tailieunhanh - Industrial Robots Programming - J. Norberto Pires Part 9

Tham khảo tài liệu 'industrial robots programming - j. norberto pires part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 152 Industrial Robots Programming The robot subroutine handles these commands in the way presented below. IF index receive_len l THEN command_str receive_stringl ENDIF IF index 1 and index receive_len THEN command_str StrPart receive_stringl l index-1 str_aux 1 StrPart receive_string 1 index-1-1 receive_len-index receive_len StrLen str_aux 1 index StrMatch str_auxl 1 IF index receive_len 1 THEN parameter 1 a str_aux 1 ENDIF IF index 1 and index receive_len THEN parameterla StrPart str_auxl l index-1 str_aux2 StrPart str_auxl index l receive_len-index receive_len StrLen str_aux2 index StrMatch str_aux2 IF index receive_len 1 THEN parameter2a str_aux2 ENDIF ENDIF IF index 1 and index receive_len THEN parameter2a StrPart str_aux2 l index-1 Str_aux3 StrPart str_aux2 index-1-1 receive_len-index receive_len StrLen str_aux3 index StrMatch str_aux3 l _ IF index receive_len 1 THEN parameter3a str_aux3 ENDIF IF index 1 and index receive_len THEN parameter3a StrPart str_aux3 l index-1 ENDIF ENDIF ENDIF TEST command str case 190 case 200 case 201 case 301 case 401 case 501 case 502 case 503 case 504 case 505 case 506 movecontact open_g close_g movePl go_home movejlp movejlm movej2p movej2m movej3p movej3m Software Interfaces 153 case 507 movej4p case 508 movej4m case 509 movej5p case 510 movej5in case 511 movej6p case 512 movej6m case 520 jammountl case 530 cammountl case 540 pick_pen case 550 release_pen case 1000 save_pos case 2000 move jablc case 3000 exe_script case 5000 cam_pick case 5001 cam_go ENDTEST Basically the routine extracts the information from the command string sent through the socket connection and feeds the controlling variables with the commanded values. The TEST cycle similar to a switch-case-do cycle discriminates the function to call which executes the functionality commanded by the user. This example shows in some detail the procedure to explore TCP IP socket servers for industrial manufacturing systems. It also shows that there are several platforms .