CRP工業(yè)機(jī)器人控制系統(tǒng)定義GIGP變量說(shuō)明1

1、GI5O視覺(jué)緩沖區(qū)數(shù)據(jù)GP4OGI51視覺(jué)標(biāo)志1GP41GI52跟蹤緩沖區(qū)數(shù)據(jù)GP42GI53視覺(jué)標(biāo)志2GP43GP44GI6O跟蹤緩沖O的個(gè)數(shù)GP45GI61跟蹤緩沖1的個(gè)數(shù)GP46GI62跟蹤緩沖2的個(gè)數(shù)GP47GI63跟蹤緩沖3的個(gè)數(shù)GP48GI64跟蹤緩沖4的個(gè)數(shù)GP49GI65跟蹤緩沖5的個(gè)數(shù)GP5OGI66跟蹤緩沖6的個(gè)數(shù)GP51GI67跟蹤緩沖7的個(gè)數(shù)GP52GI68跟蹤緩沖8的個(gè)數(shù)GP53GIOGPOGI69跟蹤緩沖9的個(gè)數(shù)GP79GI9O碼垛工藝號(hào)O,碼垛個(gè)數(shù)GP8OGI91碼垛工藝號(hào)1,碼垛個(gè)數(shù)GP81GI92碼垛工藝號(hào)2,碼垛個(gè)數(shù)GP82GI93碼垛工藝號(hào)3,碼垛個(gè)數(shù)GP

2、83GI94碼垛工藝號(hào)4,碼垛個(gè)數(shù)GP84GI95碼垛工藝號(hào)5,碼垛個(gè)數(shù)GP85GI96碼垛工藝號(hào)6,碼垛個(gè)數(shù)GP86GI97碼垛工藝號(hào)7,碼垛個(gè)數(shù)GP87GI98碼垛工藝號(hào)8,碼垛個(gè)數(shù)GP88GI99碼垛工藝號(hào)9,碼垛個(gè)數(shù)GP89GP90GP91GP92GP93GP94GP95GP96GP97GP98GP99GP1OOGP1O1GP102GP1O3GP104GP105GP106GP107GP108GP109GP110GP111GP112GP113GP114GP115GP116GP117GP118GP119GP120GP121GP122GP123GP124GP125GP126GP127GP12

3、8GP129GI100碼垛工藝號(hào)10,碼垛個(gè)數(shù)GP130GI101碼垛工藝號(hào)11,碼垛個(gè)數(shù)GP131GI102碼垛工藝號(hào)12,碼垛個(gè)數(shù)GP132GI103碼垛工藝號(hào)13,碼垛個(gè)數(shù)GP133GI104碼垛工藝號(hào)14,碼垛個(gè)數(shù)GP134GI105碼垛工藝號(hào)15,碼垛個(gè)數(shù)GP135GI106碼垛工藝號(hào)16,碼垛個(gè)數(shù)GP136GI107碼垛工藝號(hào)17,碼垛個(gè)數(shù)GP137GI108碼垛工藝號(hào)18,碼垛個(gè)數(shù)GP138GI109碼垛工藝號(hào)19,碼垛個(gè)數(shù)GP139GI110碼垛工藝號(hào)20,碼垛個(gè)數(shù)GP140GI111碼垛工藝號(hào)21,碼垛個(gè)數(shù)GP141GI112碼垛工藝號(hào)22,碼垛個(gè)數(shù)GP142GI113碼垛工

4、藝號(hào)23,碼垛個(gè)數(shù)GP143GI114碼垛工藝號(hào)24,碼垛個(gè)數(shù)GP144GI115碼垛工藝號(hào)25,碼垛個(gè)數(shù)GP145GI116碼垛工藝號(hào)26,碼垛個(gè)數(shù)GP146GI117碼垛工藝號(hào)27,碼垛個(gè)數(shù)GP147GI118碼垛工藝號(hào)28,碼垛個(gè)數(shù)GP148GI119碼垛工藝號(hào)29,碼垛個(gè)數(shù)GP149GI120碼垛工藝號(hào)30,碼垛個(gè)數(shù)GP150GI121碼垛工藝號(hào)31,碼垛個(gè)數(shù)GP151GI122碼垛工藝號(hào)32,碼垛個(gè)數(shù)GP152GI123碼垛工藝號(hào)33,碼垛個(gè)數(shù)GP153GI124碼垛工藝號(hào)34,碼垛個(gè)數(shù)GP154GI125碼垛工藝號(hào)35,碼垛個(gè)數(shù)GP155GI126碼垛工藝號(hào)36,碼垛個(gè)數(shù)GP156

5、GI127碼垛工藝號(hào)37,碼垛個(gè)數(shù)GP157GI128碼垛工藝號(hào)38,碼垛個(gè)數(shù)GP158GI129碼垛工藝號(hào)39,碼垛個(gè)數(shù)GP159GI130碼垛工藝號(hào)40,碼垛個(gè)數(shù)GP160GI131碼垛工藝號(hào)41,碼垛個(gè)數(shù)GP161GI132碼垛工藝號(hào)42,碼垛個(gè)數(shù)GP162GI133碼垛工藝號(hào)43,碼垛個(gè)數(shù)GP163GI134碼垛工藝號(hào)44,碼垛個(gè)數(shù)GP164GI135碼垛工藝號(hào)45,碼垛個(gè)數(shù)GP165GI136碼垛工藝號(hào)46,碼垛個(gè)數(shù)GP166GI137碼垛工藝號(hào)47,碼垛個(gè)數(shù)GP167GI138碼垛工藝號(hào)48,碼垛個(gè)數(shù)GP168GI139碼垛工藝號(hào)49,碼垛個(gè)數(shù)GP169GP170GP171GP17

