<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
<COMMAND><TEMPLATE><RSV_NAME>C_Com</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT>C_Com(<communication line number>) = "ETH:<server side IP address>"</FORMAT>
<FORMAT>C_Com(<communication line number>) = "ETH:<server side IP address>, <port number>"</FORMAT>
<SAMPLE>C_Com = "ETH:192.168.0.10"</SAMPLE>
<SAMPLE>C_Com = "ETH:192.168.0.10,10010"</SAMPLE>
<COMMENT>Sets the parameters for the line to be opened by the Open instruction.</COMMENT>
<COMMENT>This is used when the communication destination is changed frequently.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_Date</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_Date</FORMAT>
<SAMPLE>C1$=C_Date</SAMPLE>
<COMMENT>This variable returns the current date in the format of year/month/date.</COMMENT>
<COMMENT>For instance, C1$ becomes "2007/04/01".</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_Maker</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_Maker</FORMAT>
<SAMPLE>C1$=C_Maker</SAMPLE>
<COMMENT>This variable returns information on the manufacturer of the robot controller.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_Mecha</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_Mecha</FORMAT>
<FORMAT><Character String Variable> = C_Mecha(<Slot number>)</FORMAT>
<SAMPLE>C1$=C_Mecha</SAMPLE>
<SAMPLE>C1$=C_Mecha(1)</SAMPLE>
<COMMENT>This variable returns the name of the mechanism that is acquiring the control right.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS1</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS1(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS1(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS2</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS2(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS2(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS3</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS3(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS3(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS4</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS4(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS4(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS5</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS5(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS5(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS6</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS6(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS6(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS7</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS7(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS7(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_NvS8</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_NvS8(<Line number>,<Column number>)</FORMAT>
<SAMPLE>C1$ = C_NvS8(1,1)</SAMPLE>
<COMMENT>Stores the data recognized by the vision sensor in text string data format.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_Prg</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_Prg</FORMAT>
<FORMAT><Character String Variable> = C_Prg(<Slot number>)</FORMAT>
<SAMPLE>C1$=C_Prg</SAMPLE>
<SAMPLE>C1$=C_Prg(1)</SAMPLE>
<COMMENT>This variable returns the selected program number (name).</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_Time</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_Time</FORMAT>
<SAMPLE>C1$=C_Time</SAMPLE>
<COMMENT>This variable returns the current time in the format of time:minute:second (24 hours notation).</COMMENT>
<COMMENT>For instance, C1$ becomes "13/01/30".</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>C_User</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Character String Variable> = C_User</FORMAT>
<SAMPLE>C1$=C_User</SAMPLE>
<COMMENT>This variable returns the data registered in the "USERMSG" parameter.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>J_Curr</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Joint Type Variable> = J_Curr</FORMAT>
<FORMAT><Joint Type Variable> = J_Curr(<Mechanism Number>)</FORMAT>
<SAMPLE>J1=J_Curr</SAMPLE>
<SAMPLE>J1=J_Curr(1)</SAMPLE>
<COMMENT>Returns the joint type data at the current position.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>J_ColMxl</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Joint Type Variable> = J_ColMxl</FORMAT>
