FANUC机器人R-J3接口配置与系统变量$AB_INT_CFGSTRUCTURE详解

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FANUC机器人系统变量表EN（6）是一个专门针对FANUC机器人操作和维护的重要参考资料，它详细列举了FANUC机器人与Allen-Bradley接口的配置结构变量。这些变量对于理解和管理机器人与外部设备的通信至关重要，特别是在与Allen-Bradley R-J3风格接口的集成中。 "SystemVariableListing"这一部分的核心是"$AB_INT_CFGSTRUCTURE"，这个变量名称翻译为"Allen-Bradley接口配置结构"。这个变量包含了R-J3风格Allen-Bradley接口的配置信息，这些信息由FANUC机器人系统自动管理和设置，用户一般无权修改，因为它被设定为只读状态。这种设计确保了接口配置的安全性和稳定性，避免了未经授权的改动可能带来的问题。其中，"$AB_INT_CFG.$address"变量是链接地址，范围从0到255，其默认值为0。这个地址用于定义机器人与Allen-Bradley设备之间的串行通信路径。这个变量仅对FANUC机器人服务人员和热线提供诊断参考，因为它的目的是内部使用的，不适用于用户编程或直接控制。在遇到与R-J3接口相关的故障时，FANUC机器人服务团队可以通过查看这个结构中的字段来定位问题，如检查地址是否正确、通信是否中断等。如果机器人配备了R-H风格的Allen-Bradley接口，这个变量结构将不会被使用，所有字段应显示为0。总结来说，FANUC机器人系统变量表EN（6）中的这些变量提供了关键的系统信息，便于技术人员进行故障排查和系统优化。熟练掌握这些变量及其含义，有助于提高机器人系统的稳定性和工作效率。同时，理解这些变量的只读属性，也能帮助用户意识到随意修改可能带来的风险。

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: Not available Program: Not available UIF: Not

available CRTL: Not available

Name: Leader Frame Structure

Description: Leader Frame variable structure. Individual fields within this

structure are described below.

$CD_PAIR STRUCTURE

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: Not available Program: Not available UIF: Not

available CRTL: Not available

Name: Coordinated Pair Structure

Description: Coordinated Pair variable structure. Individual fields within this

structure are described below.

$CD_PAIR.$ldr_frm_num

Minimum: 0 Maximum: MAX_LDR_FRM Default: 1 KCL/Data: RW

Program: Not available UIF: Not available CRTL: Not available Data Type:

LONG

Name: Leader Frame number

Description: Indicates which leader frame will be used in LDR Coordinate

frame when use follower group jogging.

$CD_PAIR.$leader_frm[6]

Minimum: MIN_CD_POINT Maximum: MAX_CD_POINT Default:

DEF_CD_POINT KCL/Data: RW Program: Not available UIF: Not available

CRTL: Not available Data Type: POSITION

Name: Leader Frame

Description: The frame attached to the leader group. This frame will be used

for Follower group Jogging when the JOG COORD is in LDR coordinate.

$CD_PAIR.$loc_jog

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RO Program: Not available

UIF: Not available CRTL: Not available Data Type: BOOLEAN

Name: Follower fixed orientation.

Description: If this flag is set to true, when leader group jogged, the follower

will follow the leader’s location with fixed orientation.

$CD_PAIR.$ornt_mask

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER

Name: Group Number

Description: Denotes the motion group number that IntelliTrak feature is

applied. The default value is 1, meaning Group number 1 is selected.

$CMSCH STRUCTURE

Minimum: 1 Maximum: 5 Default: 1 KCL/Data: Not available Program: Not

available UIF: Not available CRTL: Not available

Name: IntelliTrak Schedule System Variable

Description: This set of variables controls the mode of operation of IntelliTrak.

Individual fields within this structure are described below.

$CMSCH[1].$cmc_type

Minimum: 0 Maximum: 3 Default: 2 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER

Name: IntelliTrak Type Switch

Description: Switch to enable and disable the IntelliTrak algorithm. If it is set

to 0, the IntelliTrak function does not work for all programs on the controller. If

you want to enable/disable IntelliTrak for a specific program, you should set

the IntelliTrak schedule number to 0. You can specify this value using the

PROGRAM DETAIL screen.

$CMSCH[1].$cnstnt_path

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER

Name: Enables/Disables IntelliTrak constant path

Description: This is a switch for controlling the constant path feature. If set to

0, it means the constant path feature is disabled. Therefore, the path traced

will vary with the speed and speed override changes. If set to 1 or 2, it means

the constant path feature is enabled. The path traced will be maintained

regardless of speed and speed override changes. This adjustment only

applies to the program motions. If set to 1, the ACC override (optional) field in

motion statement is ignored. If set to 2, the ACC override (optional) field in

motion statement is active. If set to 1, the robot moves around all corners with

the specified speed. This means the actual robot path could have a similar

profile for all corners because the actual path depends on the corner speed. If

set to 0, the robot moves around all corners using the previous and next path

speeds.

$CMSCH[1].$min_acc_cmc

Minimum: 0 Maximum: 10000 Default: 128 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: INTEGER

Name: Minimum IntelliTrak Acceleration Time

Description: This value determines the minimum acceleration time that

IntelliTrak will use when the $CMSCH[].$nom_acc_ovr is used to reduce the

accel times.

$CMSCH[1].$nom_acc_ovr

Minimum: 0.001 Maximum: 5.0 Default: 1.0 KCL/Data: RW Program: Not

available UIF: Not available CRTL: Not available Data Type: REAL

Name: Intellitrak Global Accel Override

Description: This variable is a global acceleration override that affects the

entire program. The default value is 1.0 which means the default acceleration

time is used. A value of 0.8 means acceleration time is 0.8 * default

acceleration.

$CMSCH[1].$nom_pth_spd

Minimum: 0.001 Maximum: 3000. Default: 100. KCL/Data: RW Program:

Not available UIF: Not available CRTL: Not available Data Type: REAL

Name: IntelliTrak Nominal Corner speed

Description: This variable affects corner rounding for the entire program. Its

value indicates the corner rounding achieved when speed is set to this value.

The default value is 100, which means corner rounding is achieved if the travel

speed is set to 100 mm/sec. Note that this speed is independent of program

speed. If CMSCH[1].$cnstnt_path is 1, the robot moves around all corners

using this speed. The taught speed of the previous or next paths are ignored.

The robot decelerates or accelerates the specified speed before the corner

and accelerates or decelerates the taught speed of the next path at the end of

the corner. By keeping this value constant, the same corner rounding will be

maintained regardless of program speed. By changing this value, corner

rounding of the entire program will change. To reduce corner rounding, reduce

this value. To increase corner rounding, increase it.

$CMSCH[1].$orient_type

Minimum: 0 Maximum: 1 Default: 0 KCL/Data: RW Program: Not available

UIF: Not available CRTL: Not available Data Type: INTEGER

Name: IntelliTrak Orientation Control Type

Description: This system variable allows the user to choose between a

one-angle method of orientation control (used prior to V3.06PA) or the

standard orientation control method. The standard orientation control method

is the same as that which is used when IntelliTrak is disabled. If set to 0, then

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