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Test 3

The document outlines a robotic control module that defines several target positions and establishes a socket server for communication. It listens for commands to move the robot to predefined positions or return to a home position, sending responses back to the client. Error handling is included to manage socket timeouts and closures, ensuring the server can recover and continue functioning.

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thomasgys53
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2 views2 pages

Test 3

The document outlines a robotic control module that defines several target positions and establishes a socket server for communication. It listens for commands to move the robot to predefined positions or return to a home position, sending responses back to the client. Error handling is included to manage socket timeouts and closures, ensuring the server can recover and continue functioning.

Uploaded by

thomasgys53
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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MODULE Module1

CONST robtarget pHome:=[[181.694820364,-12.467961259,373.289368071],


[0.001826271,0.004541362,0.999740988,0.022226053],[-1,0,-1,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p1:=[[481.615903006,3.198526215,202.904763246],
[0.001826257,0.004541398,0.999740989,0.022226029],[0,0,-1,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p2:=[[115.9454973,-347.386091524,202.904758055],
[0.001826247,0.004541368,0.999740989,0.022226029],[-1,0,-1,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget p3:=[[127.740301411,321.656292249,202.904661641],
[0.00182625,0.004541352,0.999740988,0.022226055],[0,0,0,0],
[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

VAR socketdev serverSocket;


VAR socketdev clientSocket;
VAR string data;

PROC main()

SocketCreate serverSocket;
SocketBind serverSocket,"127.0.0.1",4000;
SocketListen serverSocket;
SocketAccept serverSocket,clientSocket,\Time:=WAIT_MAX;

MoveJ pHome,v600,fine,tool0\WObj:=wobj0;

WHILE TRUE DO

SocketReceive clientSocket,\Str:=data,\Time:=WAIT_MAX;

IF data="POS1" THEN
MoveJ p1,v600,fine,tool0\WObj:=wobj0;
SocketSend clientSocket,\Str:="Robot in position 1";
ELSEIF data="POS2" THEN
MoveJ p2,v600,fine,tool0\WObj:=wobj0;
SocketSend clientSocket,\Str:="Robot in position 2";
ELSEIF data="POS3" THEN
MoveJ p3,v600,fine,tool0\WObj:=wobj0;
SocketSend clientSocket,\Str:="Robot in position 3";
ELSEIF data="HOME" THEN
MoveJ pHome,v600,fine,tool0\WObj:=wobj0;
SocketSend clientSocket,\Str:="Robot in Home position";
ELSE
SocketSend clientSocket,\Str:="Wrong command";
ENDIF

ENDWHILE

WaitTime 1;

ERROR

IF ERRNO=ERR_SOCK_TIMEOUT THEN
RETRY;

ELSEIF ERRNO=ERR_SOCK_CLOSED THEN


SocketClose clientSocket;
SocketClose serverSocket;
SocketCreate serverSocket;
SocketBind serverSocket,"127.0.0.1",4000;
SocketListen serverSocket;
SocketAccept serverSocket,clientSocket,\Time:=WAIT_MAX;

RETRY;

ELSE
stop;
ENDIF

ENDPROC

ENDMODULE

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