SYSTEM CONFIG SYSTEM VARIABLES

$MCR.$genoverride

Minimum: Not available Maximum: Not available Default: Not available KCL/Data:

Not available Program: RW UIF: Not available CRTL: Not available Data Type:

INTEGER_SK Memory: Not available

Name: General Override

Description: Specifies the rate of robot movement speed. The robot movement speed when the

program is executed is $MCR.$genoverride * $MCR_GRP.$progoverride. $genoverride, a scaling

factor, is expressed as a percentage of the program motion speed. For all programmed motion

$genoverride is multiplied with $progoverride to obtain a total override value, which is then multiplied

by the motion speed. As a safety feature, the value of $genoverride is automatically set to 10 if you do

not confirm the setting before jogging the robot. You can set the value of $genoverride using the teach

pendant OVERRIDE UP and DOWN keys or KCL commands.

$MCR_GRP[1].$prgoverride

Minimum: Not available Maximum: Not available Default: Not available KCL/Data:

Not available Program: RW UIF: Not available CRTL: Not available Data Type:

REAL_SK Memory: Not available

Name: Program Override

Description: Specifies the rate of robot movement speed. The robot movement speed when

the program is executed is $MCR.$genoverride * $MCR.$progoverride. It is requested by

$MCR_GRP.$progoverride. $prgoverride, a scaling factor, is expressed as a percentage of the

motion speed. For all programmed motion, $prgoverride is multiplied by $genoverride to obtain a

total override value, which is then multiplied by the motion speed. $prgoverride has no effect for

motions other than program motions. You can assign a value to $prgoverride from a program or

from the teach pendant.

as for the reset signal you need to be more specific there are many of them

Hello,

Could someone help me out with the system variable for "Allow Force I/O in AUTO mode" in System/Config menu?

Thanks!

Anand

Quote from jbrown.wa

I am looking for the Signal if OVERRIDE = 100 DO[*]. I want to run a program to initialize this.

It is set on line 40 in the system/config screen and is also shown on the I/O Cell Outputs screen.

I did a search of the system variables by value and couldn't find it. Did i miss something? Is there a different way to write this into a program?

Thanks!

This is a weird one. Im sure you've found a work around by now but for others the system variable for this is $GENOVRD_DO. For some reason, this system variable does not show up in the system variable list, and does not show up in any of the sys var .VA files.... but you can read and write to it with a tp program no problem.

No idea how that works.

From the R-30iB Plus/R-30iB Mate Plus/R-30iB Compact Plus HandlingTool Setup and Operations Manual:

"If the robot general override is 100%, this output turns on, else off."

It would be nice to have an exhaustive list posted here. I will update these as I find more. Any help would be appreciated:

