FANUC Robotics Documentation

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Minimum: ""    Maximum: 999    Default: " "     KCL/Data: RW     Program: Not available     UIF: RW     CRTL: RW     Data Type: STRING   
Memory: CMOS
FANUC Robotics SYSTEM R-J3iB
About This Manual Name: User Alarm Message
Safety
Description: This system variable holds alarm messages for user alarm (INTP-213 UALM[i]). A user alarm occurs when UALM[i] command in the
1. GENERAL INFORMATION
teach pendant program is executed and the alarm message stored in $UALRM_MSG[i] is displayed. Default length of this system variables is 10.
2. SYSTEM VARIABLE LISTINGYou can increase or decrease the length of this system variable during a Controlled Start.
Glossary
Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, ALARM screen

$UALRM_MSG[10]

Minimum: ""    Maximum: ""    Default: ""    KCL/Data: RW    Program: RW    UIF: Not available    CRTL: Not available    Data Type: STRING    
Memory: Not available

Name: User Alarm Message

Description: This system variable holds alarm messages for user alarm (INTP-213 UALM[i]). A user alarm occurs when UALM[i] command in the
teach pendant program is executed and the alarm message stored in $UALRM_MSG[i] is displayed. Default length of this system variables is 10.
You can increase or decrease the length of this system variable during a Controlled Start.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, ALARM screen

$UALRM_SEV[10]

Minimum: 0    Maximum: 255    Default: 6    KCL/Data: RW    Program: RW    UIF: Not available    CRTL: Not available    Data Type: BYTE    
Memory: Not available

Name: User alarm severity

Description: This variable has 20 arrays and this number is the same with the user alarm one. Each value designates the severity of each user
alarm. This default value is 6. This means STOP.L of error severity. You can set each severity under the following specification. WARN 0 STOP.L 6
STOP.G 38 ABORT.L 11 ABORT.G 43

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$UI_CONFIG.$color_crt

Minimum: 0    Maximum: 1    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: UBYTE    Memory:
CMOS

Name: Color CRT terminal

Description: If this variable is set to TRUE, the system will send ANSI VT-320 color codes to the attached CRT device.

Power Up: On_Cold_Start

$UI_CONFIG.$config_chan[1-5]

Minimum: 0    Maximum: 0x7FFF    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: ULONG   
Memory: CMOS

Name: Configuration change count

Description: This variable is incremented each time the configuration changes. An application can monitor this variable to know that a configuration
change has occurred.

Power Up: N/A

$UI_CONFIG.$dspmen_mask

Minimum: 0x80000000    Maximum: 0x7FFFFFFF    Default: 0x3EF    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data
Type: LONG    Memory: CMOS

Name: DISPLAY menu mask

Description: This is a mask for the DISPLAY menu entries. Changing this will have the effect of changing the content of the DISPLAY menu. This
can allow you to exclude functions from the DISPLAY menu.

Power Up: N/A

$UI_CONFIG.$extstatus[1-5]

Minimum: 0    Maximum: 0x7FFF    Default: 1    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: UBYTE   
Memory: CMOS

Name: Extended status pages

Description: This variable is the number of available pages in the extended status pane. This is set by the system.

Power Up: N/A

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$UI_CONFIG.$focus[1-5]

Minimum: 0    Maximum: 0x7FFF    Default: 0    KCL/Data: RO    Program: Not available     UIF: RW    CRTL: RO    Data Type: UBYTE   
Memory: CMOS

Name: Currently focused pane

Description: For each connection, this variable provides the pane number that currently has focus. This is set by the system.

Power Up: N/A

$UI_CONFIG.$hlpmen_dict[1-5]

Minimum: ""    Maximum: 20000    Default: "TPTX"    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: STRING   
Memory: CMOS

Name: Help menu dictionary name

Description: This variable provides a dictionary name for the HELP menu text for entries 5-8. By default entry 5 is set to “Menu Help." The HELP
menu is entry 5 under the DISPLAY menu.

Power Up: N/A

$UI_CONFIG.$hlpmen_elem[1-5]

Minimum: 0    Maximum: 20000    Default: 115    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: SHORT   
Memory: CMOS

Name: Help menu element

Description: This variable provides a dictionary element for the HELP menu text for entries 5-8. By default entry 5 is set to "Menu Help." The HELP
menu is entry 5 under the DISPLAY menu.

