案例/模板说明

CartMove模板

以下为机械臂主控CartMove模板程序，注意对工控机返回的 error_code 进行判断。

CartMove基本模板： XYZCartMoveBasicTpl.JBI

CartMove二次定位模板：XYZCartMoveRepoTpl.JBI

TrajMove模板

/JOB
//NAME XYZMasterTaskTest
//POS
///NPOS 0,0,0,0,0,0
//INST
///DATE 2022/11/05 09:40
///ATTR SC,RW
///GROUP1 RB1
///LVARS 5,12,5,5,5,5,0,0
NOP
' 以上为编辑程序过程中，自动生成的内容
' init 机械臂主控初始化
CALL JOB:XYZMasterInit
'
' connect to server  连接机械臂主控 server
CALL JOB:XYZMasterConnect ARGF"192.168.37.101" ARGF11111
'
'
' switch_strat  请求切换策略
'   set strat_name 设定策略名
SET S004 "strat1"
CALL JOB:XYZMasterProcCmd ARGF522
IFTHENEXP I011<>0
    MSG "switch_obj NG"
    ABORT
ENDIF
'
'
' req_pick_place 请求pick和place规划
SET I003 0
CALL JOB:XYZMasterProcCmd ARGF517
IFTHENEXP I011<>0
    MSG "req_pick_place NG"
    ABORT
ENDIF
'
' get_pick_in 获取取料入框轨迹
SET I003 0
CALL JOB:XYZMasterProcCmd ARGF518
IFTHENEXP I011<>0
    MSG "get_pick_in NG"
    ABORT
ENDIF
'   check pose_type
IFTHENEXP I014<>1
    MSG "get_pick_in:pose_type NG"
    ABORT
ENDIF
' 执行取料入框轨迹
CALL JOB:XYZMasterExecTraj ARGF518
'
' get_pick_out 获取取料出框轨迹
SET I003 0
CALL JOB:XYZMasterProcCmd ARGF519
IFTHENEXP I011<>0
    MSG "get_pick_out NG"
    ABORT
ENDIF
'   check pose_type
IFTHENEXP I014<>1
    MSG "get_pick_out:pose_type NG"
    ABORT
ENDIF
' 执行取料出框轨迹
CALL JOB:XYZMasterExecTraj ARGF519
'
' get_place_in 获取放料入框轨迹
SET I003 0
CALL JOB:XYZMasterProcCmd ARGF520
IFTHENEXP I011<>0
    MSG "get_place_in NG"
    ABORT
ENDIF
'   check pose_type
IFTHENEXP I014<>1
    MSG "get_place_in:pose_type NG"
    ABORT
ENDIF
' 执行放料入框轨迹
CALL JOB:XYZMasterExecTraj ARGF520
'
' get_place_out  放料入框轨迹
SET I003 0
CALL JOB:XYZMasterProcCmd ARGF521
IFTHENEXP I011<>0
    MSG "get_place_out NG"
    ABORT
ENDIF
'   check pose_type
IFTHENEXP I014<>1
    MSG "get_place_out:pose_type NG"
    ABORT
ENDIF
' 执行放料出框轨迹
CALL JOB:XYZMasterExecTraj ARGF521
'
'
END