샘플 프로그램 21: MM_S21_1Robot_3IPC_Sequentially

   1:  !-------------------------------- ;
   2:  !FUNCTION: set up communication ;
   3:  !between 1Robot and 3IPC ;
   4:  !Sequentially ;
   5:  !Mech-Mind, 2024-4-25 ;
   6:  !-------------------------------- ;
   7:   ;
   8:  !set current uframe NO. to 0 ;
   9:  UFRAME_NUM=0 ;
  10:  !set current tool NO. to 1 ;
  11:  UTOOL_NUM=1 ;
  12:  LBL[10] ;
  13:   ;
  14:  !initialize communication ;
  15:  !parameters(initialization is ;
  16:  !required once change IPC tcp ;
  17:  !service ;
  18:  CALL MM_INIT_SKT('6','192.168.1.20',50000,5) ;
  19:  !trigger Mech-Viz project ;
  20:  CALL MM_START_VIZ(0,60) ;
  21:  WAIT    .20(sec) ;
  22:  !set branch, "MM_SET_BCH ;
  23:  CALL MM_SET_BCH(1,1) ;
  24:   ;
  25:  !initialize communication ;
  26:  !parameters(initialization is ;
  27:  !required once change IPC tcp ;
  28:  !service ;
  29:  CALL MM_INIT_SKT('7','192.168.1.200',50000,5) ;
  30:  !trigger Mech-Viz project ;
  31:  CALL MM_START_VIZ(0,61) ;
  32:  WAIT    .20(sec) ;
  33:  !set branch, "MM_SET_BCH ;
  34:  CALL MM_SET_BCH(1,2) ;
  35:   ;
  36:  !initialize communication ;
  37:  !parameters(initialization is ;
  38:  !required once change IPC tcp ;
  39:  !service ;
  40:  CALL MM_INIT_SKT('8','192.168.1.50',50000,5) ;
  41:  !trigger Mech-Viz project ;
  42:  CALL MM_START_VIZ(0,62) ;
  43:  WAIT    .20(sec) ;
  44:  !set branch, "MM_SET_BCH ;
  45:  CALL MM_SET_BCH(1,2) ;
  46:   ;
  47:  !initialize communication ;
  48:  !parameters(initialization is ;
  49:  !required once change IPC tcp ;
  50:  !service ;
  51:  CALL MM_INIT_SKT('6','192.168.1.20',50000,5) ;
  52:  !get planned path, 1st argument ;
  53:  !(1) means getting pose in JPs ;
  54:  CALL MM_GET_VIZ(1,51,52,53) ;
  55:  !save the first waypoint of the ;
  56:  !planned path to local variables ;
  57:  !one by one ;
  58:  CALL MM_GET_JPS(1,70,71,72) ;
  59:   ;
  60:  !initialize communication ;
  61:  !parameters(initialization is ;
  62:  !required once change IPC tcp ;
  63:  !service ;
  64:  CALL MM_INIT_SKT('7','192.168.1.200',50000,5) ;
  65:  !get planned path, 1st argument ;
  66:  !(2) means getting pose in TCP ;
  67:  CALL MM_GET_VIZ(2,54,55,56) ;
  68:  !save the first waypoint of the ;
  69:  !planned path to local variables ;
  70:  !one by one ;
  71:  CALL MM_GET_POS(1,71,73,74) ;
  72:   ;
  73:  !initialize communication ;
  74:  !parameters(initialization is ;
  75:  !required once change IPC tcp ;
  76:  !service ;
  77:  CALL MM_INIT_SKT('8','192.168.1.50',50000,5) ;
  78:  !get planned path, 1st argument ;
  79:  !(1) means getting pose in JPs ;
  80:  CALL MM_GET_VIZ(1,57,58,59) ;
  81:  !save the first waypoint of the ;
  82:  !planned path to local variables ;
  83:  !one by one ;
  84:  CALL MM_GET_JPS(1,72,75,76) ;
  85:   ;
  86:  WAIT   5.00(sec) ;
  87:  JMP LBL[10] ;

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