最新天堂中文在线丨午夜嘿嘿嘿影院丨亚洲国产精品高清久久久丨中文字幕人成乱码熟女app丨www91亚洲丨97成人资源丨成人中文字幕+乱码+中文字幕丨一区二区三区在线 | 日丨日韩免费大片丨亚洲欧美一区二区三区丨国产在线观看a丨亚洲成人第一区丨国内免费视频成人精品丨亚洲综合色网站丨午夜精品美女久久久久av福利丨国产午夜人做人免费视频网站丨国产又黄视频丨97se狼狼狼狼狼亚洲网丨狠狠亚洲婷婷综合色香五月丨中国一级毛片黄丨国产女人十八毛片丨国产色视频在线播放丨国产亚洲精久久久久久无码苍井空丨天天摸日日摸爽爽狠狠丨久久综合香蕉国产蜜臀av

MODULE MainModule
    VAR socketdev socket_client;
    VAR robtarget zhuaqudian{4, 6} := [
        [[[304.27,-308.43,388.88],[0.00605288,-0.921946,0.386945,-0.0159119],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[302.63,-500.33,388.88],[0.00611035,-0.921938,0.386966,-0.0158309],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[301.71,-691.96,388.88],[0.00627679,-0.921946,0.386953,-0.0156304],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[103.85,-307.68,388.88],[0.00626996,-0.921947,0.386949,-0.0156282],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[105.97,-499.35,388.88],[0.006271,-0.921942,0.386961,-0.0156303],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[103.92,-690.97,388.88],[0.00627827,-0.921947,0.386949,-0.0156317],[-1,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
    
        [[[-122.05,-310.89,388.88],[0.00645941,-0.921936,0.386973,-0.0156182],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-124.22,-502.28,388.88],[0.00648626,-0.921942,0.38696,-0.0156026],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
        [[-117.92,-694.13,388.88],[0.00646402,-0.921923,0.387005,-0.0155904],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-316.41,-307.47,388.88],[0.00645302,-0.921949,0.386938,-0.0156957],[-2,0,-4,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-319.25,-504.26,388.88],[0.00656645,-0.921893,0.387072,-0.0156806],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-314.56,-695.07,388.88],[0.00652637,-0.921896,0.387066,-0.0156755],[-2,0,-3,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
    
        [[[300.57,694.78,388.88],[0.00621611,-0.921927,0.386999,-0.0155978],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[302.88,502.19,388.88],[0.00621539,-0.921926,0.387003,-0.0155974],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[301.33,309.79,388.88],[0.00621415,-0.921925,0.387004,-0.0156002],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[107.10,694.54,388.88],[0.0062171,-0.921926,0.387002,-0.0155948],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[105.49,503.12,388.88],[0.00621575,-0.921925,0.387004,-0.0155983],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
      [[106.00,311.19,388.88],[0.00621052,-0.92192,0.387017,-0.0156025],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]],
        
        [[[-122.27,693.85,388.88],[0.00620335,-0.921927,0.386999,-0.0156261],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-122.85,502.21,388.88],[0.00621437,-0.921928,0.386997,-0.0156302],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-125.59,309.09,388.88],[0.00622092,-0.921929,0.386993,-0.0156214],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-320.87,694.16,388.88],[0.0062127,-0.921927,0.386998,-0.0156269],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
    [[-320.92,503.94,388.88],[0.00621883,-0.921923,0.387007,-0.0156311],[1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],
        [[-323.41,311.32,388.88],[0.00621518,-0.921925,0.387003,-0.015623],[1,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]]
        ];
        
      
    
      

    VAR robtarget yuandian := [[584.30,98.67,388.88],[0.000927732,0.9636,-0.267343,0.00115184],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR robtarget touliao :=  [[595.42,114.45,115.41],[8.54151E-05,0.951234,-0.308469,-6.39389E-05],[0,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR robtarget newguodudian := [[111.88,-309.89,388.88],[0.000206237,2.54575E-05,-1,-0.000101683],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
    

    PROC main()
        VAR bool retval;
        SocketClose socket_client;
        SocketCreate socket_client;
        SocketConnect socket_client, "192.168.100.61", 8088;
        
        WHILE TRUE DO
            WaitDI DI02,0;
            Reset DO00;    
            Reset DO01;    
            Reset DO02;
            Reset DO03;
            Reset DO04;
            IF DI00=0 AND DI01= 0 THEN
                gotoAreaRobotPos 1, retval;
            ELSEIF DI00 = 1 AND DI01= 0 THEN
                gotoAreaRobotPos 2, retval;
            ELSEIF DI00 = 0 AND DI01= 1 THEN
                gotoAreaRobotPos 3, retval;
            ELSEIF DI00 = 1 AND DI01= 1 THEN
                gotoAreaRobotPos 4, retval;
            ENDIF
            
