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FANUC Variables

This document describes several important variables for configuring a FANUC robot controller. It outlines variables for dynamic mastering records ($DMR_GRP), jog settings ($JOG_GROUP), system configuration records ($SCR_GRP), override settings ($OVRD_SETUP) and enabling the mastering menu ($MASTER_ENB). The motion control record ($MCR) is also mentioned which controls the robot speed override setting.

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Adarsh Singh
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2K views5 pages

FANUC Variables

This document describes several important variables for configuring a FANUC robot controller. It outlines variables for dynamic mastering records ($DMR_GRP), jog settings ($JOG_GROUP), system configuration records ($SCR_GRP), override settings ($OVRD_SETUP) and enabling the mastering menu ($MASTER_ENB). The motion control record ($MCR) is also mentioned which controls the robot speed override setting.

Uploaded by

Adarsh Singh
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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FANUC

Variables
1. $DMR_GRP
Dynamic Mastering Record
You can find here all information about mastering and
overtravel.

1.1. $DMR_GRP[1].$MASTER_DONE
The value next to the variable indicates if the mastering
procedure has been performed (you will see “1”) or not (you
will see “0”)

1.1. $DMR_GRP[1].$MASTER_COUNT
Master counts data for each robot axis

1.2. $DMR_GRP[1].$REF_COUNT
Here are store encoder values when you “hit save” at
reference position (quick mastering)

1.3. $DMR_GRP[1].$REF_POS
Reference position saved in joint angles (quick mastering)

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2. $JOG_GROUP

2.1. $JOG_GROUP.$FINE_DIST
Allows us to set a fix distance (in mm) that robot will move after
jogging at FINE speed

3. $SCR_GRP
System Configuration Record for each group

3.1. $SCR_GRP[1].$m_pos_enb
Enables reading robot current position from machine pulse

3.2. $SCR_GRP[1].$MCH_POS_X
Robot current X position in WORLD CORRDINATES
3.3. $SCR_GRP[1].$MCH_POS_Y
Robot current Y position in WORLD CORRDINATES
3.4. $SCR_GRP[1].$MCH_POS_Z
Robot current Z position in WORLD CORRDINATES
3.5. $SCR_GRP[1].$MCH_POS_W
Robot current W position in WORLD CORRDINATES
3.6. $SCR_GRP[1].$MCH_POS_P
Robot current P position in WORLD CORRDINATES
3.7. $SCR_GRP[1].$MCH_POS_R
Robot current R position in WORLD CORRDINATES

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4. $SHFTOV_ENB
Enables Shift Override. When set to 1 while holding SHIFT
speed will change to 1,5,50,10. (affected by $OVRD_SETUP)

5. $OVRD_SETUP
Allows us to setup custom speed increments for +/- speed
buttons

5.1. $ OVRD_SETUP.$OVRD_NUM
Specifies number of override values we want to use for our
custom override setup in $OVRD_SETUP.$OVERRIDE. Max
value 10.
5.2. $ OVRD_SETUP.$OVERRIDE
Custom override setup for standard speed increments (without
SHIFT)
5.3. $ OVRD_SETUP.$OVRD_NUM_S
Specifies number of override values we want to use for our
custom override setup in $OVRD_SETUP.$OVERRIDE_S.
Max value 10.
5.4. $ OVRD_SETUP.$OVERRIDE_S
Custom override setup for SHIFT speed increments (with
SHIFT)

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6. $MASTER_ENB
Enables Master/Cal menu under SYSTEM, if set to “0” option
is hidden

7. $MCR
Motion Control Record.

7.1. $MCR.$GENOVERRIDE
Specifies robot speed (the % value in the top right corner on
robot teach pendant).

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