax
$WBOXDISABLE=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Monitoring is active.

FALSE: Monitoring is not active.
Default: FALSE
3.1.194 $WORLD
Description
WORLD coordinate system
The variable of structure type FRAME is write-protected and contains the origin coordinate system for the ROBROOT and BASE coordinate system.

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
Each variable component is set to zero by default.
$WORLD={X 0.0, Y 0.0, Z 0.0, A 0.0, B 0.0, C 0.0}
3.1.195 $ZERO_MOVE
Description
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Execution of a zero motion block
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Zero blocks are interpolated only within an interpolation cycle.
$ZERO_MOVE=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Zero block is executed.

FALSE: No zero block is executed.
Default: FALSE
3.2
Variables in $CUSTOM.DAT
3.2.1
$ABS_CONVERT
Description
Conversion to positionally accurate Cartesian robot poses
The variable can be used to convert non-positionally accurate Cartesian robot
poses to positionally accurate ones. For example, Cartesian robot poses in
motion programs that were taught without a positionally accurate robot model
can be nominally converted to positionally accurate coordinates and stored in
the associated data list. For this purpose, the variable $ABS_CONVERT is set
to TRUE.
In physical terms, there is no change in the way the converted robot poses are
addressed. Bit 5 of the state specification indicates whether positionally accurate coordinates are stored for a point. If the bit is set (bit 5 = 1), the coordinates are positionally accurate and the point is not converted again.
It is advisable to set the variable $ABS_CONVERT to FALSE again
as soon as the Cartesian robot poses have been converted.
$ABS_CONVERT=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Conversion to positionally accurate Cartesian
robot poses

FALSE: No conversion to positionally accurate Cartesian robot poses
Default: FALSE
3.2.2
$ASYNC_MODE
Description
Mode for asynchronous external axes
If the industrial robot is in operation, this variable cannot be modified.
Syntax
$ASYNC_MODE=Bit array
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System Variables
Explanation of
the syntax
Element
Description
Bit array
Only bit 0 and bit 1 are used.
Bit
0

Bit 0: ASYPTP response in the submit interpreter

Bit 1: ASYPTP response during block selection
Description
ASYPTP response in the submit interpreter

Bit 0 = 0: Default mode
ASYPTP is possible in the submit interpreter, irrespective of
the status of the robot interpreter.
The return position of the asynchronous motions is saved,
i.e. repositioning is not carried out in the submit interpreter
following asynchronous motions.
In this mode, all external axes involved in an ASYPTP motion must be switched to asynchronous mode.

Bit 0 = 1: Mode 1
ASYPTP is only possible in the submit interpreter if the robot
interpreter is not active ($PRO_STATE <> #P_ACTIVE).
The return position of the asynchronous motions is not
saved, i.e. repositioning is carried out in the submit interpreter following asynchronous motions.
In this mode, the external axes involved in an ASYPTP motion do not have to be switched to asynchronous mode.
In this mode, it is possible to execute individual motion sequences manually in PLC programs, e.g. manual welding
with an electric motor-driven welding gun. The gun welds
when the operator presses an assigned status key and is repositioned when the program is started.
1
ASYPTP response during block selection
The response configured here also applies in the case of
implicit block selection, e.g. for backward motion, reteaching a
point, deleting a point or executing a program in the program
run modes MSTEP and ISTEP.

Bit 1 = 0: Default mode
In the case of a block selection, the system variable
$ASYNC_AXIS is set to the value of $EX_AX_ASYNC.

Bit 1 = 1: Mode 2
In the case of a block selection, the system variable
$ASYNC_AXIS is not changed.
Example 1
Default mode
$ASYNC_MODE='B0000'
Example 2
Default mode in the Submit interpreter and mode 2 for block selection
$ASYNC_MODE='B0010'
3.2.3
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$BIN_IN
Description
Configuration of binary inputs
Syntax
$BIN_IN[Input number]={F_BIT Start bit, LEN Bit width, PARITY Type}
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Explanation of
the syntax
Element
Description
Input number
Type: INT

Start bit
1 … 20
Type: INT

1 … 4,096
Note: This is the maximum possible range of inputs.
$SET_IO_SIZE can be used to reduce the range of inputs.
Default: 1
Bit width
Type: INT

0 … 32
Default: 0
Type
Type: ENUM

#NONE: Parity bit is not activated.

#EVEN: Parity bit is activated.


If the parity sum is even, the parity bit has the value
0.

If the parity sum is odd, the parity bit has the value 1.
#ODD: Parity bit is activated.

If the parity sum is odd, the parity bit has the value 0.

If the parity sum is even, the parity bit has the value
1.
Default: #NONE
3.2.4
$BIN_OUT
Description
Configuration of binary outputs
Syntax
$BIN_OUT[Output number]={F_BIT Start bit, LEN Bit width, PARITY Type}
Explanation of
the syntax
Element
Description
Output
number
Type: INT
Start bit
Type: INT


1 … 20
1 … 4,096
Note: This is the maximum possible range of outputs.
$SET_IO_SIZE can be used to reduce the range of outputs.
Default: 1
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System Variables
Element
Description
Bit width
Type: INT

0 … 32
Default: 0
Type: ENUM
Type

#NONE: Parity bit is not activated.

#EVEN: Parity bit is activated.


If the parity sum is even, the parity bit has the value
0.

If the parity sum is odd, the parity bit has the value 1.
#ODD: Parity bit is activated.

If the parity sum is odd, the parity bit has the value 0.

If the parity sum is even, the parity bit has the value
1.
Default: #NONE
3.2.5
$CLOCKSYNCMASTER
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Flag for the time synchronization master of the cooperating robots
Syntax
$CLOCKSYNCMASTER=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Robot is the synchronization master.

FALSE: Robot is a slave.
Default: FALSE
3.2.6
$COOP_KRC
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Cooperating robots in a cell
During cell configuration, the administration data (controller name, kernel system IP, status of the controller as host or client) of the cooperating robots are
defined for the kernel system network. These data are written to the the variable.
Syntax
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$COOP_KRC[Device number]={IP_ADDR[] "IP address",NAME[] "Name"}
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Explanation of
the syntax
Element
Description
Device
number
Type: INT
IP address

1: KCP master (local device)

2 … 16: KCP clients (external devices)
Type: CHAR
IP address of the robot controller in the kernel system network (VxWorks): max. 15 characters
Type: CHAR
Name
Descriptive name of the robot controller: max. 24 characters
3.2.7
$COUNT_I
Description
Freely usable counter variable
Syntax
$COUNT_I[Index]=Number
Explanation of
the syntax
Element
Description
Index
Type: INT
Counter number

Number
3.2.8
1 … 32
Type: INT
$CP_VEL_TYPE
Description
Reduction of the axis velocity for CP motions
The variable causes an automatic reduction of the axis velocity in certain situations. The reduction is particularly effective in the vicinity of singularities and
generally allows the robot to pass through the singularity position.
$CP_VEL_TYPE can be written to by the robot interpreter, i.e. from the KRL
program.
If $CP_VEL_TYPE is modified via the robot interpreter, the value in
the file $CUSTOM.DAT is also modified. After a cold start, the robot
controller boots with the new setting.
$CP_VEL_TYPE=Reduction type
Syntax
Explanation of
the syntax
Element
Description
Reduction
type
Type: ENUM

#CONSTANT: No reduction of axis velocity

#VAR_ALL: Reduction of axis velocity in all modes

#VAR_ALL_MODEL: Model-based reduction of axis
velocity in program mode

#VAR_T1: Reduction of axis velocity in T1
Note: Reduction of axis velocity is always active in Cartesian jogging.
3.2.9
$CP_STATMON
Description
Status and Turn for CP motions
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System Variables
With $CP_STATMON the user can define whether the programmed Status
and Turn values are checked for CP motions. By default, Status and Turn are
not checked for CP motions.
$CP_STATMON=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: ENUM

#CHECK_S: Status is checked.

#CHECK_TS: Status and Turn are checked.

#NONE: Status and Turn are not checked.
Default: #NONE
3.2.10
$EDIT_MODE
Description
Edit mode
Syntax
$EDIT_MODE=State
Explanation of
the syntax
Element
Description
State
Type: INT

0: Edit mode is not active.

1: Edit mode is active.
Default: 0
3.2.11
$EXT_MOD_1 … $EXT_MOD_4
Description
Information about the external modules 1 … 4
If an external module is used for communication with CREAD/CWRITE, the information about this module must be entered here.
There are 2 types of external modules:

LD_EXT_OBJ (module 1 and 2)
This type can be used to exchange data by means of CREAD and
CWRITE.

LD_EXT_FCT (module 3 and 4)
This type contains functions. The functions are called via CWRITE.
LD_EXT_FCT can return function parameters to CWRITE. (CREAD is not
possible with this type.)
Further information about the configuration of the external modules
and about communication via external modules can be found in the
CREAD/CWRITE documentation.
Syntax
Explanation of
the syntax
$EXT_MOD_Index={O_FILE[Name]" ", OPTION Bit array}
Element
Description
Index
Type: INT
Number of the external module:

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1…4
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Element
Description
Name
Type: CHAR
Path and file name of the O file: max. 24 characters
Bit array
Only bit 0 and bit 1 are used.
Bit 0: Response to CCLOSE (“Force unload”)

Bit 0 = 1: “Force unload” is active. CCLOSE closes the
channel to the module, the module is unloaded and the
module environment is destroyed.

Bit 0 = 0: “Force unload” is not active. CCLOSE closes
the channel to the module. The module remains loaded
and the module environment is not destroyed.
Bit 1: Response to CCLOSE for external modules of type
LD_EXT_OBJ with “Force unload” deactivated (“Leave
Data”)
3.2.12

Bit 1 = 1: “Leave data” is active. In the case of a
CCLOSE statement, all data that have been received,
but not yet read, are retained.

Bit 1 = 0: “Leave data” is not active. CCLOSE deletes
all data that have been received, but not yet read.
$IBUS_ON
Description
Activation of alternative Interbus groups
Syntax
$IBUS_ON=State
Explanation of
the syntax
Element
Description
State
Type: INT

0: Deactivated

1: Activated
Default: 0
3.2.13
$IBUS_OFF
Description
Deactivation of alternative Interbus groups
Syntax
$IBUS_OFF=State
Explanation of
the syntax
Element
Description
State
Type: INT

0: Deactivated

1: Activated
Default: 0
3.2.14
$IBS_SLAVEIN
Description
Number of input words occupied by an Interbus slave on the robot controller
1 word = 16 bits = 2 bytes
Syntax
$IBS_SLAVEIN[Index]=Number
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System Variables
Explanation of
the syntax
Element
Description
Index
Type: INT
Number of the slave

Number
3.2.15
1 … 10
Type: INT
$KCP_CLIENTS
Only relevant if KUKA.CR Motion Cooperation is used.
Description
KCP clients of the Shared Pendant master (host controller)
Syntax
$KCP_CLIENTS=Bit array
Explanation of
the syntax
Element
Description
Bit array
Bit array for specifying which robot controllers are clients of
this host controller.

Bit n = 0: Controller is not a KCP client.

Bit n = 1: Controller is a KCP client.
Bit n
15 …
2
1
0
Device number ($COOP_KRC)
16
3
2
1
3.2.16
$KCP_HOSTIPADDR
Only relevant if KUKA.CR Motion Cooperation is used.
Description
IP address of the Shared Pendant master (host controller)
Syntax
$KCP_HOSTIPADDR[]="IP address"
Explanation of
the syntax
Element
Description
IP address
Type: CHAR
IP address: max. 15 characters
3.2.17
$KCP_POS
Description
Position of the KCP relative to the position of the robot (compass dial)
Syntax
$KCP_POS=Position
Explanation of
the syntax
Element
Description
Position
Type: REAL; unit: °
Default: 0.0
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3.2.18
$NEARPATHTOL
Description
Tolerance for deviation from $POS_RET (= radius of the sphere about
$POS_RET)
Syntax
$NEARPATHTOL=Radius
Explanation of
the syntax
3.2.19
Element
Description
Radius
Type: REAL; unit: mm
$PRO_I_O
Description
Path to the submit file
The submit interpreter starts the program specified here automatically when
the robot controller is switched on. By default, this is SPS.SUB.
$PRO_I_O[]="Name"
Syntax
Explanation of
the syntax
Element
Description
Name
Type: CHAR
Directory and name of the program: max. 64 characters
Default path to the submit file
Example
$PRO_I_O[]="/R1/SPS()"
3.2.20
$PSER_1 … $PSER_4
Description
Transfer parameters of serial interfaces 1 … 4
A serial interface used for communication with CREAD/CWRITE must be configured in the file SERIAL.INI. This is done by defining the variable of structure
type SER.
Further information about the configuration of a serial interface and
about communication via a serial interface can be found in the
CREAD/CWRITE documentation.
3.2.21
$RED_T1_OV_CP
Description
Reduction of the path velocity for CP motions in T1
The path velocity can be reduced in the following ways:

Reduction by the percentage $RED_T1 specified in the machine data

Reduction to the path velocity $VEL_CP_T1 specified in the machine data
Further information about the variables $RED_T1 and $VEL_CP_T1
can be found in the machine data documentation.
Syntax
$RED_T1_OV_CP=Reduction type
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System Variables
Explanation of
the syntax
Element
Description
Reduction
type
Type: BOOL

TRUE: Reduction by $RED_T1

FALSE: Reduction to $VEL_CP_T1
Default: TRUE
3.2.22
$SINGUL_ERR_JOG
Description
Maximum orientation error of the axis angles A, B, C in manual mode
The axis angles during jogging in modes T1 and T2 must not exceed the error
tolerance specified here.
$SINGUL_ERR_JOG={A Tolerance,B Tolerance,C Tolerance}
Syntax
Explanation of
the syntax
Element
Description
Tolerance
Type: REAL; unit: °
Default: 5.0
3.2.23
$SINGUL_ERR_PRO
Description
Maximum orientation error of the axis angles A, B, C in program mode
The axis angles in the automatic operating modes must not exceed the error
tolerance specified here.
$SINGUL_ERR_PRO={A Tolerance,B Tolerance,C Tolerance}
Syntax
Explanation of
the syntax
Element
Description
Tolerance
Type: REAL; unit: °
Default: 0.0
3.2.24
$SPREADACTION
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Identification of a group of robot controllers
Syntax
$SPREADACTION=Bit array
Explanation of
the syntax
Description
Bit array
Bit array for specifying which robot controllers are members of a group.

