库卡机器人解压指令_kuka机器人程序，有没有高手能全部看懂？求讲解下！

发表于：2016/11/29 15:28:36

#7楼

这是整套的程序，大神们，讲解下呗

DEF promain_0510( )

;FOLD INI

;FOLD BASISTECH INI

BAS (#INITMOV,0 )

INTERRUPT DECL 128 WHEN $flag[2]==true DO BufferRecData ( )

;ENDFOLD (BASISTECH INI)

;FOLD USER INI

;Make your modifications here

;ENDFOLD (USER INI)

;ENDFOLD (INI)

;FOLD INITIAL

for l=1 to 64

RecChar[l]=0

endfor

for l=1 to 64

last_Char[l]=0

endfor

FOR M=1 TO 64

SENDCHAR[M]=0

ENDFOR

BZ=0

BX=0

BY=0

ZN=0

Xm=0.0

Ym=0.0

Zm=0.0

STATION_NO=0

RANK=0

ROW=0

LAST_STATION=0

LAST_RANK=0

LAST_ROW=0

VEL=0

;ENDFOLD INITIAL

PTP $POS_ACT

$ov_pro=5

PTP $POS_ACT

connectionname[]="XmlServer"

RET=EKI_Init("XmlServer")

RET=EKI_Open("XmlServer")

LOOP

IF $FLAG[1] THEN

;FOLD RESET

;BZ=0

;BX=0

;BY=0

;ZN=0

;Xm=0

;Ym=0

;Zm=0

;STATION_NO=0

;RANK=0

;ROW=0

;LAYER=0

;DOWN=FALSE

;UP=FALSE

;ENDFOLD RESET

;FOLD INITIAL

for l=1 to 64

RecChar[l]=0

endfor

FOR M=1 TO 64

SENDCHAR[M]=0

ENDFOR

;ENDFOLD INITIAL

RECEIVE_CharAndData()

SEND_CharAndData()

IF ((RECCHAR[1]=="G") AND (RECCHAR[2]=="O")) OR ((RECCHAR[1]=="S") AND (RECCHAR[2]=="C") AND (RECCHAR[3]=="A") AND (RECCHAR[4]=="N")) THEN

TRANSFER()

ENDIF

$OV_PRO=VEL

IF (RANK<>LAST_RANK) OR (ROW<>LAST_ROW)OR (STATION_NO<>LAST_STATION)OR (RECCHAR[1]<>LAST_CHAR[1])OR (RECCHAR[2]<>LAST_CHAR[2])OR (RECCHAR[3]<>LAST_CHAR[3])OR (RECCHAR[4]<>LAST_CHAR[4])OR (RECCHAR[5]<>LAST_CHAR[5])OR(RECCHAR[6]<>LAST_CHAR[6]) THEN

;FOLD CHECK STATUS()

IF (RECCHAR[1]=="O") AND (RECCHAR[2]=="N")AND (RECCHAR[3]=="A")AND (RECCHAR[4]=="C")AND (RECCHAR[5]=="T")THEN

;ONACT

SENDCHAR[]="KUKA KR16-2 ONACT"

WAIT FOR $FLAG[1]

SEND_CHAR()

ENDIF

IF (RECCHAR[1]=="L") AND (RECCHAR[2]=="A")AND (RECCHAR[3]=="S")AND (RECCHAR[4]=="T")AND (RECCHAR[5]=="P")AND (RECCHAR[6]=="O")AND (RECCHAR[7]=="S")THEN

;LASTPOS

SENDCHAR[]="LASTPOS"

WAIT FOR $FLAG[1]

SEND_CHAR()

ENDIF

IF (RECCHAR[1]=="O") AND (RECCHAR[2]=="F")AND (RECCHAR[3]=="F")AND (RECCHAR[4]=="A")AND (RECCHAR[5]=="C")AND (RECCHAR[6]=="T")THEN

; "OFFACT"

SENDCHAR[]=" KUKA KR270  OFFACT&