6、2GP173GP174GP175GP176GP177GP178GP179只保存當(dāng)前記錄點(diǎn)的位跟蹤工藝0的A點(diǎn)位置記錄 跟蹤工藝1的A點(diǎn)位置記錄 跟蹤工藝2的A點(diǎn)位置記錄 跟蹤工藝3的A點(diǎn)位置記錄 跟蹤工藝4的A點(diǎn)位置記錄 跟蹤工藝5的A點(diǎn)位置記錄 跟蹤工藝6的A點(diǎn)位置記錄 跟蹤工藝7的A點(diǎn)位置記錄 跟蹤工藝8的A點(diǎn)位置記錄 跟蹤工藝9的A點(diǎn)位置記錄 跟蹤工藝中，當(dāng)前物體的機(jī)器人位置 跟蹤工藝中，當(dāng)前物體的機(jī)器人位置 視覺(jué)工藝中，當(dāng)前物體的機(jī)器人位置 視覺(jué)工藝中，當(dāng)前物體的機(jī)器人位置 固定點(diǎn)的機(jī)器人位置碼垛工藝號(hào)0,過(guò)度點(diǎn) 碼垛工藝號(hào)1，過(guò)度點(diǎn) 碼垛工藝號(hào)2,過(guò)度點(diǎn) 碼垛工藝號(hào)3,過(guò)度點(diǎn) 碼垛工

7、藝號(hào)4,過(guò)度點(diǎn) 碼垛工藝號(hào)5,過(guò)度點(diǎn) 碼垛工藝號(hào)6,過(guò)度點(diǎn) 碼垛工藝號(hào)7,過(guò)度點(diǎn) 碼垛工藝號(hào)8,過(guò)度點(diǎn) 碼垛工藝號(hào)9,過(guò)度點(diǎn)碼垛工藝，準(zhǔn)備點(diǎn)碼垛工藝，放件點(diǎn)碼垛工藝，離開(kāi)點(diǎn)碼垛工藝，自動(dòng)生成準(zhǔn)備點(diǎn) 碼垛工藝，層對(duì)于高度機(jī)器人當(dāng)前實(shí)時(shí)坐標(biāo)值工作原點(diǎn)1M103工作原點(diǎn)2M104工作原點(diǎn)3M105工作原點(diǎn)4M106跟蹤0參考點(diǎn) 跟蹤1參考點(diǎn) 跟蹤2參考點(diǎn) 跟蹤3參考點(diǎn)空間干涉M310空間干涉M311空間干涉M312空間干涉M313空間干涉M314空間干涉M315空間干涉M316空間干涉M317空間干涉M318空間干涉M319碼垛工藝號(hào)10,過(guò)度點(diǎn) 碼垛工藝號(hào)11，過(guò)度點(diǎn) 碼垛工藝號(hào)12,過(guò)度點(diǎn) 碼垛

8、工藝號(hào)13,過(guò)度點(diǎn) 碼垛工藝號(hào)14,過(guò)度點(diǎn) 碼垛工藝號(hào)15,過(guò)度點(diǎn) 碼垛工藝號(hào)16,過(guò)度點(diǎn) 碼垛工藝號(hào)17,過(guò)度點(diǎn) 碼垛工藝號(hào)18,過(guò)度點(diǎn) 碼垛工藝號(hào)19,過(guò)度點(diǎn) 碼垛工藝號(hào)20,過(guò)度點(diǎn) 碼垛工藝號(hào)21,過(guò)度點(diǎn) 碼垛工藝號(hào)22,過(guò)度點(diǎn) 碼垛工藝號(hào)23,過(guò)度點(diǎn) 碼垛工藝號(hào)24,過(guò)度點(diǎn) 碼垛工藝號(hào)25,過(guò)度點(diǎn) 碼垛工藝號(hào)26,過(guò)度點(diǎn) 碼垛工藝號(hào)27,過(guò)度點(diǎn) 碼垛工藝號(hào)28,過(guò)度點(diǎn) 碼垛工藝號(hào)29,過(guò)度點(diǎn) 碼垛工藝號(hào)30,過(guò)度點(diǎn) 碼垛工藝號(hào)31,過(guò)度點(diǎn) 碼垛工藝號(hào)32,過(guò)度點(diǎn) 碼垛工藝號(hào)33,過(guò)度點(diǎn) 碼垛工藝號(hào)34,過(guò)度點(diǎn) 碼垛工藝號(hào)35,過(guò)度點(diǎn) 碼垛工藝號(hào)36,過(guò)度點(diǎn) 碼垛工藝號(hào)37,過(guò)度點(diǎn) 碼垛工藝號(hào)38,過(guò)度點(diǎn) 碼垛工藝號(hào)39,過(guò)度點(diǎn) 碼垛工藝號(hào)40,過(guò)度點(diǎn) 碼垛工藝號(hào)41,過(guò)度點(diǎn) 碼垛工藝號(hào)42,過(guò)度點(diǎn) 碼垛工藝號(hào)43,過(guò)度點(diǎn) 碼垛工藝號(hào)44,過(guò)度點(diǎn) 碼垛工藝號(hào)45,過(guò)度點(diǎn) 碼垛工藝號(hào)46,過(guò)度點(diǎn) 碼垛工藝號(hào)47,過(guò)度點(diǎn)