31 lines
1.2 KiB
XML
31 lines
1.2 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<Programs xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns="http://www.staubli.com/robotics/VAL3/Program/2">
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<Program name="startTraining" access="public">
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<Locals>
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<Local name="l_nIndex" type="num" xsi:type="array" size="1" />
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</Locals>
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<Code><![CDATA[begin
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//-----------------------------------------------------------------------
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//Header begin
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// Reads and store the current joint force values.
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// It is used to record the forces required for a specific robot cycle
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// that will need to be monitored for collisions afterwards.
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// The recording is active when the robot is inside the specified zone
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// (function setInZone()).
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//
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//Example
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// call startTraining()
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//
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//History
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// Creation : 23-04-08 - f.Rob
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// Modification: 11-03-09 - ffab
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//Header end
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//-----------------------------------------------------------------------
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// Wait the previous task is ended
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bInZone=false
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wait(taskStatus("train")==-1 and taskStatus("detect")==-1)
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// Create the task
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taskCreate "train",100,train()
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end]]></Code>
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</Program>
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</Programs> |