System Variables v220801

1. GLOB_PIN_0 ~ GLOB_PIN_39

Variables that store the position and orientation (location and rotation) of global Points saved in the system.
(Type: Point)

2. GLOB_PIN_0_J ~ GLOB_PIN_39_J

Variables that store the joint angle values of global Point saved in the system (Unit: Degree).
(Type: Joint)

3. _ROM_0~9

Non-volatile data stored in the system, meaning the values are retained even if the program ends or the controller power is turned off.

4. _GDATA_0~19 (_GLOBAL_0~19)

Default global variables set in the system that can be used across all programs.
_GDATA_0~19and _GLOBAL_0~19 are the same variables stored in the same area.

5. SD_MOD_USER_0~127 (SD_MOD_ADDR_128~255)

When the robot acts as a ModbusTCP server, this is the area available for user usage.
This variable is in the Word (16-bit) area and can represent values up to 65,536 (216).
SD_MOD_USER_0~127 and SD_MOD_ADDR_128~255 are the same variables stored in the same area.
For example, the value at address 128 corresponds to SD_MOD_USER_0 or SD_MOD_ADDR_128.

6. SD_MODBUS_CLIENT_NUM

When the robot acts as a ModbusTCP server, this variable indicates the number of connected clients.

7. SD_TIMER_0~9

Variables representing time, allowing control of up to 9 separate timers.
Timers can be selected and initialized through the Set-Timer Setting in the Make window.
During program execution, the time increases automatically and is mainly used for timer functions.

8. EIP_INT_R2P_0~19 (EIP_R2P_INT_0~19)

Variables used to transmit integer data to a PLC via Ethernet/IP communication.
EIP_INT_R2P_0~19 and EIP_R2P_INT_0~19 are the same variables stored in the same area.

9. EIP_INT_P2R_0~19 (EIP_P2R_INT_0~19)

Variables used to receive integer data from a PLC via Ethernet/IP communication.
EIP_INT_P2R_0~19 and EIP_P2R_INT_0~19 are the same variables stored in the same area.

10. EIP_REAL_R2P_0~19 (EIP_R2P_REAL_0~19)

Variables used to transmit floating-point data to a PLC via Ethernet/IP communication.
EIP_REAL_R2P_0~19 and EIP_R2P_REAL_0~19 are the same variables stored in the same area.

11. EIP_REAL_P2R_0~19 (EIP_P2R_REAL_0~19)

Variables used to receive floating-point data from a PLC via Ethernet/IP communication.
EIP_REAL_P2R_0~19 and EIP_P2R_REAL_0~19 are the same variables stored in the same area.

12. SD_J#_ANG

SD_J0_ANG
SD_J1_ANG
SD_J2_ANG
SD_J3_ANG
SD_J4_ANG
SD_J5_ANG

Variables representing the encoder angle values of the robot arm's joints.
(Unit: degree)

13. SD_J#_CUR

SD_J0_CUR
SD_J1_CUR
SD_J2_CUR
SD_J3_CUR
SD_J4_CUR
SD_J5_CUR

Variables representing the current values of the robot arm's joints.
(Unit: A)

14. SD_EXT_AXIS_#

SD_EXT_AXIS_0
SD_EXT_AXIS_1
SD_EXT_AXIS_2
SD_EXT_AXIS_3
SD_EXT_AXIS_4
SD_EXT_AXIS_5

Variables representing the command values for the external axis joints.
(Unit: degree)

15. SD_EXJ#_ANG

SD_EXJ0_ANG
SD_EXJ1_ANG
SD_EXJ2_ANG
SD_EXJ3_ANG
SD_EXJ4_ANG
SD_EXJ5_ANG

Variables representing the encoder angle values of the external axis joints.
(Unit: degree)

16. SD_BEGIN_J#

SD_BEGIN_J0
SD_BEGIN_J1
SD_BEGIN_J2
SD_BEGIN_J3
SD_BEGIN_J4
SD_BEGIN_J5

Variables representing the joint angle values set at the Begin position.
(Unit: degree)

17. SD_TCP_X

SD_TCP_X
SD_TCP_Y
SD_TCP_Z
SD_TCP_RX
SD_TCP_RY
SD_TCP_RZ

Variables representing the position and orientation of the TCP (Tool Center Point) relative to the base (global) coordinate system.
(Unit: mm & degree)

18. SD_TCP_X_REF

SD_TCP_X_REF
SD_TCP_Y_REF
SD_TCP_Z_REF
SD_TCP_RX_REF
SD_TCP_RY_REF
SD_TCP_RZ_REF

Variables representing the position and orientation of the TCP relative to the base (global) coordinate system.
(Unit: mm & degree)

19. SD_EFT_FX

SD_EFT_FX
SD_EFT_FY
SD_EFT_FZ
SD_EFT_MX
SD_EFT_MY
SD_EFT_MZ

Variables representing the sensor values received from the External Force Torque sensor.
FX, FY, FZ indicate force (N), while MX, MY, MZ represent torque (Nm).
The reference axes for X, Y, Z values follow the coordinate system of the sensor manufacturer.
(Unit: N, Nm)

20. SD_EFT_F_SIZE

Variables representing the magnitude of force (sum of the three axes) as measured by the External Force Transducer. (N)

21. SD_EFT_M_SIZE

This variable represents the magnitude of the moment torque (sum of the three axes) from the External Force Transducer (Nm).

