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工控人家園 工業機器人論壇 ABB機器人程序部分看不懂，求大神指點

fkeickl

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樓主發表于: 2021-10-22 13:27

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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

有壓力就有動力

gi_robot

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1樓發表于: 2022-08-11 09:51

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工控人家園 工業機器人論壇 ABB機器人程序部分看不懂，求大神指點

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