案例/模板说明
============================

CartMove模板
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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
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.. code-block:: 

    /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