（高级编程）原位及信号输出.docx

机器人原位及信号的输出1.建立一个输出信号doRobotHome 单元：Board11 地址： 39 Access Level：Read Only；2.在user 模块里面写入如下程序 CONST jointtarget jHomePos:=0,-33,8.66,0,30,0,9E9,9E9,9E9,9E9,9E9,9E9;CONST jointtarget Deltapos := 0.2,0.2,0.2,0.2,0.2,0.2,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR shapedata shHomPos;PERS wzstationary Rectangle1:=1; PROC rPowerUp() WZHomeJointDefInside, shHomPos, jHomePos, Deltapos; WZDOSetStat, R