Asamblea General
RESOLUCIÓN APROBADA POR LA ASAMBLEA GENERAL [sobre la base del informe de la Tercera Comisión (A/53/625/Add.2)]
Name: Dynamic Mastering Record
Description: Contains all the information related to mastering and overtravel. Individual fields within this structure are described below.
Power Up: Set by the system during mastering/reference position setting. User Interface Location: SYSTEM Master/Cal screen
$DMR_GRP[1].$adapt_col_ m[9]
Minimum: -32768 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Adaptive Corioli Minus
Description: Data for adaptive control. Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$adapt_col_ p[9]
Minimum: -32768 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Adaptive Corioli Plus
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$adapt_fric[ 9]
Minimum: -32768 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Adaptive Friction
Description: Data for adaptive control. Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$adapt_gr avity[9]
Minimum: -32768 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Adaptive gravity
Description: Data for adaptive control. Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$adapt_iner[ 9]
Minimum: -32768 Default: 0 Maximum: 32767
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Adaptive Inertia
Description: Data for adaptive control. Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$bcklsh_sig n[9]
Minimum: 0 Default: 1 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Backlash Compensation Direction
Description: To determine the sign for the new backlash compensation, the previous backlash compensation sign is required.
$bcklsh_sign was recorded as the sign of previous compensation. FALSE means plus and TRUE means minus. The backlash compensation amount is stored in the system variable
$bcklash_count.
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$dsp_st_his t[9]
Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Servo (Digital Signal Processor) Status History
Description: Servo status bits set by the servo software. Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$eachmst_do n[9]
Minimum: 0 Default: 0 Maximum: 2
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Individual Axis Mastering Done
Description: A flag indicated each axis master stage. If master has been done on this axis, this flag should be 2.
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$master_cou n[9]
Minimum: INTEGER_MIN Default: 0 Maximum: INTEGER_MAX KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Mastering Count
Description: Displays the mastering count data of the axis of each joint. The system sets it automatically when mastering is performed.
Power Up: Set by the system.
$DMR_GRP[1].$master_done Minimum: 0 Default: 1 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Mastering Done
Description: Indicates whether or not the mastering procedure has been performed. If it is set to TRUE, mastering has been done. The system changes this variable automatically when
mastering has been performed. Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$mch_pls_hi s[9]
Minimum: INTEGER_MIN Default: 0 Maximum: INTEGER_MAX KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Machine Pulse History
Description: This system variable is set to $machine_pls when the pulse mismatch alarm occurs and keeps it after the alarm is reset, so that it can be examined later.
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$ot_minus[9]
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Overtravel Minus
Description: $OT_MINUS is an array with each element representing the overtravel condition for the respective axis. If an element is set TRUE, the corresponding axis has a minus overtravel condition and can be jogged only in the positive direction. When an overtravel does not exist, all of the array elements are reset to FALSE.
The appropriate array elements in $OT_MINUS are automatically set to TRUE when an
overtravel occurs in the minus direction, and automatically set back to FALSE when the condition is corrected.
This variable is saved to the SYSMAST.SV system file automatically every time its value is changed and is automatically loaded into the system at power up.
This information is displayed if the axis of each joint is in the state of overtravel of negative direction. When the joint axis enters the state of overtravel of negative direction, the system will change this variable automatically.
Power Up: Set by the system.
User Interface Location: MANUAL OT Release $DMR_GRP[1].$ot_plus[9]
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Overtravel Plus
Description: $OT_PLUS is an array with each element representing the overtravel condition for the respective axis. If an element is set TRUE, the corresponding axis has a plus overtravel condition and can be jogged only in the negative direction. When an overtravel does not exist, all of the array elements are FALSE.
The appropriate array elements in $OT_PLUS are automatically set to TRUE when an overtravel occurs in the plus direction, and automatically set back to FALSE when the condition is
corrected.
This variable is saved to the SYSMAST.SV system file automatically every time its value is changed and is automatically loaded into the system at power up.
This information is displayed if the axis of each joint is in the state of overtravel of positive direction. When the joint axis enters the state of overtravel of positive direction, the system will change automatically.
Power Up: Set by the system.
User Interface Location: MANUAL OT Release $DMR_GRP[1].$ref_count[9]
Minimum: INTEGER_MIN Default: 0 Maximum: INTEGER_MAX KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Reference Count
Description: The encoder pulses at the reference position. Power Up: Set by the system during reference position setup. User Interface Location: SYSTEM Master/Cal
$DMR_GRP[1].$ref_done
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Reference Position Set
Description: Set by the system when the reference position and reference count have been set. It is used for quick mastering.
Power Up: Set by the system.
User Interface Location: SYSTEM Master/Cal $DMR_GRP[1].$ref_pos[9]
Minimum: -100000.0 Default: 0.0 Maximum: 100000.0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: REAL Name: Reference Position
Description: Indicates the reference position, in joint angles, for use with quick mastering feature. When mastering is lost due to battery backup problems with the system, and not due to motor replacement, the quick mastering feature can be used by moving the robot to be very close to the reference position using witness marks or other means. The mastering data can be recovered if the motors are within 1/2 revolution of the reference position.
Power Up: Set by system during reference position setup. User Interface Location: SYSTEM Master/Cal
$DMR_GRP[1].$shift_error
Minimum: INTEGER_MIN Default: 0 Maximum: INTEGER_MAX KCL/Data: NO Program: NO GET/SET_VAR: NO Data Type: INTEGER Name: Dynamic Mastering Shift History
Description: Shift_error holds the counts left over from moving the mastering position in dynamic mastering for continuous turn.
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$spc_cnt_hi s[9]
Minimum: INTEGER_MIN Default: 0 Maximum: INTEGER_MAX KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Serial Pulse Coder Count History
Description: This system variable is set to $spc_count when the pulse mismatch alarm occurs and keeps it after the alarm is reset, so that it can be examined later.
Power Up: Set by the system.
$DMR_GRP[1].$spc_count[9]
Minimum: INTEGER_MIN Default: 0 Maximum: INTEGER_MAX KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: INTEGER Name: Serial Pulse Coder Count
Description: This system variable adds another protection for unexpected pulse coder reset. If the machine pulse at power down and power up are different, an alarm occurs. In order to implement this feature, the following new system variables are required.
$DMR_GRP.$spc_count[]: FLTR task stores machine pulses every ITP to compare with at the next power up.
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$spc_move[9]
Minimum: 0 Default: 0 Maximum: 1
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: BOOLEAN Name: Serial Pulse Coder Move
Description: This system variable adds another protection for unexpected pulse coder reset. If the machine pulse at power down and power up are different, an alarm occurs. In order to implement this feature, the following new system variables are required.
$DMR_GRP.$spc_move[]: FLTR task stores motion status (if motion is in progress or not) every ITP to determine the tolerance at the next power up.
Power Up: Set by the system.
User Interface Location: SYSTEM Variables screen $DMR_GRP[1].$spc_st_his t[9]
Minimum: 0 Default: 0 Maximum: 0
KCL/Data: RW Program: RW GET/SET_VAR: RW Data Type: SHORT Name: Serial Pulse Coder Status History
Description: SPC (serial pulse coder) status history. Power Up: Set by the system.