22. SD_TEMPERATURE_MC#

SD_TEMPERATURE_MC0
SD_TEMPERATURE_MC1
SD_TEMPERATURE_MC2
SD_TEMPERATURE_MC3
SD_TEMPERATURE_MC4
SD_TEMPERATURE_MC5

This variable indicates the current temperature values of each joint in the robot.
(Unit: Celsius)

23. SD_POWER_STATE

This variable manages the power management information of the controller at the bit level.

SD_POWER_STATE >> 0 & 0x01 : Indicates whether the 48V SMPS is operational.
SD_POWER_STATE >> 1 & 0x01 : Power switching circuit operation information.
SD_POWER_STATE >> 2 & 0x01 : Indicates whether the 24V SMPS is operational.
SD_POWER_STATE >> 3 & 0x01 : 48V switching-line status.
SD_POWER_STATE >> 4 & 0x01 : PC power switching operation status.
SD_POWER_STATE >> 5 & 0x01 : E-stop switching operation status.

24. SD_DEFAULT_SPEED

This variable represents the default speed ratio. The UI speed control bar displays values between 0 and 1.

25. SD_ROBOT_STATE

This variable indicates whether the robot is executing a motion command.

1 = Idle
Others = Moving

26. SD_TASK_RUN_STATE

This variable indicates the basic state when a program is running.

1 = Program not run / Idle
2 = Program is running
3 = Program I running + but ‘Paused’ state

27. SD_COLLISION_DETECT_STATE

This variable represents the on/off status of the external collision detection feature.

0 = External collision detection is off.
1 = External collision detection is on.

28. SD_COLL_DURING_MOVE

This variable indicates whether a collision occurred during movement.
If there was a collision history during motion, the value of this variable will be 1.

29. SD_IS_FREE_DRIVE_MODE

This variable represents the status of the direct teaching mode.

0 = Direct teaching is off.
1 = Direct teaching is on.

30. SD_TFB_BUTTON

This variable represents the status of the direct teaching button on the tool flange.

31. SD_PG_MODE

This variable represents the robot's operation mode.

0 = Real mode
1 = Simulation mode

32. SD_INIT_STATE_INFO

This system variable indicates the activation stage information of the robot.

0 = default
1 = Power check
2 = Device check
3 = Servo Initialization check
4 = Parameter check
5 = Payload check
6 = Activation done

33. SD_INIT_ERR

This system variable displays the activation error information of the robot.

34. SD_OP_STAT_COLLISION_OCCUR

This variable indicates whether a collision has occurred with the robot.

0 = Idle
1 = External collision occurred

35. SD_OP_STAT_SOS_FLAG

This variable indicates whether there is an issue with the controller power, robot joint controller, or other problems.

0 = None
1 = Encoder err (PVL)
2 = CPU err
3 = Big err
4 = Input err
5 = Jam eerr
6 = Over current err
7 = Position bound err
8 = Mode err
9 = Match err
10 = Over current/Low Voltage err
11 = Temperature err
12 = Speed over err

36. SD_OP_STAT_SELF_COLLISION

This variable represents whether the robot has entered the self-collision range during operation.

0 = Idle
1 = Entered self-collision range

37. SD_OP_STAT_SOFT_ESTOP_OCCUR

This variable indicates whether the robot (program) is in a pause state.

0 = Idle
1 = Paused state

38. SD_OP_STAT_EMS_FLAG

This variable indicates when there is no answer from the robot position calculation algorithm or when the joint limit range has been reached.

0 = None
1 = Arm Stretch
2 = Cartesian Limit
3 = Joint Limit
4 = Un-solvable

39. SD_DIGITAL_IN_CONFIG_0, SD_DIGITAL_IN_CONFIG_1

These two variables represent the information of the two safety stop terminals (Din 16 & 17).

40. SD_INBOX_TRAP_FLAG_0~1

This variable indicates whether an event set in Inbox mode has occurred.

41. SD_INBOX_CHECK_MODE_0~1

This variable represents the Inbox mode set when using the Inbox feature.

0: No checking
1: Check Tool Flange Center (Monitors whether the center of the tool flange enters a specific area)
2: Check Tool Center Point (Monitors whether the set TCP enters a specific area)
3: Check Tool Box (Monitors whether a virtually set box enters a specific area)
4: Check All (Monitors whether the robot’s settings for the above three conditions enter a specific area)

42. SD_ANALOG_IN_0~3

This variable represents the values (0~10V) of the 4 analog input ports on the controller box.