Bit n = 0: Controller is not a member of the group.

Bit n = 1: Controller is a member of the group.
Bit n
15 …
2
1
0
Device number ($COOP_KRC)
16
3
2
1
Example
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Element
$SPREADACTION='B0101'
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The robot controllers $COOP_KRC[1] and $COOP_KRC[3] are members of a
group.
3.2.25
$SR_OV_RED
Only relevant if KUKA.SafeOperation is used.
Description
Reduction factor for the velocity with override reduction activated
($SR_VEL_RED=TRUE)
The variable $SR_OV_RED specifies the percentage of the lowest velocity
limit that is activated and currently monitored by the SafeRDC. The Cartesian
velocity of the TCP of the current tool is reduced to this value.
$SR_OV_RED=Reduction factor
Syntax
Explanation of
the syntax
Element
Description
Reduction
factor
Type: INT; unit: %

10 … 95
Default: 95
3.2.26
$SR_VEL_RED
Only relevant if KUKA.SafeOperation is used.
Description
Override reduction for the velocity
The variable $SR_VEL_RED can be used to activate override reduction for the
velocity. The Cartesian velocity at the TCP of the current tool is automatically
reduced if the programmed velocity is greater than the value of the lowest velocity limit that is activated and currently monitored by the SafeRDC. This prevents the robot from being stopped when the Cartesian velocity limit is
exceeded.
$SR_VEL_RED=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Override reduction is activated.

FALSE: Override reduction is not activated.
Default: FALSE
3.2.27
$SR_WORKSPACE_RED
Only relevant if KUKA.SafeOperation is used.
Description
Override reduction for monitoring spaces
If the function Stop before reaching Cartesian boundaries is activated for a
monitoring space, the robot stops before it reaches the Cartesian limit of the
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System Variables
workspace. The stopping distance of the robot and the permissible distance
between the robot and the workspace limits depend on the velocity of the robot.
The variable $SR_WORKSPACE_RED can be used to activate override reduction for this monitoring space. If the override reduction is active and the robot approaches a workspace limit, for example, the override is continuously
reduced to allow the robot to get as close as possible to the workspace limit
without being stopped by the SafeRDC.
$SR_WORKSPACE_RED=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Override reduction is activated.

FALSE: Override reduction is not activated.
Default: FALSE
3.2.28
$SYNCCMD_SIM
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Simulation of the SyncCmd() statements of a robot controller
Syntax
$SYNCCMD_SIM=Bit array
Explanation of
the syntax
Element
Description
Bit array
Bit array for specifying which robot controllers are involved
in the simulation.

Bit n = 0: Controller is not involved.

Bit n = 1: Controller is involved.
Bit n
15 …
2
1
0
Device number ($COOP_KRC)
16
3
2
1
Example
$SYNCCMD_SIM='B0101'
The controllers $COOP_KRC[1] and $COOP_KRC[3] are involved in the simulation.
3.2.29
$SYNCLINESELECTMASK
Only relevant if KUKA.CR Motion Cooperation is used.
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Description
Synchronized block selection on a remote controller
Syntax
$SYNCLINESELECTMASK=Bit array
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Explanation of
the syntax
Element
Description
Bit array
Bit array for specifying which robot controllers are involved
in the synchronized block selection.

Bit n = 0: Controller is not involved.

Bit n = 1: Controller is involved.
Bit n
15 …
2
1
0
Device number ($COOP_KRC)
16
3
2
1
3.2.30
$TARGET_STATUS
Description
Status for the motion to the target point
The variable is used by the KRL INVERSE() function. The Status defined here
is adopted if the Status value transferred for the target point is invalid.
$TARGET_STATUS=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: ENUM

#SOURCE: The Status of the start point is adopted.

#BEST: The 8 possible Status combinations are calculated. The combination resulting in the shortest motion
from the start to the target point is used.
Default: #SOURCE
3.2.31
$TECH_ANA_FLT_OFF
Description
Analog value filter for $TECHVAL[.]
The variable $ANA_DEL_FILT can be used to set the controller response to
use of an analog output (ANOUT) with a negative DELAY. An analog output
with a negative DELAY is proportional either to the current velocity $VEL_ACT
or to the current technology parameter $TECHVAL[.].
In more recent software releases you can configure whether the current values
of $VEL_ACT or $TECHVAL[.] are calculated before or after the filter. The default settings $VEL_FLT_OFF=TRUE and $TECH_ANA_FLT_OFF=TRUE
ensure high-accuracy calculation of these values in all situations. Therefore
these settings are strongly recommended.
The settings $VEL_FLT_OFF=FALSE or $TECH_ANA_FLT_OFF=FALSE
can be used to achieve behavior that is compatible with old software releases.
Only in this way is it possible to generate a negative DELAY – at least in part
– by reducing the analog value filter. This behavior is configured by setting
$ANA_DEL_FLT=#OFF. In this way a small amount of cycle time is saved for
each single block with exact positioning. This time saving however entails a
reduction in the precision of the analog signal.
On the other hand the default settings $VEL_FLT_OFF=TRUE or
$TECH_ANA_FLT_OFF=TRUE mean it is not possible to achieve a negative
delay by reducing the analog value filter, so the switch $ANA_DEL_FLT has
no effect.
Syntax
$TECH_ANA_FLT_OFF[Axis number]=State
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System Variables
Explanation of
the syntax
Element
Description
Axis number
Type: INT
1 … 6: Robot axis A1 ... A6

Type: BOOL
State

TRUE: Analog value filter is deactivated.

FALSE: Analog value filter is activated.
Default: TRUE
3.2.32
$TECH_CONT
Description
Function generator in the approximate positioning range
The variable is used to deactivate the function generator in the approximate
positioning range.
$TECH_CONT=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Not active in the approximate positioning range

FALSE: Active in the approximate positioning range
Default: FALSE
3.2.33
$TECH_FUNC
Description
Active functions of the function generator
Syntax
$TECH_FUNC=Bit array
Explanation of
the syntax
3.2.34
Element
Description
Bit array
Bit array with which individual functions can be activated.

Bit n = 0: Function is not active.

Bit n = 1: Function is active.
Bit n
5
4
3
2
1
0
Function
6
5
4
3
2
1
$TORQMON_COM_DEF
Description
Factor for torque monitoring in jogging
If the robot collides with an object, the robot controller increases the axis
torques in order to overcome the resistance. This can result in damage to the
robot, tool or other objects.
The variable $TORQMON_COM_DEF defines the tolerance range for the axis
torques in jogging. The width of the tolerance range is equal to the maximum
torque [Nm] multiplied by the value of $TORQMON_COM_DEF. (Only for
axes with valid $DYN_DAT model data)
Further information about torque monitoring is contained in the “Operating and Programming Instructions for System Integrators”.
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$TORQMON_COM_DEF[Axis number]=Factor
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Factor
Default: 200
3.2.35
$TORQMON_DEF
Description
Factor for torque monitoring in program mode (force-induced torque)
If the robot collides with an object, the robot controller increases the axis
torques in order to overcome the resistance. This can result in damage to the
robot, tool or other objects.
The variable $TORQMON_DEF defines the tolerance range for the axis
torques in program mode. The width of the tolerance range is equal to the
maximum torque [Nm] multiplied by the value in $TORQMON_DEF. (Only for
axes with valid $DYN_DAT model data)
Further information about torque monitoring is contained in the “Operating and Programming Instructions for System Integrators”.
$TORQMON_DEF[Axis number]=Factor
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT
Factor

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Default: 200
3.2.36
$TORQMON_TIME
Description
Response time for collision detection (force-induced torque monitoring)
Syntax
$TORQMON_TIME=Response time
Explanation of
the syntax
3.2.37
Element
Description
Response
time
Type: REAL; unit: ms
Default: 0.0
$TORQMON2_DEF
Description
Factor for torque monitoring in program mode (impact torque)
If the robot collides with an object, the robot controller increases the axis
torques in order to overcome the resistance. This can result in damage to the
robot, tool or other objects.
The variable $TORQMON2_DEF defines the tolerance range for the axis
torques in program mode. The width of the tolerance range is equal to the
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System Variables
maximum torque [Nm] multiplied by the value in $TORQMON2_DEF. (Only for
axes with valid $DYN_DAT model data)
$TORQMON2_DEF[Axis number]=Factor
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

1 … 6: Robot axis A1 ... A6

7 … 12: External axis E1 … E6
Type: INT; unit: %
Factor
Default: 0
3.2.38
$TORQMON2_TIME
Description
Response time for collision detection (impact torque monitoring)
Syntax
$TORQMON2_TIME=Response time
Explanation of
the syntax
3.2.39
Element
Description
Response
time
Type: REAL; unit: ms
Default: 0.0
$V_CUSTOM
Description
Version identifier of the file $CUSTOM.DAT
Syntax
$V_CUSTOM[]="Identifier"
Explanation of
the syntax
Element
Description
Identifier
Type: CHAR
Version identifier: max. 32 characters
Example
$V_CUSTOM[]="V23.0.0/KUKA5.5"
The identifier consists of the following components:
3.2.40

Version of $CUSTOM.DAT

Version of the KUKA System Software
$VEL_FLT_OFF
Description
Calculation of the velocity from filtered setpoints
Precondition

Analog value filter is active: $ANA_DEL_FLT=#ON
Further information about the variable $ANA_DEL_FLT can be found
in the machine data documentation.
Syntax
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$VEL_FLT_OFF=State
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Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Calculation of the velocity from filtered values.
The velocity values need no longer be filtered.

FALSE: Calculation of the velocity from unfiltered values. The velocity values must still be filtered.
Default: TRUE
3.2.41
$WORKSPACE
Description
Cartesian workspaces
Up to 8 Cartesian workspaces can be configured. This is done by defining the
variable of structure type BOX.
The aggregate consists of the following components:

X, Y, Z: Origin of the workspace relative to the WORLD coordinate system
in mm

A, B, C: Orientation of the workspace relative to the WORLD coordinate
system in °

X1, Y1, Z1, X2, Y2, Z2: Dimension of the workspace in mm (distance to
the origin in positive and negative direction)

MODE: Mode for workspaces
Further information about configuring workspaces is contained in the
Operating and Programming Instructions for System Integrators.
$WORKSPACE[Workspace number]={Configuration}
Syntax
Explanation of
the syntax
Element
Description
Workspace
number
Type: INT
Configuration
Type: BOX

1…8
Configuration of the workspace
Workspace 1 (default)
Example
$WORKSPACE[1]={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0,
X1 0.0,Y1 0.0,Z1 0.0,X2 0.0,Y2 0.0,Z2 0.0,MODE #OFF}
3.2.42
$WORKSPACE_NAME
Description
Name of the Cartesian workspace
A name for the workspace can be defined when configuring an Cartesian
workspace. This name is used to describe the variable.
Further information about configuring workspaces is contained in the
Operating and Programming Instructions for System Integrators.
Syntax
$WORKSPACE_NAME[Workspace number]="Name"
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System Variables
Explanation of
the syntax
Element
Description
Workspace
number
Type: INT
Name
Type: CHAR

1…8
Workspace name: max. 24 characters
3.2.43
$WORKSPACERESTOREACTIVE
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Restoration of the status of the workspaces
If the variable is set, the status of the workspaces is restored on the robot controller after a cold restart.
First, the controller checks whether the file C:\KRC\Roboter\Init\WSRestore.INI exists. This file is automatically generated when the controller is shut
down. The controller uses this file to restore the status of the workspaces.
If the file WSRestore.INI does not exist, the workspaces of the participating
controllers are polled. These data can be used to reconstruct the workspaces
for the current controller.
A complete reconstruction by polling the participating controllers cannot be guaranteed. The state of each workspace must therefore be
checked and, if necessary, corrected.
$WORKSPACERESTOREACTIVE=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Restore the status of the workspaces.

