工控软件设计与实现方式

MODULE MainModule VAR socketdev client_string; var string receviev_string; PERS string global_str; PROC main() SocketClose client_string; SocketCreate client_string; SocketConnect client_string,"127.0.0.1",4567; WHILE TRUE DO SocketSend client_string\str:="I am a robot"; receviev_string:=""; SocketReceive client_string\str:=receviev_string; global_str:=receviev_string; waittime 1; ENDWHILE <SMT> ENDPROC ENDMODULE ¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª¡ª PERS string global_str; PROC main() !Add your code here waittime 1; TPWrite global_str; IF global_str="1" THEN MoveL [[477.36,0.00,461.65],[0.5,-1.09168E-18,0.866025,-4.28193E-19],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0; MoveL [[543.31,0.00,461.65],[0.5,-2.74304E-31,0.866025,-2.16906E-31],[0,-1,0,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0; ENDIF IF global_str="2" THEN MoveL [[543.31,-127.39,461.65],[0.5,2.72362E-10,0.866025,1.46553E-8],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0; MoveL [[401.16,-127.39,461.65],[0.5,2.48462E-8,0.866025,1.08957E-7],[-1,0,-1,0],[9E+9,9E+9,9E+9,9E+9,9E+9,9E+9]], v1000, z50, tool0; ENDIF ENDPROC