Yamaha DRCX Instrukcja Użytkownika Pobierz pdf (Strona 29)

YAMAHA SR1 Provider User's Guide - 29 -

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3.2.20. CaoRobot::Execute("MSEL") command

Syntax MSEL ( <lPalletNo:VT_I4> )

< lPalletNo >

：

[in] Pallet number (VT_I4)

Pallet number between 0 and 31 for matrix identification

Return value

：

None

Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“MAT”, Array(5,2,1)) ‘ Set 5 x 2 matrix for first pallet

aaa.Execute(“MSEL”, 1) ‘ Select first pallet

aaa.Move 7, Array(1,100) ‘ Move to first pallet position at 100% speed

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3.2.21. CaoRobot::Execute("SHFT") command

Shift the position data as much as the specified point data amount.

This is valid until the SHFT statement is executed again or a program reset occurs.

Syntax SHFT ( <lPointNo:VT_I4> )

< lPointNo >

：

[in] Point number (VT_I4): A point number between 0 and 999

Return value

：

None

Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“SHFT”, 1) ‘ Data amount shift setting for point number 1

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Yamaha DRCX Instrukcja Użytkownika Strona 29