Name: PROFIBUS task ID
Description: This system variables are used to create the task.
Power Up: You must perform a cold or hot start for the change to take effect.
$FILTSK[1].$lun
Minimum: 0 Maximum: 0xFFFF Default: 158 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: TASK LUN
Description: For internal use only. Do not modify this system variable. Task LUN
of task.
Power Up: SYSTEM Variables screen
$FILTSK[1].$priority
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Task priority
Description: For internal use only, Do not modify this system variable. 0 : The
default priority is used.
Power Up: You must perform a cold or hot start for the change to take effect.
$FILTSK[1].$sid
Minimum: 0 Maximum: 0xFFFF Default: 92 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Softparts ID
Description: For internal use only. Do not modify this system variable. Task
Softparts ID of task.
Power Up: N/A
$FILTSK[1].$startmd
Minimum: 0 Maximum: 255 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Indicate the start mode when this task run.
Description: For internal use only. Do not modify this system variable. 0 : every
mode. 1 : COLDSTART
$FILTSK[1].$tid
Minimum: 0 Maximum: 0xFFFF Default: 182 KCL/Data: RO Program:
RO UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: TASK ID
Description: For internal use only. Do not modify this system variable. Task ID
of task.
Power Up: N/A
$fn_grp[1].$motion.$qstop_enb
Minimum: 0 Maximum: 1 Default: 1 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Quick stop enable
Description: This enables the servo quick stop during search motion. Power Up: On_CNTL_Start
$FORCE_SENSE.$comm_reg1
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Force sensor communication register #1 Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$comm_reg2
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Description: internal use only
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$counter
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: Force sensor counter
Description: When the force sensor is active, the counter increments every
cycle.
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$enable
Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: BOOLEAN Memory: CMOS
Name: Force sensor enable switch
Description: TRUE: Enable reading from force sensor FALSE: Disable reading
from force sensor
Power Up: This variable takes effect on powerup
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$error_reg1
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: FANUC Force sensor error register #1
Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$error_reg2
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RO Program: RW UIF: RO CRTL: RO Data Type: SHORT Memory: CMOS
Name: FANUC Force sensor error register #2
Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$filter_coef
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Force sensor filter coefficient
Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$filter_time
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: REAL Memory: CMOS
Name: Force sensor filter time constant
Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
Minimum: 0 Maximum: 10 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Force sensor filter type
Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$force
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program:
RW UIF: RO CRTL: RO Data Type: VECTOR Memory: CMOS
Name: Force sensor force value
Description: Force sensor force values in force sensor coordinates units are kgf
for FANUC integral force sensor
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$force_data[1-6]
Minimum: 0x80000000 Maximum: 0 Default: 0 KCL/Data:
RO Program: Not available UIF: RO CRTL: RO Data Type: INTEGER Memory: CMOS
Name: Force sensor raw data
Description: Force sensor raw data, [1..3] : force xyz, [4..6] : moment xyz units
are gf and gfcm for FANUC integral force sensor
Power Up: N/A
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$force_data[6]
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Force sensor raw data
Description: Force sensor raw data, [1..3] : force xyz, [4..6] : moment xyz units
are gf and gfcm for FANUC integral force sensor
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$fs_lowerlim[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: REAL Memory: Not available
Name: Non-integral Force sensor lower alarm limit Description: Lower limits, excess causes alarm Power Up: limits effective on powerup
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru] See Also: See Lead-Thru Teach documentation
$FORCE_SENSE.$fs_upperlim[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: REAL Memory: Not available
Name: Non-integral Force sensor
Description: Upper limits, excess causes alarm Power Up: limits effective on powerup
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru] See Also: See Lead-Thru Teach documentation
$FORCE_SENSE.$moment
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RO Program:
Name: Force sensor moment value
Description: Force sensor moment values in force sensor coordinates units are
kgfcm for FANUC integral force sensor
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$port_count
Minimum: 0 Maximum: 6 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name:
Description: internal use only
Power Up: This variable is set by the system
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$port_type
Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Sensor I/O port type Description: Internal use only
Power Up: This variable is set by the system
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$req_zero
Minimum: 0x8000 Maximum: 0x7FFF Default: 0 KCL/Data:
RW Program: RW UIF: RW CRTL: RW Data Type: SHORT Memory: CMOS
Name: Force sensor zero request
Description: For FANUC Robotics internal use only. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$sensor_data[1-6]
Minimum: 0x80000000 Maximum: 5 Default: 0 KCL/Data:
RW Program: Not available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
Name: Non-integral Force sensor raw data
Description: Values read from non-integral force sensor Power Up: N/A
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$sensor_data[6]
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type: LONG Memory: Not available
Name: Non-integral Force sensor raw data
Description: Values read from the non-integral force sensor. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_SENSE.$sensor_port[1-6]
Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RW Program: Not
available UIF: RW CRTL: RW Data Type: USHORT Memory: CMOS
Name: Sensor port number
Description: Sensor I/O port number as define by setup menu Power Up: N/A
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
Minimum: 0 Maximum: 0x7FFF Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: USHORT Memory: Not available
Name: Sensor port number
Description: Sensor I/O port number as define by setup menu Power Up: This variable is set by the system
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$sensor_type
Minimum: 0 Maximum: 5 Default: 0 KCL/Data: RW Program:
RW UIF: RW CRTL: RW Data Type: INTEGER Memory: CMOS
Name: Type of force sensor installed
Description: 0 = integral force sensor 1 = non-integral analog force sensor Power Up: This variable is set by the system
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$sensor_zero[1-6]
Minimum: 0x80000000 Maximum: 5 Default: 0 KCL/Data:
RW Program: Not available UIF: RW CRTL: RW Data Type: LONG Memory: CMOS
Name: Non-integral Force sensor zero request Description: internal use only
Power Up: N/A
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$sensor_zero[6]
Minimum: 0x80000000 Maximum: 0x7FFFFFFF Default: 0 KCL/Data:
RW Program: RW UIF: Not available CRTL: Not available Data Type: LONG Memory: Not available
Description: internal use only
Power Up: This variable is set by the system
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru]
$FORCE_SENSE.$sensorcal_a[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: REAL Memory: Not available
Name: Non-integral Force sensor zero request Description: calibration parameter A
Power Up: effective on powerup
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru] See Also: See Lead-Thru Teach documentation
$FORCE_SENSE.$sensorcal_b[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: REAL Memory: Not available
Name: Non-integral Force sensor Description: calibration parameter B Power Up: effective on powerup
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru] See Also: See Lead-Thru Teach documentation
$FORCE_SENSE.$sensorcal_c[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: REAL Memory: Not available
Description: Calibration parameter C Power Up: value is effective on powerup
Screen: This is set by Lead-Thru option [MENU][SETUP][Lead Thru] See Also: See Lead-Thru Teach documentation
$FORCE_TRQ.$hp_dis_trq[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Current disturbance torque
Description: Obsolete. Use the $mor_grp.$cur_dis_trq system variable. Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_TRQ.$torque[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Torque value
Description: Current torque value.
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu
$FORCE_TRQ.$torque_cmd[6]
Minimum: 0 Maximum: 0 Default: 0 KCL/Data: RW Program:
RW UIF: Not available CRTL: Not available Data Type: INTEGER Memory: Not available
Name: Actual torque value
Power Up: This variable is set by the system
Screen: This variable is not directly assessible by menu