43. SD_ANALOG_OUT_0~3

This variable represents the values (0~10V) of the 4 analog output ports on the controller box.

44. SD_DIGITAL_IN_0~15

This variable represents the values (0 or 1) of the 16 digital input ports on the controller box.

45. SD_DIGITAL_OUT_0~15

This variable represents the values (0 or 1) of the 16 digital output ports on the controller box.

46. SD_DIGITAL_IN_0_LOW_TIME ~ SD_DIGITAL_IN_15_LOW_TIME

46. DIN_0_LOW_TIME ~ DIN_15_LOW_TIME

This variable records the time for which a given signal (Digital IN 0~15) remains at 0 (Low).
The timer resets when the signal goes from 1 (High) to 0 (Low) and can be used for timing purposes.

SD_DIGITAL_IN_0_LOW_TIME and DIN_0_LOW_TIME are the same variables stored in the same region.

47. SD_DIGITAL_IN_0_HIGH_TIME ~ SD_DIGITAL_IN_15_HIGH_TIME

47. DIN_0_HIGH_TIME ~ DIN_15_HIGH_TIME

This variable records the time for which a given signal (Digital IN 0~15) remains at 1 (High).
The timer resets when the signal goes from 0 (Low) to 1 (High) and can be used for timing purposes.

SD_DIGITAL_IN_0_HIGH_TIME and DIN_0_HIGH_TIME are the same variables stored in the same region.

48. SD_EX_ANALOG_IN_0~3

This variable represents the values (0~10V) of the 4 analog input ports on the expansion IO board.

49. SD_EX_ANALOG_OUT_0~3

This variable represents the values (0~10V) of the 4 analog output ports on the expansion IO board.

50. SD_EX_DIGITAL_IN_0~15

This variable represents the values (0 or 1) of the 16 digital input ports on the expansion IO board.

51. SD_EX_DIGITAL_OUT_0~15

This variable represents the values (0 or 1) of the 16 digital output ports on the expansion IO board.

52. SD_TFB_ANALOG_IN_0~1

This variable represents the values (0~10V) of the 2 analog input ports on the tool flange board (TFB).

53. SD_TFB_DIGITAL_IN_0~1

This variable represents the values (0 or 1) of the 2 digital input ports on the tool flange board (TFB).

54. SD_TFB_DIGITAL_OUT_0~1

This variable represents the values (0 or 1) of the 2 digital output ports on the tool flange board (TFB).

55. SD_TFB_VOLTAGE_OUT

This variable represents the voltage output information of the tool flange board (TFB).

Controls 3 output voltage values: 0V, 12V, 24V

56. SD_HAND_TOKTOK

This variable indicates whether an external "tapping" action on the robot occurred.

57. SD_FINISH_AT_EVENT

This is the condition for finishing the movement (Finish At feature), indicating whether the robot has completed its movement.
When a new movement begins, this variable automatically resets to 0.

0: When the movement is completed by reaching the target point.
1: When the movement is completed due to satisfying the FinishAt condition.

58. SD_TCP_VEL_REF

This variable represents the commanded linear velocity of the current TCP. (mm/s)

59. SD_MOTION_TIME

This variable stores the elapsed time after the motion is executed. It resets when the next motion begins. (seconds)

60. SD_SOCK_IS_OPEN_0~4

When the robot system is used as a client, this variable indicates whether the corresponding socket number (0 ~ 4) has been successfully opened (connected to the server).
When the robot system is used as a server, it indicates whether a client is connected to the server.

61. SD_SOCK_LAST_READ_0~4

This variable indicates the success or failure of the last read operation performed on the corresponding socket number (0~4).

62. SD_ARM_POWER

This variable represents the power consumed by the robot arm.

63. SD_ARM_POWER_AMP

This variable represents the current being used by the robot arm.

64. SD_IS_TPU_CONNECT

This variable indicates the connection status between the Teaching Pendant Unit (TPU) / tablet and the controller box.

65. SD_IS_RUN_IN_MAKE

This variable indicates whether the current program run was initiated from the "Make" window.

1: Program run from the Make window.

66. SD_IS_RUN_IN_PLAY

This variable indicates whether the current program run was initiated from the "Play" window.

1: Program run from the Play window.

67. SD_IS_INTENDED_STOP

This variable indicates whether the program stop was intentional.

68. SD_MOVE_INDEX

This variable indicates the waypoint number being passed through when executing continuous movement commands such as Move PB, ITPL, or PRO. (Integer value)

69. SD_MOVE_INDEX_F

This variable indicates the waypoint number being passed through during continuous movement commands such as Move PB, ITPL, or PRO, including decimal values for fractional progress.

70. SD_MOVE_PROPERTY

This variable represents the current movement type being executed (e.g., J, L, PB, PRO, etc.).

