富士康FOXBOT机器人操作说明资料

FOXBOT

RemoteConsole4,1

指令手册

版本LO

2011年2月18日

鸿海精密工棠，2011版耀所有。

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目鳏

目^.......................................................................1

第一章一般指令集..............................................1

1.1结横...............................................................3

1.2数挚ig算..........................................................4

Abs..................................................................................................................4

Am...................................................................................................................4

Cos..................................................................................................................5

Exp..................................................................................................................5

Log..................................................................................................................6

Randomize......................................................................................................6

Sin...................................................................................................................7

&】r...................................................................................................................7

Tan...................................................................................................................8

1.3型别辅换...........................................................9

CBool..............................................................................................................9

CDate..............................................................................................................9

CDbl...............................................................................................................10

Chr..................................................................................................................10

CIm................................................................................................................11

CLng..............................................................................................................11

CSng...............................................................................................................12

CStr................................................................................................................12

CVar...............................................................................................................13

Hex.................................................................................................................13

Int...................................................................................................................14

kArray...........................................................................................................14

♦Date.............................................................................................................15

IsEmpty..........................................................................................................15

♦Null..............................................................................................................16

IsNumeric.......................................................................................................16

Oct..................................................................................................................17

V^rTyDe..........................................................................................................17

1.4字串操作...............................................................19

Asc....................................................................................................................19

InpulBox...........................................................................................................19

InStr..................................................................................................................20

LCase...............................................................................................................21

LineOut............................................................................................................21

LTrim................................................................................................................22

Mid....................................................................................................................22

Left....................................................................................................................23

MsgBox............................................................................................................24

Print..................................................................................................................25

Str......................................................................................................................26

StrComp...........................................................................................................26

Trim..................................................................................................................27

Righl.................................................................................................................27

RTrim...............................................................................................................28

UCase...............................................................................................................28

1.5日期舆畤^............................................................30

Date..................................................................................................................30

DatcScrial.........................................................................................................31

DateValue.........................................................................................................31

Day....................................................................................................................32

Hour.................................................................................................................32

Minule..............................................................................................................33

Month...............................................................................................................33

Now..................................................................................................................34

Time..................................................................................................................34

Timer................................................................................................................34

TimeSerial........................................................................................................35

Second..............................................................................................................35

Year..................................................................................................................36

1.6程序控制..............................................................37

AssertFail.........................................................................................................37

Beep..................................................................................................................37

Callback...........................................................................................................37

Delay................................................................................................................38

Pause................................................................................................................38

Slop..................................................................................................................39

Update..............................................................................................................39

第二章建勤指令集................................................41

2.1结横...................................................................43

PoseP................................................................................................................43

PoseJ................................................................................................................43

PoseV...............................................................................................................44

Matrix...............................................................................................................45

2.2黠位赋值..............................................................46

SetP..................................................................................................................46

SetPEx..............................................................................................................47

SetJ...................................................................................................................47

SeUEx..............................................................................................................48

SetV..................................................................................................................48

SelVEx.............................................................................................................49

2.3黠位言十算..............................................................50

CurPos..............................................................................................................50

Dist....................................................................................................................5()

J2P.....................................................................................................................51

P2J.....................................................................................................................52

Verify................................................................................................................53

2/速度控制..............................................................54

Accel................................................................................................................54

Decel................................................................................................................54

Speed................................................................................................................54

2.5基本if勤..............................................................56

Draw.................................................................................................................56

Drive................................................................................................................58

DriveA..............................................................................................................58

Move................................................................................................................59

2.6暹隋建勤..............................................................62

Cone.................................................................................................................62

Notch................................................................................................................63

NotchEx...........................................................................................................64

Rotate...............................................................................................................65

2.7原黠回念..............................................................67

GoHome...........................................................................................................67

Home................................................................................................................67

2.8勤控制..............................................................68

Abort................................................................................................................68

WaitMotion......................................................................................................68

2.9堆叠控制..............................................................69

Pltlnit................................................................................................................69

PltNexl.............................................................................................................69

2.10勤熊追珑.............................................................71

Track................................................................................................................71

2.11安全国域.............................................................72

SafeError..........................................................................................................72

第三章IO指令集..............................................73

3.1结播...................................................................................................................75

loBits..............................................................................................................75

3.2敷位(Digital)IO...............................................................................................76

GetlnD..............................................................................................................76

GetlnpEx..........................................................................................................76

SetOuW............................................................................................................77

SelOulpEx........................................................................................................77

Waitlnp.............................................................................................................78

WaitlnpEx........................................................................................................79

3.3类直比(Analog)IO...............................................................................................81

GetVolt.............................................................................................................81

