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STE 58762
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2-10
2.4.3 System Variables
The SCOL language provides special variables that are used in the programs to specify and
referent robot operating conditions. These variables are called system variables. Just like other
variables, you can refer to these variables in the program, change their value, etc. However, you
have to be careful when setting or substituting values into system variables since doing this will
directly effect robot operating conditions.
A list of system variables is presented below in Table 2.1.
Table 2.1 List of system variables
Name Description Effective values Initial value Data type
CONFIG Robot configuration 0, 1, 2 0 Integer type
ACCUR Positioning accuracy 0, 1 1 Integer type
ACCEL Acceleration (during acceleration) 0 ~ max% 100 Integer type
DECEL Deceleration (during deceleration) 0 ~ max% 100 Integer type
SPEED Speed of movement 0 ~ max% 100 Integer type
PASS Short-cut movement parameter 0 ~ 100% 100 Integer type
TORQUE Maximum torque on each axis 0 ~ max% 300 Vector type
GAIN Servo gain on each axis 0.1 1 Vector type
TOOL Tool coordinates 0 Coordinate type
BASE Base coordinates 0 Coordinate type
WORK Work coordinates 0 Coordinate type
TIMER Timer 0.1 sec. - Real type
ERROR Error information - Integer type
PLAYLOAD Load on the robot 0 ~ 0 Load type
SWITCH Multitask 0, 1 1 Integer type
TID 1 ~ - Integer type
Note: Maximum values are set separately for each system.