EPSON 代碼程序

1.EPSON SPEL+ 語(yǔ)言代碼示例：

// String RCdata$, InData$, toks$(0), data1$, data2$, data3$ //定義字符型變量名需要添加“$”符號(hào) Integer N, x Double VX(500), VY(500), VZ(500) #define delay_Time 0.1 Function mainSetNet #201, "192.168.60.5", 8000, CRLF, NONE //當(dāng)控制器作為客戶端的時(shí)候ip-set有效 OpenNet #201 As Server //打開#201服務(wù)器端口（作為服務(wù)器）Print "wait Connect ok..."WaitNet #201 //等待端口打開Print "Connect#201 ok."Print #201, "RC.OK" loop1:Call communication //pc通信 Input #202, RCdata$ ParseStr RCdata$, toks$(), "," //將字符串按間隔符號(hào)" "拆分成多組數(shù)據(jù). Print "指令=", toks$(0)//解析RCdata$判斷控制If toks$(0) = "CLOSE" ThenPrint "接收到控制類型數(shù)據(jù)."Call close //關(guān)閉機(jī)器人ElseIf UBound(toks$()) >= 1 Then //如果toks$(1)不為空則判斷為點(diǎn)數(shù)據(jù)Call ParsePoint //解析函數(shù)Call movePGoTo loop1ElsePrint "數(shù)據(jù)無效請(qǐng)重新輸入:"GoTo loop1 // 繼續(xù)循環(huán)EndIf Fend // Function communication //TCP/IP 網(wǎng)口通信 succRC:If ChkNet(201) > 0 Then //Line Input #201, InData$ //從端口接收字符到一個(gè)或多個(gè)變量中//Print "InData$=", InData$Read #201, RCdata$, ChkNet(201) //從端口接收一行以上字符到一個(gè)字符串變量中(指定讀入的字節(jié)數(shù))Print "RCdata$=", RCdata$ElseWaitNet #201Print "等待數(shù)據(jù)接受"GoTo succRCEndIfFend // Function ParsePoint //解析數(shù)據(jù)：節(jié)點(diǎn)3維坐標(biāo)點(diǎn)N = Val(toks$(0)) //獲取點(diǎn)數(shù)//VX(1) = Val(toks$(1))Print "坐標(biāo)點(diǎn)數(shù)N=", NInteger iVX(0) = VY(0) = VZ(0) = 0For i = 1 To N Step 1VX(i) = Val(toks$(i))VY(i) = Val(toks$(N + i))VZ(i) = Val(toks$(2 * N + i))P(i) = XY(VX(i), VY(i), VZ(i), 0)Print " X(i) =", VX(i), "Y(i) =", VY(i), "Z(i) =", VZ(i) //顯示坐標(biāo)值Next Fend // Function WaiteP //移動(dòng)到待機(jī)點(diǎn)If Motor = Off ThenMotor On //打開電機(jī)Power LowSpeed 50Accel 30, 30EndIfTool 0 //設(shè)置工具坐標(biāo)系為0Go waitPFend // Function movePIf Motor = Off ThenMotor OnPower LowSpeedS 50AccelS 50EndIfCall WaiteP //1 回到待機(jī)點(diǎn)Tool 2 //2 設(shè)置工具坐標(biāo)系2Integer iCurve "mycurve", O, 0, 4, P(1:N) //3 用自由曲線制作用于 CP 控制的數(shù)據(jù)與點(diǎn)Jump P1 -Z(-10) //4 運(yùn)動(dòng)到開始點(diǎn)上方10mm處CVMove "mycurve" //5 執(zhí)行定義的自由曲線CP 動(dòng)作Go P(N) -Z(-10) //6 運(yùn)動(dòng)到結(jié)束點(diǎn)上方10mm處////Jump P1 -Z(-10) //偏移Z軸坐標(biāo)Z=P1z-z(-10)mm)移動(dòng)到P1，如：P1z=-20 則 Z=-10//CP On //運(yùn)動(dòng)CP模式:在多個(gè)動(dòng)作連續(xù)進(jìn)行時(shí)//For i = 1 To N Step 1//Go P(i)//Next//CP Off//Jump P(N) -Z(-10)// Call WaiteP //回到待機(jī)點(diǎn)FendFunction close //關(guān)機(jī)CloseNet #201If Motor = On ThenMotor OffEndIf Fend //

2.關(guān)鍵函數(shù)：

Curve，CVMove 函數(shù)

3.代碼截圖

總結(jié)

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