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史陶比尔机器人程序手册
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更新于2023-03-16
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史陶比尔机人编程手册网上资源少,本手册详细介绍了史陶比尔机器人编程语句并有一些例子
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© Stäubli Faverges 2005
VAL3 参考手册
Version 5.2
D28056210B - 06/2005
D28056210B - 06/2005 3 / 122
VAL3
参考手册
- Version 5.2
引言 ........................................................................................................................................................... 9
VAL3 语言基础知识............................................................................................................................ 10
应用程序 ............................................................................................................................... 10
定义................................................................................................................................................ 10
默认内容 ........................................................................................................................................ 10
程序启动和终止.............................................................................................................................. 10
应用程序的参数.............................................................................................................................. 10
长度单位.................................................................................................................................................... 11
执行存储器的大小 ..................................................................................................................................... 11
程序 ...................................................................................................................................... 11
定义................................................................................................................................................ 11
可重入程序..................................................................................................................................... 11
start() 程序..................................................................................................................................... 11
stop() 程序..................................................................................................................................... 11
数据类型 ............................................................................................................................... 12
定义................................................................................................................................................ 12
简单类型 ........................................................................................................................................ 12
句型................................................................................................................................................ 12
常量 ...................................................................................................................................... 12
定义................................................................................................................................................ 12
简单类型的常量.............................................................................................................................. 12
构造类型的常量.............................................................................................................................. 12
常数表 ............................................................................................................................................ 13
变量 ...................................................................................................................................... 13
定义................................................................................................................................................ 13
变量的作用范围.............................................................................................................................. 13
一个变量值的存取.......................................................................................................................... 13
参数赋值 ........................................................................................................................................ 14
参数引用 ........................................................................................................................................ 14
序列的控制指令 .................................................................................................................... 15
命令 // .................................................................................................................................................. 15
call 子程序的调用 ................................................................................................................................ 15
return 子程序的返回............................................................................................................................ 16
if 控制语句的指令 ................................................................................................................................ 16
while 控制语句的指令 ......................................................................................................................... 17
do ... until 控制语句的指令 ................................................................................................................. 17
for 控制语句的指令.............................................................................................................................. 18
switch 控制语句的指令 ....................................................................................................................... 19
简单类型................................................................................................................................................ 20
指令................................................................................................................................................ 20
num size(variable)............................................................................................................................... 20
BOOL 类型 ........................................................................................................................... 21
定义................................................................................................................................................ 21
运算系统 ........................................................................................................................................ 21
NUM 类型 ............................................................................................................................. 21
定义................................................................................................................................................ 21
运算系统 ........................................................................................................................................ 22
指令................................................................................................................................................ 22
num sin(num angle) ........................................................................................................................... 22
num asin(num value) ......................................................................................................................... 23
num cos(num angle) .......................................................................................................................... 23
num acos(num value) ........................................................................................................................ 23
num tan(num angle) ........................................................................................................................... 24
num atan(num value) ......................................................................................................................... 24
num abs(num value) .......................................................................................................................... 24
num sqrt(num value) .......................................................................................................................... 25
num exp(num value) .......................................................................................................................... 25
num ln(num value) ............................................................................................................................. 26
4 / 122 D28056210B - 06/2005
num log(num value) ........................................................................................................................... 26
num roundUp(num value) ................................................................................................................. 27
num roundDown(num value) ............................................................................................................ 27
num round(num value) ...................................................................................................................... 27
num min(num x, num y) ..................................................................................................................... 28
num max(num x, num y) .................................................................................................................... 28
num limit(num value, num min, num max) ........................................................................................ 28
num sel(bool condition, num value1, num value2) ............................................................................. 29
STRING 类型 ........................................................................................................................ 30
定义................................................................................................................................................ 30
运算系统 ........................................................................................................................................ 30
指令................................................................................................................................................ 30
string toString(string format, num value) ........................................................................................... 30
string toNum(string string, num& value, bool& ratio) ......................................................................... 31
string chr(num Ascii Code) ................................................................................................................ 32
num asc(string chaîne, num position) ................................................................................................ 33
string left(string string, num size) ....................................................................................................... 33
string right(string string, num size) .................................................................................................... 34
string mid(string string, num size, num position) ............................................................................... 34
string insert(string string, string insertion, num position) ................................................................... 35
string delete(string string, num size, num position) ........................................................................... 35
num replace(string string, string replacement, num size, num position) ........................................... 36
num find(string string1, string string2) ............................................................................................... 36
num len(string string) ......................................................................................................................... 37
DIO 类型 ............................................................................................................................... 38
定义................................................................................................................................................ 38
运算系统 ........................................................................................................................................ 38
指令................................................................................................................................................ 39
void dioLink(dio& variable, dio source) ............................................................................................. 39