FALSE: Do not restore the status of the workspaces.
Default: FALSE
3.2.44
$WS_CONFIG
Only relevant if KUKA.CR Motion Cooperation is used.
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Description
Shared workspaces of cooperating robots
Syntax
$WS_CONFIG[Index]={COOP_KRC Device number, WS_NAME[] "Name",
WS_PRIO Sequence}
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Explanation of
the syntax
Element
Description
Index
Type: INT
Workspace number

Device
number
Name
1 … 32
Type: INT
Device number of the robot controller that manages the
workspace

1: Workspace is managed by a local device.

2 … 16: Workspace is managed by an external device.
Type: CHAR
Workspace name: max. 24 characters
Sequence
Type: INT
Sequence of access to the workspace

3.3
Variables in $OPTION.DAT
3.3.1
$ABS_ACCUR
1 … 32
Description
Activation of the positionally accurate robot model
Syntax
$ABS_ACCUR=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: The robot model is activated.

FALSE: The robot model is not activated.
Default: FALSE
3.3.2
$ASYNC_OPT
Description
Enabling of asynchronous external axes
Syntax
$ASYNC_OPT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: External axes can be switched to asynchronous
mode.

FALSE: External axes cannot be switched to asynchronous mode.
Default: FALSE
3.3.3
$CHCK_MOVENA
Description
Checking of the input number of $MOVE_ENABLE
In order to be able to use the variable $MOVE_ENABLE for checking of the
robot drives by the higher-level controller, $MOVE_ENABLE must have been
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System Variables
configured at a suitable input (<> $IN[1025]). This is checked with
$CHCK_MOVENA.
$CHCK_MOVENA=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: $MOVE_ENABLE is checked.

FALSE: $MOVE_ENABLE is not checked.
Default: TRUE
3.3.4
$DATA_INTEGRITY
Description
Data consistency check for input and output signals
Signals can be transferred in bits or in groups. In the case of transfer in bit
groups, the signal definition must be contained in one of the predefined data
objects:

OUTB

OUTW

OUTDW
$DATA_INTEGRITY is relevant when signals are transferred in groups; it has
a different effect on inputs and ouputs:

With inputs, it is ensured that the I/O map does not change when a signal
is read.

With outputs, it is checked whether a signal is mapped onto a single device
I/O block.
$DATA_INTEGRITY=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Data consistency check is activated.

FALSE: Data consistency check is not activated.
Default: FALSE
3.3.5
$DIGIN_FILT
Description
Dynamic filter for digital inputs (conveyor)
Syntax
$DIGIN_FILT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Filter is activated.

FALSE: Filter is deactivated.
Default: TRUE
3.3.6
$DRIVE_CART
Description
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PTP motion points with Cartesian coordinates
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$DRIVE_CART=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: PTP motion points can have Cartesian coordinates.

FALSE: PTP motion points cannot have Cartesian coordinates.
Default: TRUE
3.3.7
$DRIVE_CP
Description
Enabling of Cartesian CP motions
Syntax
$DRIVE_CP=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Cartesian motion is possible.

FALSE: Cartesian motion is not possible.
Default: TRUE
3.3.8
$ENDLESS
Description
Enabling of infinitely rotating axes
Syntax
$ENDLESS=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Infinitely rotating axes are possible.

FALSE: Infinitely rotating axes not possible.
Default: TRUE
3.3.9
$EXT_ACCU_MON
Description
External battery monitoring with DC UPS module 15 (optional)
Syntax
$EXT_ACCU_MON=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Module is installed in the robot controller.

FALSE: Module is not installed in the robot controller.
Default: FALSE
3.3.10
$EXT_AXIS
Description
Enabling of external axes
Syntax
$EXT_AXIS=State
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System Variables
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: External axes can be configured.

FALSE: External axes cannot be configured.
Default: TRUE
3.3.11
$IDENT_OPT
Description
Enabling of load data determination
Syntax
$IDENT_OPT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Load data can be determined.

FALSE: No load data can be determined.
Default: TRUE
3.3.12
$IMPROVEDCPBLENDING
Description
Improved CP approximate positioning
If the improved approximation mechanism is deactivated or the variable is
missing in the file $OPTION.DAT, it is possible that points will not be approximated.
$IMPROVEDCPBLENDING=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Improved approximate positioning is activated.

FALSE: Improved approximate positioning is deactivated.
Default: TRUE
3.3.13
$IMPROVEDMIXEDBLENDING
Description
Improved mixed approximate positioning
If the improved approximation mechanism is deactivated or the variable is
missing in the file $OPTION.DAT, it is possible that points will not be approximated.
Syntax
Explanation of
the syntax
$IMPROVEDMIXEDBLENDING=State
Element
Description
State
Type: BOOL

TRUE: Improved approximate positioning is activated.

FALSE: Improved approximate positioning is deactivated.
Default: TRUE
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3.3.14
$IOWR_ON_ERR
Description
Changing of outputs in the event of a field bus error
Setting this variable makes it possible to write to outputs even though a bus
error has occurred.
If more than one bus ring is used, e.g. a master ring and a slave ring, it is no
longer possible to write to the I/O range configured in the file IOSYS.INI after
a bus error until the bus error has been eliminated. Modifications to fault service routines thus remain without effect and application outputs remain constantly set, e.g. after an EMERGENCY STOP. This does not apply to outputs
that are labeled as system variables, e.g. $T1 and $T2. These can still communicate via the bus.
$IOWR_ON_ERR=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: It is possible to write to the outputs in the event
of a bus error.

FALSE: It is not possible to write to the outputs in the
event of a bus error.
Default: FALSE
Example
$IOWR_ON_ERR=FALSE
If the variable is set to FALSE and a bus error occurs on the slave side, the
robot stops with $STOPMESS and executes the fault service routine, here the
program IR_STOPM.SRC. The I/O map is not updated, e.g. the “Weld Start”
signal for the power source remains set even though the master part of the bus
is running correctly.
3.3.15
$LOOP_CONT
Description
Simulation of the condition for terminating a wait statement
If a wait message $LOOP_MSG is active, the variable $LOOP_CONT is set to
TRUE. The variable $LOOP_CONT is reset again if the Simulate softkey is
used to simulate that the condition programmed in a wait statement is fulfilled.
$LOOP_CONT=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: A wait message relating to a wait statement has
been activated.

FALSE: Condition for terminating the wait statement
has been simulated (Simulate softkey).
Default: FALSE
3.3.16
$LOOP_MSG
Description
Activation of a wait message
The variable can be used to activate a wait message relating to a wait statement in the KRL program. The message text defined with the variable and the
Simulate softkey are displayed. In order to end the wait message, the mes-
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System Variables
sage text must be deleted from the variable again. For this purpose, an empty
string can be programmed with $LOOP_MSG or the StrClear() function can be
used.
The signal combination at the inputs/outputs defined in a wait statement can be simulated and program execution resumed by pressing
the Simulate softkey. Precondition: Operating mode T1 or T2.
$LOOP_MSG[]="Message"
Syntax
Explanation of
the syntax
Element
Description
Message
Type: CHAR
Message text: max. 128 characters
3.3.17
$MOT_STOP_OPT
Description
Activation of the “Block external start” option
The variable can be used to activate the function defined in the variable
$MOT_STOP.
(>>> 3.1.84 "$MOT_STOP" Page 66)
$MOT_STOP_OPT=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Option is activated.

FALSE: Option is not activated.
Default: FALSE
3.3.18
$MOTIONCOOP
Description
Flag for KUKA.CR Motion Cooperation
Syntax
$MOTIONCOOP=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: KUKA.CR Motion Cooperation is installed.

FALSE: KUKA.CR Motion Cooperation is not installed.
Default: FALSE
3.3.19
$MSG_T
Description
Structure for the message display on the KUKA.HMI
It is recommended that this message structure is no longer used for
programming messages. There is a new, improved structure available for programming messages. Further information about this is
contained in the Programming Messages documentation for KSS 5.5, 5.6.
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$MSG_T={VALID State,RELEASE State,TYP Message, MODUL[] "Name"
,KEY[] "Key",PARAM_TYP Type,PARAM[] "Name" ,DLG_FORMAT[]
"Softkey",ANSWER Softkey}
Syntax
Explanation of
the syntax
Element
Description
VALID
Type: BOOL
Message display

TRUE: A message is displayed.

FALSE: No message is displayed.
Default: FALSE
RELEASE
Type: BOOL
Deletion of a status message

TRUE: Status message has been deleted.

FALSE: Status message has not been deleted.
Default: FALSE
TYPE
Type: ENUM
Message group

#NOTIFY: Notification message

#STATE: Status message

#QUIT: Acknowledgement message

#DIALOG: Dialog message
Default: #NOTIFY
MODUL[]
Type: CHAR
System name of the module in the language database
KEY[]
Type: CHAR
Key of the message text in the language database
PARAM_TYP
Type: ENUM
Type of the parameter displayed with the message

#VALUE: Value (not language-dependent)

#WORDS: Text (not language-dependent)

#KEY: Database key (language-dependent)
Default: #VALUE
PARAM[]
Type: CHAR
Name of the parameter displayed with the message
DLG_FORMA
T[]
Type: CHAR
ANSWER
Type: INT
Label of the softkeys
Number of the softkey pressed by the user

3.3.20
1…7

1: First softkey from the left

2: Second softkey from the left

etc.
$PHASE_MONITORING
Description
Mains phase failure monitoring
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System Variables
$PHASE_MONITORING=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Monitoring is active.

FALSE: Monitoring is not active.
Default: FALSE
3.3.21
$PROGCOOP
Description
Flag for KUKA.CR Motion Cooperation
Syntax
$PROGCOOP=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: KUKA.CR Motion Cooperation is installed.

FALSE: KUKA.CR Motion Cooperation is not installed.
Default: FALSE
3.3.22
$SEP_ASYNC_OV
Description
Enabling of separate jog override settings for asynchronous external axes
Syntax
$SEP_ASYNC_OV=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Asynchronous external axes can be jogged with
separate jog override settings.

FALSE: Asynchronous external axes cannot be jogged
with separate jog override settings.
Default: FALSE
3.3.23
$SET_IO_SIZE
Description
Maximum number of digital inputs/outputs available
Syntax
$SET_IO_SIZE=Number
Explanation of
the syntax
Element
Description
Number
Type: INT

1: 1 … 1,024

2: 1 … 2,048

4: 1 … 4,096
Default: 1
3.3.24
$SINGUL_STRATEGY
Description
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Strategy for singularity-free motion
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$SINGUL_STRATEGY=Strategy
Syntax
Explanation of
the syntax
Element
Description
Strategy
Type: INT

0: No strategy

1: Approximation strategy (= moving through a singularity by means of changes in orientation)
Default: 0
3.3.25
$TCP_IPO
Description
Interpolation mode
The interpolation mode is specified in the Frames option window (programming of motions).
$TCP_IPO=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: The tool is a fixed tool.

FALSE: The tool is mounted on the mounting flange.
Default: FALSE
3.3.26
$TECH_OPT
Description
Operating state of the function generator
Syntax
$TECH_OPT=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Function generator is active.

FALSE: Function generator is not active.
Default: TRUE
3.3.27
$T2_OUT_WARNING
Description
Warning when switching to T2 or AUT mode
Syntax
$T2_OUT_WARNING=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Warning is displayed.

FALSE: No warning
Default: FALSE
3.3.28
$T2_OV_REDUCE
Description
Override reduction when switching to T2 mode
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System Variables
If this option is activated, the override is automatically reduced to 10% when
switching to T2. If the mode is changed from T1 to T2, the override value from
T1 is saved and is available again the next time that T1 mode is set. This does
not apply after a restart of the robot controller. After a restart, the default value
for the override in T1 is 100%.
$T2_OV_REDUCE=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Override is reduced.

FALSE: Override is not reduced.
Default: TRUE
3.3.29
$V_OPTION
Description
Version identifier of the file $OPTION.DAT
Syntax
$V_OPTION[]="Identifier"
Explanation of
the syntax
Element
Description
Identifier
Type: CHAR
Version identifier: max. 32 characters
Example
$V_OPTION[]="V23.0.0/KUKA5.5"
The identifier consists of the following components:
3.3.30

Version of $OPTION.DAT

Version of the KUKA System Software
$VAR_TCP_IPO
Description
Remote laser on/off (optional)
If this option is activated, there must be a valid file VarTcpIpo.INI in the INIT
directory of the robot controller.
$VAR_TCP_IPO=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Option is activated.

FALSE: Option is not activated.
Default: FALSE
3.4
Variables in $ROBCOR.DAT
3.4.1
$ADAP_ACC
Description
Acceleration adaptation
The acceleration adaptation is calculated from the dynamic model. If the acceleration adaptation is activated, valid model data must be available.
(>>> 3.4.11 "$DYN_DAT" Page 135)
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$ADAP_ACC=Type
Syntax
Explanation of
the syntax
Element
Description
Type
Type: ENUM

#NONE: Acceleration adaptation is deactivated.

