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ID : 1070

目录

程序员手册

    > 编程指南

        > PacScript的定义

        > PacScript的构成

            > 程序文件

            > 标题文件

                > Variant.h的定义内容

            > 命名规则

            > 保留字

            > 关于文件路径

            > 编译

            > 数据的保存和变更

            > PacScript中的单位

        > 任务

            > 特权任务

            > 文件路径和任务

            > 任务的优先顺序

            > 任务状态

            > 操作盘任务

            > Mutex对象

                > 排他处理的程序示例1

                > 排他处理的程序示例2

                > 排他处理的程序示例3

            > 任务的差异

            > 监视状态的程序示例

        > 轴的控制权

        > 预处理

            > 预处理的格式

            > 宏定义

                > 嵌入式宏

            > 加密源程序编码

        > 过程

            > 程序文件和过程

            > 进入点

            > 从程序文件调出过程

            > 带自变量调出过程

        > 程序的定义部分

        > 变量

            > 全局变量

            > 局部变量

                > Static属性

                > Public属性

                > 局部变量的有效范围(作用域)

                > 变量的种类和使用注意事项

            > 排列

                > 将排列指定至过程的自变量

                > 通过排列定义I/O型变量

            > 变量存储器

            > 内部I/O

        > 常量

        > 数据型

            > 整数型

            > 单精度实数型

            > 双精度实数型

            > I/O型

                > I/O型数据的自动转换

            > 位置型

            > 连接型

            > 齐次变换型

                > 齐次变换型数据的标准化

            > 矢量型

            > 字符串型

            > 变体(Variant)型

            > 数据型的自动转换(转变)

            > 数值的数据型转换

            > 将位置数据转换为不同型的位置数据

            > 字符串型数据和其它数据型的转换

            > 2项运算中数据型的优先顺序

            > 舍入为最邻近偶数

            > 与4轴机器人姿势相关的注意事项

        > 对象

        > 程序流程

            > 条件分支

                > 条件式

            > 重复

            > 转移

                > 错误处理程序

            > 标签

            > 备注

        > 指令选项

            > 动作选项

                > 速度指定选项

                > Next选项

            > SyncMove选项(协调功能选项)

