日本SANMOTION機器人編程使用手冊.中文本資料是SANMOTION C RC-SERIES 基本命令的說明書。SANMOTION C RC 可通過手持終端或PC上安裝的SANMOTION C.Teachview輕松進行程序設計工
作。此外，SANMOTION C RC備有可選功能，用戶可根據實際需要添加各種所需功能。
目錄
1. 前言 ...................................................................................................... 5
2. Sanmotion C RC 機器人語言的定義...................................................... 5
3. Sanmotion C RC 的命令 ....................................................................... 5
3.1 機器人運動命令（Robot Movement） .............................................................. 9
3.1.1 PTP ......................................................................................................... 10
3.1.2 Lin ........................................................................................................... 12
3.1.3 Circ .......................................................................................................... 14
3.1.4 PTPRel .................................................................................................... 15
3.1.5 LINRel .................................................................................................... 15
3.1.6 StopRobot ................................................................................................ 16
3.1.7 WaitIsFinished ........................................................................................ 16
3.1.8 WaitJustInTime ...................................................................................... 16
3.1.9 Homing／Referencing（原點復位） ............................................................ 17
3.1.9.1 RefRobotAxis ........................................................................................ 17
3.1.9.2 RefRobotAxisAsync .............................................................................. 17
3.1.9.3 WaitRefFinished .................................................................................. 18
3.2 設置命令（Setting） ...................................................................................... 18
3.2.1 動態的編程與重疊 ..................................................................................... 18
3.2.2 相對值及絕對值的設置 .............................................................................. 19
3.2.3 設置移動參數的效果 ................................................................................. 19
3.2.4 Dyn .......................................................................................................... 21
3.2.5 DynOvr.................................................................................................... 21
3.2.6 Ovl ........................................................................................................... 21
重疊命令 ............................................................................................................ 22
編程中的設置方法............................................................................................... 22
相對指定與絕對指定的區別 ................................................................................. 23
3.2.7 Ramp ....................................................................................................... 24
3.2.8 RefSys ..................................................................................................... 25
3.2.9 Tool .......................................................................................................... 25
3.2.10 OriMode ................................................................................................ 26
3.3 系統命令（System Functions） ..................................................................... 27
3.3.1 := … (Assignment) ................................................................................... 28
3.3.2 // … (Comment) ..................................................................................... 28
3.3.3 WaitTime ................................................................................................. 28
3.3.4 Stop ......................................................................................................... 28
3.3.5 Info .......................................................................................................... 29
3.3.6 Warning .................................................................................................. 29
3.3.7 Error ....................................................................................................... 30
3.3.8 時間計量命令 (Time Measurement) ........................................................ 31
SysTime ............................................................................................................ 31
SysTimeToString ............................................................................................... 31
3.3.9 數值計算命令 （Mathematical Functions） ............................................... 32
SIN, COS, TAN, COT ........................................................................................ 32
ASIN, ACOS, ATAN, ACOT ............................................................................... 32
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SANMOTION C RC
ATAN2 ............................................................................................................... 32
LN, EXP ............................................................................................................ 32
ABS, SQRT ....................................................................................................... 32
3.3.10 位運算及轉換命令 （Bitwise Operations & Conversions） ...................... 33
SHL ................................................................................................................... 33
SHR ................................................................................................................... 33
ROL ................................................................................................................... 33
ROR ................................................................................................................... 34
SetBit ................................................................................................................ 34
ResetBit ............................................................................................................ 35
CheckBit ........................................................................................................... 35
3.4 系統命令（System Functions） ..................................................................... 36
3.4.1 CALL ....................................................................................................... 36
3.4.2 WAIT ....................................................................................................... 36
3.4.3 IF … THEN … END_IF .......................................................................... 36
3.4.4 ELSE ....................................................................................................... 37
3.4.5 ELSIF … THEN ...................................................................................... 37
3.4.6 WHILE … DO … END_WHILE ............................................................. 37
3.4.7 LOOP … DO … END_LOOP................................................................... 38
