RJ3机器人常用变量

功能变量设置延时多少时间后抱闸开始动作$PARAM_GROUP马达的实际速度被限制在最大速度之内。$PARAM_GROUP每一个实际的轴速度被限制在最大速度之内。$PARAM_GROUP当机器人在行走过程中，位置误差超过了额定值$PARAM_GROUP状态安全信号屏幕LowAirAlarmT2模式倍率值$SCR改变手动进给速度倍率量$SHFTOV_ENBSystemVariableScreenDisplayPassword$SYSDSP_PASSIfthisvariableisnon-zero,thisspecifiestheDOUTsignalwhichwillbesetifacontrollersignalE-stopisasserted.ThiscanbesetintheSYSTEM/CONFIGscreen$E_STOP_DOForcesensorcommunicationregister#1$FORCE_SENSE.$comm_reg1$FORCE_SENSE.$enableTRUE:EnablereadingfromforcesensorFALSE:Disablereadingfromforcesensor$MACRUOPENBL.$uop_holdEnables/disablestheexecutionofmacrosfromtheUOPHOLDinput.$MACRUOPENBL.$uop_rsr1Enables/disablestheexecutionofmacrosfromtheUOPRSR1/PNS1input.$MASTER_ENBSpecifieswhetherornottheSYSTEMMaster/Calscreenwillbedisplayed.Ifsetto1,theSYSTEMMaster/Calscreenisdisplayed.Ifsetto0,theSYSTEMMaster/Calscreenisnotdisplayed.$MCR.$brk_out_enbIndicateswhetherornotmanualsettingofbrakeoutputsisallowed.IfitissettoTRUE,thebrakescanbesetorreleasedmanuallyasspecifiedbythevalueof$brk_output.IfitissettoFALSE,thebrakescannotbesetorreleasedmanually.Bydefault,thevalueof$brk_out_enbissettoFALSE.$brk_out_enbisalsosettoFALSEwhenanemergencystop,overtravelcondition,orDEADMANswitcherroroccurs.$MCR.$enblIfsettoTRUE,indicatesthattheUOPenblinputsignalison.$MCR.$spc_resetSerialPulseCoderReset$MCR_GRP[1].$intplockholInterpreterLockHold$MCR_GRP[1].$masterMastering$MCR_GRP[1].$master_typeMasterType$MCR_GRP[1].$set_refDescription:Causesthesystemtosetthereferencepositionforusewiththequickmasteringfeature.$MCR_GRP[1].$soft_alarmName:SoftAlarm$MCR_GRP[1].$uop_imstpName:ImmediatelyStopFromUOP$MISC_MSTR.$hpd_enbName:HighPrecisionDisturbanceTorqueEnable$MOR.$brk_statusName:BrakeStatus$MOR.$safety_statName:Safetysignalsstatus$MOR_GRP[1].$apc_counter[9]Name:AbsolutePulseCoderPulseCounter$MOR_GRP[1].$atperchName:AtPerchPositionStatus$MOR_GRP[1].$cur_dis_trq[9]Name:CurrentDisturbanceTorque$MOR_GRP[1].$cur_axs_acc[9]Name:CurrentAxisAccelerationTime$MOR_GRP[1].$cur_prog_idName:CurrentProgramIdentification$MOR_GRP[1].$max_torque[9]Name:MaximumTorque$MOR_GRP[1].$move_distName:DistanceMoved$MOR_GRP[1].$nilposName:ZeroPosition$MOR_GRP[1].$servo_readyName:ServoReady$OPWORK.$enbl_onName:ENBLinputisON$OPWORK.$intprunningName:ProgramisRunning$OPWORK.$op_inv_mask[3]Name:Invertedsignalmask$OPWORK.$opt_outName:Enable/DisableuseofUOPOptionalOutput.$OPWORK.$sysbusyName:SystemBusy$OPWORK.$uop_disableName:Enable/disableUOPsignal.$OVRD_RATEName:Overridechangerate$OPWORK.$intppausedName:ProgramisPaused$OPWORK.