Commonplace Robot arm mower 4, Руководство пользователя

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10. Language Specification
The following nine commands can be combined to form a robot program. A program
is and XML file that starts with the lines
<? xml version = " 1.0 " encoding = " utf-8 " ?>
<!-- values in mm and degree -->
< Program >
< Header ProgramName = " CPRog recording " Author = " nn " SetUpDate = ""
LastChangeDate = "" Kinematic = " CPRFour " />
Then the commands follow, the program closes with the line
</ Program >
Command Reference
< Linear Nr = " 2 " x = " 232.93 " y = " 12.2 " z = " 494.01 " a = " 0.05 "
b = " 84.25 " c = " 0 " vel = " 70 " s = "" t = "" Descr = "" />
< Joint Nr = " 1 " a1 = " 5.19 " a2 = " -26.08 " a3 = " 124.72 " a4 = " -14.39 "
a5 = " 0 " a6 = " 0 " velPercent = " 35 " Descr = "" />
< Relative Nr = " 17 " x = " 0 " y = " 0 " z = "-2 0.0 " a = " 0 " b = " 0 " c = " 0 "
vel = " 50 " Descr = "" />
< Output Nr = " 6 " DIO = " 5 " State = " True " Descr = "" />
< Wait Nr = " 4 " Seconds = " 1 " Descr = "" />
< Loop Nr = " 1 " Mode = " Count " Times = " 3 " Descr = "" />
… place the commands to be repeated here
< EndLoop Nr = " 1 " />
Alternative:
< Loop Nr = " 1 " Mode = " DIn " Channel = " 0 " State = " True " Descr = "" />
< If Nr = " 15 " Channel = " 0 " Descr = "" />
… place the then-commands here
< Else />
… place the else-commands here
< EndIf />
< ExMotion Nr = " 14 " IP = " 127.0.0.1 " Port = " 1234 " Scale = " 1 "
Descr = "" />