27 lines
900 B
XML
27 lines
900 B
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="onCommandModbus">
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<Parameters xmlns="http://www.staubli.com/robotics/VAL3/Param/1">
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<Parameter name="cmd" type="num" xsi:type="element" />
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<Parameter name="args" type="num" xsi:type="array" use="reference" />
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<Parameter name="ret" type="num" xsi:type="array" use="reference" />
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<Parameter name="error" type="num" xsi:type="element" use="reference" />
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</Parameters>
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<Code><![CDATA[begin
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switch(cmd)
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case 1
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aioSet(wStatus[5], 1)
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ret[0]=100
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break
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case 2
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aioSet(wStatus[5], 2)
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ret[1]=200
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break
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default
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//Unknown command
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error = 2
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break
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endSwitch
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end]]></Code>
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</Program>
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</Programs> |