            > 目标位置选项

                > 通过起始位移量

                > 目标位置的附加轴选项

            > 区域选项

        > 格式指定字符

            > 数值显示格式指定字符

            > 字符串显示格式指定字符

            > 日期/时刻显示格式指定字符

        > 相关内容

            > 数据通信

                > 线路编号

            > 二进制方式的数据通信

            > 处理PacScript的错误

            > 错误处理示例

            > 种子值

            > 语言设定

            > 关于前端负荷惯量的计算

    > 指令参考

        > 功能

            > 机器人

                > 动作

                    > Approach

                    > ArchMove

                    > Depart

                    > Draw

                    > Drive

                    > DriveA

                    > Move

                    > Move C

                    > Rotate

                        > Rotate动作例子

                    > RotateH

                    > SetHoming

                > 速度

                    > Accel

                    > CurAcc

                    > CurDec

                    > CurExtAcc

                    > CurExtDec

                    > CurExtSpd

                    > CurSpd

                    > CurSpeedMode

                    > Decel

                    > ExtAccel

                    > ExtDecel

                    > ExtSpeed

                    > Speed

                    > SpeedMode

                > 工具、工件、基础

                    > Base

                    > ChangeTool

                    > ChangeWork

                    > ConvertPosBase

                    > ConvertPosTool

                    > ConvertPosWork

                    > CurTool

                    > CurWork

                    > Tool

                    > ToolPos

                    > Work

                    > WorkAttribute

                    > WorkPos

                > 区域

                    > Area

                    > AreaPos

                    > AreaSize

                    > ClearAreaDetected

                    > GetAreaDetected

                    > ResetArea

                    > SetArea

                > 码垛堆积

                    > Pallet.CalcPos

                    > Pallet.CalcPosTurning

                > 电流限制

                    > CurLmt

                    > ZForce

                > 力量控制

                    > CurForceSensorPayLoad

                    > ForceChangeTable

                    > ForceCtrl

                    > ForceParam

                    > ForceSensor

                    > ForceSensorPayLoad

                    > ForceValue

                    > ForceWaitCondition

                > 跟踪

                    > TrackAbsApproach

                    > TrackAbsMove

                    > TrackAbsMove S

                    > TrackApproach

                    > TrackArrivalTime

                    > TrackBufferDelete

                    > TrackBufferIndexes

                    > TrackBufferRead

                    > TrackBufferSort

                    > TrackConveyorSpd

                    > TrackConveyorVector

                    > TrackCount

                    > TrackCurBufferSort

                    > TrackCurMotionRange

                    > TrackCurPos

                    > TrackCurStartArea

                    > TrackDepart

                    > TrackDraw

                    > TrackEncoder

                    > TrackInitialize

                    > TrackInRange

                    > TrackMinimumIntervalLength

                    > TrackMotionRange

                    > TrackMove

                    > TrackMove S

                    > TrackOffsetMargin

                    > TrackPrepareData

                    > TrackSetSensor

                    > TrackSetVision

                    > TrackShiftTarget

                    > TrackStandByPos

                    > TrackStart

                    > TrackStartArea

                    > TrackStop

                    > TrackTargetOffset

                    > TrackTargetPos

                    > TrackTargetRelease

                > 精度

                    > CrtMotionAllow

                    > EncMotionAllow

                    > EncMotionAllowJnt

                    > HighPathAccuracy

                > 自由曲线插补

                    > AddPathPoint

                    > ClrPathPoint

                    > CurPathPoint

                    > GetPathPoint

                    > GetPathPointCount

                    > LoadPathPoint

                    > Move S

                > 碰撞检测

                    > CollisionDetection

                    > GetCollisionStatus

                    > SetCollisionDetection

                > 虚拟栅栏

                    > CheckVirtualFence

                    > VirtualFence

                > 协调功能

                    > #Pragma Optimize("DefaultRobot")

