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GOTO (Gehe zu Marke) ...................................................................................................... 11-38
IF (Bedingte If-Else-Endif-Verzweigung) ............................................................................. 11-39
KINEMATIC (Kinematik-Definition für einen Task) ............................................................. 11-41
LOCAL/VARIABLE .............................................................................................................. 11-42
MESSAGE/DIAG (Definition einer Task-Diagnosemeldung) .............................................. 11-43
MESSAGE/STATUS (Definition einer Statusmeldung) ....................................................... 11-44
MOVE/CIRCLE (Bahnbewegung mit Kreisinterpolation) .................................................... 11-45
MOVE/JOINT (Bahnbewegung Gelenkpunkt-Gelenkpunkt) ............................................... 11-46
MOVE/LINE (Bahnbewegung mit Geraden-Interpolation) .................................................. 11-47
PARAMETER/BIT (Parameterbit-Initialisierung) ................................................................. 11-48
PARAMETER/GET (Laden eines Parameters in eine Variable) ......................................... 11-49
PARAMETER/INIT (Initialisieren eines Parameters) .......................................................... 11-50
PARAMETER/SET (Einstellen eines Parameters).............................................................. 11-51
PATH/ABORT (Abbruch der Bahnbewegung) .................................................................... 11-52
PATH/POSITION (Abruf der absoluten Bahn-Istposition) ................................................... 11-53
PATH/RESUME (Wiederaufnahme der Bahnbewegung) ................................................... 11-54
PATH/STOP (Anhalten einer Bahnbewegung) ................................................................... 11-54
PATH/WAIT (Programmpause für Bewegung).................................................................... 11-55
PID/CONFIG........................................................................................................................ 11-56
PLC/CLEAR (Löschen eines E/A-Registerbits)................................................................... 11-58
PLC/READ (Ablesen von E/A-Registern) ............................................................................ 11-59
PLC/SET (Setzen eines E/A-Register-Bits)......................................................................... 11-60
PLC/TEST (Abfrage eines E/A-Register-Bits) ..................................................................... 11-61
PLC/WAIT (Warten auf E/A Register Bit) ............................................................................ 11-62
PLC/WRITE (Schreiben in E/A-Register) ............................................................................ 11-62
PLS/INIT .............................................................................................................................. 11-63
REGISTRATION.................................................................................................................. 11-65
RETURN (Rücksprung aus Unterprogramm)...................................................................... 11-66
ROBOT/ORIGIN .................................................................................................................. 11-66
ROBOT/TOOL ..................................................................................................................... 11-67
ROTARY/EVENT................................................................................................................. 11-67
SEQUENCER ...................................................................................................................... 11-68
SEQ/LIST............................................................................................................................. 11-69
SEQ/SCHR .......................................................................................................................... 11-70
TASK/AXES (Task Axes Definition) .................................................................................... 11-71
TASK/END (Marke für das Ende eine Task) ....................................................................... 11-72
TASK/START (Marke für den Start eine Task) ................................................................... 11-73
VAR/INIT.............................................................................................................................. 11-74
VIRTUAL/MASTER ............................................................................................................. 11-75
12.1 Einleitung ..................................................................................................................................... 12-1
12.2 Das VisualMotion-Kommunikationsprotokoll ............................................................................... 12-1
Lesen von Daten aus VisualMotion ....................................................................................... 12-2
Schreiben von Daten in VisualMotion ................................................................................... 12-2
Kommunikationsfehler ........................................................................................................... 12-3
VisualMotion 8 Funktionsbeschreibung
DOK-VISMOT-VM*-08VRS**-FK02-DE-P
12-1
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