#STEP1: Acceleration adaptation without kinetic energy

#STEP2: Acceleration adaptation with kinetic energy
Default: #STEP1
3.4.2
$COMPENSATED_LOAD
Only relevant for SCARA robots.
Description
Mass equivalent for constant counterbalancing of a linear axis
From the mass specified here, the dynamic model calculates the equivalent
constant holding torque. This mass must correspond to the mass that was
mounted on the robot flange when the counterbalancing system was set. It is
assumed that axis A3 acts along the gravitation direction.
$COMPENSATED_LOAD=Mass
Syntax
Explanation of
the syntax
3.4.3
Element
Description
Mass
Type: REAL; unit: kg
$CUSTOM_MODEL_NAME
Description
Name of the positionally accurate robot model loaded
Syntax
$CUSTOM_MODEL_NAME[]="Name"
Explanation of
the syntax
Element
Description
Name
Type: CHAR
Robot model name: max. 32 characters
3.4.4
$CUSTOM_MODEL_VERSION
Description
Version of the positionally accurate robot model loaded
Syntax
$CUSTOM_MODEL_VERSION[]="Version"
Explanation of
the syntax
Element
Description
Version
Type: CHAR
Robot model version: max. 32 characters
3.4.5
$DEF_L_M
Description
Default mass of the load on the mounting flange
The robot-specific value defined here is used for path planning if the value -1
is saved in the payload data for the mass.
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System Variables
$DEF_L_M=Mass
Syntax
Explanation of
the syntax
3.4.6
Element
Description
Mass
Type: REAL; unit: kg
$DEF_L_CM
Description
Position of the center of mass of the default mass of the load on the mounting
flange
The robot-specific value defined here is used for path planning if the value -1
is saved in the payload data for the mass.
The variable of structure type FRAME defines the position of the center of
mass in relation to the FLANGE coordinate system:

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
KR 125/1
Example
$DEF_L_CM={X 230.0,Y 0.0,Z 210.0,A 0.0,B 0.0,C 0.0}
3.4.7
$DEF_L_J
Description
Moments of inertia of the default mass of the load on the mounting flange
The robot-specific value defined here is used for path planning if the value -1
is saved in the payload data for the mass.
The variable of structure type INERTIA defines the mass moments of inertia
in relation to the position of the center of mass in the FLANGE coordinate system:
X, Y, Z: Mass moments of inertia about the axes in [kg m2]

KR 125/1
Example
$DEF_L_J={X 17.5,Y 17.5,Z 17.5}
3.4.8
$DEF_LA3_M
Description
Default mass of the supplementary load on axis A3
The robot-specific value defined here is used for path planning if the value -1
is saved in the supplementary load data for the mass.
$DEF_LA3_M=Mass
Syntax
Explanation of
the syntax
3.4.9
Element
Description
Mass
Type: REAL; unit: kg
$DEF_LA3_CM
Description
Position of the center of mass of the default mass of the supplementary load
on axis A3
The robot-specific value defined here is used for path planning if the value -1
is saved in the supplementary load data for the mass.
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The variable of structure type FRAME defines the position of the center of
mass in relation to the FLANGE coordinate system:

X, Y, Z: Offset of the origin along the axes in [mm]

A, B, C: Rotational offset of the axis angles in [°]
KR 125/1
Example
$DEF_LA3_CM={X -505.0,Y 0.0,Z -1110.0,A 0.0,B 0.0,C 0.0}
3.4.10
$DEF_LA3_J
Description
Moments of inertia of the default mass of the supplementary load on axis A3
The robot-specific value defined here is used for path planning if the value -1
is saved in the supplementary load data for the mass.
The variable of structure type INERTIA defines the mass moments of inertia
in relation to the position of the center of mass in the FLANGE coordinate system:

X, Y, Z: Mass moments of inertia about the axes in [kg m2]
KR 125/1
Example
$DEF_LA3_J={X 16.7999992,Y 16.7999992,Z 16.7999992}
3.4.11
$DYN_DAT
Description
Model data of the robot
The variable contains the model data of the robot required for acceleration adaptation, the higher motion profile and the calculation of kinetic energy, e.g.
moments of inertia, friction values, axis lengths, motor torques, etc.
$DYN_DAT[Index]=Parameter
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the model parameter

Parameter
1 … 500
Type: REAL
Value of the model parameter
3.4.12
$EKO_DAT
Description
Model data for elasticity compensation
The variable contains the model data required for optimized torque pre-control
of the robot drives.
Syntax
$EKO_DAT[Index]=Parameter
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System Variables
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the model parameter

Parameter
1 … 400
Type: REAL
Value of the model parameter
3.4.13
$EKO_MODE
Description
Elasticity compensation
If the elasticity compensation is activated, valid model data must be available.
(>>> 3.4.12 "$EKO_DAT" Page 135)
$EKO_MODE=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: ENUM

#OFF: Elasticity compensation is deactivated.

#ON: Elasticity compensation is activated.

#OPT: For internal use by KUKA only.
Default: #OFF
3.4.14
$EMSTOP_ADAP
Description
Model-based path-maintaining EMERGENCY STOP
A path-maintaining EMERGENCY STOP is executed with maximum deceleration. The maximum deceleration is calculated from the motor and gear
torques of the dynamic model. The deceleration of the external axes is executed without a dynamic model and thus affects the robot axes.
Internally, the deceleration is calculated both from the dynamic model and
without a dynamic model and the results are compared with one another. If the
deceleration calculated without a dynamic model is significantly higher than
that calculated from the dynamic model, e.g. due to incorrect model or load data, braking is carried out on the basis of the higher value.
Acceleration adaptation is active: $ADAP_ACC <> #NONE
Precondition

Syntax
$EMSTOP_ADAP=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Path-maintaining EMERGENCY STOP is activated.

FALSE: Path-maintaining EMERGENCY STOP is not
activated.
Default: TRUE
3.4.15
$EMSTOP_GEARTORQ
Description
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Maximum gear torques in the event of a model-based EMERGENCY STOP
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$EMSTOP_GEARTORQ[Axis number]=Maximum torque
Syntax
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Maximum torque
3.4.16
1 … 6: Robot axis A1 ... A6
Type: REAL; unit: Nm
$EMSTOP_MOTTORQ
Description
Maximum motor torques in the event of a model-based EMERGENCY STOP
Syntax
$EMSTOP_MOTTORQ[Axis number]=Maximum torque
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Maximum torque
3.4.17
1 … 6: Robot axis A1 ... A6
Type: REAL; unit: Nm
$EMSTOP_TORQRATE
Description
Jerk limitation in the event of a model-based EMERGENCY STOP
The jerk limitation is the maximum permissible change of the gear and motor
torques in the event of a path-maintaining EMERGENCY STOP.
$EMSTOP_TORQRATE=Jerk limitation
Syntax
Explanation of
the syntax
3.4.18
Element
Description
Jerk limitation
Type: REAL; unit: Nm/ms
$ENERGY_MON
Description
Monitoring of the kinetic energy in the event of a collision
Syntax
$ENERGY_MON=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Monitoring is activated.

FALSE: Monitoring is not activated.
Default: TRUE
3.4.19
$ITER
Description
Number of repetitions during path planning
Precondition

Acceleration adaptation is active: $ADAP_ACC <> #NONE

Higher motion profile active: $OPT_MOVE <> #NONE
Syntax
$ITER=Number
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System Variables
Explanation of
the syntax
Element
Description
Number
Type: INT
Default: 2
Note: This value may not be changed by the user.
3.4.20
$MODEL_NAME
Description
Robot type
Syntax
$MODEL_NAME[]="Name"
Explanation of
the syntax
Element
Description
Name
Type: CHAR
Robot name: max. 32 characters
Example
3.4.21
$MODEL_NAME[]="#KR125_1 H C2 FLR ZH01"
$MODEL_TYPE
Description
Type of dynamic model
The variable indicates whether the dynamic model has to take deflection of the
torque into account due to coupled robot axes. (Only relevant for 4-axis palletizing robots)
$MODEL_TYPE=Model type
Syntax
Explanation of
the syntax
Element
Description
Model type
Type: ENUM

#STANDARD: Standard robot without torque coupling

#TORQUE_COUPLED: Robot with torque coupling
Default: #STANDARD
3.4.22
$OPT_APPROX
Description
Reduction factor for optimization of approximation planning (only PTP-PTP
approximation)
Syntax
$OPT_APPROX=Reduction factor
Explanation of
the syntax
Element
Description
Reduction
factor
Type: INT; unit: %
Default: 100
Note: This value may not be changed by the user.
3.4.23
$OPT_FLT_PTP
Description
Optimized filter for PTP motions
This filter can be used to optimize individual PTP instructions executed in the
robot interpreter. This does not apply to interrupts. If the filter is deactivated,
the default filter for PTP motions $DEF_FLT_PTP is effective.
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Further information about the variable $DEF_FLT_PTP can be found
in the machine data documentation.
$OPT_FLT_PTP=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Optimized filter is activated.

FALSE: Optimized filter is deactivated.
Default: FALSE
3.4.24
$OPT_MOVE
Description
Higher motion profile
The higher motion profile is calculated from the dynamic model. If the higher
motion profile is activated, valid model data must be available.
(>>> 3.4.11 "$DYN_DAT" Page 135)
$OPT_MOVE=Motion profile
Syntax
Explanation of
the syntax
Element
Description
Motion profile
Type: ENUM

#NONE: The higher motion profile is deactivated.

#STEP1: Higher motion profile without energy planning

#STEP2: Higher motion profile with energy planning
Default: #STEP1
3.4.25
$OPT_TIME_PTP
Description
AWD functionality for PTP motions
If the AWD functionality is activated, individual PTP instructions that would otherwise be executed too quickly are optimized in terms of time.
$OPT_TIME_PTP=State
Syntax
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: AWD functionality is activated.

FALSE: AWD functionality is deactivated.
Default: FALSE
3.4.26
$PROG_TORQ_MON
Description
Monitoring of the command torques of the gear units and motors
If the monitoring is activated, this acknowledgement message is displayed
when the operating mode is changed: Attention! Maximum velocity could
be programmed
Syntax
$PROG_TORQ_MON=State
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System Variables
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: Monitoring is activated.

FALSE: Monitoring is not activated.
Default: TRUE
3.4.27
$SYNC
Description
Phase-synchronous motion profiles
The variable can be used to generate phase-synchronous motion profiles in
individual PTP instructions, i.e. the acceleration, constant motion and deceleration phases are synchronized for all axes. Thus the geometric path does not
change if the motion parameters are altered.
If phase matching is not selected, the motion profile is time-synchronous only.
All axes start and finish the motion simultaneously.
Precondition

Acceleration adaptation is active: $ADAP_ACC <> #NONE

Higher motion profile is deactivated: $OPT_MOVE = #NONE
$SYNC=Motion profile
Syntax
Explanation of
the syntax
Element
Description
Motion profile
Type: INT

0: The motion profile is time-synchronous only.

1: The motion profile is time- and phase-synchronous.
Default: 1
3.4.28
$USE_CUSTOM_MODEL
Description
Use of the positionally accurate robot model loaded
Syntax
$USE_CUSTOM_MODEL=State
Explanation of
the syntax
Element
Description
State
Type: BOOL

TRUE: The robot model is used.

FALSE: The robot model is not used.
Default: FALSE
3.4.29
$V_ROBCOR
Description
Version identifier of the file $ROBCOR.DAT
Syntax
$V_ROBCOR[]="Identifier"
Explanation of
the syntax
Element
Description
Identifier
Type: CHAR
Version identifier: max. 32 characters
Example
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$V_ROBCOR[]="V23.0.0/KUKA5.5"
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The identifier consists of the following components:

Version of $ROBCOR.DAT

Version of the KUKA System Software
3.5
Variables in $MACHINE.DAT in the directory …\STEU\MADA
3.5.1
Signal declarations
Description
All predefined signals in the system are declared in the file $MACHINE.DAT
in the directory C:\KRC\ROBOTER\KRC\STEU\MADA.
These signals are not redundant in design and can supply incorrect information. Do not use these signals for
safety-relevant applications.
The output signals can be preset with the keyword FALSE and thus deactivated. The output signals cannot be used until they have been assigned to an output.
The maximum number of available inputs and outputs is dependent
on the system variable $SET_IO_SIZE in the file $OPTION.DAT in
the directory C:\KRC\ROBOTER\KRC\STEU\MADA.
3.5.2
$ACCU_DEFECT
Description
Signal declaration for external battery monitoring
This output is set if monitoring with the DC UPS module 15 (optional) signals
an error. To activate the monitoring, the variable $EXT_ACCU_MON in the file
$OPTION.DAT must be set to TRUE.
SIGNAL $ACCU_DEFECT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.3
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$ALARM_STOP
Description
Signal declaration for the EMERGENCY STOP
There is no EMERGENCY STOP if this output is set.
The output is reset in the following EMERGENCY STOP situations:
Syntax
Explanation of
the syntax

The EMERGENCY STOP button on the KCP is pressed.