SelVbll..............................................................................................................81

3.4系统系统.........................................................83

SysRead............................................................................................................83

SysReadEx.......................................................................................................83

SysWrite...........................................................................................................84

SysWriteEx......................................................................................................84

3.5TCP/IP通言fl....................................................................................................86

TcpRecv...........................................................................................................86

TcpRecvEx.......................................................................................................87

TcpSend............................................................................................................87

TcpSendEx.......................................................................................................88

TcpServer.........................................................................................................88

3.6串列埠列erialPort)通卡凡............................................9()

ComRcad..........................................................................................................90

ComReadEx.....................................................................................................90

ComWrite.........................................................................................................91

ComWriteEx....................................................................................................91

第四章多任矜指令集...........................................93

4.1中断(Interrupt)..................................................................................................95

Killlsr...............................................................................................................95

Setlsr................................................................................................................95

4.21十B寺器(Timer).................................................................................................98

KillTimer..........................................................................................................98

SctTimcr...........................................................................................................98

4.3多任矜程序(Task)..........................................................................................100

GctThsk...........................................................................................................100

KillTask...........................................................................................................100

SclTask............................................................................................................100

WaitTask..........................................................................................................101

附^...........................................................103

A.l系统事件表......................................................1()5

A.2内建常数........................................................108

Abs

停回目榄燮数之^封值。

FunctionAbs(

ByVaiNumberAsVariant

)AsDouble

参数

Number

目襟燮敷，其本身需焉敷值或可斡换成数值之燮数。

回停值

目梯燮敷之^封值。

附注

回傅燮数之资料型别奥目榄燮敷相同。若目^燮数型别卷字串且可樽换成数值，刖取其绝

封值

接舍傅■回Double型别。

轮例

DimMsg,X,Y

X=InputBox("EnteraNumber:")

Y=Abs(X)

Msg="Thenumberyouenteredis"&X

Msg=Msg+".TheAbsolutevalueof,,&X&"is"&Y

MsgBoxMsg'DisplayMessage.

Atn

孰行反正切(ArcTangent)建算。

FunctionAtn(

ByVaiRadAsDouble

)AsDouble

参数

Rad

欲言1■算反正切之角度，单位悬弧度(rad)。

回僖值

反正切值atan(Rud)。

轮例

DimMsg,Pi'Declarevariables.

Pi=4*Atn(1)'CalculatePi.

Msg="Piisequalto"&Str(Pi)

MsgBoxMsg'Displayresults.

Cos

轨行除弦(Cosine)递算。

FunctionCos(

ByVaiRadAsDouble

)AsDouble

参数

Rad

欲计算馀弦之角度，罩位卷弧度(rad)。

回僖值

馀弦值cos(Rad)0

轮例

Dimpi,rad,x

pi=4*Atn(1)

rad=90*(pi/183)

x=Cos(rad)

Printx

Exp

轨行自然指数(exponential)建算。

FunctionExp(

ByVaiNumAsDouble

)AsDouble

参数

Num

指数次方。

回停值

eANum

轮例

'Exp(x)iseAxsoExp(1)iseA1ore.

DimMsg,ValueOfE'Declarevariables.

ValueOfE=Exp(1)'Calculatevalueofe.

Msg="Th©valueofGis'•&ValueOfE

MsgBoxMsg'Displaymessage.

Log

孰•行自然封敷(logarilhmic)建算。

FunctionLog(

ByVaiNumAsDouble

)AsDoxible

参数

Num

封敦参数。

回傅值

log(Niun)

靶例

DimI,Msg,NL

NL=Chr(13)&Chr(10)

Msg=Exp(1)&NL

ForI=1to3

Msg=Msg&Log(Exp(1)AI)&NL

NextI

MsgBoxMsg

Randomize

4多数筐.生器(randomnumbergenerator)初始化。

SubRandomize(

ByVaiSeedAsDouble=Timer

)

参数

Seed

吊1效彳麦子。给定不同的多攵值畲＞1,生不同机教燮数Rnd。在:攵有言殳定的情况下系统曾自勤以

Timer函式之返回值做悬flW殳值。

轮例

DimMValue

Randomize*Initializerandom-numbergenerator.

MValue=Int((6*Rnd)+1)

PrintMValue

Sin

孰行正弦(Sine)建算。

FunctionSin(

ByVaiRadAsDouble

)AsDouble

参数

Rad

欲言1■算正弦之角度，罩位悬弧度(rad)。

回僖值

正弦值si〃(Rad)。

轮例

Dimpi,rad,x

pi=4*Atn(1)

rad=90*(pi/18D)

x=Sin(rad)

Printx

Sqr

言十算平方根。

FunctionSqr(

ByVaiNumAsDouble

)AsDouble

参数

Num

欲斜■算平方根之数值。

回僖值

平方根。

轮例

DimMsg,Number'Declarevariables.