Power Up: N/A

$UI_CONFIG.$hlpmen_url[1-5]

Minimum: ""    Maximum: 20000    Default: "/softpart/genlink?help=/md/tpmenus.dg "     KCL/Data: RW    Program: Not available     UIF: RW   
CRTL: RW    Data Type: STRING    Memory: CMOS

Name: Help menu url

Description: This variable provides a URL that executes when you select entries 5-8. By default, entry 5 is set to “/md/tpmenus.dg”. The URL
format is a complex link format. That is a specific destination pane that is specified as part of the link.

Power Up: N/A

$UI_CONFIG.$hmi_mask

Minimum: 0    Maximum: 0x7FFF    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: SHORT   
Memory: CMOS

Name: HMI mask

Description: $HMI_MASK is used to turn ON or OFF different features of the iPendant HMI function. Each bit corresponds to the following feature:

Bit #1 = Full Menu HMI Enable

Bit #2 = Quick Menu HMI Enable

Bit #3 = Select Key is disabled in iPendant HMI Mode

Bit #4 = Edit Key is disabled in iPendant HMI Mode

Bit #5 = Data Key is disabled in iPendant HMI Mode

These variables are set up in the iPendant SETUP Screens.

Power Up: N/A

$UI_CONFIG.$mem_limit

Minimum: 100    Maximum: 2000    Default: 300    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: SHORT   
Memory: CMOS

Name: Low memory limit

Description: The system will allow an external IE connection only if the amount of temporary memory in this variable is available. If the amount in
this variable is not available, then the connection will be refused and an error will be posted.

Power Up: N/A

$UI_CONFIG.$menu_favs[1-8]

Minimum: ""    Maximum: 20000    Default: " "     KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: STRING   
Memory: CMOS

Name: Menu favorites

Description: This variable contains the list of menu favorites you have selected in the Display menu. To clear favorites, set this variable to ‘’.

Power Up: N/A

$UI_CONFIG.$mode[1-5]

Minimum: 3    Maximum: 0x7FFF    Default: 3    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: UBYTE   
Memory: CMOS

Name: Status of iPendant connections.

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Description: For each connection, this varialbe provides the current display mode:

3 - Single pane mode

4– Extended status mode

5 - Double pane mode

6 - Triple pane mode

Power Up: Takes effect immediately

$UI_CONFIG.$mwin_limit

Minimum: 600    Maximum: 20000    Default: 1000    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: SHORT   
Memory: CMOS

Name: Multi-window memory limit

Description: This variable prevents the system from executing in multi-window mode if there is less DRAM memory available than this limit setting.
The units are 1024 bytes. Therefore, the default of 2500 bytes implies that 2.5Meg of DRAM must be available in order to enable this mode. Multi-
window mode is disabled on startup by setting the file $UI_CONFIG.$NUM_MENUS = 1. In order to re-enable multi-window mode, you must also set
$UI_CONFIG.$NUM_MENUS > 1.

Power Up: On_Cold_Start

See Also: $UI_CONFIG.$NUM_MENUS, Status Memory screen

$UI_CONFIG.$num_connect

Minimum: 1    Maximum: 5    Default: 5    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: UBYTE    Memory:
CMOS

Name: Number of external (Internet Explorer) connections available

Description: This variable contains the maximum number of external connections allowed. If this is set to zero, no IE connections are allowed.
NOTE: In order for an IE connection to be allowed, connections must be enabled in the HTTP setup screen also.

Power Up: N/A

$UI_CONFIG.$num_extstat

Minimum: 0    Maximum: 255    Default: 0    KCL/Data: NO    Program: Not available     UIF: NO    CRTL: NO    Data Type: UBYTE    Memory:
CMOS

Name: Extended status entry number

Description: This is the current selection in the extended status page. One is provided per connection. This is set when you execute an extended
status link.

Power Up: N/A

$UI_CONFIG.$num_menus

Minimum: 1    Maximum: 9    Default: 9    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: UBYTE    Memory:
CMOS

Name: Number of user menus displayed at any given time

Description: This variable contains the maximum number of menus that can be active at any given time. The maximum and the default value for
this is eight. This means that the iPendant itself can have three menus. Any external CGTP connections can have a total of five additional menus.
That could be single mode on three connection and double mode on one. Or it could be triple mode on one connection and double mode on a
second connection. In all cases the total available is five plus the CGTP. If this value is set to one then it indicates that multiple window mode is
disabled. If the amount of available DRAM memory is limited then the system will force this to one. See the definition of $ui_config.$mwin_limit.

Power Up: N/A

$UI_CONFIG.$panemap[1-16]

Minimum: 0    Maximum: 20000    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: USHORT   
Memory: CMOS

Name: Pane mapping array

Description: This variable provides a mapping between connect ID, device ID and pane ID. The index into the array is (3*connect ID) + (Device id –
1). The value is the pane ID. The same information is more easily obtained by calling the built-in GET_DEV_INFO.