            IF(not retval) THEN
               WHILE DI04=0 DO
                    WaitDI DI04, 1;
                    WaitTime 0.05;
               ENDWHILE
            
            ENDIF
            
        ENDWHILE
      
    ENDPROC

    PROC jiexiweizhi(string sp, num index, inout robtarget data{*}, inout bool isError, inout bool isLastLayer)        
        VAR num count := 1;
        VAR num pos_count := 1;
        VAR bool is_sucess := TRUE;
        VAR num para{7}:=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0];
        VAR string inputstr;
        VAR num found;
        
        VAR string split_string := "";
        VAR num split_index;
        
        VAR string remain_string := "";
        VAR bool isRecvComplete := FALSE;
        VAR bool isParseComplete := FALSE;
        
        isError := FALSE;
        isLastLayer := FALSE;
        
        WHILE not isRecvComplete DO
            SocketReceive socket_client, \Str:=inputstr, \Time:=WAIT_MAX;
            
            found := StrMatch(inputstr, 1, ";");
            
            IF found <= StrLen(inputstr) THEN
                isRecvComplete := TRUE;
                inputstr := StrPart(inputstr, 1, found - 1);
            ENDIF
            
            split_index := 1;
            split_string := "";
            isParseComplete := FALSE;
            
            WHILE not isParseComplete DO
                found := StrMatch(inputstr, split_index, sp);
                
                IF found <= StrLen(inputstr) THEN
                    
                    IF strLen(remain_string) > 0 THEN
                        split_string := remain_string + StrPart(inputstr, split_index, found - split_index);
                        remain_string := "";
                    ELSE
                        split_string := StrPart(inputstr, split_index, found - split_index);
                    ENDIF                
                
                    is_sucess := strtoval(split_string, para{count});
                    IF is_sucess THEN
                        Incr count;
                    ENDIF      
                    
                    IF count = 8 THEN
                        parsePos para, data{pos_count};
                        Incr pos_count;
                        count := 1;
                    ENDIF
                    split_index := found + 1;
                    
                ELSE
                    isParseComplete := TRUE;
                    remain_string := StrPart(inputstr, split_index, StrLen(inputstr) - split_index + 1);
                ENDIF
            
            ENDWHILE
                        
        ENDWHILE
        
        found := StrMatch(remain_string, 1, "error");  
        IF found <= StrLen(remain_string) THEN
            isError := TRUE;
        ENDIF
        
        found := StrMatch(remain_string, 1, "yes");
        IF found <= StrLen(remain_string) THEN
            isLastLayer := TRUE;
        ENDIF
        
    ENDPROC
    
    PROC parsePos(num data{*}, inout robtarget robpos)
        robpos.trans.x := data{1};
        robpos.trans.y := data{2};
        robpos.trans.z := data{3};
        robpos.rot.q1 := data{4};
        robpos.rot.q2 := data{5};
        robpos.rot.q3 := data{6};
        robpos.rot.q4 := data{7};
    ENDPROC
    
    PROC gotoAreaRobotPos(num index, inout bool retVal)
        VAR robtarget new_position{6};
        VAR string inputstr;
        VAR num found;
        VAR bool flag2 := TRUE;
        VAR bool isError;
        VAR bool isLastLayer;
        
        retval := TRUE;





程序如上，其中
PROC main()
        VAR bool retval;
        SocketClose socket_client;
        SocketCreate socket_client;
        SocketConnect socket_client, "192.168.100.61", 8088;
不知道什么意思

ABB機器人的socket通訊，找相關資料看看就知道怎么回事了

大概解釋下，就是一個  Socket通訊的過程，連接相機或PC時使用：
PROC main()    
        VAR bool retval;     //定義一個數據類型為bool  的變量 retval
        SocketClose socket_client;  //關閉Socket連接 socket_client，這個socket_client變量在最頂部有定義，數據類型為socketdev
        SocketCreate socket_client;//創建Socket連接 socket_client
        SocketConnect socket_client, "192.168.100.61", 8088; //連接目標或地址：192.168.100.61 端口號 8088

謝謝了

這個程序是通訊程序模板，沒什么好解釋的啊

自己挖自己

謝謝分享

謝謝分享