一直以来很想整一本库卡机器人编程及程序库的资料，主要是想把自己这些年编程的经验以及心得分享出来并整理成章。之前弄了一本关于数据转换的，个人觉得里面东西太过程序化，都是一些字符且没太多说明。

important; overflow-wrap: break-word !important;">      由于诸多原因耽搁下来，关于这份资料仅做完上半册 ，而且还有些程序库没罗列下来。比如：信息处理、中断处理、系统函数、干涉区间、上升沿下降沿等等。以下是目前的一些内容，大家可以根据平时遇到的可以给我建议，添加其他一些我程序或函数来弥补内容的不足。

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important; overflow-wrap: break-word !important;">1.CAST指令

important; overflow-wrap: break-word !important;">1.1.CAST_TO:

important; overflow-wrap: break-word !important;">1.2. CAST_FROM:

important; overflow-wrap: break-word !important;">1.3. CAST指令所允许的数据类型及占位：

important; overflow-wrap: break-word !important;">2. STRING指令

important; overflow-wrap: break-word !important;">2.1.StrDeclLen(StrVar[ ])

important; overflow-wrap: break-word !important;">2.2.StrLen(StrVar[ ])

important; overflow-wrap: break-word !important;">2.3.StrClear(StrVar[])

important; overflow-wrap: break-word !important;">2.4.StrAdd(StrDest[], StrToAdd[])

important; overflow-wrap: break-word !important;">2.5.StrFind(StartAt, StrVar[], StrFind[], CaseSens)

important; overflow-wrap: break-word !important;">2.6.StrComp(StrComp1[], StrComp2[], CaseSens)

important; overflow-wrap: break-word !important;">2.7.StrCopy(StrDest[], StrSource[])

important; overflow-wrap: break-word !important;">2.8. String自定义扩展功能:

important; overflow-wrap: break-word !important;">2.8.1.String截取功能：

important; overflow-wrap: break-word !important;">2.8.2.String分割功能:

important; overflow-wrap: break-word !important;">3.数据转换:

important; overflow-wrap: break-word !important;">3.1字符串转换其他数据:

important; overflow-wrap: break-word !important;">3.1.1.系统函数之字符串转换其他数据

important; overflow-wrap: break-word !important;">3.1.1.1.StrToAxis(StrVar[ ], AxisVar )

important; overflow-wrap: break-word !important;">3.1.1.2.StrToBool(StrVar[ ], BoolVar )

important; overflow-wrap: break-word !important;">3.1.1.3.StrToE3Axis(StrVar[ ], E3AxisVar )

important; overflow-wrap: break-word !important;">3.1.1.4.StrToE6Axis(StrVar[ ], E6AxisVar )

important; overflow-wrap: break-word !important;">3.1.1.5.StrToPos(StrVar[ ], PosVar )

important; overflow-wrap: break-word !important;">3.1.1.6.StrToE3Pos(StrVar[ ], E3PosVar )

important; overflow-wrap: break-word !important;">3.1.1.7.StrToE6Pos(StrVar[ ], E6PosVar )

important; overflow-wrap: break-word !important;">3.1.1.8.StrToFrame(StrVar[ ], FrameVar )

important; overflow-wrap: break-word !important;">3.1.1.9.StrToInt(StrVar[ ], IntVar )

important; overflow-wrap: break-word !important;">3.1.1.10.StrToReal(StrVar[ ], RealVar )

important; overflow-wrap: break-word !important;">3.1.1.11.StrToString(StrVar[ ],  )

important; overflow-wrap: break-word !important;">3.1.2. 用户自定义之字符串转换其他数据

important; overflow-wrap: break-word !important;">3.1.2.1.String_To_Axis(StringIN[ ] )

important; overflow-wrap: break-word !important;">3.1.2.2.String_To_Bool (StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.3.String_To_E3Axis(StringIN[ ] )

important; overflow-wrap: break-word !important;">3.1.2.4.String_To_E6Axis(StringIN[ ] )

important; overflow-wrap: break-word !important;">3.1.2.5.String_To_Int (StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.6.String_To_Real (StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.7.String_To_Frame(StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.8.String_To_Pos(StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.9.String_To_E3Pos(StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.10.String_To_E6Pos(StringIN[ ])

important; overflow-wrap: break-word !important;">3.1.2.11.String_To_Vector(StringIN[ ])

important; overflow-wrap: break-word !important;">3.2其他数据转化字符串:

important; overflow-wrap: break-word !important;">3.2.1.Bool_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.2.Int _To_String(Var)

important; overflow-wrap: break-word !important;">3.2.3.Real_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.4.Frame_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.5.Vector_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.6.Pos_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.7.E3Pos_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.8.E6Pos_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.9.Axis_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.10.E3Axis_To_String(Var)

