3.39 $BASE_KIN ............................................................................................................... 27
3.40 $BRAKE_SIG ............................................................................................................ 28
3.41 $CAB_FANSPEED .................................................................................................... 28
3.42 $CIRC_MODE ........................................................................................................... 28
3.43 $CIRC_TYPE ............................................................................................................ 31
3.44 $CIRC_TYPE_C ........................................................................................................ 31
3.45 $CMD ........................................................................................................................ 31
3.46 $CURR_ACT ............................................................................................................. 32
3.47 $CYCFLAG ................................................................................................................ 32
3.48 $DATA_EXT_OBJx .................................................................................................. 33
3.49 $DATA_INTEGRITY .................................................................................................. 33
3.50 $DATAPATH ............................................................................................................. 33
3.51 $DATE ....................................................................................................................... 34
3.52 $DEVICE ................................................................................................................... 35
3.53 $DISTANCE .............................................................................................................. 35
3.54 $DIST_NEXT ............................................................................................................. 35
3.55 $DRIVES_ENABLE ................................................................................................... 35
3.56 $ERR ......................................................................................................................... 35
3.57 $EX_AX_IGNORE ..................................................................................................... 37
3.58 $FAST_MEAS_COUNT ............................................................................................ 37
3.59 $FAST_MEAS_COUNT_RESET .............................................................................. 37
3.60 $FAST_MEAS_COUNT_TIME .................................................................................. 37
3.61 $FILTER .................................................................................................................... 38
3.62 $FILTER_C ................................................................................................................ 38
3.63 $FLAG ....................................................................................................................... 38
3.64 $FOL_ERROR ........................................................................................................... 39
3.65 $FCT_CALL ............................................................................................................... 39
3.66 $GEAR_JERK ........................................................................................................... 39
3.67 $GEAR_JERK_C ....................................................................................................... 40
3.68 $HOLDING_TORQUE ............................................................................................... 40
3.69 $HOLDING_TORQUE_MAND .................................................................................. 41
3.70 $HOME ...................................................................................................................... 41
3.71 $IN ............................................................................................................................. 42
3.72 $INPOSITION ............................................................................................................ 42
3.73 $INTERPRETER ....................................................................................................... 42
3.74 $IOBUS_INFO ........................................................................................................... 43
3.75 $IOSIM_IN ................................................................................................................. 43
3.76 $IOSIM_OPT ............................................................................................................. 44
3.76.1 Simulating inputs/outputs – KUKA System Software 8.2 or higher ...................... 45
3.76.2 Simulating inputs/outputs – KUKA System Software 8.1 ..................................... 45
3.77 $IOSIM_OUT ............................................................................................................. 45
3.78 $IOSYS_IN_FALSE ................................................................................................... 46
3.79 $IOSYS_IN_TRUE .................................................................................................... 46
3.80 $IPO_MODE .............................................................................................................. 47
3.81 $IPO_MODE_C ......................................................................................................... 47
3.82 $IPO_WAIT_FOR ...................................................................................................... 47
3.83 $IPO_WAIT_FOR_ON .............................................................................................. 48
3.84 $IPO_WAIT_STATE .................................................................................................. 48
3.85 $IS_OFFICE_LITE .................................................................................................... 48
3.86 $I2T_OL ..................................................................................................................... 48
3.87 $JERK ........................................................................................................................ 49
3.88 $JERK_C ................................................................................................................... 49
3.89 $KCP_CONNECT ...................................................................................................... 50
3.90 $KCP_IP .................................................................................................................... 50
3.91 $KCP_TYPE .............................................................................................................. 50
3.92 $KDO_ACT ................................................................................................................ 50
3.93 $KR_SERIALNO ........................................................................................................ 51
3.94 $LDC_ACTIVE ........................................................................................................... 51
3.95 $LDC_LOADED ......................................................................................................... 51
3.96 $LDC_RESULT .......................................................................................................... 52
3.97 $LK_MASTER ............................................................................................................ 52
3.98 $LK_SLAVES ............................................................................................................ 52
3.99 $LOAD ....................................................................................................................... 53
3.100 $LOAD_C ................................................................................................................... 54
3.101 $LOAD_A1 ................................................................................................................. 55
3.102 $LOAD_A1_C ............................................................................................................ 55
3.103 $LOAD_A2 ................................................................................................................. 56
3.104 $LOAD_A2_C ............................................................................................................ 56
3.105 $LOAD_A3 ................................................................................................................. 57
3.106 $LOAD_A3_C ............................................................................................................ 57
3.107 $MAMES_ACT ........................................................................................................... 58