External EMERGENCY STOP
SIGNAL $ALARM_STOP $OUT[Output number]
Element
Description
Output
number
Type: INT
Default: 1013
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System Variables
3.5.4
$ALARM_STOP_INTERN
Description
Signal declaration for the internal EMERGENCY STOP
This output is set in the case of an internal EMERGENCY STOP.
SIGNAL $ALARM_STOP_INTERN $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.5
Element
Description
Output
number
Type: INT
Default: 853
$ASYNC_AX
Description
Signal declaration for uncoordinated asynchronous external axes
Uncoordinated asynchronous external axes must be assigned one digital input
for the positive motion direction and one digital input for the negative motion
direction.
SIGNAL $ASYNC_AXAxis number_P$IN[Input number]
Syntax
SIGNAL $ASYNC_AXAxis number_M$IN[Input number]
Explanation of
the syntax
Element
Description
Axis number
Type: INT

Input number
Type: INT
_P $IN
Input for positive motion direction
_M $IN
Input for negative motion direction

Example
1 … 6: external axis E1 … E6
1 ... 4 096
SIGNAL $ASYNC_AX1_P $IN[100]
...
SIGNAL $ASYNC_AX1_M $IN[101]
External axis E1 is moved asynchronously in the positive direction by means
of input 100 and in the negative direction by means of input 101.
3.5.6
$AUT
Description
Signal declaration for Automatic mode
This output is set when Automatic mode is selected.
SIGNAL $AUT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.7
Element
Description
Output
number
Type: INT
Default: 995
$AUX_POWER
Description
Signal declaration for external power supply
This input is set when the external power supply is active.
Syntax
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SIGNAL $AUX_POWER $IN[Input number]
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Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1026
3.5.8
$AXWORKSTATE
Description
Signal declaration for monitoring of axis-specific workspaces
Each configured workspace must be assigned to a signal output. The output
is set if an axis-specific workspace is violated.
Further information about configuring workspaces is contained in the
Operating and Programming Instructions for System Integrators.
SIGNAL $AXWORKSTATEWorkspace number $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.9
Element
Description
Workspace
number
Type: INT
Output
number
Type: INT

1…8
By default, the output is deactivated with FALSE.
$BRAKES_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for functional brakes (brake test)
This output is set if all tested brakes are OK. If one or more brakes are faulty,
the output is reset.
SIGNAL $BRAKES_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.10
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$BRAKETEST_CYCLETIME
Only relevant if KUKA.SafeOperation is used.
Description
Brake test cycle time
Syntax
$BRAKETEST_CYCLETIME=Cycle time
Explanation of
the syntax
Element
Description
Cycle time
Type: REAL; unit: h

1.0 … 200.0
Default: 46.0
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System Variables
3.5.11
$BRAKETEST_MONTIME
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the monitoring time (brake test)
This output is set if the monitoring time has elapsed and the robot is stopped.
SIGNAL $BRAKETEST_MONTIME $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.12
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$BRAKETEST_REQ_EX
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the external brake test request
This input is set when the brake test is requested externally, e.g. by a safety
PLC, and is to be started.
SIGNAL $BRAKETEST_REQ_EX $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1026
3.5.13
$BRAKETEST_REQ_INT
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the internal brake test request
This output is set when the brake test is requested by the robot controller and
is to be started.
SIGNAL $BRAKETEST_REQ_INT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.14
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$BRAKETEST_TIMER
Only relevant if KUKA.SafeOperation is used.
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Description
Time remaining until the next brake test (dependent on the brake test cycle
time)
Syntax
$BRAKETEST_TIMER=Remaining time
Explanation of
the syntax
3.5.15
Element
Description
Remaining
time
Type: REAL; unit: h

1.0 … 200.0
$BRAKETEST_WARN
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for functional brakes (brake test)
This output is set if all tested brakes are OK. If one or more brakes have
reached the wear limit, the output is reset.
SIGNAL $BRAKETEST_WARN $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.16
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$BRAKETEST_WORK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the brake test
This output is set when the brake test is being carried out.
SIGNAL $BRAKETEST_WORK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.17
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$COLL_ALARM
Description
Signal declaration for collision alarm
This output is set if the message Collision monitoring, axis Axis number is
generated. The output remains set as long as $STOPMESS is active.
Syntax
Explanation of
the syntax
SIGNAL $COLL_ALARM $OUT[Output number]
Element
Description
Output
number
Type: INT
Default: 151
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System Variables
3.5.18
$COLL_ENABLE
Description
Signal declaration for collision detection
This output is set if the value of one of the $TORQMON_DEF variables from
the file $CUSTOM.DAT is less than 200.
SIGNAL $COLL_ENABLE $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.19
Element
Description
Output
number
Type: INT
Default: 152
$COMPLETE_NETWORK_OK
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Signal declaration for the network configuration in a group (VxWorks)
This output is set when the network configuration is correct and there is a connection to all robot controllers in the group. If the network configuration is faulty
or there is no connection to all controllers involved, the output is reset.
SIGNAL $COMPLETE_NETWORK_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.20
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$CONF_MESS
Description
Signal declaration for the external acknowledgement of messages
If the Automatic External interface is active ($I_O_ACT is TRUE), this input
can be set by the higher-level controller to acknowledge an error message as
soon as the cause of the error has been eliminated.
Only the rising edge of the signal is evaluated.
SIGNAL $CONF_MESS $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1026
3.5.21
$DIGIN1 … $DIGIN6
Description
Signal declaration for digital inputs 1 … 6
The variable can be used to group multiple consecutive binary inputs (max.
32) together as a digital input. The combined signals can be addressed with a
decimal name, a hexadecimal name (prefix H) or with a bit pattern name (prefix B). They can also be processed with Boolean operators.
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SIGNAL $DIGINIndex $IN[Input number] TO $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the digital input

Input number
1…6
Type: INT
Default: 1026
3.5.22
$DIGIN1CODE … $DIGIN6CODE
Description
Coding of digital inputs 1 … 6
The variable defines whether a digital input is signed or unsigned.
$DIGINIndexCODE=State
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the digital input

State
1…6
Type: ENUM

#UNSIGNED: Without sign

#SIGNED: With sign
Default: #UNSIGNED
3.5.23
$DRIVES_OFF
Description
Signal declaration for switching off the drives
If there is a LOW-level pulse of at least 20 ms duration at this input, the higherlevel controller switches off the robot drives.
SIGNAL $DRIVES_OFF $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1025
3.5.24
$DRIVES_ON
Description
Signal declaration for switching on the drives
If there is a HIGH-level pulse of at least 20 ms duration at this input, the higherlevel controller switches on the robot drives.
Syntax
Explanation of
the syntax
SIGNAL $DRIVES_ON $IN[Input number]
Element
Description
Input number
Type: INT
Default: 140
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System Variables
3.5.25
$EMSTOP_PATH
Description
Path-maintaining EMERGENCY STOP for operating modes T1, T2, Automatic
and Automatic External
Syntax
$EMSTOP_PATH={T1 State,T2 State,AUT State,EX State}
Explanation of
the syntax
Element
Description
State
Type: ENUM

#ON: Path-maintaining EMERGENCY STOP is activated.

#OFF: Path-maintaining EMERGENCY STOP is deactivated.
Default: #ON
3.5.26
$EXT
Description
Signal declaration for Automatic External mode
This output is set when Automatic External mode is selected.
SIGNAL $EXT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.27
Element
Description
Output
number
Type: INT
Default: 996
$EXT_START
Description
Signal declaration for the external program start
If the Automatic External interface is active ($I_O_ACTCONF is TRUE), this
input can be set by the higher-level controller to start or continue a program.
Only the rising edge of the signal is evaluated.
SIGNAL $EXT_START $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1026
3.5.28
$FAN_FOLLOW_UP_TIME
Description
Follow-up time for fan control
In the event of an excess temperature, the external fan is switched on for the
set length of time. The default switching threshold is 44 degrees Celsius.
Syntax
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$FAN_FOLLOW_UP_TIME=Time
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Explanation of
the syntax
Element
Description
Time
Type: REAL; unit: s

5.0 … 1,000.0: The fan runs continuously if the maximum value is set.
Default: 5.0
3.5.29
$FAN_RED_LIMIT_TEMP
Description
Reduction of the switching threshold for the cabinet fan
The default switching threshold is 44 degrees Celsius. This switching threshold can be reduced by the temperature value set here.
$FAN_RED_LIMIT_TEMP=Reduction
Syntax
Explanation of
the syntax
Element
Description
Reduction
Type: INT; unit: °
Default: 0
3.5.30
$HW_WARNING
Description
Signal declaration for hardware warnings
This output is set after hardware warnings, e.g.:

Battery voltage is too low (message 284)

PC fan is below the nominal speed (message 286)

Motherboard temperature reaches the warning threshold (message 1066)
SIGNAL $HW_WARNING $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.31
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$IMM_STOP
Description
Signal declaration for the EMERGENCY STOP
By setting this input, the higher-level controller can trigger an EMERGENCY
STOP.
SIGNAL $IMM_STOP $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1025
3.5.32
$IN_HOME
Description
Signal declaration for reaching the HOME position
The variable $H_POS defines the HOME position of the robot in the machine
data. By setting the output, the robot controller communicates to the higherlevel controller that the robot is located in its HOME position.
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System Variables
SIGNAL $IN_HOME $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.33
Element
Description
Output
number
Type: INT
Default: 1000
$IN_HOME1 … $IN_HOME5
Description
Signal declaration for reaching the HOME position 1 ... 5
The variable $AXIS_HOME allows up to 5 HOME positions to be defined in the
machine data (in addition to the HOME position defined using $H_POS). By
setting the output, the robot controller communicates to the higher-level controller that the robot is located in HOME position 1 ... 5.
SIGNAL $IN_HOMEIndex $OUT[Output number]
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the HOME position