Msg="Enteranon-negativenumber."

Number=InputBox(Msg)'Getuserinput.

IfNumber<0Then

Msg="CannotdeterminethesquarerooLofanegativenumber.

Else

Msg="Thesquarerootof"&Number&"is”

Msg=Msg&Sqr(Number)&".*'

EndIf

MsgBoxMsg'Displayresults.

Tan

孰行正切(Tangent)il算。

FunctionTan(

ByVaiRadAsDouble

)AsDouble

参敦

Rad

欲前•算正切之角度，罩位悬弧度(rad)。

回傅值

正切值tan(Rad)。

靶例

DimMsg,Pi'Declarevariables.

Pi=4*Atn(1)'CalculatePi.

Msg="Piisequalto"&Pi

MsgBoxMsg'Displayresults.

x=Tan(Pi/4)

MsgBoxx&"isthetangentofPi/4"

CBool

M目年票表示式樽换成Boolean数值。

FunctionCBool(

ByVaiExpressionAsVariant

)AsBoolean

参数

Expression

目襟表示式，其必需是一他合法字串或是数值表示式。

回僖值

True或False(Boolean型别)。

轮例

DimA,B,Check

A=5:B=5

Check=CBool(A=B)

PrintCheck

A=0

Check=CBool(A)

PrintCheck

CDate

揩目襟表示式樽换成Date型别。

FunctionCDate(

ByVaiExpressionAsVariant

)AsVariant

参数

Expression

目襟表示式，其必需是一值I代表日期之字串，靶团自Jan1,3()至Dec31,9999。

回僖值

醇换接的Date燮数。

靶例

DimMyDate,MDate,MTime,MSTime

MyDate="May29,1959"'Definedate.

MDate=CDate(MyDate)'ConverttoDatedatatype.

MTime="10:32:27PM"'Definetime.

MSTime=CDate(MTime)*ConverttoDatedatatype.

PrintMDate

PrintMSTime

CDbl

揩目檬表示式樽换成Double数值。

FunctionCDbl(

ByVaiExpressionAsVariant

)AsDouble

参教

Expression

目糕表示式，其必需是一佃合法字串或是数值表示式。

回傅值

II换彳叁之Double数值。

靶例

DimyAsInteger

DimxAsDouble

y=25555theintegerexpressiononlyallowsfor5digits

IfVarType(y)=2Then

Printy

x=CDbl(y)*Convertstheintegervalueofytoadoublevaluein

xx=x*100000'yisnow10digitsintheformofx'

Printx

EndIf

Chr

揩一佃整数斡换悬相封鹰之ASCII字元。

FunctionChr(

ByVaiNumAsInteger

)AsString

参数

Num

欲斡换成字元之整教。

回停值

樽换彳发之ASCII字元。

轮例

DimX,Y,Msg,NL

NL=Chr(10)

ForX=1To2

ForY=AscCA")ToAsc("Z")

Msg=Msg&Chr(Y)

NextY

Msg=Msg&NL

NextX

MsgBoxMsg

Clnt

月寻目才票表示式II换成Integer敦值。

FunctionClnt(

ByVaiExpressionAsVariant

)AsInteger

参数

Expression

目才票表示式，其必需是一佃合法字串或是数值表示式。

回僖值

例换彳灸之Integer数值。

轮例

DimyAsLong

y=25

PrintVarType(y)

IfVarType(y)=3Then

Printy

x=cmt(y)'convertsthelongvalueofytoanintegervalueinx

Printx

PrintVarType(x)

EndIf

CLng

将表示式裨操成Long型别。

FunctionCLng(

ByVaiExpressionAsVariant

)AsLong

参数

Expression

傅人之表示式，其必需是一佃合法字串或是敷值表示式。

回傅值

转■操彳灸之Long数值。

靶例

DimyAsInteger

DimxAsLong

y=25000'theintegerexpressioncanonlyholdfivedigits

IfVarType(y)=2Then

Printy

x=CLng(y)'Convertstheintegervalueofxtoalongvalueinx

x=x*1000C1yisnowtendigitsin二heformofx

Printx

EndIf

CSng

符表示式辅换成Single型别。

FunctionCSng(

ByVaiExpressionAsVariant

)AsSingle

参数

Expression

傅人之表示式，其必需是一佃合法字串或是数值表示式。

回傅值

辑换俊之Single数值。

靶例

DimyAsInteger

y=25

IfVarType(y)=2Then

Printy

x=CSng(y)