3.108 $MASTERINGTEST_GROUP ................................................................................... 59
3.109 $MASTERINGTEST_REQ_INT ................................................................................. 59
3.110 $MEAS_PULSE ......................................................................................................... 60
3.111 $MODE_OP ............................................................................................................... 60
3.112 $MOT_STOP ............................................................................................................. 60
3.113 $MOT_TEMP ............................................................................................................. 61
3.114 $MOUSE_ACT ........................................................................................................... 61
3.115 $MOUSE_DOM ......................................................................................................... 61
3.116 $MOUSE_ON ............................................................................................................ 62
3.117 $MOUSE_ROT .......................................................................................................... 62
3.118 $MOUSE_TRA ........................................................................................................... 62
3.119 $MOVE_BCO ............................................................................................................. 62
3.120 $NULLFRAME ........................................................................................................... 62
3.121 $NUM_IN ................................................................................................................... 63
3.122 $NUM_OUT ............................................................................................................... 63
3.123 $ORI_TYPE ............................................................................................................... 63
3.124 $ORI_TYPE_C ........................................................................................................... 64
3.125 $OUT ......................................................................................................................... 64
3.126 $OUT_C ..................................................................................................................... 64
3.127 $OV_ASYNC ............................................................................................................. 65
3.128 $OV_PRO .................................................................................................................. 65
3.129 $OV_ROB .................................................................................................................. 66
3.130 $PAL_MODE ............................................................................................................. 66
3.131 $PATHTIME ............................................................................................................... 66
3.132 $PC_FANSPEED ....................................................................................................... 67
3.133 $PINGCOOPKRC ...................................................................................................... 67
3.134 $POS_ACT ................................................................................................................ 68
3.135 $POS_ACT_MES ...................................................................................................... 68
3.136 $POS_BACK ............................................................................................................. 68
3.137 $POS_FOR ............................................................................................................... 69
3.138 $POS_INT ................................................................................................................. 69
3.139 $POS_RET ................................................................................................................ 70
3.140 $POWER_FAIL ......................................................................................................... 70
3.141 $POWEROFF_DELAYTIME ..................................................................................... 70
3.142 $PRO_IP ................................................................................................................... 70
3.143 $PRO_IP0 ................................................................................................................. 71
3.144 $PRO_IP1 ................................................................................................................. 72
3.145 $PRO_MODE ............................................................................................................ 72
3.146 $PRO_MODE0 .......................................................................................................... 73
3.147 $PRO_MODE1 .......................................................................................................... 73
3.148 $PRO_NAME ............................................................................................................ 74
3.149 $PRO_NAME0 .......................................................................................................... 74
3.150 $PRO_NAME1 .......................................................................................................... 74
3.151 $PRO_STATE ........................................................................................................... 75
3.152 $PRO_STATE0 ......................................................................................................... 75
3.153 $PRO_STATE1 ......................................................................................................... 75
3.154 $RCV_INFO .............................................................................................................. 75
3.155 $RED_VEL ................................................................................................................ 76
3.156 $RED_VEL_C ............................................................................................................ 76
3.157 $REVO_NUM ............................................................................................................ 76
3.158 $RINT_LIST ............................................................................................................... 76
3.159 $ROB_TIMER ............................................................................................................ 77
3.160 $ROBNAME .............................................................................................................. 78
3.161 $ROBROOT_C .......................................................................................................... 78
3.162 $ROBROOT_KIN ...................................................................................................... 78
3.163 $ROBRUNTIME ........................................................................................................ 79
3.164 $ROBTRAFO ............................................................................................................. 79
3.165 $ROTSYS .................................................................................................................. 79
3.166 $ROTSYS_C ............................................................................................................. 79
3.167 $RUNTIME_DATA0 ................................................................................................... 80
3.168 $RUNTIME_DATA1 ................................................................................................... 80
3.169 $RUNTIME_ERROR0 ............................................................................................... 81
3.170 $RUNTIME_ERROR1 ............................................................................................... 81
3.171 $RVM ......................................................................................................................... 81
3.172 $SAFETY_DRIVES_ENABLED ................................................................................ 82
3.173 $SAFETY_SW ........................................................................................................... 82
3.174 $SAFE_FS_STATE ................................................................................................... 83
3.175 $SAFE_IBN ............................................................................................................... 83
3.176 $SAFE_IBN_ALLOWED ............................................................................................ 83
3.177 $SEN_PINT ............................................................................................................... 84