71. SD_CURRENT_DELTA

This variable represents the magnitude of the difference between the predicted current and the actual current measured in each joint of the robot arm. (mA)

72. SD_FORCE_TRAVEL_DIS

When using the force control feature, this variable indicates the magnitude of the trajectory deviation caused by the force control algorithm. (mm)

73. SD_EMG_BUTTON_STATE

This variable shows the state of the emergency stop button.

74. SD_IS_IN_MAIN

This variable indicates whether the program is running the main program (= 1) or a subprogram (= 0).

75. SD_IS_HOME

This variable indicates whether the robot is in the home (BEGIN) position.

76. SD_IS_BEGIN

This variable also indicates whether the robot is in the home (BEGIN) position.

77. SD_ID_NUMBER

This variable represents the system ID, which can be changed in the setup.

78. SD_TF_LRF_DISTANCE

This variable represents the distance measured by the TF laser range sensor. (mm)

79. SD_BIT_#_#

SD_BIT_0_3
SD_BIT_4_7
SD_BIT_8_11
SD_BIT_12_15

This variable represents a number created by combining four digital input ports of the controller box in a binary combination.

Combining four digital outputs: Can represent values from 0 to 15 (2⁴-1).

80. SD_BIT_0_7

This variable represents a number created by combining eight digital input ports (ports 0 to 7) of the controller box in a binary combination.

Combining eight digital outputs: Can represent values from 0 to 255 (2⁸-1).

81. SD_BIT_0_11

This variable represents a number created by combining twelve digital input ports (ports 0 to 11) of the controller box in a binary combination.

Combining twelve digital outputs: Can represent values from 0 to 4,095 (2¹²-1).

82. SD_BIT_0_15

This variable represents a number created by combining sixteen digital input ports (ports 0 to 15) of the controller box in a binary combination.

Combining sixteen digital outputs: Can represent values from 0 to 65,535 (2¹⁶-1).

83. OR_2FG7_STATE

This variable represents the state of the OnRobot 2FG7 model gripper.

1: Busy
2: Grip detected
3: Error (Not Calibrated)
4: Error (Linear sensor)

84. OR_2FG7_POS_EXT

This variable represents the current position of the gripper when gripping externally in the OnRobot 2FG7 model.

85. OR_2FG7_POS_INT

This variable represents the current position of the gripper when gripping internally in the OnRobot 2FG7 model.

86. OR_2FG7_MIN_EXT

This variable represents the minimum position value of the gripper when gripping externally in the OnRobot 2FG7 model.

87. OR_2FG7_MAX_EXT

This variable represents the maximum position value of the gripper when gripping externally in the OnRobot 2FG7 model.

88. OR_2FG7_MIN_INT

This variable represents the minimum position value of the gripper when gripping internally in the OnRobot 2FG7 model.

89. OR_2FG7_MAX_INT

This variable represents the maximum position value of the gripper when gripping internally in the OnRobot 2FG7 model.

90. OR_RG_BUSY

This variable represents the operational state of the OnRobot RG model gripper.

0: The gripper is not active and can receive the next command.
1: The gripper is currently active and cannot receive the next command.

91. OR_RG_GRIP

This variable indicates whether the gripper is currently gripping a product.

0: Grip undetected.
1: Grip detected.

92. OR_RG_S1_PUSHED

This variable shows whether safety switch 1 on the OnRobot RG model is pressed.

0: safety switch 1 is not pushed.
1: safety switch 1 is pushed.

93. OR_RG_S1_TRIGGERED

This variable indicates whether safety circuit 1 on the OnRobot RG model is activated.

0: safety circuit 1 is not activated.
1: safety circuit 1 is activated.

94. OR_RG_S2_PUSHED

This variable shows whether safety switch 2 on the OnRobot RG model is pressed.

0: safety switch 2 is not pushed.
1: safety switch 2 is pushed.

95. OR_RG_S2_TRIGGERED

This variable indicates whether safety circuit 2 on the OnRobot RG model is activated.

0: safety circuit 2 is not activated.
1: safety circuit 2 is activated.

96. OR_RG_ERROR

This variable shows whether any safety-related error has occurred in the OnRobot RG model.

97. OR_RG_WIDTH

This variable represents the distance between the gripper fingers in the OnRobot RG model.

98. OR_3FG_MIN_D

This variable indicates the minimum achievable diameter based on the position, length, and diameter of the fingers in the OnRobot 3FG model.

99. OR_3FG_MAX_D

This variable indicates the maximum achievable diameter based on the position, length, and diameter of the fingers in the OnRobot 3FG model.

100. OR_3FG_RAW_D

This variable represents the diameter size of the fingers in the OnRobot 3FG model.

101. OR_3FG_REAL_D

This variable represents the diameter size, taking into account the offset of the finger thickness in the OnRobot 3FG model.

102. OR_3FG_FORCE

This variable shows the current force value being applied by the OnRobot 3FG model.