important; overflow-wrap: break-word !important;">3.2.11.E6AxisTo_String(Var)

important; overflow-wrap: break-word !important;">3.2.12.Date_To_String(Var)

important; overflow-wrap: break-word !important;">3.3基本数据类型转化:

important; overflow-wrap: break-word !important;">3.3.1.Int_To_Real(Var)

important; overflow-wrap: break-word !important;">3.3.2.Real_To_Int(Var)

important; overflow-wrap: break-word !important;">3.3.3.从结构体中获取元素：

important; overflow-wrap: break-word !important;">3.4数据高低字节互换:

important; overflow-wrap: break-word !important;">3.4.1.Int_Swap(Var)：

important; overflow-wrap: break-word !important;">3.4.2.Real_Swap(Var)：

important; overflow-wrap: break-word !important;">3.4.3.关于高低字节：

important; overflow-wrap: break-word !important;">4. 数据运算

important; overflow-wrap: break-word !important;">4.1.算术运算:

important; overflow-wrap: break-word !important;">4.2.几何运算

important; overflow-wrap: break-word !important;">4.2.1. 基于基坐标偏移：

important; overflow-wrap: break-word !important;">4.2.1.1.Pos_BaseOffset()

important; overflow-wrap: break-word !important;">4.2.1.2.FramePos_BaseOffset()

important; overflow-wrap: break-word !important;">4.2.1.3 .E3Pos_BaseOffset()

important; overflow-wrap: break-word !important;">4.2.1.4 .E6Pos_BaseOffset()

important; overflow-wrap: break-word !important;">4.2.2. 基于工具坐标偏移：

important; overflow-wrap: break-word !important;">4.2.2.1.Pos_ToolOffset()

important; overflow-wrap: break-word !important;">4.2.2.2.FramePos_ToolOffset()

important; overflow-wrap: break-word !important;">4.2.2.3 .E3Pos_ToolOffset()

important; overflow-wrap: break-word !important;">4.2.2.4 .E6Pos_ToolOffset()

important; overflow-wrap: break-word !important;">4.2.3.计算Frame坐标：

important; overflow-wrap: break-word !important;">4.2.3.1.Get_VectorFrame()

important; overflow-wrap: break-word !important;">4.2.3.2.Get_VectorFrame()

important; overflow-wrap: break-word !important;">4.2.4.计算位置坐标：

important; overflow-wrap: break-word !important;">4.2.4.1.FlangeTCP()

important; overflow-wrap: break-word !important;">4.2.4.2.GetMidPos ()

important; overflow-wrap: break-word !important;">4.2.4.3.Pos_NewBase ()

important; overflow-wrap: break-word !important;">4.2.4.4.Pos_NewTool ()

important; overflow-wrap: break-word !important;">4.2.4.5.Pos_NewToolBase ()

important; overflow-wrap: break-word !important;">4.2.5.系统函数：

important; overflow-wrap: break-word !important;">4.2.5.1.FORWARD ()

important; overflow-wrap: break-word !important;">4.2.5.2.INV_POS()

important; overflow-wrap: break-word !important;">4.2.5.3.INVERSE ()

important; overflow-wrap: break-word !important;">4.2.6.矢量相关运算：

important; overflow-wrap: break-word !important;">4.2.6.1.CrossProduct()

important; overflow-wrap: break-word !important;">4.2.6.2.ScalarProduct()

important; overflow-wrap: break-word !important;">4.2.6.3.VectorLength()

important; overflow-wrap: break-word !important;">4.2.6.4.NormVector()

important; overflow-wrap: break-word !important;">4.2.6.5.GetDistance()

important; overflow-wrap: break-word !important;">4.2.6.6.Calculate_Base ()