Power Up: N/A

$UI_CONFIG.$readonly[1-3]

Minimum: 0    Maximum: 0x7FFF    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: BOOLEAN   
Memory: CMOS

Name: Read-only enable

Description: This variable specifies whether a particular connection type is read-only or read-write. Typically, an external IE connection are read-
only meaning that a user can look at data but cannot change anything. This field is an array of three with the following meanings:

[1]– Indicates a teach pendant.

[2]– Indicates an IE connection.

[3]– Indicates CRT.

Power Up: N/A

$UI_CONFIG.$recovermenu

Minimum: 0    Maximum: 255    Default: 6    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: UBYTE    Memory:

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CMOS

Name: SYSTEM menu recovery behavior

Description: This variable set the SYSTEM menu recovery behavior. When it is set to zero (0) at Cold start, the system will display the HINTS
screen in single window mode. When this variable is set to one (1) at Cold start, the system will display (in single window mode) the last screen
displayed before the controller was turned off. When this variable is set to two (2) at powerup, the system will use whatever display mode was used
when the controller was turned off. So if the controller was turned off in two window display, the system will turn on in two window display. When
this variable is set to three (3) at Cold start, both settings (1) and (2) apply. When this variable is set to four (4) at Hot start, the system will display
(in single window mode) the last screen displayed before the controller was turned off. When this variable is set to six (6) at Cold start, both settings
(4) and (2) apply. This is the default setting.

Power Up: On_Cold_Start

$UI_CONFIG.$rotimeout[1-3]

Minimum: 0    Maximum: 0x7FFF    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: SHORT   
Memory: CMOS

Name: Read-only time out

Description: This variable specifies the time in minutes during which read-write is effective. If the value of this variable is zero, then this implies that
there is no time out and read-write will remain in effect until a user resets the $READONLY field. This field is an array of three with the following
meanings:

[1]– Indicates a teach pendant.

[2]– Indicates an IE connection.

[3]– Indicates a CRT.

Power Up: N/A

$UI_CONFIG.$timeout

Minimum: 0    Maximum: 0x7FFF    Default: 300    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: SHORT   
Memory: CMOS

Name: Menu time out in seconds

Description: This variable is the number of seconds that an IE connection will remain open. After this time has elapsed with no activity, the
connection will be closed and the browser will be sent to the robot home page.

Power Up: N/A

$UI_CONFIG.$touch_mask

Minimum: 0    Maximum: 0x7FFFFFFF    Default: 0    KCL/Data: RW    Program: Not available     UIF: RW    CRTL: RW    Data Type: ULONG   
Memory: CMOS

Name: iPendant touch screen mask

Description: This variable allows touch capability for the iPendant menus to be disabled. It is a bit mask, such that:

1 means disable touch on TITLE bar.

2 means disable touch on MENUS.

Power Up: N/A

$UNDO_CFG STRUCTURE

Name: Undo Configuration Structure

Description: This structure contains variables which allow you to undo the last operation in the TPP editor. Individual fields are described below.

Power Up: On_Cold_Start

Screen: SYSTEM variable screen.

$UNDO_CFG.$undo_enb

Minimum: 0    Maximum: 1    Default: 1    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS

Name: Undo Function Enable/Disable Switch

Description: 1: Enable undo function 0: Disable undo function

Power Up: On_Cold_Start

Screen: SYSTEM variable screen

$UNDO_CFG.$warn_enb

Minimum: 0    Maximum: 1    Default: 1    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS

Name: Warning for undo enable/disable switch

Description: This variable allows you to turn on or turn off a warning message telling you that the operation you about to perform can not be
undone. The default is 1, warning box will be displayed.

Power Up: On_Cold_Start

Screen: SYSTEM variable screen

$USER_CONFIG.$cust_name

Minimum: ""    Maximum: ""    Default: " "     KCL/Data: RW     Program: RW     UIF: RW     CRTL: RW     Data Type: STRING     Memory:
CMOS

Name: Customer Name

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Description: This indicates the Customer Name. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_corr

Minimum: 0    Maximum: 255    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: UBYTE    Memory: CMOS

Name: Environmental Corrosive Factor

Description: This indicates the Corrosive factor (from 1 to 255). Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_dust

Minimum: 0    Maximum: 255    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: UBYTE    Memory: CMOS

Name: Environmental Dust Factor

Description: This indicates the Dust factor (from 1 to 255). Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_heat

Minimum: 0    Maximum: 255    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: UBYTE    Memory: CMOS

