Mitsubishi Electric MELFA CR750 Bedienungs- Und Programmieranleitung Seite 787

Programmfunktionen und -beispiele
}
switch(DispType) {
%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f (%s)"
%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f, %04x,%04x (%s)"
, p->sflg1, p->sflg2, str);
%ld,%ld,%ld,%ld,%ld,%ld,%ld,%ld (%s)"
CR750/CR751
break;
default:
break;
case MXT_TYP_JOINT:
case MXT_TYP_FJOINT:
case MXT_TYP_FB_JOINT:
if(loop==1) {
memcpy(&jnt_now, DispData, sizeof(JOINT));
loop = 2;
}
if(disp) {
JOINT *j=(JOINT*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d Type(JOINT)=%d\n
,MXTrecv.CCount,MXTrecv.TCount,DispType
,j->j1, j->j2, j->j3 ,j->j4, j->j5, j->j6, j->j7, j->j8, str);
cout << buf << endl;
}
break;
case MXT_TYP_POSE:
case MXT_TYP_FPOSE:
case MXT_TYP_FB_POSE:
if(loop==1) {
memcpy(&pos_now, &MXTrecv.dat.pos, sizeof(POSE));
loop = 2;
}
if(disp) {
POSE *p=(POSE*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d Type(POSE)=%d\n
,MXTrecv.CCount,MXTrecv.TCount,DispType
,p->w.x, p->w.y, p->w.z, p->w.a, p->w.b, p->w.c
cout << buf << endl;
}
break;
case MXT_TYP_PULSE:
case MXT_TYP_FPULSE:
case MXT_TYP_FB_PULSE:
case MXT_TYP_CMDCUR:
case MXT_TYP_FBKCUR:
if(loop==1) {
memcpy(&pls_now, &MXTrecv.dat.pls, sizeof(PULSE));
loop = 2;
}
if(disp) {
PULSE *l=(PULSE*)DispData;
sprintf(buf, "Receive (%ld): TCount=%d Type(PULSE/OTHER)=%d\n
,MXTrecv.CCount,MXTrecv.TCount,DispType
,l->p1, l->p2, l->p3, l->p4, l->p5, l->p6, l->p7, l->p8, str);
cout << buf << endl;
}
break;
case MXT_TYP_NULL:
if(loop==1) {
loop = 2;
}
Beispielprogramme
11 - 21