3.4.8 RUN．．． ................................................................................................. 38
3.4.9 KILL．．． ................................................................................................. 38
3.4.10 RETURN ............................................................................................... 38
3.4.11 LABEL．．．............................................................................................ 39
3.4.12 GOTO．．． ............................................................................................. 39
3.4.13 IF … GOTO … ...................................................................................... 39
3.5 I/O（輸入/輸出）設備 .................................................................................... 40
3.5.1 Digital I/O（數字 I/O） ............................................................................... 40
3.5.2 Analog I/O（模擬 I/O） ............................................................................... 40
3.6 Technology Options .................................................................................. 41
3.6.1 Technology Options（） ............................................................................. 41
4. 數據類型 ............................................................................................. 42
4.1 基本數據類型 .............................................................................................. 42
4.1.1 BOOL ...................................................................................................... 42
4.1.2 DINT ....................................................................................................... 42
4.1.3 DWORD .................................................................................................. 42
4.1.4 REAL ...................................................................................................... 42
4.1.5 STRING .................................................................................................. 42
4.2 位置數據類型 .............................................................................................. 43
4.2.1 POSITION_ ............................................................................................. 43
4.2.2 AXISPOS ................................................................................................. 43
4.2.3 CARTPOS ............................................................................................... 43
4.2.4 AXISPOSREF ......................................................................................... 44
4.2.5 CARTPOSREF ........................................................................................ 44
4.2.6 AXISPOSEXT ......................................................................................... 44
4.2.7 CARTPOSEXT ........................................................................................ 44
4.2.8 ROBAXISPOS ......................................................................................... 45
4.2.9 AUXAXISPOS ......................................................................................... 45
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SANMOTION C RC
4.2.10 ROBCARTPOS ...................................................................................... 45
4.2.11 DISTANCE_ .......................................................................................... 45
4.2.12 AXISDIST ............................................................................................. 46
4.2.13 CARTDIST ............................................................................................ 46
4.3 參考系統及工具 ........................................................................................... 46
4.3.1 REFSYS_ ................................................................................................ 46
4.3.2 WORLDREFSYS ..................................................................................... 47
4.3.3 CARTREFSYS ........................................................................................ 47
4.3.4 CARTREFSYSEXT ................................................................................. 47
4.3.5 CARTREFSYSAXIS ................................................................................ 47
4.3.6 TOOL_..................................................................................................... 48
4.3.7 TOOL ...................................................................................................... 48
4.3.8 TOOLSTATIC ......................................................................................... 48
4.4 動態與重疊 .................................................................................................. 49
4.4.1 OVERLAP_ ............................................................................................. 49
4.4.2 OVLREL ................................................................................................. 49
4.4.3 OVLABS .................................................................................................. 49
4.4.4 DYNAMIC（動態設置） ............................................................................ 50
4.4.5 百分比（PERCENT） ................................................................................. 51
4.4.6 百分比（PERC200） ................................................................................... 51
4.5 I/O-Devices （I/O 設備） .............................................................................. 51
4.5.1 I/O 的連接 ............................................................................................... 51
4.5.2 數據輸入（DIN） .......................................................................................... 51
4.5.3 DIN.Wait／WaitN ................................................................................. 52
4.5.4 DIN.Read ................................................................................................ 52
4.5.5 DIN.ReadSt ............................................................................................. 53
4.5.5 DIN.ResetSt ............................................................................................ 53
4.5.6 數字輸出（DOUT） .................................................................................... 54
4.5.7 DOUT.Wait／WaitN ................................................................................ 54
4.5.8 DOUT.Read ............................................................................................. 55
4.5.9 DOUT.ReadSt ......................................................................................... 55
4.5.10 DOUT.ResetSt ....................................................................................... 56
4.5.11 DOUT.Set .............................................................................................. 56
4.5.12 DOUT.Reset .......................................................................................... 56
4.5.13 DOUT.Write .......................................................................................... 57
4.6 系統 .......................................................................................................... 57
4.6.1 ROBOTSTATE ........................................................................................ 57
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