機(jī)器人編程運(yùn)動(dòng)指令、信號(hào)處理指令等示例說明1運(yùn)動(dòng)指令MJOINT(pj0,speed1,zone1,tool0); //以指定運(yùn)動(dòng)參數(shù)運(yùn)動(dòng)到關(guān)節(jié)點(diǎn)位pj0MLIN(pc1,speed2,zone2,tool0); //以指定運(yùn)動(dòng)參數(shù)運(yùn)動(dòng)到笛卡爾點(diǎn)位pc1MCIRC(pc1,pc2,speed2,zone2,tool0);//以指定運(yùn)動(dòng)參數(shù)沿圓弧軌跡，途經(jīng)pc1點(diǎn)運(yùn)動(dòng)到笛卡爾點(diǎn)位pc2MPATH(pc_array,speed3,zone3,tool0);//多節(jié)點(diǎn)連續(xù)平滑軌跡MLIN(pc1,speed2,zone2,tool,wobj=wobj1);//以指定運(yùn)動(dòng)參數(shù)運(yùn)動(dòng)到笛卡爾點(diǎn)位pc1，參考坐標(biāo)系為wobj12信號(hào)處理指令SetDOut("DO1",true);//設(shè)置數(shù)字信號(hào)SetDOut("DO2",false);SetAOut("AO1",10); //設(shè)置模擬信號(hào)SetAOut("AO2",5);WaitDI("DI1",true,-1);//等待數(shù)字輸入信號(hào)WaitDO("DO1",true,3);//等待數(shù)字輸出信號(hào)，超時(shí)時(shí)間為3sWaitAI("AI1",1,1);//等待模擬輸入信號(hào)WaitAO("AO1",4,2);3觸發(fā)器指令//設(shè)置一個(gè)觸發(fā)器，于距離運(yùn)動(dòng)起始點(diǎn)位101mm的位置，延遲1ms觸發(fā)中斷信號(hào)intr1trigdata1=TrigDist(trigref::from_start,1.0,101,intr1);TRIGGLIN(pc1,speed2,trigdata1,zone2,tool0);//設(shè)置一個(gè)觸發(fā)器，于距離運(yùn)動(dòng)起始點(diǎn)位101mm的位置，延遲1ms將DO1設(shè)置為falsestringsig_name="DO1";numsig_value=0;trigdata2=TrigDist(trigref::from_start,1.0,-101.0,sig_name,sig_value);TRIGGLIN(pc1,speed2,trigdata2,zone2,tool0);4中斷指令intnumiv1;//中斷標(biāo)識(shí)//中斷處理函數(shù)voidtrapf(){print("traptriggered:%n\n",x);}voidmain(){connect(iv1,trapf);//關(guān)聯(lián)中斷變量于中斷標(biāo)識(shí)itimer(1,iv1);//注冊(cè)中斷標(biāo)識(shí)變量，訂閱定時(shí)器中斷isleep(iv1);//禁用中斷iv1iwatch(iv1);//使能中斷iv1idisable();//禁用所有中斷ienable();//使能所有中斷}5數(shù)學(xué)運(yùn)算指令numres;boolflag;res=Limit(-0.1,0.1,10);//0.1res=Limit(5,0,10);//5Fres=Mod(-6.5,-1.5);//-0.5res=AbsFMod(-6.5,1.5);//1res=Random(-10,10); //生成[-10,10)的隨機(jī)數(shù)SRand(1); //設(shè)置隨機(jī)種子res=Random(-10,10);flag=Range(-0.1,0.1,10);//falseflag=Range(0.1,0.1,10);//trueres=Sign(1);//1res=Sign(-2);//-16字符串處理指令ValToString(false);//falseValToString(-20.1);//-20.1boolb;boolret;ret=StringToVal("false",b);//b=false,ret=trueret=StringToVal("2.44",n);//2.44StrLen("hello")//5Left("hello,world",5);//helloRight("hello,world",5);//worldSubStr("hello",1,3);//helInsert("hello","world",2);//heworldlloDelete("hello,new,world",7,4);//hello,worldReplace("hello","world",1,2);//worldlloSplit("hello,new,world",",",1);//helloSplit("hello,new,world",",",2);//newSplit("hello,new,world",",",3);//world7其他指令voidtest(){errnumerr10=10;print("raisetheerror");raise(code=err10);//拋出錯(cuò)誤print("trynextstatement");ConCTask("sub_task");//啟動(dòng)子任務(wù)exit(); //退出當(dāng)前