Output
number
3.5.34
1…5
Type: INT
Default: 977 … 981
$I_O_ACT
Description
Signal declaration for the Automatic External interface
If this input is set, the Automatic External interface is active.
SIGNAL $I_O_ACT $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1025
3.5.35
$I_O_ACTCONF
Description
Signal declaration for the active Automatic External interface
This output is set if Automatic External mode is selected and the Automatic External interface is active (input $I_O_ACT is TRUE). The higher-level controller can start a program.
SIGNAL $I_O_ACTCONF $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.36
Description
Output
number
Type: INT
Default: 140
$LAST_BUFFERING_NOTOK
Description
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Element
Signal declaration for the message Axis parameter: KPS: Buffer battery
voltage low PMx. [294509]
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3 System variables
This output is set if the battery voltage was too low the last time the controller
was shut down.
SIGNAL $LAST_BUFFERING_NOTOK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.37
Element
Description
Output
number
Type: INT
Default: 1003
$LOCAL_NETWORK_OK
Only relevant if KUKA.CR Motion Cooperation is used.
Description
Signal declaration for the local network configuration (VxWorks)
This output is set when the local network configuration is OK. There is a connection to at least one other robot controller. If the local network configuration
is faulty or there is no connection to any other controller, the output is reset.
SIGNAL $LOCAL_NETWORK_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.38
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$MASTERINGTEST_MONTIME
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the monitoring time (mastering test)
This output is set if the monitoring time has elapsed and the robot is stopped.
SIGNAL $MASTERINGTEST_MONTIME $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.39
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$MASTERINGTEST_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for failed mastering test
This output is set in the case of a successful mastering test. If an error has occurred in the mastering test, the output is reset.
Syntax
SIGNAL $MASTERINGTEST_OK $OUT[Output number]
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System Variables
Explanation of
the syntax
3.5.40
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$MASTERINGTEST_REQ_INT
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the internal mastering test request
This output is set when the mastering test is requested by the robot controller
and is to be started.
SIGNAL $MASTERINGTEST_REQ_INT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.41
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$MASTERINGTEST_REQ_EX
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the external mastering test request
This input is set when the mastering test is requested externally, e.g. by a
safety PLC, and is to be started.
SIGNAL $MASTERINGTEST_REQ_EX $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1026
3.5.42
$MASTERINGTEST_WORK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the mastering test
This output is set when the mastering test is being carried out.
Syntax
Explanation of
the syntax
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SIGNAL $MASTERINGTEST_WORK $OUT[Output number]
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
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3.5.43
$MASTERINGTESTSWITCH_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for functional reference switch (mastering test)
This output is set when the reference switch is OK. If the reference switch is
faulty or there is no connection, the output is reset.
SIGNAL $MASTERINGTESTSWITCH_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.44
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$MOTOR_RED_TEMP
Description
Reduction of the shut-off threshold for motors
The default shut-off threshold is 155 degrees Celsius. This shut-off threshold
can be reduced by the temperature value set here.
$MOTOR_RED_TEMP=Reduction
Syntax
Explanation of
the syntax
Element
Description
Reduction
Type: INT; unit: °
Default: 0
3.5.45
$MOVE_ENABLE
Description
Signal declaration for motion enable
This input is used by the higher-level controller to check the robot drives. If the
higher-level controller sets the input to TRUE, the robot can be moved manually and in program mode. If the input is set to FALSE, the drives are switched
off and the active commands are inhibited.
If the drives have been switched off by the higher-level controller, the
message General motion enable is displayed. It is only possible to
move the robot again once this message has been acknowledged
and an external start signal ($EXT_START) has been given.
SIGNAL $MOVE_ENABLE $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1025
3.5.46
$MOVE_ENA_ACK
Description
Signal declaration for signaling the motion enable
By setting this output, the robot controller communicates to the higher-level
controller that it has received the motion enable signal $MOVE_ENABLE.
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System Variables
SIGNAL $MOVE_ENA_ACK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.47
Element
Description
Output
number
Type: INT
Default: 150
$NEAR_POSRET
Description
Signal declaration for the tolerance window about $POS_RET
By setting the output, the robot controller communicates to the higher-level
controller that the robot is located within a sphere about the position saved in
$POS_RET. The higher-level controller can use this information to decide
whether or not the program may be restarted.
The user can define the radius of the sphere in the file $CUSTOM.DAT using
the variable $NEARPATHTOL.
SIGNAL $NEAR_POSRET $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.48
Element
Description
Output
number
Type: INT
Default: 997
$ON_PATH
Description
Signal declaration for monitoring of the programmed path
This output is set after the BCO run. The robot controller thus communicates
to the higher-level controller that the robot is located on the programmed path.
The output is reset again only if the robot leaves the path, the program is reset
or block selection is carried out.
SIGNAL $ON_PATH $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.49
Element
Description
Output
number
Type: INT
Default: 147
$PERI_RDY
Description
Signal declaration for Drives ON
By setting this output, the robot controller communicates to the higher-level
controller the fact that the robot drives are switched on.
SIGNAL $PERI_RDY $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.50
Description
Output
number
Type: INT
Default: 1012
$PHASE_VOLTAGE_MISSING
Description
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Element
Signal declaration for mains phase failure monitoring
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This output is set if the monitoring signals a power failure. To activate the monitoring, the variable $PHASE_MONITORING in the file $OPTION.DAT must
be set to TRUE.
SIGNAL $PHASE_VOLTAGE_MISSING $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.51
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$POS_TRACKER_ERROR
Description
Signal declaration for messages of the position tracker
This output is set in order to communicate to the higher-level controller the occurrence of a position tracker message. For example, in the event of an encoder error or a transmission error between the DSE and the RDC.
SIGNAL $POS_TRACKER_ERROR $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.52
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$PR_MODE
Description
Signal declaration for programming mode
This output is set if operating mode T1 or T2 is selected and no program is running.
SIGNAL $PR_MODE $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.53
Element
Description
Output
number
Type: INT
Default: 138
$PRO_ACT
Description
Signal declaration for active process
This output is set whenever a process is active at robot level. The process is
therefore active as long as a program or an interrupt is being processed. Program processing is set to the inactive state at the end of the program only after
all pulse outputs and all triggers have been processed.
In the event of an error stop, a distinction must be made between the following
possibilities:

If interrupts have been activated but not processed at the time of the error
stop, the process is regarded as inactive ($PRO_ACT=FALSE).

If interrupts have been activated and processed at the time of the error
stop, the process is regarded as active ($PRO_ACT=TRUE) until the interrupt program is completed or a STOP occurs in it
($PRO_ACT=FALSE).

If interrupts have been activated and a STOP occurs in the program, the
process is regarded as inactive ($PRO_ACT=FALSE). If, after this, an interrupt condition is met, the process is regarded as active
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System Variables
($PRO_ACT=TRUE) until the interrupt program is completed or a STOP
occurs in it ($PRO_ACT=FALSE).
SIGNAL $PRO_ACT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.54
Element
Description
Output
number
Type: INT
Default: 1021
$PRO_MOVE
Description
Signal declaration for active program motion
This output is set whenever a synchronous axis moves (also in jog mode). The
signal is thus the inverse of $ROB_STOPPED.
SIGNAL $PRO_MOVE $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.55
Element
Description
Output
number
Type: INT
Default: 1022
$RC_RDY1
Description
Signal declaration for operational robot controller
If the robot controller sets this output, it is ready for operation and the program
can be started by the higher-level controller.
SIGNAL $RC_RDY1 $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.56
Element
Description
Output
number
Type: INT
Default: 137
$RDC_FLASH_DEFECT
Description
Signal declaration for defective RDC flash memory
This output is set if at least one sector in the RDC flash memory is defective.
SIGNAL $RDC_FLASH_DEFECT $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.57
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$ROB_CAL
Description
Signal declaration for robot mastering
This output is set whenever all robot axes are mastered. The output is reset
as soon as a robot axis has been unmastered.
Syntax
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SIGNAL $ROB_CAL $OUT[Output number]
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Explanation of
the syntax
3.5.58
Element
Description
Output
number
Type: INT
Default: 1001
$ROB_STOPPED
Description
Signal declaration for robot standstill
This output is set when the robot is at a standstill. In the event of a WAIT statement, this output is set during the wait. The signal is thus the inverse of
$PRO_MOVE.
SIGNAL $ROB_STOPPED $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.59
Element
Description
Output
number
Type: INT
Default: 1023
$SAFEGATE_OP
Description
Signal declaration for operator safety
This input is set when the operator safety is active, e.g. in Automatic mode with
the gate closed.
In the event of a loss of signal during Automatic operation (e.g. safety gate is
opened), the drives are deactivated after 1 s and the robot and any external
axes (optional) are stopped with a STOP 1. When the signal is applied again
at the input (e.g. safety gate closed), automatic operation can be resumed
once the corresponding message has been acknowledged.
SIGNAL $SAFEGATE_OP $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1025
3.5.60
$SR_AXISACC_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for safe monitoring of the reduced axis acceleration
This output is set if the reduced axis acceleration is not exceeded.
Syntax
Explanation of
the syntax
SIGNAL $SR_AXISACC_OK $OUT[Output number]
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
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System Variables
3.5.61
$SR_AXISSPEED_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for safe monitoring of the reduced axis velocity
This output is set if the reduced axis velocity is not exceeded.
SIGNAL $SR_AXISSPEED_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.62
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$SR_CARTSPEED_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for safe monitoring of the Cartesian velocity
This output is set if the Cartesian velocity is not exceeded.
SIGNAL $SR_CARTSPEED_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.63
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$SR_RANGE1_OK … $SR_RANGE8_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for violation of monitoring spaces 1 … 8
The output is set if the Stop at limits function is active and the associated
monitoring space is not violated. The robot controller resets the output if the
monitoring space is violated and the robot is stopped.
Syntax
Explanation of
the syntax
SIGNAL $SR_RANGEIndex_OK $OUT[Output number]
Element
Description
Index
Type: INT
Index of the monitoring space

Output
number
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1…8
Type: INT
By default, the output is deactivated with FALSE.
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3.5.64
$SR_RANGEINPUT1_ACTIVE … $SR_RANGEINPUT4_ACTIVE
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the monitoring spaces that can be activated by means
of safe inputs E0 … E3
The output is set if the monitoring spaces assigned to an input are activated
and safely monitored. (Only if there is a LOW level signal at the input and T2,
AUT or AUT EXT mode is set.)
SIGNAL $SR_RANGEINPUTIndex_ACTIVE $OUT[Output number]
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the safe input

Output
number
3.5.65
1 … 4: E0 … E3
Type: INT
By default, the output is deactivated with FALSE.
$SR_SAFEMON_ACTIVE
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for safe monitoring
This output is set if the robot is safely monitored.
SIGNAL $SR_SAFEMON_ACTIVE $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.66
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$SR_SAFEOPSTOP_ACTIVE
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for standstill monitoring (safe operational stop)
This output is set if standstill monitoring is safely monitored.
Syntax
Explanation of
the syntax
SIGNAL $SR_SAFEOPSTOP_ACTIVE $OUT[Output number]
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
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System Variables
3.5.67
$SR_SAFEOPSTOP_OK
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for violation of standstill monitoring (safe operational stop)
This output is set when standstill monitoring is not violated.
SIGNAL $SR_SAFEOPSTOP_OK $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.68
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$SR_SAFEREDSPEED_ACTIVE
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for velocity and acceleration monitoring
This output is set if the velocities and accelerations are safely monitored.
SIGNAL $SR_SAFEREDSPEED_ACTIVE $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.69
Element
Description
Output
number
Type: INT
By default, the output is deactivated with FALSE.
$SR_STOP0 … $SR_STOP2
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for the stop reactions
By setting the associated output, the robot controller communicates to the
higher-level controller that the robot has been safely stopped with a STOP 0,
STOP 1 or STOP 2.
Syntax
Explanation of
the syntax
SIGNAL $SR_STOPIndex $OUT[Output number]
Element
Description
Index
Type: INT
Index of the stop reaction
Output
number
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
0: STOP 0

1: STOP 1

2: STOP 2
Type: INT
By default, the output is deactivated with FALSE.
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3.5.70
$SR_TOOL1_ACTIVE … $SR_TOOL3_ACTIVE
Only relevant if KUKA.SafeOperation is used.
Description
Signal declaration for safe monitoring of the active tool
The output is set if tool 0 … 2 is activated and safely monitored. Only one tool
can be active at any time.
SIGNAL $SR_TOOLIndex_ACTIVE $OUT[Output number]
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the safe tool

1 … 3: Tool 0 … 2
Default: 1 (tool 0 is active)
Output
number
3.5.71
Type: INT
By default, the output is deactivated with FALSE.
$SS_MODE
Description
Signal declaration for Single Step mode
This output is set when operating mode T1 or T2 is selected.
SIGNAL $SS_MODE $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.72
Element
Description
Output
number
Type: INT
Default: 139
$STOPMESS
Description
Signal declaration for stop messages
This output is set in order to communicate to the higher-level controller the occurrence of any message that required the robot to be stopped. For example,
after an EMERGENCY STOP or violation of operator safety.
SIGNAL $STOPMESS $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.73
Element
Description
Output
number
Type: INT
Default: 1010
$STROBE1 … $STROBE6
Description
Signal declaration for pulse outputs 1 … 6
Pulse outputs 1 … 6 are assigned to digital inputs 1 … 6 defined with $DIGIN.
Pulse outputs that are not required can be deactivated in conjunction with the
keyword FALSE.
Syntax
SIGNAL $STROBEIndex $OUT[Output number]
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System Variables
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the pulse output

Output
number
3.5.74
1…6
Type: INT
Default: 1015 … 1020
$STROBE1LEV … $STROBE6LEV
Description
Active edge of pulse outputs 1 … 6
Pulse outputs 1 … 6 are assigned to digital inputs 1 … 6 defined with $DIGIN.
$STROBEIndexLEV=State
Syntax
Explanation of
the syntax
Element
Description
Index
Type: INT
Index of the pulse output

State
1…6
Type: BOOL

TRUE: Pulse output is HIGH-active.