                    > ClearLog

                    > ClearServoLog

                    > GetHandIO

                    > SetHandIO

                    > StartLog

                    > StartServoLog

                    > StopLog

                    > StopServoLog

                    > SyncTime

                > 机器人排斥控制

                    > ExclusiveArea

                    > ExclusiveControlStatus

                    > ResetExclusiveArea

                    > SetExclusiveArea

                > 非动作指令开始时机

                    > Arrive

                    > MotionSkip

                    > WaitMotion

                > 电机

                    > Motor

                    > MotorState

                    > SrvUnLock

                > 获取状态、值

                    > CurExJ

                    > CurFig

                    > CurJnt

                    > CurPos

                    > CurTrn

                    > DestJnt

                    > DestPos

                    > DestTrn

                    > GetAllSrvData

                    > GetSrvData

                    > GetSrvJntData

                    > MotionComplete

                    > RobInfo

                > 位置、动作与I/O的连接

                    > AngularTrigger

                    > DetectOff

                    > DetectOn

                    > Interrupt

                    > OutputTCPSpeed

                > 功能、条件的设定

                    > CPMode

                    > CurCPMode

                    > CurPayload

                    > ErAlw

                    > GrvCtrl

                    > GrvOffset

                    > MotionTimeout

                    > Payload

                    > Posclr

                    > SingularAvoid

                > 返回原点

                    > CalcBackTraceLog

                    > MoveBackTraceLog

                > 主局和子局

                    > ClearSlaveButtonState

                    > GetSlaveButtonState

                    > MoveMasterPos

                > 其他

                    > IAI*.GetCurrentPositionData

                    > IAI*.Home

                    > IAI*.JogMinus

                    > IAI*.JogPlus

                    > IAI*.MovePTP

                    > IAI*.Pause

                    > IAI*.ReadAlarmInfo

                    > IAI*.ReadCurrentAlarmCode

                    > IAI*.ReadCurrentPosition

                    > IAI*.ReadDSS1

                    > IAI*.ReadDSS2

                    > IAI*.ReadDSSE

                    > IAI*.ReadPositionData

                    > IAI*.ResetAlarm

                    > IAI*.Stop

                    > IAI*.SwitchJogInching

                    > IAI*.SwitchPIOModbus

                    > IAI*.SwitchServo

                    > IAI*.WritePositionData

            > 流程

                > 分支

                    > GoTo

                    > If...End If

                    > If...Then...Else

                    > Select Case...End Select

                > 重复

                    > Do...Loop

                    > Exit

                    > For...Next

                > 调出

                    > Call

                    > CallByName

                > 等待

                    > Delay

                    > Wait

                > 定义

                    > Function...End Function

                    > Sub...End Sub

            > 变量

                > 定义

                    > Dim

                > 代入

                    > Let

                > 类型

                    > Double

                    > Integer

                    > Joint

                    > Position

                    > Single

                    > String

                    > Trans

                    > VarChangeType

                    > Variant

                    > VarType

                > 自变量

                    > ByRef

                    > ByVal

                > 排列

                    > Array

                    > CreateArray

                    > CreateMultiArray

                    > ReadByteArray

                    > SwapByteArray

                    > UBound

                    > WriteByteArray

                > 属性

                    > GetPublicValue

                    > Public

                    > SetPublicValue

                    > Static

            > 运算符

                > 算术

                    > - 运算符

                    > * 运算符

                    > / 运算符

                    > ^ 运算符

                    > \ 运算符

                    > + 运算符

                    > Mod 运算符

                > 逻辑

                    > And 运算符

                    > Not 运算符

                    > Or 运算符

                    > Xor 运算符

                > 比较

                    > <,=,> (比较)运算符

                > 位移

                    > << 运算符

                    > >> 运算符

                > 代入

                    > = (代入)运算符

                > 字符串

                    > & 运算符

            > 算术

                > 三角函数

                    > Acos

                    > Asin

                    > Atn

                    > Atn2

                    > Cos

                    > Sin

                    > Tan

                > 平方根

                    > Sqr

                > 乘方运算

                    > Pow

                > 指数、对数

                    > Exp

                    > Log

                    > Log10

                > 绝对值

                    > Abs

                > 符号

                    > Sgn

                > 最大、最小值

                    > Max

                    > Min

                > 随机数

                    > Randomize

                    > Rnd

                > 角度转换

                    > DegRad

                    > RadDeg

                > 整数

                    > Fix

                    > Int

                > 速度

                    > Dps

                    > Mps

                    > Rpm

            > 字符串

                > 大/小写字母转换

                    > LCase

                    > UCase

                > 抽出、删除 

                    > Left

                    > LTrim

                    > Mid

                    > Right

                    > RTrim

                > 字符数/字节数

                    > Len

                    > LenB

                > 数值转换

                    > Str

                    > Val

                > 分割、结合

                    > Join

                    > Split

                > 检索

                    > InStr

                    > InStrRev

                > 格式

                    > Format

                    > Sprintf

                > n进制转换

                    > Bin

                    > Hex

                > 字符编码转换

                    > Asc

                    > Chr

                > 文件路径

                    > RealPath

            > 输出入

                > I/O

                    > DefIO

                    > Reset

                    > Set

                > 数据通信

                    > Comm.Clear

                    > Comm.Close

                    > Comm.Count

                    > Comm.Input

                    > Comm.Open

                    > Comm.Output

                    > Comm.State

            > 视觉

                > PickingAdjustmentConvPos

                > Vis.CalTrans

                > Vis.GetCalData

