ABB 时间中断

PROC trapTimerInit()

        IDelete into3;
        CONNECT into3 WITH trapTimer;
        ITimer 1,into3;
    ENDPROC

    TRAP trapTimer
        robtargetTemp:=CRobt();

        TPWrite "x:" + NumToStr(robtargetTemp.trans.x,0) + "y:" + NumToStr(robtargetTemp.trans.y,0) + "z:" + NumToStr(robtargetTemp.trans.z,0);
        ptemp:=CJointT();
        TPWrite "J1:"+NumToStr(ptemp.robax.rax_1,0)+"j2"+NumToStr(ptemp.robax.rax_2,0)+"j3:"+NumToStr(ptemp.robax.rax_3,0);
    ENDTRAP