Paso 1: ¿Qué le pregunta usted a su hijo cuando regresa de la escuela?
C- Habilidades para la vida
Name: DeltaTool Output Record of Group 1
Description: Contains information about how the offset is being applied. Individual fields within this structure are described below.
Power Up: This variable is read only.
User Interface Location: Can be read from a KAREL program, KCL, or from the SYSTEM Variables screen.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual $DXMOR[1].$deltaframe
Minimum: 0 Default: 0 Maximum: 0
Name:
Description: Reserved for future use. Do not change this variable. Power Up:
User Interface Location: SYSTEM Variables screen $DXMOR[1].$deltatool
Minimum: nilpos Default: nilpos Maximum: POSITION
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: POSITION Name: DeltaTool Offset of Group 1
Description: This variable is updated when the APPLY_OFFSET(sch_num) is called and is the latest offset to be applied to the nominal trajectory.
Power Up: This variable is read only.
User Interface Location: Can be read from a KAREL program, KCL, or from the SYSTEM Variables screen.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual $DXMOR[1].$intr_tstamp
Minimum: 0 Default: 0 Maximum: 2^32
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER Name: Interpolator Timestamp of Group 1
Description: The timestamp value, in milliseconds, is updated when the offset is applied. Power Up: This variable is read only.
User Interface Location: Can be read from a KAREL program, KCL, or from the SYSTEM Variables screen.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual
$DXOFFSET[sch_num] STRUCTURE Name: Offset Variables
Description: Specifies the offset data for the schedule $DXSCH[sch_num]. It is updated to the system when the KAREL built-in function APPLY_OFFSET(sch_num) is called, and is effective on the next interpolated point of a motion segment.
Individual fields within this structure are described below.
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain its value. System power up will not affect this variable.
User Interface Location: Can be set from a KAREL program, KCL, or from the SYSTEM Variables screen.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual $DXOFFSET[sch_num].$ deltaframe
Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: uninit Name:
Description: Reserved for future use. Do not change this variable. Power Up:
User Interface Location: SYSTEM Variable screen $DXOFFSET[sch_num].$deltatool
Minimum: nilpos Default: nilpos Maximum: POSITION
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: POSITION Name: DeltaTool Offset
Description: Specifies the offset data for the schedule $DXSCH[sch_num]. It is updated to the system when the KAREL built-in function APPLY_OFFSET(sch_num) is called, and is effective on the next interpolated point of a motion segment.
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain this value. System power up will not affect this variable.
User Interface Location: Can be set from a KAREL program, KCL, or from the SYSTEM Variables screen.
$DXSCH[sch_num] STRUCTURE Name: DeltaTool Schedule Variables
Description: This is an array of DeltaTool schedule variables. A maximum of five schedules can be used.
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain their values. System power up will not affect this variable.
Individual fields within this structure are described below.
User Interface Location: Accessible from KAREL, KCL or the SYSTEM Variables screen See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual
$DXSCH[sch_num].$dfram e_type Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: uninit Name:
Description: Reserved for future use. Do not change this variable. Power Up:
User Interface Location: SYSTEM Variable screen $DXSCH[sch_num].$dtool_type
Minimum: DT_OFF Default: DT_OFF Maximum: DT_ACC_XF
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: DeltaTool Type
Description: Specifies how the offset data is to be applied according to Table 2-4. Table 2-4. Applying Offset Data
$dtool_type Offset Frame
DT_OFF Disable UTOOL
DT_LOC Location UTOOL
DT_XF Location+Orientation UTOOL
DT_ACC_LOC Accumulated Location UTOOL DT_ACC_X Accumulated Location+Orientation UTOOL
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain its value. System power up will not affect this variable.
User Interface Location: Can be set from a KAREL program, KCL, or from the SYSTEM Variables screen. However, the schedule will only be enabled when the KAREL built-in function START_OFFSET(sch_num) is called.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual $DXSCH[sch_num].$dxaccel1
Minimum: 0 Default: 256 Maximum: 1000
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: DeltaTool CART_ACCEL1
Description: This variable is used, together with $DXSCH[num].$dxaccel2, to determine the acceleration/deceleration time used when the DeltaTool offset is applied.
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain its value. System power up will not affect this variable.
User Interface Location: Can be set from a KAREL program, KCL, or from the SYSTEM Variables screen. However, the schedule will only be enabled when the KAREL built-in START_OFFSET(sch_num) is called.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual, or FANUC Robotics SYSTEM R-J3 Controller KAREL Reference Manual for information on $CART_ACCEL1. $DXSCH[sch_num].$dxaccel2
Minimum: 0 Default: 128 Maximum: 1000
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: DeltaTool CART_ACCEL2
Description: This variable is used, together with $DXSCH[num].$dxaccel1, to determine the acceleration/deceleration time used when the DeltaTool offset is applied.
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain its value. System power up will not affect this variable.
User Interface Location: Can be set from a KAREL program, KCL, or from the SYSTEM Variables screen. However, the schedule will only be enabled when the KAREL built-in START_OFFSET(sch_num) is called.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual or FANUC Robotics SYSTEM R-J3 Controller KAREL Reference Manual for information on $CART_ACCEL2 $DXSCH[sch_num].$group_num
Minimum: 1 Default: 1 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Group Number
Description: Group number for the DeltaTool schedule. Currently, DeltaTool can only be used for group 1.
Power Up: This variable is initialized only once when DeltaTool is loaded. After this occurs, you must maintain its value. System power up will not affect this variable.
User Interface Location: Can be set from a KAREL program, KCL, or from the SYSTEM Variables screen. However, the schedule will only be enabled when the KAREL built-in function START_OFFSET(sch_num) is called.
See Also:FANUC Robotics SYSTEM R-J2 Controller DeltaTool Manual $ED_SIZE
Minimum: 10000 Default: 30720 Maximum: 524288
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Text editor size
Description: Determines the amount of memory available for all the edit buffers combined. The memory is allocated during cold start from the C-WORK memory pool.
Power Up: Requires a cold start to take effect User Interface Location: SYSTEM Variables screen $ED_STATE
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RO Program: RO GET/SET_VAR: RO Data Type: INTEGER Name: Text editor state
Description: Used by the system to determine whether a file is currently in the text editor. This variable can also be read by a KAREL program to determine this status. The valid states are 0= No files in text editor
1= Text editor is between states 2= File is in text editor
Even though a file is in the text editor, it might not be the current screen on the CRT/KB. Power Up: