28 lines
922 B
XML
28 lines
922 B
XML
<?xml version="1.0" encoding="utf-8"?>
|
|
<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
|
|
<Program name="train">
|
|
<Locals>
|
|
<Local name="l_nIndex" type="num" xsi:type="array" size="1" />
|
|
</Locals>
|
|
<Code><![CDATA[begin
|
|
// Modification: 11-03-09 - ffab
|
|
//
|
|
// Wait to be in the zone
|
|
wait(bInZone)
|
|
// Update the data while robot into the zone
|
|
while bInZone
|
|
//Record the joint force (comment out next line for use with expansion add-on)
|
|
getJointForce(nJntForce)
|
|
//Uncomment next line for use with expansion add-on
|
|
//$getJntForce(nJntForce)
|
|
// Record data
|
|
for l_nIndex=0 to 5
|
|
if abs(nJntForce[l_nIndex])>nJntMaxForce[l_nIndex]
|
|
nJntMaxForce[l_nIndex]=abs(nJntForce[l_nIndex])
|
|
endIf
|
|
endFor
|
|
delay(0)
|
|
endWhile
|
|
end]]></Code>
|
|
</Program>
|
|
</Programs> |