3.178 $SEN_PINT_C .......................................................................................................... 84
3.179 $SEN_PREA ............................................................................................................. 84
3.180 $SEN_PREA_C ......................................................................................................... 85
3.181 $SERVO_SIM ............................................................................................................ 85
3.182 $SET_IO_SIZE .......................................................................................................... 85
3.183 $SINGUL_DIST ......................................................................................................... 86
3.184 $SINT_LIST ............................................................................................................... 86
3.185 $SOFTPLCBOOL ...................................................................................................... 87
3.186 $SOFTPLCINT ........................................................................................................... 87
3.187 $SOFTPLCREAL ....................................................................................................... 88
3.188 $SOFT_PLC_EVENT ................................................................................................ 88
3.189 $SPL_TECH .............................................................................................................. 89
3.190 $SPL_TECH_C .......................................................................................................... 92
3.191 $SPL_TECH_LINK .................................................................................................... 93
3.192 $SPL_TECH_LINK_C ................................................................................................ 94
3.193 $SPL_TSYS ............................................................................................................... 94
3.194 $SPL_VEL_MODE ..................................................................................................... 95
3.195 $SPL_VEL_RESTR ................................................................................................... 95
3.196 $SR_ACTIVETOOL ................................................................................................... 96
3.197 $SSB_ACTIVE ........................................................................................................... 96
3.198 $STOPMB_ID ............................................................................................................ 97
3.199 $STOPNOAPROX ..................................................................................................... 97
3.200 $SUPPRESS_ABS_ACCUR ..................................................................................... 97
3.201 $TECH ....................................................................................................................... 97
3.202 $TECH_C ................................................................................................................... 101
3.203 $TECHANGLE ........................................................................................................... 102
3.204 $TECHANGLE_C ...................................................................................................... 102
3.205 $TECHIN .................................................................................................................... 102
3.206 $TECHPAR ................................................................................................................ 103
3.207 $TECHPAR_C ........................................................................................................... 103
3.208 $TECHSYS ................................................................................................................ 104
3.209 $TECHSYS_C ........................................................................................................... 104
3.210 $TECHVAL ................................................................................................................ 105
3.211 $TIMER ...................................................................................................................... 105
3.212 $TIMER_FLAG .......................................................................................................... 106
3.213 $TIMER_STOP .......................................................................................................... 106
3.214 $TOOL ....................................................................................................................... 106
3.215 $TOOL_C ................................................................................................................... 106
3.216 $TORQ_DIFF ............................................................................................................. 107
3.217 $TORQ_DIFF2 ........................................................................................................... 107
3.218 $TORQMON .............................................................................................................. 107
3.219 $TORQMON_COM .................................................................................................... 108
3.220 $TORQUE_AXIS_ACT .............................................................................................. 108
3.221 $TORQUE_AXIS_LIMITS .......................................................................................... 109
3.222 $TORQUE_AXIS_MAX .............................................................................................. 110
3.223 $TORQUE_AXIS_MAX_0 .......................................................................................... 111
3.224 $TRACE ..................................................................................................................... 111
3.225 $TSYS ....................................................................................................................... 112
3.226 $VEL .......................................................................................................................... 112
3.227 $VEL_C ..................................................................................................................... 113
3.228 $VEL_ACT ................................................................................................................. 113
3.229 $VEL_AXIS ................................................................................................................ 113
3.230 $VEL_AXIS_C ........................................................................................................... 113
3.231 $VEL_AXIS_ACT ....................................................................................................... 114
3.232 $VEL_EXTAX ............................................................................................................ 114
3.233 $VEL_EXTAX_C ........................................................................................................ 114
3.234 $WAIT_FOR .............................................................................................................. 115
3.235 $WAIT_FOR0 ............................................................................................................ 115
3.236 $WAIT_FOR1 ............................................................................................................ 115
3.237 $WAIT_FOR_INDEXRES .......................................................................................... 116
3.238 $WAIT_FOR_ON ....................................................................................................... 116
3.239 $WAIT_FOR_ON0 ..................................................................................................... 116
3.240 $WAIT_FOR_ON1 ..................................................................................................... 117
3.241 $WAIT_STATE .......................................................................................................... 117
3.242 $WBOXDISABLE ...................................................................................................... 118
3.243 $WORLD ................................................................................................................... 118
4 KUKA Service ............................................................................................... 119
4.1 Requesting support ................................................................................................... 119
4.2 KUKA Customer Support ........................................................................................... 119
Index ............................................................................................................. 127