$intprunningName:ProgramisRunning$PARAM_GROUP[1].$clalm_timeName:CollisionDetectionTime$PARAM_GROUP[1].$master_pos[9]Name:MasterPosition$PARAM_GROUP[1].$max_amp_cur[9]Name:MaximumAmplifierCurrent$PARAM_GROUP[1].$max_payloadName:MaximumPayload$PARAM_GROUP[1].$mijntchklmtName:Jointmotionchecklimit$PARAM_GROUP[1].$mosign[9]Name:MotorSign$PARAM_GROUP[1].$mot_lim_stpName:Motorspeedlimitstop$PARAM_GROUP[1].$mot_spd_lim[9]Name:MotorSpeedLimit$PARAM_GROUP[1].$payloadDescription:Payload$PARAM_GROUP[1].$payload_ixName:Inertiaofpayload(x)$PARAM_GROUP[1].$payload_iyName:Inertiaofpayload(y)$PARAM_GROUP[1].$payload_izName:Inertiaofpayload(z)$PARAM_GROUP[1].$perch[9]Name:PerchPosition(Reservedforfutureuse).$PARAM_GROUP[1].$ppabn_enblName:AirPressureAbnormalSignal$PARAM_GROUP[1].$proc_spdlimName:Applicationprocessspeedlimit$PARAM_GROUP[1].$process_spdName:Applicationprocessspeed$PARAM_GROUP[1].$qstop_tol[1]Name:QuickStopSpeedTolerance.$PARAM_GROUP[1].$sv_off_enb[9]Name:ServoOffEnable$PARAM_GROUP[1].$sv_off_time[9]Name:ServoOffTime$PARAM_GROUP[1].$t1t2_sngstpName:SingularitystopatT1andT2mode.$PARAM_GROUP[1].$tsmod_timeName:TipStickDetectionTime$PARAM_GROUP[1].$upperlims[9]Name:AxisUpperLimits$PARAM_GROUP[1].$upperlimsdf[9]Name:DefaultAxisUpperLimits$PGTRACEDT[1,1].$exec_typeName:FWD/BWDexecutiontype$PGTRACELENName:Lengthofexecutionhistorylist$PLID_GRP.$dsp_enblName:EnableordisableflagtodisplayPayloadidentificationscreen.$PLID_SV.$cur_scrnName:Currentscreen.$PLID_SV.$payloadName:Savedpayload$PNS_OPTIONName:PNSprogramselectoption$PNS_PROGRAMName:PNSProgramName$PWR_UP_RTNSTRUCTUREName:PowerupRoutineName$RA_PARAMGRP[1].$warnmessenbName:Thisisthevariableusedtoenablethewarningmessagedisplay.$REFPOS1STRUCTUREName:ReferencePoint(Group1)Variable$REFPOS2STRUCTUREName:ReferencePoint(Group2)Variable$RESUME_PROGName:ResumeProgram$RMT_MASTERName:RemoteMaster$ROBOT_NAMEName:RobotName$SCAN_TIMEName:ScanningTime$SCRSTRUCTUREName:SystemConfigurationRecord$SCR.$brkhold_enbName:BreakHoldEnable$SCR.$chain_rsdnName:Statusofchainfailurereset_doneName:ChainfailurestatusDescription:Statusofchainfailure.Bit1:Chain1(+24V)failureBit2:Chain2(0V)failure$SCR.$chain_timeDescription:Waitforthevalue(ms)afterSVEMGsignalisONonCEsign/GMhardware,andchackchainfailure$SCR.$coldovrdName:ColdStartOverride$SCR.$dvc_enbName:EnableTimeScale$SCR.$dvc_modeName:TimeScalemode$SCR.$dvc_mode1Name:TimeScalemode1$SCR.$dvc_mode2Name:TimeScalemode2$SCR.$runovlimName:ProgramRunSpeedLimit$SCR.$sfjogovlimName:SafetyJogS