FALSE: Pulse output is LOW-active.
Default: TRUE
3.5.75
$T1
Description
Signal declaration for T1 mode
This output is set when operating mode T1 is selected.
SIGNAL $T1 $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.76
Element
Description
Output
number
Type: INT
Default: 993
$T2
Description
Signal declaration for T2 mode
This output is set when T2 mode is selected.
SIGNAL $T2 $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.77
Description
Output
number
Type: INT
Default: 994
$T2_ENABLE
Description
162 / 179
Element
Signal declaration for reduction of the program override
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
3 System variables
This input is used by the higher-level controller to check the program override.
If the higher-level controller resets the input, the program override is reduced
to 10%.
SIGNAL $T2_ENABLE $IN[Input number]
Syntax
Explanation of
the syntax
Element
Description
Input number
Type: INT
Default: 1025
3.5.78
$USER_SAF
Description
Signal declaration for safety fence monitoring
This output is reset if the safety fence monitoring switch is opened (AUT mode)
or an enabling switch is released (T1 or T2 mode).
SIGNAL $USER_SAF $OUT[Output number]
Syntax
Explanation of
the syntax
3.5.79
Element
Description
Output
number
Type: INT
Default: 1011
$V_STEUMADA
Description
Version identifer in the file $MACHINE.DAT in the directory …\STEU\MADA
Syntax
$V_STEUMADA[]="Identifier"
Explanation of
the syntax
Element
Description
Identifier
Type: CHAR
Version identifier: max. 32 characters
Example
$V_STEUMADA[]="V23.0.0/KUKA5.5"
The identifier consists of the following components:
3.5.80

Version of $MACHINE.DAT

Version of the KUKA System Software
$WORKSTATE
Description
Signal declaration for monitoring of Cartesian workspaces
Each configured workspace must be assigned to a signal output. The output
is set if a Cartesian workspace is violated.
Further information about configuring workspaces is contained in the
Operating and Programming Instructions for System Integrators.
Syntax
SIGNAL $WORKSTATEWorkspace number $OUT[Output number]
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
163 / 179
System Variables
Explanation of
the syntax
3.5.81
Element
Description
Workspace
number
Type: INT
Output
number
Type: INT

1…8
By default, the output is deactivated with FALSE.
$ZUST_ASYNC
Description
Signal declaration for uncoordinated asynchronous external axes
A separate enabling switch, which must be pressed for uncoordinated asynchronous motions, is connected to this input. Releasing the enabling switch
terminates the motion.
There is only one signal input available for asynchronous external axes. If the input is not required, it can be deactivated in conjunction with
the keyword FALSE.
Syntax
Explanation of
the syntax
SIGNAL $ZUST_ASYNC $IN[Input number]
Element
Description
Input number
Type: INT
Default: 1026
Example
SIGNAL $ZUST_ASYNC $IN[105]
The enabling switch is connected to input 105.
164 / 179
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
4 KUKA Service
4
KUKA Service
4.1
Requesting support
Introduction
The KUKA Roboter GmbH documentation offers information on operation and
provides assistance with troubleshooting. For further assistance, please contact your local KUKA subsidiary.
Information
The following information is required for processing a support request:

Model and serial number of the robot

Model and serial number of the controller

Model and serial number of the linear unit (if applicable)

Version of the KUKA System Software

Optional software or modifications

Archive of the software
For KUKA System Software V8: instead of a conventional archive, generate the special data package for fault analysis (via KrcDiag).
4.2