103. OR_3FG_BUSY

This variable indicates whether the OnRobot 3FG model gripper is currently operating.

104. OR_3FG_GRIP

This variable indicates whether the gripper in the OnRobot 3FG model has gripped an object.

105. OR_3FG_FORCE_GRIP

This variable shows whether the OnRobot 3FG model gripper is gripping an object using force control.

106. OR_3FG_CALIB

This variable shows the calibration status of the OnRobot 3FG model gripper.

107. OR_SD_STATUS

This variable indicates the status of the OnRobot Sander model.

108. OR_SD_WARNING

This variable represents the state of the warning flag for the OnRobot Sander model.
It is composed of bit combinations, with the numbers representing the bit combination offsets.

0: RPM deviation
1: Motor voltage
2: Motor current
3: Temperature
4: Vibration
5: 30V level
6: 24V level
7: 12V level
8: 5V level
9: Motor ramp error
10: Motor RPM range error
11: Motor missed zero crossing error
12: Motor RPM change error
13: Motor stopped due to communication error

109. OR_SD_RPM

This variable shows the current rotational speed in RPM (Revolutions Per Minute) for the OnRobot Sander model.

110. OR_SD_RPM_DEV

This variable indicates the amount of RPM deviation during operation in the OnRobot Sander model.

111. OR_SD_VIBRATION

This variable measures the vibration magnitude in G-force units for the OnRobot Sander model.

112. OR_SD_ERROR

This variable represents the error that caused the motor to stop in the OnRobot Sander model.
It is reset by a new start command and is composed of bit combinations, with the numbers representing bit combination offsets.

0: 30V error
1: 24V error
2: 12V error
3: 5V error
4: Current error
5: Vibration error
6: Temperature error
7: Modbus timeout error
8: Motor ramp error
9: Motor RPM range error
10: Motor missed zero cross error
11: Motor RPM change error
12: Firmware update started during motor run

113. OR_SD_RPM_TAR

This variable shows the target RPM value for the OnRobot Sander model.

114. OR_SD_MOTOR_STOPPED

This flag indicates whether the motor in the OnRobot Sander model has stopped.

115. OR_SD_MOTOR_RUNNING

This flag indicates whether the motor in the OnRobot Sander model is currently running.

116. OR_SD_RAMP_UP

This variable indicates whether the motor is accelerating for the OnRobot Sander model.

117. OR_SD_RAMP_DW

This variable indicates whether the motor is decelerating for the OnRobot Sander model.

118. OR_SD_BUTTON

This variable shows whether the button on the side of the Sander is pressed for the OnRobot Sander model.

119. OR_VG_A

This variable represents the pressure value of channel A for the OnRobot VG10/VGC10 model.

120. OR_VG_B

This variable represents the pressure value of channel B for the OnRobot VG10/VGC10 model.

121. OR_VGP20_A

This variable represents the pressure value of channel A for the OnRobot VGP20 model.

122. OR_VGP20_B

This variable represents the pressure value of channel B for the OnRobot VGP20 model.

123. OR_VGP20_C

This variable represents the pressure value of channel C for the OnRobot VGP20 model.

124. OR_VGP20_D

This variable represents the pressure value of channel D for the OnRobot VGP20 model.

125. OR_VGP20_A_GRIP

This variable indicates the grip state of channel A for the OnRobot VGP20 model.

126. OR_VGP20_A_RELEASE

This variable indicates the release state of channel A for the OnRobot VGP20 model.

127. OR_VGP20_B_GRIP

This variable indicates the grip state of channel B for the OnRobot VGP20 model.

128. OR_VGP20_B_RELEASE

This variable indicates the release state of channel B for the OnRobot VGP20 model.

129. OR_VGP20_C_GRIP

This variable indicates the grip state of channel C for the OnRobot VGP20 model.

130. OR_VGP20_C_RELEASE

This variable indicates the release state of channel C for the OnRobot VGP20 model.

131. OR_VGP20_D_GRIP

This variable indicates the grip state of channel D for the OnRobot VGP20 model.

132. OR_VGP20_D_RELEASE

This variable indicates the release state of channel D for the OnRobot VGP20 model.

133. OR_VGP20_BUSY

This variable indicates whether the gripper is in operation for the OnRobot VGP20 model.

134. OR_VGP20_ERROR

This variable represents the error state of the gripper for the OnRobot VGP20 model.

135. OR_MG10_STATUS

This variable indicates the current status of the gripper for the OnRobot MG10 model. It is a bit combination, and the numbers below refer to the bit combination offsets.

0: Part gripped
1: Near part
2: Busy
3: Magnet strength not reached
4: Smart grip available
5: Smart grip failed
6: Part dropped
7: Internal temperature warning

136. OR_MG10_ERROR

This variable represents the current error state of the gripper for the OnRobot MG10 model. It is a bit combination, and the numbers below refer to the bit combination offsets.

