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19 Programming instructions
19.1 File and program structure
Huashu III control system has only one program for users to use: PRG files, which support PRG
programs to call other PRG programs, that is, the caller is [main program], and the called program
is [subprogram].
19.1.1 Program structure
The program is divided into three modules: axis initialization, variable declaration and main
program. The structure is as follows
：
<attr>
VERSION:0
GROUP:[0]
<end>
<pos>
P[1]{GP:0,UF:-1,UT:-1,JNT:[-0.0, -89.998, 180.001, 0.001,
89.994, 0.001, 0.0, 0.0, 0.0]};
P[2]{GP:0,UF:-1,UT:-1,CFG:[0, 0, 0, 0, 0, 1],LOC:[286.522, -
0.0, 232.473, 179.999, 0.0, 179.999, 0.0, 0.0, 0.0]};
<end>
Binding business
layer and axis group
Define coordinate
variables, declare variables