Application used

Any external axes used

Description of the problem, duration and frequency of the fault
KUKA Customer Support
Availability
KUKA Customer Support is available in many countries. Please do not hesitate to contact us if you have any questions.
Argentina
Ruben Costantini S.A. (Agency)
Luis Angel Huergo 13 20
Parque Industrial
2400 San Francisco (CBA)
Argentina
Tel. +54 3564 421033
Fax +54 3564 428877
ventas@costantini-sa.com
Australia
Headland Machinery Pty. Ltd.
Victoria (Head Office & Showroom)
95 Highbury Road
Burwood
Victoria 31 25
Australia
Tel. +61 3 9244-3500
Fax +61 3 9244-3501
vic@headland.com.au
www.headland.com.au
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
165 / 179
System Variables
166 / 179
Belgium
KUKA Automatisering + Robots N.V.
Centrum Zuid 1031
3530 Houthalen
Belgium
Tel. +32 11 516160
Fax +32 11 526794
info@kuka.be
www.kuka.be
Brazil
KUKA Roboter do Brasil Ltda.
Avenida Franz Liszt, 80
Parque Novo Mundo
Jd. Guançã
CEP 02151 900 São Paulo
SP Brazil
Tel. +55 11 69844900
Fax +55 11 62017883
info@kuka-roboter.com.br
Chile
Robotec S.A. (Agency)
Santiago de Chile
Chile
Tel. +56 2 331-5951
Fax +56 2 331-5952
robotec@robotec.cl
www.robotec.cl
China
KUKA Automation Equipment (Shanghai) Co., Ltd.
Songjiang Industrial Zone
No. 388 Minshen Road
201612 Shanghai
China
Tel. +86 21 6787-1808
Fax +86 21 6787-1805
info@kuka-sha.com.cn
www.kuka.cn
Germany
KUKA Roboter GmbH
Zugspitzstr. 140
86165 Augsburg
Germany
Tel. +49 821 797-4000
Fax +49 821 797-1616
info@kuka-roboter.de
www.kuka-roboter.de
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
4 KUKA Service
France
KUKA Automatisme + Robotique SAS
Techvallée
6, Avenue du Parc
91140 Villebon S/Yvette
France
Tel. +33 1 6931660-0
Fax +33 1 6931660-1
commercial@kuka.fr
www.kuka.fr
India
KUKA Robotics India Pvt. Ltd.
Office Number-7, German Centre,
Level 12, Building No. - 9B
DLF Cyber City Phase III
122 002 Gurgaon
Haryana
India
Tel. +91 124 4635774
Fax +91 124 4635773
info@kuka.in
www.kuka.in
Italy
KUKA Roboter Italia S.p.A.
Via Pavia 9/a - int.6
10098 Rivoli (TO)
Italy
Tel. +39 011 959-5013
Fax +39 011 959-5141
kuka@kuka.it
www.kuka.it
Japan
KUKA Robotics Japan K.K.
Daiba Garden City Building 1F
2-3-5 Daiba, Minato-ku
Tokyo
135-0091
Japan
Tel. +81 3 6380-7311
Fax +81 3 6380-7312
info@kuka.co.jp
Korea
KUKA Robotics Korea Co. Ltd.
RIT Center 306, Gyeonggi Technopark
1271-11 Sa 3-dong, Sangnok-gu
Ansan City, Gyeonggi Do
426-901
Korea
Tel. +82 31 501-1451
Fax +82 31 501-1461
info@kukakorea.com
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
167 / 179
System Variables
168 / 179
Malaysia
KUKA Robot Automation Sdn Bhd
South East Asia Regional Office
No. 24, Jalan TPP 1/10
Taman Industri Puchong
47100 Puchong
Selangor
Malaysia
Tel. +60 3 8061-0613 or -0614
Fax +60 3 8061-7386
info@kuka.com.my
Mexico
KUKA de Mexico S. de R.L. de C.V.
Rio San Joaquin #339, Local 5
Colonia Pensil Sur
C.P. 11490 Mexico D.F.
Mexico
Tel. +52 55 5203-8407
Fax +52 55 5203-8148
info@kuka.com.mx
Norway
KUKA Sveiseanlegg + Roboter
Bryggeveien 9
2821 Gjövik
Norway
Tel. +47 61 133422
Fax +47 61 186200
geir.ulsrud@kuka.no
Austria
KUKA Roboter Austria GmbH
Vertriebsbüro Österreich
Regensburger Strasse 9/1
4020 Linz
Austria
Tel. +43 732 784752
Fax +43 732 793880
office@kuka-roboter.at
www.kuka-roboter.at
Poland
KUKA Roboter Austria GmbH
Spółka z ograniczoną odpowiedzialnością
Oddział w Polsce
Ul. Porcelanowa 10
40-246 Katowice
Poland
Tel. +48 327 30 32 13 or -14
Fax +48 327 30 32 26
ServicePL@kuka-roboter.de
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
4 KUKA Service
Portugal
KUKA Sistemas de Automatización S.A.
Rua do Alto da Guerra n° 50
Armazém 04
2910 011 Setúbal
Portugal
Tel. +351 265 729780
Fax +351 265 729782
kuka@mail.telepac.pt
Russia
OOO KUKA Robotics Rus
Webnaja ul. 8A
107143 Moskau
Russia
Tel. +7 495 781-31-20
Fax +7 495 781-31-19
kuka-robotics.ru
Sweden
KUKA Svetsanläggningar + Robotar AB
A. Odhners gata 15
421 30 Västra Frölunda
Sweden
Tel. +46 31 7266-200
Fax +46 31 7266-201
info@kuka.se
Switzerland
KUKA Roboter Schweiz AG
Industriestr. 9
5432 Neuenhof
Switzerland
Tel. +41 44 74490-90
Fax +41 44 74490-91
info@kuka-roboter.ch
www.kuka-roboter.ch
Spain
KUKA Robots IBÉRICA, S.A.
Pol. Industrial
Torrent de la Pastera
Carrer del Bages s/n
08800 Vilanova i la Geltrú (Barcelona)
Spain
Tel. +34 93 8142-353
Fax +34 93 8142-950
Comercial@kuka-e.com
www.kuka-e.com
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
169 / 179
System Variables
170 / 179
South Africa
Jendamark Automation LTD (Agency)
76a York Road
North End
6000 Port Elizabeth
South Africa
Tel. +27 41 391 4700
Fax +27 41 373 3869
www.jendamark.co.za
Taiwan
KUKA Robot Automation Taiwan Co., Ltd.
No. 249 Pujong Road
Jungli City, Taoyuan County 320
Taiwan, R. O. C.
Tel. +886 3 4331988
Fax +886 3 4331948
info@kuka.com.tw
www.kuka.com.tw
Thailand
KUKA Robot Automation (M)SdnBhd
Thailand Office
c/o Maccall System Co. Ltd.
49/9-10 Soi Kingkaew 30 Kingkaew Road
Tt. Rachatheva, A. Bangpli
Samutprakarn
10540 Thailand
Tel. +66 2 7502737
Fax +66 2 6612355
atika@ji-net.com
www.kuka-roboter.de
Czech Republic
KUKA Roboter Austria GmbH
Organisation Tschechien und Slowakei
Sezemická 2757/2
193 00 Praha
Horní Počernice
Czech Republic
Tel. +420 22 62 12 27 2
Fax +420 22 62 12 27 0
support@kuka.cz
Hungary
KUKA Robotics Hungaria Kft.
Fö út 140
2335 Taksony
Hungary
Tel. +36 24 501609
Fax +36 24 477031
info@kuka-robotics.hu
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
4 KUKA Service
USA
KUKA Robotics Corp.
22500 Key Drive
Clinton Township
48036
Michigan
USA
Tel. +1 866 8735852
Fax +1 586 5692087
info@kukarobotics.com
www.kukarobotics.com
UK
KUKA Automation + Robotics
Hereward Rise
Halesowen
B62 8AN
UK
Tel. +44 121 585-0800
Fax +44 121 585-0900
sales@kuka.co.uk
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
171 / 179
System Variables
172 / 179
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
Index
Index
Symbols
($TECH_MAX) 63
$ABS_ACCUR 123
$ABS_CONVERT 105
$ABS_RELOAD 39
$ACC 39
$ACC_ACT_MA 39, 40, 41, 42
$ACC_AXIS 39
$ACC_AXIS_C 40
$ACC_C 40
$ACC_CAR_ACT 40
$ACC_CAR_LIMIT 41
$ACC_CAR_MAX 41
$ACC_CAR_STOP 41
$ACC_EXTAX 41
$ACC_EXTAX_C 41
$ACC_MA 39
$ACCU_DEFECT 141
$ACT_BASE 42
$ACT_EX_AX 42
$ACT_TOOL 42
$ADAP_ACC 132, 140
$ADVANCE 42
$ALARM_STOP 141
$ALARM_STOP_INTERN 142
$ANA_DEL_FLT 120
$ANIN 43
$ANOUT 43
$ASYNC_AX 142
$ASYNC_AXIS 44, 106
$ASYNC_FLT 45
$ASYNC_MODE 105
$ASYNC_OPT 44, 123
$ASYNC_STATE 45
$ASYS 45
$AUT 142
$AUX_POWER 142
$AXIS_ACT 46
$AXIS_ACTMOD 46
$AXIS_BACK 46
$AXIS_CAL 46
$AXIS_FOR 47
$AXIS_HOME 150
$AXIS_INC 47
$AXIS_INT 47
$AXIS_JUS 47
$AXIS_RET 48
$AXWORKSTATE 143
$B_IN 48
$B_OUT 48
$BASE 48
$BASE_C 49
$BASE_KIN 49
$BIN_IN 106
$BIN_OUT 107
$BRAKE_SIG 49
$BRAKES_OK 143
$BRAKETEST_CYCLETIME 143
$BRAKETEST_MONTIME 144
$BRAKETEST_REQ_EX 144
$BRAKETEST_REQ_INT 144
$BRAKETEST_TIMER 144
$BRAKETEST_WARN 145
$BRAKETEST_WORK 145
$CAL_DIFF 49
$CALP 50
$CHCK_MOVENA 123
$CIRC_TYPE 50
$CIRC_TYPE_C 50
$CLOCKSYNCMASTER 108
$CMD 50
$COLL_ALARM 145
$COLL_ENABLE 146
$COMPENSATED_LOAD 133
$COMPLETE_NETWORK_OK 146
$CONF_MESS 146
$COOP_KRC 108
$COSYS 51
$COUNT_I 109
$COUPLERESOLVERDIFF 51
$CP_STATMON 109
$CP_VEL_TYPE 109
$CPVELREDMELD 51
$CURR_ACT 51
$CURR_RED 52
$CUSTOM_MODEL_NAME 133
$CUSTOM_MODEL_VERSION 133
$CYCFLAG 52
$DATA_INTEGRITY 124
$DATA_LD_EXT_OBJ 53
$DATA_SER 53
$DATAPATH 53
$DATE 54
$DEF_L_CM 134
$DEF_L_J 134
$DEF_L_M 133
$DEF_LA3_CM 134
$DEF_LA3_J 135
$DEF_LA3_M 134
$DEVICE 55
$DIGIN 146
$DIGIN_FILT 124
$DIGIN(x)CODE 147
$DIRECTION 55
$DISPLAY_REF 55
$DISPLAY_VAR 55
$DIST_NEXT 56
$DISTANCE 56
$DRIVE_CART 124
$DRIVE_CP 125
$DRIVES_OFF 147
$DRIVES_ON 147
$DYN_DAT 135
$EDIT_MODE 110
$EKO_DAT 135
$EKO_MODE 136
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
173 / 179
System Variables
$EMSTOP_ADAP 136
$EMSTOP_GEARTORQ 136
$EMSTOP_MOTTORQ 137
$EMSTOP_PATH 148
$EMSTOP_TORQRATE 137
$EMT_MODE 56
$ENCODERFAILURE 56
$ENDLESS 125
$ENERGY_MON 137
$EX_AX_ASYNC 44, 106
$EXT 148
$EXT_ACCU_MON 125
$EXT_AXIS 125
$EXT_MOD_x 110
$EXT_START 148
$EXTSTARTTYP 57
$FAN_FOLLOW_UP_TIME 148
$FAN_RED_LIMIT_TEMP 149
$FILTER 57
$FILTER_C 57
$FLAG 58
$FOL_ERROR 58
$H_POS 149
$HOME 58
$HW_WARNING 149
$I_O_ACT 150
$I_O_ACTCONF 150
$IBS_SLAVEIN 111
$IBUS_OFF 111
$IBUS_ON 111
$IDENT_OPT 126
$IDENT_STARTP 58
$IDENT_STATE 59
$IMM_STOP 149
$IMPROVEDCPBLENDING 126
$IMPROVEDMIXEDBLENDING 126
$IN 59
$IN_HOME 149, 150
$INPOSITION 59
$INSIM_TBL 60
$INTERPRETER 60
$INTERRUPT 61
$IOSIM_OPT 61
$IOWR_ON_ERR 127
$IPO_MODE 62
$IPO_MODE_C 63
$ITER 137
$JERK 63
$JUS_TOOL_NO 63
$KCP_CLIENTS 112
$KCP_CONNECT 63
$KCP_HOSTIPADDR 112
$KCP_POS 112
$KEYMOVE 64
$KR_SERIALNO 64
$LAST_BUFFERING_NOTOK 150
$LINE_SEL_OK 64
$LINE_SELECT 64
$LOCAL_NETWORK_OK 151
$LOOP_CONT 127
$LOOP_MSG 127
174 / 179
$MASTERINGTEST_MONTIME 151
$MASTERINGTEST_OK 151
$MASTERINGTEST_REQ_EX 152
$MASTERINGTEST_REQ_INT 152
$MASTERINGTEST_WORK 152
$MASTERINGTESTSWITCH_OK 153
$MEAS_PULSE 65
$MODE_MOVE 65
$MODE_OP 65
$MODEL_NAME 138
$MODEL_TYPE 138
$MOT_STOP 66
$MOT_STOP_OPT 128
$MOTIONCOOP 128
$MOTOR_RED_TEMP 153
$MOUSE_ACT 66
$MOUSE_DOM 66
$MOUSE_ROT 67
$MOUSE_TRA 67
$MOVE_BCO 67
$MOVE_ENA_ACK 153
$MOVE_ENABLE 123, 153
$MOVE_STATE 67
$MSG_T 128
$NEAR_POSRET 154
$NEARPATHTOL 113
$NULLFRAME 68
$NUM_IN 68
$NUM_OUT 68
$NUMSTATE 69
$ON_PATH 154
$OPT_APPROX 138
$OPT_FLT_PTP 138
$OPT_MOVE 139, 140
$OPT_TIME_PTP 139
$OPT_VAR_IDX 69
$ORI_TYPE 69
$ORI_TYPE_C 69
$OUT 70
$OUT_C 70
$OUTSIM_TBL 71
$OV_ASYNC 72
$OV_JOG 73
$OV_PRO 73
$OV_ROB 73
$PAL_MODE 73
$PERI_RDY 154
$PHASE_MONITORING 129
$PHASE_VOLTAGE_MISSING 154
$PHGBRIGHT 74
$PHGCONT 74
$PHGINFO 74
$PHGTEMP 75
$POS_ACT 75
$POS_ACT_MES 75
$POS_BACK 75
$POS_FOR 75
$POS_INT 76
$POS_RET 76
$POS_TRACKER_ERROR 155
$POWER_FAIL 76
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
Index
$POWEROFF_DELAYTIME 76
$PR_MODE 155
$PRO_ACT 155
$PRO_I_O 113
$PRO_IP 77
$PRO_MODE 77
$PRO_MODE0 78
$PRO_MODE1 79
$PRO_MOVE 156
$PRO_NAME 80
$PRO_NAME0 80
$PRO_NAME1 80
$PRO_START 81
$PRO_STATE 81
$PRO_STATE0 81
$PRO_STATE1 81
$PROG_TORQ_MON 139
$PROGCOOP 130
$PSER_x 113
$RC_RDY1 156
$RCV_INFO 82
$RDC_FLASH_DEFECT 156
$REBOOTDSE 82
$RED_T1 113
$RED_T1_OV_CP 113
$RED_VEL 82
$RED_VEL_C 83
$REVO_NUM 83
$RINT_LIST 83
$ROB_CAL 156
$ROB_STOPPED 157
$ROB_TIMER 84
$ROBROOT 84
$ROBROOT_C 84
$ROBROOT_KIN 85
$ROBRUNTIME 85
$ROBTRAFO 85
$ROTSYS 85
$ROTSYS_C 86
$SAFEGATE_OP 157
$SAFETY_SW 86
$SEN_PINT 86
$SEN_PINT_C 87
$SEN_PREA 87
$SEN_PREA_C 87
$SEP_ASYNC_OV 130
$SET_IO_SIZE 130
$SIMULATE 88
$SINGUL_ERR_JOG 114
$SINGUL_ERR_PRO 114
$SINGUL_STRATEGY 130
$SINT_LIST 88
$SLAVE_AXIS_INC 89
$SOFTPLCBOOL 89
$SOFTPLCINT 90
$SOFTPLCREAL 90
$SPREADACTION 114
$SR_AXISACC_OK 157
$SR_AXISSPEED_OK 158
$SR_CARTSPEED_OK 158
$SR_OV_RED 115
$SR_RANGE(x)_OK 158
$SR_RANGEINPUT(x)_ACTIVE 159
$SR_SAFEMON_ACTIVE 159
$SR_SAFEOPSTOP_ACTIVE 159
$SR_SAFEOPSTOP_OK 160
$SR_SAFEREDSPEED_ACTIVE 160
$SR_STOP 160
$SR_TOOL(x)_ACTIVE 161
$SR_VEL_RED 115
$SR_WORKSPACE_RED 115
$SS_MODE 161
$STOPMB_ID 90
$STOPMESS 161
$STOPNOAPROX 90
$STROBE 161
$STROBE(x)LEV 162
$SYNC 140
$SYNCCMD_SIM 116
$SYNCLINESELECTMASK 116
$T1 162
$T2 162
$T2_ENABLE 162
$T2_OUT_WARNING 131
$T2_OV_REDUCE 131
$TARGET_STATUS 117
$TCP_IPO 131
$TECH 91
$TECH_ANA_FLT_OFF 117
$TECH_C 91
$TECH_CONT 118
$TECH_FUNC 118
$TECH_OPT 131
$TECHANGLE 92
$TECHANGLE_C 92
$TECHIN 92
$TECHPAR 93
$TECHPAR_C 93
$TECHSYS 93
$TECHSYS_C 94
$TECHVAL 94
$TIMER 94
$TIMER_FLAG 95
$TIMER_STOP 95
$TOOL 95
$TOOL_C 96
$TOOL_KIN 96
$TORQ_DIFF 96
$TORQ_DIFF2 96
$TORQ_VEL 97
$TORQMON 97
$TORQMON_COM 98
$TORQMON_COM_DEF 118
$TORQMON_DEF 119
$TORQMON_TIME 119
$TORQMON2 98
$TORQMON2_DEF 119
$TORQMON2_TIME 120
$TORQUE_AXIS 99
$TRACE 99
$TRANSSYS 100
$TSYS 100
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
175 / 179
System Variables
$USE_CUSTOM_MODEL 140
$USER_SAF 163
$V_CUSTOM 120
$V_OPTION 132
$V_ROBCOR 140
$V_STEUMADA 163
$VAR_TCP_IPO 132
$VEL 100
$VEL_ACT 101
$VEL_AXIS 101
$VEL_AXIS_ACT 101
$VEL_AXIS_C 102
$VEL_AXIS_MA 101, 102, 103
$VEL_C 102
$VEL_CP_T1 113
$VEL_EXTAX 102
$VEL_EXTAX_C 103
$VEL_FLT_OFF 120
$VEL_MA 100
$WAIT_FOR 103
$WAIT_FOR_INDEXRES 103
$WAIT_FOR_ON 104
$WBOXDISABLE 104
$WORKSPACE 121
$WORKSPACE_NAME 121
$WORKSPACERESTOREACTIVE 122
$WORKSTATE 163
$WORLD 104
$WS_CONFIG 122
$ZERO_MOVE 104
$ZUST_ASYNC 164
Numbers
2004/108/EC 37
2006/42/EC 37
89/336/EEC 37
95/16/EC 37
97/23/EC 37
A
Accessories 15
Applied norms and regulations 37
AUT 22
AUT EXT 22
Automatic 22
Automatic External 22
Automatic mode 34
Axis range 17
Axis range limitation 26
Axis range monitoring 26
B
Brake defect 29
Braking distance 17
C
CE mark 16
Cleaning work 35
Connecting cables 15
Counterbalancing system 35
Cross-connections 31
176 / 179
Current, limiting 52
CWRITE() 50
D
Danger zone 17
Declaration of conformity 16
Declaration of incorporation 15, 16
Decommissioning 36
Disposal 36
Documentation, industrial robot 13
Drives OFF 21
Drives ON 21
E
EC declaration of conformity 16
EMC Directive 16, 37
EMERGENCY STOP 19
EMERGENCY STOP button 20, 21, 23, 32
EMERGENCY STOP device 23, 24, 28
EMERGENCY STOP, external 20, 21, 24, 32
EMERGENCY STOP, local 20, 21, 32
EN 60204-1 38
EN 61000-6-2 37
EN 61000-6-4 38
EN 614-1 37
EN ISO 10218-1 37
EN ISO 12100-1 37
EN ISO 12100-2 37
EN ISO 13849-1 37
EN ISO 13849-2 37
EN ISO 13850 37
Enabling device 21, 24, 28
Enabling device, external 25
Enabling switches 24, 25
ESC 20
External axes 14, 15, 17
F
Faults 29
Firewall 33
Function test 32
G
General safety measures 29
Guard interlock 22
H
Hazardous substances 35
I
Industrial robot 15
Inputs, qualifying 20
Intended use 15
Introduction 13
ISTEP 106
J
Jog mode 25, 28
K
KCP 14, 17, 29
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
Index
KCP coupler 27
Keyboard, external 29
KUKA Customer Support 165
L
Labeling 27
LD_EXT_FCT 110
LD_EXT_OBJ 110
Liability 15
Linear unit 15
Low Voltage Directive 16
M
Machine data 33
Machinery Directive 16, 37
Maintenance 34
Manipulator 14, 15, 17, 19
Manual High Velocity 22
Manual mode 33
Manual Reduced Velocity 22
Mechanical axis range limitation 26
Mechanical end stops 26
Mode selector switch 21
Mouse, external 29
MSTEP 106
N
Network security 33
O
Operating modes 21
Operator 17, 18
Operator safety 21, 22, 28
Options 15
Overload 29
P
Palletizing robots 73
Panic position 24
Performance Level 20
Personnel 17
Plant integrator 17
Positioner 15
Pressure Equipment Directive 35, 37
Preventive maintenance work 35
Protective equipment 25
Q
Qualifying inputs 21, 32
R
Reaction distance 17
Recommissioning 31
Release device 27
Repair 34
Robot controller 15, 33
Safety instructions 13
Safety logic 20
Safety zone 17, 19
Safety, general 15
Service life, safety 30
Service life, safety bus terminals 30
Service, KUKA Roboter 165
Signal declarations 141
Simulation 34
Single point of control 36
Software 15
Software limit switches 25, 28
Start-up 31
STOP 0 14, 17, 19
STOP 1 14, 17, 19
STOP 2 14, 17, 19
Stop category 0 14, 17
Stop category 1 14, 17
Stop category 2 14, 17
Stop reactions 19
Stopping distance 17, 19
Storage 36
Support request 165
System integrator 16, 17, 18
System variables 39
T
T1 14, 17, 22
T2 14, 17, 22
Teach pendant 15
Terms used 14
Terms used, safety 17
Terms, used 14
Torque mode, activation/deactivation 99
Training 13
Transport position 30, 31
Transportation 30
TTS 14
Turn-tilt table 15
U
Use, contrary to intended use 15
Use, improper 15
User 17
V
Virus protection 33
VxWorks 14
W
Warnings 13
Working range limitation 26
Workspace 17, 19
S
Safeguards, external 28
Safety 15
Safety functions 28
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
177 / 179
System Variables
178 / 179
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
System Variables
Issued: 15.09.2011 Version: KSS 5.5, 5.6 Systemvariablen V2 en
179 / 179