1. Use HOT Start: $SEMIPOWERFL
2. I/O Power Fail Recovery: $PWF_IO
3. Cold START Autoexec Program: $PWR_NORMAL
4. Hot START Autoexec Program: $PWR_SEMI
5. HOT START done signal: $SEMIPWFDO
6. Restore Selected Program: $DEFPROG_ENB
7. Enable UI signals: $OPWORK.$UOP_DISABLE
8. Start for CONTINUE only: $SHELL_CFG.$CONT_ONLY
9. CTOPI for ABORT: $SHELL_CFG.$USE_ABORT
10. Abort all programs by CSTOPI: $SHELL_CFG.$CSTOPI_ALL
11. PROD_START depend on pnstrobe: $SHELL_CFG.$PRODSTARTYP
12. Detect FAULT_RESET signal: $SCR.$RESETINVERT
13. Use PPABN Signal: $PARAM_GROUP[1].$PPABN_ENBL
14. WAIT timeout: $WAITTMOUT
15. RECEIVE timeout: $RCVTMOUT
16. Return to top of program: $PNS_END_CUR <- I think the config menu value and system var values are inverted?
17. Original program name (F1): $PGINP_WORD[1]
18. Original program name (F2): $PGINP_WORD[2]
19. Original program name (F3): $PGINP_WORD[3]
20. Original program name (F4): $PGINP_WORD[4]
21. Original program name (F5): $PGINP_WORD[5]
22. Default Logical command: $DEFLOGIC
23. Maximum of ACC Instruction: $ACC_MAXLMT
24. Minimum of ACC Instruction: $ACC_MINLMT
25. WJNT for default motion: $DEF_WRSTJNT
26. Auto display of alarm menu: $ER_AUTO_ENB
27. Force message: $AUTOMESSAGE
28. Allow Force IO In Auto mode: $AUTOMODE_DO
29. Allow chg. ovrd. in AUTO mode: $AUTOMODE_OV
30. Signal to set in AUTO mode: $CR_AUTO_DO
31. Signal to set in T1 mode: $CR_T1_DO
32. Signal to set in T2 mode: $CR_T2_DO
33. Signal to set if E-STOP: $E_STOP_DO
34. Set if INPUT SIMULATED: $INPT_SIM_DO
35. Set if OUTPUT SIMULATED: $OUT_SIM_DO
36. SIM Input Wait Delay:
37. Set if Sim. Skip Enabled: $SIMWAITOUT
38. Set when prompt displayed: $PRMPDSPOUT
39. Output when WAIT on Input:
40. Signal if OVERRIDE =100: $GENOVRD_DO
41. Hand Broken: $SCR_GRP[1].$HBK_ENBL
42. Remote/Local setup: $REMOTE_CFG
43. External I/O (ON: Remote) :DI: $REMOTE_CFG.$REMOTEIOIDX
44. UOP auto assignment: $IOMASTER / $IO_AUTO_UOP / $IO_UOP_CFG <- This one is going to be tricky. It looks like multiple system variables are changing depending on the selection.
45. Multi Program Selection: $SCR.$MULSELENB
46. WAIT at Taught Position: $CPCFG.$COMP_SWITCH - $MRR_GRP[1].$SNGLRTY_STP <- Requires Constant Path Option, Changes multiple variables. $COMP_SWITCH is an INT and I've got no idea what the values mean.
47. Brake Control ECO mode: $SCR. $BRK_ECO_ENB
48. J7,J8 Jog key Setup: $JOG_GROUP
49. Collection name (F1): $PGINP_WORD[6]
50. Collection name (F2): $PGINP_WORD[7]
51. Collection name (F3): $PGINP_WORD[8]
52. Collection name (F4): $PGINP_WORD[9]
53. Collection name (F5): $PGINP_WORD[10]
54. Confirmation of TOUCHUP: $POS_EDIT.$CONF_TOUCH
55. No motion PR operate mode: $PG_CFG.$NOMOTN_PR
56. Use No-display Sub Program: $INVISTP_ENB
57. Export diagnosis data: $RSCH_LOG
58. Check Sim I/O when FWD/BWD: $SIMIOFWDLM.$ENABLE
59. Confirmation for AUTO: $DCS_CFG.$AUTOCNF_IDX
60. Ambient Temperature: $SCR_GRP[1].$AMB_TEMP
61. Allow I/O Chg in servo-off: $SRVNORDY_DO
62. Prohibit I/O change anytime: $PROHIBIT_DO
63. Incremental Jog:
64. Zero % Override: $MCR.$OVR_ZERO
65. Use Soft Operator Panel: $REMOTE_CFG.$LOCAL_OPTYP
66. wjnt when config changes:
67. Confirmation of ABORT(ALL): $CHK_ABORTAL
68. All lng share MulLNg Remark: $MRMK_ENONLY
69. Resume from cursor line: $PG_CFG.$RESUME_CFG <- potentially has more options than what's shown in the config menu. 0 for "all", 4 for "TP only".
70. Always ON Output: $ALWAYSON_DO
71. Chain failure Output: $CHAINFAILDO
72. Motion Status Display: $MNDSP_MST <- Enabling changes a bunch of variables in this group
73. Position reg matrix form: $PR_CARTREP
74. Wrist axis jog type:

Items highlighted in green have been found and tested.

Items highlighted in yellow have been found but might have additional notes or might be incomplete/incorrect.

Items highlighted in red have not been found. I searched for them using both the roboguide System Variable search, comparing VA files before and after changing, and by looking through Maintenance Data logs. No luck.

Also, I nominate somebody else to find the V10 Data ID equivalents (if they are even accessible). This took ages.

Quote from Erik Olsen

2. I/O Power Fail Recovery:

! Recover IO on power failure
! 1 is Not Recover
! 2 is Recover Sim
! 3 is Unsimulate
! 4 is Recover All
SETVAR $PWF_IO

Quote from Erik Olsen

7. Enable UI signals:
8. Start for CONTINUE only:
9. CTOPI for ABORT:

$OPWORK.$UOP_DISABLE
$SHELL_CFG.$CONT_ONLY
$SHELL_CFG.$USE_ABORT

Quote from Erik Olsen

30. Signal to set in AUTO mode:
31. Signal to set in T1 mode:
32. Signal to set in T2 mode:

34. Set if INPUT SIMULATED:
35. Set if OUTPUT SIMULATED:

$CR_AUTO_DO
$CR_T1_DO
$CR_T2_DO

$INPT_SIM_DO
$OUT_SIM_DO

Quote from Erik Olsen

38. Set if Sim. Skip Enabled:
39. Set when prompt displayed:

$SIMWAITOUT
$PRMPDSPOUT

Quote from Erik Olsen

41. Hand Broken:

! Hand broken monitoring. 1 = off
$SCR_GRP[1].$HBK_ENBL

Quote from Erik Olsen

42. Remote/Local setup:

-- REMOTE_TYPE 1 = Remote ; 2 = Local ; 3 = DIN ; 4 = SOP Panel Keyswitch
$REMOTE_CFG.$REMOTE_TYPE
-- REMOTEIOTYP 1 = DIN; 2 = DO; 20 = UI; 21 = UO; 8 = RI; 9 = RO
$REMOTE_CFG.$REMOTEIOTYP
-- RMT_MASTER 0:User Operator Panel 1:CRT/KB 2:Host computer 3:Remote device none
$RMT_MASTER

Quote from Erik Olsen

73. Position reg matrix form:

! Matrix representation in PRs. 1 = off (cart rep).
$PR_CARTREP