num dioGet(dio dTable) ..................................................................................................................... 39
num dioSet(dio dTable, num value) ................................................................................................... 40
AIO 类型 ............................................................................................................................... 41
定义................................................................................................................................................ 41
指令................................................................................................................................................ 41
void aioLink(aio& variable, aio source) ............................................................................................. 41
num aioGet(aio input) ........................................................................................................................ 41
num aioSet(aio output, num value) .................................................................................................... 42
SIO 类型 ............................................................................................................................... 43
定义................................................................................................................................................ 43
运算系统 ........................................................................................................................................ 43
指令................................................................................................................................................ 44
void sioLink(sio& variable, sio source) .............................................................................................. 44
num clearBuffer(sio input) ................................................................................................................. 44
num sioGet(sio input, num& Data) .................................................................................................... 44
num sioSet(sio output, num& Data) ................................................................................................... 45
用户界面................................................................................................................................................ 46
用户页面 ........................................................................................................................................ 46
指令................................................................................................................................................ 46
void userPage(), void userPage(bool fixed)....................................................................................... 46
void gotoxy(num x, num y) ................................................................................................................. 47
void cls() ............................................................................................................................................. 47
void put() void putln() ......................................................................................................................... 47
void title(string string) ......................................................................................................................... 48
num get()............................................................................................................................................. 48
num getKey() ...................................................................................................................................... 50
bool isKeyPressed(nom code)........................................................................................................... 50
void popUpMsg(string string) ............................................................................................................. 50
void logMsg(string string) ................................................................................................................... 51
string getProfile()................................................................................................................................ 51
D28056210B - 06/2005 5 / 122
VAL3
参考手册
- Version 5.2
任务 ........................................................................................................................................................ 52
定义................................................................................................................................................ 52
执行出错后的恢复.......................................................................................................................... 52
启动和中止应用程序 ...................................................................................................................... 52
定程序 ............................................................................................................................................ 53
同步................................................................................................................................................ 54
资源分配 ........................................................................................................................................ 55
指令................................................................................................................................................ 56
void taskSuspend(string name) ......................................................................................................... 56
void taskResume(string name, num skip) .......................................................................................... 56
void taskKill(string name)................................................................................................................... 57
num taskStatus(string name) ............................................................................................................. 58
void taskCreate string name, num priority, program(...) ..................................................................... 59
void wait(bool condition) ..................................................................................................................... 60
void delay(num seconds).................................................................................................................... 60
num clock()......................................................................................................................................... 61
bool watch(bool condition, num seconds) .......................................................................................... 61
程序库 .................................................................................................................................................... 62
定义................................................................................................................................................ 62
界面................................................................................................................................................ 62
界面识别 ........................................................................................................................................ 62
内容................................................................................................................................................ 62
安装和卸载..................................................................................................................................... 62
路径................................................................................................................................................ 63
错误代码 ........................................................................................................................................ 63
指令................................................................................................................................................ 64
num identifiant:libLoad(string path) .................................................................................................... 64
num identifiant:libSave(), num libSave() ............................................................................................ 64
num libDelete(string path) .................................................................................................................. 64
string identifiant:libPath(), string libPath() ........................................................................................ 65
bool libList(string path, string& contenu) ......................................................................................... 65
机械手控制............................................................................................................................................ 66
指令................................................................................................................................................ 66
void disablePower() ........................................................................................................................... 66
void enablePower() ............................................................................................................................ 66
bool isPowered() ................................................................................................................................ 66
bool isCalibrated().............................................................................................................................. 67
num workingMode(), num workingMode(num& status) ................................................................... 67
num speedScale() .............................................................................................................................. 68
num esStatus() ................................................................................................................................... 68
机械手的位置........................................................................................................................................ 69
引言 ...................................................................................................................................... 69
JOINT 类型 ........................................................................................................................... 69
定义................................................................................................................................................ 69
运算系统 ........................................................................................................................................ 70
指令................................................................................................................................................ 70
joint abs(joint position) ....................................................................................................................... 70
joint herej() ......................................................................................................................................... 71
bool isInRange(joint position) ............................................................................................................ 71
TRSF 类型 ............................................................................................................................ 72
定义................................................................................................................................................ 72
方向................................................................................................................................................ 73
运算系统 ........................................................................................................................................ 75
指令................................................................................................................................................ 75
num distance(trsf position1, trsf position2) ........................................................................................ 75
FRAME 类型......................................................................................................................... 76
定义................................................................................................................................................ 76
使用................................................................................................................................................ 76
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