$MCH_POS_X/Y/Z : Displays the robot's current position in . $JOG_GROUP: Manages manual movement settings.
| Variable | Type | Purpose | |----------|------|---------| | $MCR.$GENOVERRIDE | INT | 0–100% overall speed | | $SCR.$RMT_MASTER | BOOL | FALSE = Local, TRUE = Remote | | $DMR_GRP[1].$MROT[1] | REAL | Master rotation count for axis 1 | | $ALARM_ST[1] | STRING[80] | Current alarm description | | $SV_OFF | BOOL | Servo on/off status (write TRUE to kill servos) | | $IO_DO[1].$STATE | BOOL | Digital output 1 state | | $UFRAME[1] | XYZWPR | User frame 1 coordinates | | $UTOOL[1] | XYZWPR | User tool 1 definition | fanuc robot system variables pdf
These variables provide real-time feedback regarding the robot’s physical location and dynamic state. They are critical for safety interlocks and precision logic. $MCH_POS_X/Y/Z : Displays the robot's current position in