0: Over-heating
1: Sensor target mismatch
2: No motor calibration
3: No magnet calibration
4: No hall calibration
5: Over current
6: Position error

137. OR_MG10_STRENGTH

This variable represents the magnet strength of the current gripper for the OnRobot MG10 model, expressed as a percentage.

138. OR_SG_WIDTH

This variable represents the width of the current gripper for the OnRobot Soft-gripper model.

139. OR_SG_MAX_WIDTH

This variable represents the maximum width of the current gripper for the OnRobot Soft-gripper model.

140. OR_SG_MIN_WIDTH

This variable represents the minimum width of the current gripper for the OnRobot Soft-gripper model.

141. OR_SG_STATUS

This variable indicates the current status of the gripper for the OnRobot MG10 model. It is a bit combination variable.

0: Busy
1: Initialized
4-6: Error

142. OR_EYE_POS

This variable stores the object position value received from the OnRobot Eye vision camera.
(Type: Point)

143. OR_EYE_ERROR

This variable represents the error state of the vision system for the OnRobot Eye model.

144. OR_EYE_COUNT

This variable indicates the number of objects found by the vision system for the OnRobot Eye model.

145. OR_EYE_INSPECT_RESULT

This variable represents the inspection results of the vision system for the OnRobot Eye model.

146. OR_EYE_INSPECT_MATCH

This variable indicates the percentage match between the object found by the vision system and the actual object data registered in the vision system for the OnRobot Eye model.

147. OR_EYE_X

This variable represents the X-axis data value of the object found by the vision system for the OnRobot Eye model.
(Unit: mm)

148. OR_EYE_Y

This variable represents the Y-axis data value of the object found by the vision system for the OnRobot Eye model.
(Unit: mm)

149. OR_EYE_Z

This variable represents the Z-axis data value of the object found by the vision system for the OnRobot Eye model.
(Unit: mm)

150. OR_EYE_RX

This variable represents the RX-axis data value of the object found by the vision system for the OnRobot Eye model.
(Unit: degree)

151. OR_EYE_RY

This variable represents the RY-axis data value of the object found by the vision system for the OnRobot Eye model.
(Unit: degree)

152. OR_EYE_RZ

This variable represents the RZ-axis data value of the object found by the vision system for the OnRobot Eye model.
(Unit: degree)

153. JRT_ENCODER

This variable represents the encoder value of the current gripper for all models of JuGwang Robotec, expressed in pulse units.

154. JRT_JEGB

This variable represents the position value of the current gripper for the JuGwang Robotec JEGB model, expressed as a percentage.

155. JRT_JEGG

This variable represents the position value of the current gripper for the JuGwang Robotec JEGG model, expressed as a percentage.

156. PICKIT_POS

This variable stores the object position value received from the PICK-IT vision camera.
(Type: Point)

157. RC_PICKIT_NO_COMMAND

This variable sends the position value of the current robot flange to the PICK-IT vision system.
It is used to check the connection status of the robot and update the 3D view on the web interface.

158. RC_PICKIT_CHECK_MODE

This variable indicates the mode of the vision system for the PICK-IT command Robot>PickIt.

159. RC_PICKIT_CAPTURE_IMAGE

Using this variable will capture the current camera image for the PICK-IT command Robot>PickIt.

160. RC_PICKIT_PROCESS_IMAGE

This variable triggers object detection using the camera image captured via RC_PICKIT_CAPTURE_IMAGE for the PICK-IT command Robot>PickIt.

161. RC_PICKIT_LOOK_FOR_OBJECTS

This command requests the current screen to look for objects in the PICK-IT command Robot>PickIt.

162. RC_PICKIT_LOOK_FOR_OBJECTS_WITH_RETRIES

This command requests the current screen to look for objects in the PICK-IT command Robot>PickIt.
It is similar to the RC_PICKIT_LOOK_FOR_OBJECTS command but retries after a certain time if no object is found.

163. RC_PICKIT_NEXT_OBJECT

This command requests to return the next detected object to the object table in the PICK-IT command Robot>PickIt.
It is used when multiple objects are detected during a single object search execution.

164. RC_PICKIT_GET_PICK_POINT_DATA

This command requests the pick point ID and offset values of the last requested object in the PICK-IT command Robot>PickIt.
Through this command, the robot can obtain flexible and diverse pick points.

165. RC_PICKIT_CONFIGURE

This command is used to load specific setup information and product configuration information in the PICK-IT command Robot>PickIt.

166. RC_PICKIT_SET_CYLINDER_DIM

This command is used to request cylinder dimensions when using the teach cylinder model in the PICK-IT command Robot>PickIt.

167. RC_SAVE_ACTIVE_PRODUCT

This command is used to save the currently loaded product data in the PICK-IT command Robot>PickIt.

168. RC_SAVE_ACTIVE_SETUP

This command is used to save the currently loaded setup data in the PICK-IT command Robot>PickIt.