Name: Environmental Heat Factor

Description: This indicates the Heat factor (from 1 to 255). Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$env_vib

Minimum: 0    Maximum: 255    Default: 0    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: UBYTE    Memory: CMOS

Name: Environmental Vibration Factor

Description: This indicates the Vibration factor (from 1 to 255). Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$line

Minimum: ""    Maximum: ""    Default: " "     KCL/Data: RW     Program: RW     UIF: RW     CRTL: RW     Data Type: STRING     Memory:
CMOS

Name: Line Name

Description: This indicates the Line Name. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$plant

Minimum: ""    Maximum: ""    Default: " "     KCL/Data: RW     Program: RW     UIF: RW     CRTL: RW     Data Type: STRING     Memory:
CMOS

Name: Plant Name

Description: This indicates the Plant Name. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$process

Minimum: ""    Maximum: ""    Default: " "     KCL/Data: RW     Program: RW     UIF: RW     CRTL: RW     Data Type: STRING     Memory:
CMOS

Name: Process Type

Description: This indicates the Process Type. Must be manually entered.

Power Up: NA

Screen: The System Variables screen.

$USER_CONFIG.$ship_date

Minimum: ""    Maximum: ""    Default: " "     KCL/Data: RW     Program: RW     UIF: RW     CRTL: RW     Data Type: STRING     Memory:
CMOS

Name: Ship Date

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Description: This indicates the Ship Date. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USER_CONFIG.$warr_date

Minimum: ""    Maximum: ""    Default: " "     KCL/Data: RW     Program: RW     UIF: RW     CRTL: RW     Data Type: STRING     Memory:
CMOS

Name: Warranty Date

Description: This indicates the Warranty Date. Must be manually entered.

Power Up: N/A

Screen: The System Variables screen.

$USEUFRAME

Minimum: 0    Maximum: 1    Default: 1    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS

Name: User Frame Feature Enable

Description: Enables the user frame feature if the option is installed. This is not a standard option. With the user frame feature enabled, you are
prompted for user frame related input in the editor. Also, the user frame offsets will be applied during program execution.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen, Teach Pendant and KAREL Editor

See Also: $MNUFRAME, $MNUFRAMENUM

$USRTOL_ENB

Minimum: 0    Maximum: 1    Default: 1    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS

Name: User Tolerance Enable

Description: If this flag is TRUE, the check for User Definable Tolerance function is executed when program is resumed.

Power Up: Takes effect immediately

$USRTOL_GRP[1].$dist_tol

Minimum: 0.1    Maximum: 1000    Default: 250    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: REAL    Memory:
CMOS

Name: Position xyz tolerance

Description: Distance tolerance between robot current TCP and stop position. (Units in mm.)

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$enable

Minimum: 0    Maximum: 1    Default: 1    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: BOOLEAN    Memory: CMOS

Name: User Tolerance Enable flag

Description: If this flag is TRUE (1), the check for user definable tolerance function is executed when the program is resumed.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$ornt_tol

Minimum: 0.1    Maximum: 80    Default: 20    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: REAL    Memory: CMOS

Name: Position xyz tolerance

Description: Orientation tolerance between robot current TCP and stop position. (Units in degrees.)

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$raux_tol

Minimum: 0.1    Maximum: 80    Default: 20    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: REAL    Memory: CMOS

Name: Rotary joint axes tolerance

Description: The joint angle tolerance between current robot position and the stop position for rotary axes (including aux. axes).

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[1].$taux_tol

Minimum: 0.1    Maximum: 1000    Default: 250    KCL/Data: RW    Program: RW    UIF: RW    CRTL: RW    Data Type: REAL    Memory:
CMOS

Name: Translational axes tolerance

Description: The distance tolerance between current robot position and the stop position for translational axes (including aux. axes).

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Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_GRP[5] STRUCTURE

Name: User Tolerance Group Structure

Description: This variable defines the user tolerance value of each motion group. When the paused program is resumed, and if the distance
between the robot position and the stop position is distant from the user defined tolerance in this group, a warning message will be posted on the
teach pendant.

Power Up: Takes effect immediately

Screen: SYSTEM Variables screen.

$USRTOL_MENU

Minimum: 0    Maximum: 1    Default: 0    KCL/Data: NO    Program: NO    UIF: NO    CRTL: NO    Data Type: BOOLEAN    Memory: CMOS

Name: User Tolerance Menu

Description: When the pop-up menu is displayed, this flag is TRUE. This flag is used to check whether the pop up menu is displayed.

Power Up: Takes effect immediately

Screen: This is internal data.

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