                > Vis.GetCalPos

                > Vis.SetCalData

                > Vis.Trans

            > 电动夹治具

                > 动作

                    > Hand[n].Chuck / SelectHand[m,n].Chuck

                    > Hand[n].Motor / SelectHand[m,n].Motor

                    > Hand[n].MoveA / SelectHand[m,n].MoveA

                    > Hand[n].MoveAH / SelectHand[m,n].MoveAH

                    > Hand[n].MoveH / SelectHand[m,n].MoveH

                    > Hand[n].MoveP / SelectHand[m,n].MoveP

                    > Hand[n].MoveR / SelectHand[m,n].MoveR

                    > Hand[n].MoveRH / SelectHand[m,n].MoveRH

                    > Hand[n].MoveZH / SelectHand[m,n].MoveZH

                    > Hand[n].Org / SelectHand[m,n].Org

                    > Hand[n].Stop / SelectHand[m,n].Stop

                    > Hand[n].UnChuck / SelectHand[m,n].UnChuck

                > 获取状态、值

                    > Hand[n].BusyState / SelectHand[m,n].BusyState

                    > Hand[n].CurPos / SelectHand[m,n].CurPos

                    > Hand[n].EmgState / SelectHand[m,n].EmgState

                    > Hand[n].Error / SelectHand[m,n].Error

                    > Hand[n].GetPoint / SelectHand[m,n].GetPoint

                    > Hand[n].HoldState / SelectHand[m,n].HoldState

                    > Hand[n].InposState / SelectHand[m,n].InposState

                    > Hand[n].MotorState / SelectHand[m,n].MotorState

                    > Hand[n].OrgState / SelectHand[m,n].OrgState

                    > Hand[n].ZonState / SelectHand[m,n].ZonState

            > 插件

                > AddHandler

                > Cao.AddController

                > Cao.Controllers

                > Cao.Index

                > Cao.Name

                > IsNothing

                > RemoveHandler

            > 坐标

                > 转换

                    > J2P

                    > J2T

                    > P2J

                    > P2T

                    > T2J

                    > T2P

                > 计算

                    > Cross

                    > Dev

                    > DevH

                    > Dist

                    > Dot

                    > Magnitude

                    > NormalVector

                    > OutRange

                    > TInv

                    > TMul

                    > TNorm

                > 代入

                    > LetA

                    > LetF

                    > LetJ

                    > LetO

                    > LetP

                    > LetR

                    > LetRx

                    > LetRy

                    > LetRz

                    > LetX

                    > LetY

                    > LetZ

                > 抽出

                    > AVec

                    > Fig

                    > Joint

                    > OVec

                    > PosRx

                    > PosRy

                    > PosRz

                    > PosX

                    > PosY

                    > PosZ

                    > PVec

                    > RVec

            > 预处理

                > #Define

                > #Error

                > #If ... #Endif

                > #Ifdef ... #Endif

                > #Ifndef ... #Endif

                > #Include

                > #Pragma Encrypt

                > #Pragma Optimize( "idling" )

                > #Pragma Optimize( "wait-idling-time" )

                > #Undef

                > #Warning

            > 多功能教导器

                > 显示

                    > MsgBox

                    > PageChange

                    > PageChangeByName

                    > PrintDbg

                    > PrintMsg

                > 蜂鸣器

                    > Buzzer

            > 系统信息

                > CurOptMode

                > Date

                > DeadManState

                > GetLanguage

                > LockState

                > Now

                > SafetyInfo

                > SysInfo

                > SysState

                > Time

                > Timer

                > Ver

            > 多项任务

                > 启动

                    > ContinueAll

                    > Run

                    > RunByName

                > 停止

                    > Halt

                    > Hold

                    > Kill

                    > KillAll

                    > KillByName

                    > Suspend

                    > SuspendAll

                    > SuspendByName

                > 课题排斥控制

                    > CreateMutex

                    > DeleteMutex

                    > GiveArm

                    > GiveMutex

                    > MutexID

                    > MutexState

                    > ResetMutex

                    > TakeArm

                    > TakeArmState

                    > TakeMutex

                > 优先级

                    > GetPriority

                    > SetPriority

                > 状态获取

                    > Status

                    > StatusByName

            > 错误

                > 解除、发生

                    > ClrErr

                    > Err.Raise

                > 发生时的错误信息

                    > CurErr

                    > Err.Description

                    > Err.Level

                    > Err.Number

                    > Err.OriginalNumber

                > 任一错误信息

                    > ErrLvl

                    > ErrMsg

                > 分支

                    > On Error

                    > Resume

            > log

                > 控制log

                    > SysLog.Ctrl.Clear

                    > SysLog.Ctrl.Start

                    > SysLog.Ctrl.Stop

                    > SysLog.Ctrl.UserData

                > 跟踪log

                    > SysLog.Trace.Clear

                    > SysLog.Trace.Start

                    > SysLog.Trace.Stop

                > 伺服log

                    > SysLog.Servo.Clear

                    > SysLog.Servo.Start

                    > SysLog.Servo.Stop

            > 备注

                > Rem

        > 类别

            > 语句

                > 动作语句

                > 动作相关语句

                > 流程控制语句

                > 任务控制语句

                > 停止系指令

                > 代入语句

                > 输出入语句

                > 速度Put语句

                > 定义语句

                > 功能的有效无效语句

                > 项目的参数Put语句

                > 讯息系语句

                > 控制权语句

                > 其它语句

            > 函数

                > 分量抽出函数

                > 算术函数

                > 三维系函数

                > 当前位置系Get函数

                > 目标位置系Get函数

                > 数据型变换函数

                > 系统系Get函数

                > 项目系Get函数

                > 任务系Get函数

                > 字符串函数

                > 齐次变换型数据相关函数

                > 速度相关函数

                > 位置数据偏差函数

                > 动作系Get函数

                > 错误系Get函数

                > 其它函数

            > 内置对象

                > Comm对象

                > Err对象

                > SysLog对象

                > Hand对象

                > Vis对象

                > Pallet对象

                > Cao对象

                > gCao对象

            > 运算符

            > 关键字

                > 预处理编码

                > 过程的自变量相关关键字

                > 变量型相关关键字

        > 字母顺序

ID : 1070

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