169. RC_SAVE_BUILD_BACKGROUND

This command requests to capture the current scene as a background for background removal in the PICK-IT command Robot>PickIt.

170. RC_PICKIT_FIND_CALIB_PLATE

This is a trigger command to localize the calibration plate in the PICK-IT command Robot>PickIt.

171. RC_PICKIT_SAVE_SCENE

This command is used to save the current scene in the PICK-IT command Robot>PickIt.

172. PICKIT_STATUS

This variable indicates the status of the vision system for PICK-IT.

173. PICKIT_VERSION

This variable indicates the version of the PICK-IT protocol being used. (=11)

174. PICKIT_ROBOTTYPE

This variable indicates the type of robot connected to the vision system for PICK-IT. (=Type 5)

175. PICKIT_ROBOT_MODE

This variable indicates that the vision system is in robot mode for the PICK-IT command return value.
(Constant value: 0)

176. PICKIT_IDLE_MODE

This variable indicates that the vision system is in idle mode for the PICK-IT return value.
(Constant value: 1)

177. PICKIT_OBJECT_FOUND

This variable indicates that the vision system has detected one or more objects for the PICK-IT return value.
(Constant value: 20)

178. PICKIT_NO_OBJECTS

This variable indicates that the vision system has not detected any objects for the PICK-IT return value.
(Constant value: 21)

179. PICKIT_IMAGE_CAPTURED

This variable indicates that the vision system has captured a camera image for the PICK-IT return value.
(Constant value: 26)

180. PICKIT_NO_IMAGE_CAPTURED

This variable indicates that the vision system has not captured any camera image for the PICK-IT return value.
(Constant value: 22)

181. PICKIT_EMPTY_ROI

This variable indicates that the vision system has detected an empty ROI (Region of Interest) for the PICK-IT return value.
(Constant value: 23)

182. PICKIT_GET_PICK_POINT_DATA_OK

This variable indicates that the vision system has successfully retrieved pick point data for the PICK-IT return value.
(Constant value: 70)

183. PICKIT_GET_PICK_POINT_DATA_FAILED

This variable indicates that the vision system has failed to retrieve the selected pick point data for the PICK-IT return value.
(Constant value: 71)

184. PICKIT_CONFIG_OK

This variable indicates that the specified configuration has been successfully loaded for the PICK-IT return value.
(Constant value: 40)

185. PICKIT_CONFIG_FAILED

This variable indicates that the specified configuration could not be successfully loaded for the PICK-IT return value.
(Constant value: 41)

186. PICKIT_BUILD_BKG_CLOUD_OK

This variable indicates that the background scene has been successfully constructed for the PICK-IT return value.
(Constant value: 60)

187. PICKIT_BUILD_BKG_CLOUD_FAILED

This variable indicates that the background scene could not be successfully constructed for the PICK-IT return value.
(Constant value: 61)

188. PICKIT_FIND_CALIB_PLATE_OK

This variable indicates that the calibration plate has been successfully localized for the PICK-IT return value.
(Constant value: 10)

189. PICKIT_FIND_CALIB_PLATE_FAILED

This variable indicates that the calibration plate could not be successfully localized for the PICK-IT return value.
(Constant value: 11)

190. PICKIT_SAVE_SNAPSHOT_OK

This variable indicates that the snapshot has been successfully saved for the PICK-IT return value.
(Constant value: 50)

191. PICKIT_SAVE_SNAPSHOT_FAILED

This variable indicates that the snapshot could not be successfully saved for the PICK-IT return value.
(Constant value: 51)

192. PICKIT_UNKNOWN_COMMAND

This variable means that the robot has sent an incorrect command to the vision system for the PICK-IT return value.
(Constant value: -99)

193. PICKIT_TYPE_SQUARE

This variable indicates the square information of the detected object for the PICK-IT return value.
(Constant value: 21)

194. PICKIT_TYPE_RECTANGLE

This variable indicates the rectangle information of the detected object for the PICK-IT return value.
(Constant value: 22)

195. PICKIT_TYPE_CIRCLE

This variable indicates the circle information of the detected object for the PICK-IT return value.
(Constant value: 23)

196. PICKIT_TYPE_ELLIPSE

This variable indicates the ellipse information of the detected object for the PICK-IT return value.
(Constant value: 24)

197. PICKIT_TYPE_CYLINDER

This variable indicates the cylinder information of the detected object for the PICK-IT return value.
(Constant value: 32)

198. PICKIT_TYPE_SPHERE

This variable indicates the sphere information of the detected object for the PICK-IT return value.
(Constant value: 33)

199. PICKIT_TYPE_POINTCLOUD

This variable indicates the point cloud information of the detected object for the PICK-IT return value.
(Constant value: 35)

200. PICKIT_TYPE_BLOB

This variable indicates the blob information of the detected object for the PICK-IT return value.
(Constant value: 50)

201. PICKIT_X

This variable indicates the X-axis value of the detected object for the PICK-IT return value.

