ABB icr5即可做服务端也可做客户端,这里做服务端
1. MODULE sock
2. TASK PERS tooldata tool10:=[TRUE,[[-28.9267,-52.9172,-7.36568],[1,0,0,0]],[0.5
,[0,0,10],[1,0,0,0],0,0,0]];
3. TASK PERS tooldata tool11:=[TRUE,[[-0.000623311,-0.00175,0.00298229],[1,0,0,0]
],[0.5,[0,0,10],[1,0,0,0],0,0,0]];
4. VAR robtarget P10:=[[1000,0,500],[1,0,0,0],[-1,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E
9]];
5. VAR num posedata{5};
6. VAR bool ok;
7. VAR pos pos1;
8. VAR string PC_adress;
9. !192.168.125.5:="127.0.0.1";
10. VAR string IRC5_adress:="127.0.0.1";
11. CONST num pro_port:=8885;
12. VAR socketdev server_socket;
13. VAR socketdev client_socket;
14. VAR socketstatus status;
15. VAR num peek_value:=65;
16. VAR pose object;
17. !error
18. VAR string str_data;
19. VAR num retry_no:=0;
20.
21.
22. PROC main()
23.
24. intial;
25. MoveAbsJ [[0,0,0,0,30,0],[9E9,9E9,9E9,9E9,9E9,9E9]]\NoEOffs,v1000,z50,tool
0;
26. WHILE TRUE DO
27. str_data:="[0,1000,0,300,0]";
28. SocketSend client_socket\Data:=[2];
29. !??
30. Receivedata;
31. Moveit;
32. SocketSend client_socket\Data:=[1];
33. !??
34. Receivedata;
35. Moveit;
36. ENDWHILE
37. socketclose server_socket;
38. socketclose client_socket;
39. ENDPROC
40.
41. PROC Moveit()
42.
43. IF posedata{1}=3 OR posedata{1}=4 THEN
44. MoveJ P10,v1000,z50,tool0;
45. ELSE
46. MoveL Offs(P10,200,0,0),v1000,z50,tool0;
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