<FORMAT><Joint Type Variable> = J_ColMxl(<Mechanism Number>)</FORMAT>
<SAMPLE>M1=J_ColMxl.J1+10</SAMPLE>
<SAMPLE>M1=J_ColMxl(1).J1+10</SAMPLE>
<COMMENT>Return the maximum value of the differences between the estimated torque and actual torque while the impact detection function is being enabled.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>J_ECurr</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Joint Type Variable> = J_ECurr</FORMAT>
<FORMAT><Joint Type Variable> = J_ECurr(<Mechanism Number>)</FORMAT>
<SAMPLE>JA=J_ECurr</SAMPLE>
<SAMPLE>JA=J_ECurr(1)</SAMPLE>
<COMMENT>Returns the current encoder pulse value.(Unit: pulse)</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>J_Fbc</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Joint Type Variable> = J_Fbc</FORMAT>
<FORMAT><Joint Type Variable> = J_Fbc(<Mechanism Number>)</FORMAT>
<SAMPLE>J1=J_Fbc</SAMPLE>
<SAMPLE>J1=J_Fbc(1)</SAMPLE>
<COMMENT>Returns the current position of the joint type that has been generated by encoder feedback.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>J_AmpFbc</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Joint Type Variable> = J_AmpFbc(<Mechanism Number>)</FORMAT>
<FORMAT><Joint Type Variable> = J_AmpFbc(<Mechanism Number>)</FORMAT>
<SAMPLE>J1=J_AmpFbc</SAMPLE>
<SAMPLE>J1=J_AmpFbc(1)</SAMPLE>
<COMMENT>Returns the current feedback value of each axis.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>J_Origin</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Joint Type Variable> = J_Origin</FORMAT>
<FORMAT><Joint Type Variable> = J_Origin(<Mechanism Number>)</FORMAT>
<SAMPLE>J1=J_Origin</SAMPLE>
<SAMPLE>J1=J_Origin(1)</SAMPLE>
<COMMENT>Returns the joint data when the origin has been set.</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>M_Acl</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Numeric Variable> = M_Acl</FORMAT>
<FORMAT><Numeric Variable> = M_Acl(<Slot number>)</FORMAT>
<SAMPLE>M1=M_Acl</SAMPLE>
<SAMPLE>M1_M_ACL(1)</SAMPLE>
<COMMENT>Returns the ratio of current acceleration time. (%)</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>M_DAcl</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Numeric Variable> = M_DAcl</FORMAT>
<FORMAT><Numeric Variable> = M_DAcl(<Slot number>)</FORMAT>
<SAMPLE>M1=M_DAcl</SAMPLE>
<SAMPLE>M1=M_DAcl(2)</SAMPLE>
<COMMENT>Returns the ratio of current deceleration time. (%)</COMMENT>
</TEMPLATE>
<TEMPLATE><RSV_NAME>M_ClientC</RSV_NAME>
<CATEGORY>6</CATEGORY>
<FORMAT><Numeric Variable> = M_ClientC</FORMAT>
三菱六轴机械手源代码.rar （88个子文件） 
三菱六轴机械手源代码 RB text RC1 Parameter Oscillograph Image Log PosRepair Offline Parameter CoreSpace 
systembase.MB5 87KB COMMON.PRM 150B LError.log 4KB COMMANDS.XML 186KB CError.log 4KB AError.log 56KB RV-2F-D#1.PRM 46B TTLERROR.DAT 1KB HError.log 4KB Program TX2.prg 3KB TX3.prg 3KB CoreSpace Online systembase.MB5 87KB COMMON.PRM 150B LError.log 4KB COMMANDS.XML 186KB CError.log 4KB AError.log 56KB RV-2F-D#1.PRM 46B TTLERROR.DAT 1KB HError.log 4KB ._.DS_Store 4KB Others F2A312012M.djnt 69B MFInfo.mfb 2KB 123.prm 268B F2A312012M.rog 78B .DS_Store 12KB RoboSim sysalgn.MB5 809B systembase.MB5 43KB COMMON.PRM 419B sysorg.MB5 265B sysimac.MB5 3KB LError.log 4KB COMMANDS.XML 186KB CError.log 4KB AError.log 56KB RV-2F-D#1.PRM 139B TTLERROR.DAT 1KB HError.log 4KB syssafe.MB5 885B CRnQCom Videos Backup 20141210-104214 123.MB5 317B sysalgn.MB5 809B systembase.MB5 43KB 1212.MB5 380B COMMON.PRM 976B T1.MB5 2KB sysorg.MB5 265B 12.MB5 641B MECHA.SYS 17B sysimac.MB5 3KB RobotSerial.ser 115B LError.log 4KB NG PINFO2.trp 150B SDLog#1.sdl 134KB PINFO1.trp 2KB CError.log 4KB AError.log 56KB RV-2F-D#1.PRM 901B TTLERROR.DAT 1KB HError.log 4KB BKUP.SYS 3B syssafe.MB5 885B 20141210-182903 123.MB5 317B sysalgn.MB5 809B systembase.MB5 43KB 1212.MB5 380B TX3.MB5 4KB COMMON.PRM 992B T1.MB5 2KB sysorg.MB5 265B 12.MB5 641B MECHA.SYS 17B sysimac.MB5 3KB RobotSerial.ser 115B LError.log 4KB NG PINFO2.trp 86B SDLog#1.sdl 134KB PINFO1.trp 2KB CError.log 4KB AError.log 56KB RV-2F-D#1.PRM 901B TTLERROR.DAT 1KB HError.log 4KB TX2.MB5 3KB BKUP.SYS 3B syssafe.MB5 885B TX.MB5 763B Layout MELFA_PRJ.xml 2KB MELFA_WSP.xml 312B资源评论