202. PICKIT_Y

This variable indicates the Y-axis value of the detected object for the PICK-IT return value.

203. PICKIT_Z

This variable indicates the Z-axis value of the detected object for the PICK-IT return value.

204. PICKIT_RX

This variable indicates the RX-axis value of the detected object for the PICK-IT return value.

205. PICKIT_RY

This variable indicates the RY-axis value of the detected object for the PICK-IT return value.

206. PICKIT_RZ

This variable indicates the RZ-axis value of the detected object for the PICK-IT return value.

207. PICKIT_P#

PICKIT_P0
PICKIT_P1
PICKIT_P2
PICKIT_P3
PICKIT_P4
PICKIT_P5

This variable represents the integer data of Payload # (0 to 5) received from the PickIt system for the PICK-IT return value.

208. PICKIT_P#F

PICKIT_P0F
PICKIT_P1F
PICKIT_P2F
PICKIT_P3F
PICKIT_P4F
PICKIT_P5F

This variable represents the float data of Payload # (0 to 5) received from the PickIt system for the PICK-IT return value.

209. PICKIT_M0

This variable represents the metadata 0 received from the PickIt system for the PICK-IT return value.

210. PICKIT_M1

This variable represents the metadata 1 received from the PickIt system for the PICK-IT return value.

211. ICE_INFO_CONNECTED

This variable is used to check whether communication with the ice maker is active.

212. ICE_INFO_REQUESTING

This variable is for internal developer use in RB.

213. ICE_INFO_USING

This variable is for internal developer use in RB.

214. ICE_INFO_VECSIZE

This variable is for internal developer use in RB.

215. ICE_INFO_MODE_COMM

This variable is used to check the communication mode with the ice maker.

0: Normal mode
1: Communication mode

216. ICE_INFO_MODE_CUP

This variable is used to respond to cup dislodgement.

0: Prevent ice dispensing when cup is dislodged
1: Ignore cup dislodgement

217. ICE_INFO_TIME_ICE

This variable indicates the last ice dispensing time.

218. ICE_INFO_TIME_WATER

This variable indicates the last water dispensing time.

219. ICE_INFO_AMBI_LOW

This variable is used to check the lower limit of ambient temperature.

220. ICE_INFO_AMBI_HIGH

This variable is used to check the upper limit of ambient temperature.

221. ICE_INFO_TMEP_AMBI

This variable is used to check the current ambient temperature.

222. ICE_INFO_TMEP_EVAPO

This variable is used to check the current evaporator temperature.

223. ICE_INFO_TMEP_CONDEN

This variable is used to check the current condenser temperature.

224. ICE_STATE_LAST_ICE_NO

This variable indicates that no ice was detected during the last dispensing.

225. ICE_STATE_LAST_ICE_YES

This variable indicates that ice was detected during the last dispensing.

226. ICE_STATE_COMP_WORK

This variable indicates that the compressor is operating normally.

227. ICE_STATE_MOTOR_WORK

This variable indicates that the gear motor is operating normally.

228. ICE_STATE_OUT_SOL

This variable indicates that the dispensing solenoid is detected normally.

229. ICE_STATE_CUP_LEVEL

This variable indicates that the cup level is detected normally.

230. ICE_STATE_COMM_MODE

This variable indicates that the system is in communication mode.

231. ICE_STATE_FULL_ICE

This variable indicates that the ice bin is full.

232. ICE_STATE_ERR_1~4

This variable is for internal developer use in RB.

233. ICE_STATE_ERR_CODE

This variable represents the error code, where 0 indicates normal operation.

234. ICE_STATE_RD

This variable indicates the state of the ice maker.

0: Dispensing complete & timeout
1: Waiting for dispensing command

235. SETECH_RDY

This variable indicates the readiness state of the nut runner.

236. SETECH_ALM

This variable indicates the presence of an alarm in the nut runner.

237. SETECH_BUSY

This variable indicates that the nut runner is currently fastening.

238. SETECH_COMP

This variable indicates that fastening by the nut runner has been completed.

239. SETECH_OK

This variable indicates that the fastening has been completed successfully.

240. SETECH_NG_TRQH

This variable indicates a NG (No Good) condition if the fastening torque exceeds the upper limit after completion.

241. SETECH_NG_TRQL

This variable indicates a NG condition if the fastening torque is below the lower limit after completion.

242. SETECH_NG_ANGH

This variable indicates a NG condition if the angle judgment result does not meet the upper range requirement after completion.

243. SETECH_NG_ANGL

This variable indicates a NG condition if the angle judgment result does not meet the lower range requirement after completion.

244. SETECH_NG_TIME

This variable indicates a NG condition if the fastening time does not meet the upper or lower range requirement after completion.

245. SETECH_NG_MONI

This variable indicates a NG condition if the monitored torque judgment result does not meet the upper range requirement after completion.