Toshiba STE 58762 instruction manual STE System Variables, － 2-10 －

STE 58762

2.4.3System 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.

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