VAR iodev iodev1; VAR num Reveice_Byte{8}; VARjointtargetPhome:=[[3.10955,-30.1587,14.6977,-2.07106,67.5213,3.24353],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; VAR robtarget p10:=[[489.04,0.00,391.23],[5.33165E-05,1.24356E-36,-1,1.2047E-37],[0,-1,0,0],[9E+09, 9E+09,9E+09,9E+09,9E+09,9E+09]]; VAR robtarget p20:=[[509.73,61.76,296.50],[5.31843E-05,4.00685E-08,-1,3.36067E-08],[0,-1,0,0],[9E+09, 9E+09,9E+09,9E+09,9E+09,9E+09]]; VAR robtarget p30:=[[504.33,-38.24,296.50],[5.31562E-05,-3.26453E-09,-1,9.48518E-09],[-1,0,-1,0],[9E +09,9E+09,9E+09,9E+09,9E+09,9E+09]]; PERS tooldata MyTool:=[TRUE,[[31.792631019,0,229.638935148],[0.945518576,0,0.325568154,0]],[1,[0,0,1],[1,0,0,0],0,0 ,0]]; 主过程() 关闭iodev1; 打开 'COM1:',iodev1\Bin; ClearIOBuff iodev1; 为我从 1 到 8 做 Reveice_Byte{i}:=ReadBin(iodev1); ENDFOR MoveAbsJ Phome\NoEOffs,v1000,fine,mytool\WObj:=wobj0; MoveL p10,v1000,fine,mytool\WObj:=wobj0; IF Reveice_Byte{2}=1 THEN 元; ELSEIF Reveice_Byte{2}=2 THEN 别 停止; 万一 ENDPROC 过程元() TPReadNum Reveice_Byte{3}, ''; MoveL p20,v1000,fine,mytool\WObj:=wobj0; IF Reveice_Byte{3}=50 THEN MoveL p20,v1000,fine,mytool\WObj:=wobj0; MoveC offs(p20,25,25,0),offs(p20,0,50,0),v1000,fine,mytool\WObj:=wobj0; MoveC offs(p20,-25,25,0),p20,v1000,fine,mytool\WObj:=wobj0; ELSEIF Reveice_Byte{3}=100 THEN MoveL p20,v1000,fine,mytool\WObj:=wobj0; MoveC offs(p20,50,50,0),offs(p20,0,100,0),v1000,fine,mytool\WObj:=wobj0; MoveC offs(p20,-50,50,0),p20,v1000,fine,mytool\WObj:=wobj0; ELSEIF Reveice_Byte{3}=150 THEN MoveL p20,v1000,fine,mytool\WObj:=wobj0; MoveC offs(p20,75,75,0),offs(p20,0,150,0),v1000,fine,mytool\WObj:=wobj0; MoveC offs(p20,-75,75,0),p20,v1000,fine,mytool\WObj:=wobj0; 别 停止; 万一 MoveAbsJ Phome\NoEOffs,v1000,fine,mytool\WObj:=wobj0; ENDPROC 过程方() MoveL p20,v1000,fine,mytool\WObj:=wobj0; MoveL p30,v1000,fine,mytool\WObj:=wobj0; TPReadNum Reveice_Byte{4}, ''; IF Reveice_Byte{4}=50 THEN MoveL p30, v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,25,0,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,25,-50,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,-25,-50,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,-25,0,0), v1000, 很好, mytool\WObj:=wobj0; MoveL p30, v1000, 很好, mytool\WObj:=wobj0; ELSEIF Reveice_Byte{4}=100 THEN MoveL p30, v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,50,0,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,50,-100,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,-50,-100,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,-50,0,0), v1000, 很好, mytool\WObj:=wobj0; MoveL p30, v1000, 很好, mytool\WObj:=wobj0; ELSEIF Reveice_Byte{4}=150 THEN MoveL p30, v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,75,0,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,75,-150,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,-75,-150,0), v1000, 很好, mytool\WObj:=wobj0; MoveL Offs(p30,-75,0,0), v1000, 很好, mytool\WObj:=wobj0; MoveL p30, v1000, 很好, mytool\WObj:=wobj0; 别 停止; 万一 MoveAbsJ Phome\NoEOffs,v1000,fine,mytool\WObj:=wobj0; ENDPROC
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