referenzanleitung val3 d28056202b - 06/2005 - eule-roboter.de

REFERENZANLEITUNG VAL3 - Version 5.2
TASKS .............................................................................................................................. 52
Definition........................................................................................................................................ 52
Fortsetzen nach einer Fehlermeldung ........................................................................................... 52
Starten und Beenden der Applikation ............................................................................................ 52
Sequentielles Ordnen .................................................................................................................... 53
Synchronisierung ........................................................................................................................... 54
Gemeinsame Nutzung von Ressourcen ........................................................................................ 55
Anweisungen ................................................................................................................................. 56
void taskSuspend(string Name)......................................................................................................... 56
void taskResume(string Name, num Sprung) .................................................................................... 56
void taskKill(string Name) .................................................................................................................. 57
num taskStatus(string Name) ............................................................................................................ 58
void taskCreate string Name, num Priorität, Programm(...) ............................................................... 59
void wait(bool Bedingung) .................................................................................................................. 60
void delay(num Sekunden) ................................................................................................................. 60
num clock()......................................................................................................................................... 61
bool watch(bool Bedingung, num Sekunden)..................................................................................... 61
BIBLIOTHEKEN................................................................................................................ 62
Definition........................................................................................................................................ 62
Schnittstelle ................................................................................................................................... 62
Kennung der Schnittstelle.............................................................................................................. 62
Inhalt .............................................................................................................................................. 62
Im Speicher laden und aus dem Speicher entfernen..................................................................... 62
Zugriffspfad.................................................................................................................................... 63
Fehlercodes ................................................................................................................................... 63
Anweisungen ................................................................................................................................. 64
num identifiant:libLoad(string Weg).................................................................................................... 64
num identifiant:libSave(), num libSave() ............................................................................................ 64
num libDelete(string Weg).................................................................................................................. 64
string identifiant:libPath(), string libPath().......................................................................................... 65
bool libList(string Weg, string& contenu) ........................................................................................... 65
STEUERUNG DES ROBOTERS ...................................................................................... 66
Anweisungen ................................................................................................................................. 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
ARMPOSITION ................................................................................................................. 69
EINLEITUNG ........................................................................................................................ 69
TYP JOINT ........................................................................................................................... 69
Definition........................................................................................................................................ 69
Operatoren..................................................................................................................................... 70
Anweisungen ................................................................................................................................. 70
joint abs(joint Position) ....................................................................................................................... 70
joint herej() ......................................................................................................................................... 71
bool isInRange(joint Position) ............................................................................................................ 71
TYP TRSF ............................................................................................................................ 72
Definition........................................................................................................................................ 72
Orientierung ................................................................................................................................... 73
Operatoren..................................................................................................................................... 75
Anweisungen ................................................................................................................................. 75
num distance(trsf Position1, trsf Position2) ....................................................................................... 75
TYP FRAME......................................................................................................................... 76
Definition........................................................................................................................................ 76
Verwendung................................................................................................................................... 76
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