Greetings,

I'm having some issues finding the correct variables in the trace menue. Im running a 840D sl with a 6-Axis robot with a milling end effector. I'm trying to trace the tcp position as well as speed and acceleration, but apart from speed ($AC_VACTBF) I cant find the correct variables in the list. Its especially frustrating since the current position is actually shown in the main menu of the HMI when operating the robot

Hello,

you can find the full list of NC system variables to trace in the System Variables manual:
Link to SW 4.92 System Variables List Manual

For your robot, you might want to try $AA_IW[<axis>] (Axis setpoint in WCS) or $AA_IM[<axis>] (Axis setpoint in MCS). Axis velocity would be $AA_VACTW[<axis>] (WCS) or $AA_VACTM[<axis>] (MCS).

If you want to measure actual values (encoder positions) instead of setpoints, replace "AA" with "VA", means e. g. $VA_IW[<axis>] instead of #AA_IW[<axis>].

I do not know if you can trace TCP acceleration. If acceleration setpoint on the encoder is sufficient you can measure "Acceleration setpt controller input (64 bit)". You find it in the "Servo" tab when you press the "Choose parameter" button in the trace menu. Some other interesting servo variables are "Position actual value", "Velocity act. value" and "Torque-prod. Current" from the same tab.

These variables work for CNC machines, hope they work for robots as well!

Best regards

mrTi