ABB_机器人指令精选02.pdf

13 ?Robotics-49 A B B R o b o tR A P ID re fe re n ce m an u al -E xi t E xi t; … … ?Robotics-50 A B B R o b o tR A P ID re fe re n ce m an u al -S to p S to p [\ N o R eg ai n ]; [\ N o R eg ai n ] [\ N o R eg ai n ]: ?Robotics-51 A B B R o b o tR A P ID re fe re n ce m an u al -S to p … … ?Robotics-52 A B B R o b o tR A P ID re fe re n ce m an u al -E xi tC yc le E xi tC yc le ; 14 ?Robotics-53 A B B R o b o tR A P ID re fe re n ce m an u al -E xi tC yc le P R O C m ai n( ) IF cy cl ec ou nt =0 T H E N C O N N E C T er ro r_ in tn o W IT H er ro r_ tr ap ; IS ig na lD Id i_ er ro r, 1, er ro r_ in tn o; E N D IF cy cl ec ou nt := cy cl ec ou nt +1 ; !S ta rt to do so m et hi ng in te lli ge nt .. .. E N D P R O C T R A P er ro r_ tr ap T P W rit e “I w ill st ar to n th e ne xt ite m ” E xi tC yc le ; E N D T R A P ?Robotics-54 A B B R o b o tR A P ID re fe re n ce m an u al P ro cC al l C al lB yv ar ?Robotics-55 A B B R o b o tR A P ID re fe re n ce m an u al -P ro cC al l P ro ce d u re {A rg u m en t} ; W el dp ip e1 ; W el dp ip e2 10 ,lo w sp ee d; W el dp ip e3 10 \s pe ed := 20 ; P ro ce d u re : Id en ti fi er ) {A rg u m en t} : al l) ?Robotics-56 A B B R o b o tR A P ID re fe re n ce m an u al -P ro cC al l 15 ?Robotics-57 A B B R o b o tR A P ID re fe re n ce m an u al -C al lB yV ar C al lB yV ar N am e, N u m b er ; re g1 := G in pu t( gi _T yp e) ; ca llB yV ar “p ro c” ,r eg 1; N am e : st ri n g ) N u m b er : n u m ) ?Robotics-58 A B B R o b o tR A P ID re fe re n ce m an u al -C al lB yV ar ?Robotics-59 A B B R o b o tR A P ID re fe re n ce m an u al -C al lB yV ar T E S T re g1 C A S E 1: lf_ do or do or _L oc ; C A S E 2: rf _d oo r do or _l oc ; C A S E 3: lf_ do or do or _l oc ; C A S E 4: rr _d oo r do or _l oc ; E D F A U LT : E X IT ; E N D T E S T C al lB yV ar “p ro c” ,r eg 1; % “p ro c” +N um T os tr (r eg 1, 0) % do or _l oc ; ?Robotics-60 A B B R o b o tR A P ID re fe re n ce m an u al C lk R es et C lk S ta rt C lk S to p 16 ?Robot