important; overflow-wrap: break-word !important;">4.2.7.笛卡尔坐标与轴坐标相关运算：

important; overflow-wrap: break-word !important;">4.2.7.1. Pos_To_Axis（）

important; overflow-wrap: break-word !important;">4.2.7.2. Axis_To_Pos（）

important; overflow-wrap: break-word !important;">4.2.8.笛卡尔坐标求逆相关运算：

important; overflow-wrap: break-word !important;">4.2.8.1. Inverse_Frame（）

important; overflow-wrap: break-word !important;">4.2.8.2. Inverse_Pos（）

important; overflow-wrap: break-word !important;">4.2.8.3. Inverse_E6Pos（）

important; overflow-wrap: break-word !important;">4.2.9.获取位置元素：

important; overflow-wrap: break-word !important;">4.2.9.1. Axis_To_Component（）

important; overflow-wrap: break-word !important;">4.2.9.2. Frame_To_Component（）

important; overflow-wrap: break-word !important;">4.3.比较运算

important; overflow-wrap: break-word !important;">4.3.1.结构体的比较运算：

important; overflow-wrap: break-word !important;">4.3.2.字符串的比较运算：

important; overflow-wrap: break-word !important;">4.4.逻辑运算

important; overflow-wrap: break-word !important;">4.5.位运算

important; overflow-wrap: break-word !important;">4.6.运算符的优先级

important; overflow-wrap: break-word !important;">4.7.函数及子程序

important; overflow-wrap: break-word !important;">4.7.1.数学运算：

important; overflow-wrap: break-word !important;">4.7.1.1.***值函数ABS

important; overflow-wrap: break-word !important;">4.7.1.2.阶乘函数Factorial

important; overflow-wrap: break-word !important;">4.7.1.3.取大函数Max

important; overflow-wrap: break-word !important;">4.7.1.4.取小函数Min

important; overflow-wrap: break-word !important;">4.7.1.5.求余函数Mod

important; overflow-wrap: break-word !important;">4.7.1.6.求奇偶函数isOdd

important; overflow-wrap: break-word !important;">4.7.1.7.幂函数Power

important; overflow-wrap: break-word !important;">4.7.1.8.随机函数Random

important; overflow-wrap: break-word !important;">4.7.1.9.四舍五入函数Round

important; overflow-wrap: break-word !important;">4.7.1.10.平方根函数SQRT

important; overflow-wrap: break-word !important;">4.7.1.11.截取函数TRUNC

important; overflow-wrap: break-word !important;">4.7.2.三角函数运算：

important; overflow-wrap: break-word !important;">4.7.2.1.正弦函数SIN

important; overflow-wrap: break-word !important;">4.7.2.2.余弦函数SIN

important; overflow-wrap: break-word !important;">4.7.2.3.正切函数TAN

important; overflow-wrap: break-word !important;">4.7.2.4.余切函数TAN

important; overflow-wrap: break-word !important;">4.7.2.5.反余弦函数ACOS

important; overflow-wrap: break-word !important;">4.7.2.5.反正切函数ATAN2

important; overflow-wrap: break-word !important;">4.7.2.7.反正弦函数ARCSIN

important; overflow-wrap: break-word !important;">4.7.2.8.反余切函数ARCCOT

important; overflow-wrap: break-word !important;">4.7.3.数组运算

important; overflow-wrap: break-word !important;">4.7.3.1.取数组值***小的指数IdxMin

important; overflow-wrap: break-word !important;">4.7.3.2.取数组值***大的指数IdxMax

important; overflow-wrap: break-word !important;">4.7.3.3.数组排序SortArray

important; overflow-wrap: break-word !important;">4.7.3.4.Bool数组初始化

important; overflow-wrap: break-word !important;">4.7.3.5.INT数组初始化

important; overflow-wrap: break-word !important;">4.7.3.6.CHAR数组初始化

important; overflow-wrap: break-word !important;">4.7.3.5.REAL数组初始化

important; overflow-wrap: break-word !important;">4.7.4.移位操作运算

important; overflow-wrap: break-word !important;">4.7.4.1.向左移位功能BitShiftLeft

important; overflow-wrap: break-word !important;">4.7.4.2.向右移位功能BitShiftRight

important; overflow-wrap: break-word !important;">5. I/O信号

important; overflow-wrap: break-word !important;">5.1.读取输入信号值:

important; overflow-wrap: break-word !important;">5.1.1.PeekInput_Bool()

important; overflow-wrap: break-word !important;">5.1.2.PeekInput_Byte()

important; overflow-wrap: break-word !important;">5.1.3.PeekInput_Wor()

important; overflow-wrap: break-word !important;">5.1.4.PeekInputs ()

important; overflow-wrap: break-word !important;">5.1.5.PeekInput_Int ()

important; overflow-wrap: break-word !important;">5.1.6.PeekInput_Real ()

important; overflow-wrap: break-word !important;">5.2.写入输出信号值:

important; overflow-wrap: break-word !important;">5.2.1.PokeOutput_Bit()

important; overflow-wrap: break-word !important;">5.2.2.PokeOutput_Byte()

important; overflow-wrap: break-word !important;">5.2.3.PokeOutput_Wor()

important; overflow-wrap: break-word !important;">5.2.4.PokeOutput_Int()

important; overflow-wrap: break-word !important;">5.2.5.PokeOutput_Real()

important; overflow-wrap: break-word !important;">5.2.6.PokeOutputs()

important; overflow-wrap: break-word !important;">5.3.其他:

important; overflow-wrap: break-word !important;">5.3.1.GetDo ()

important; overflow-wrap: break-word !important;">5.3.2.SetDo ()

important; overflow-wrap: break-word !important;">5.3.3.WaitForIn ()

important; overflow-wrap: break-word !important;">5.3.4.Input_Swap_Real ()

important; overflow-wrap: break-word !important;">5.3.5.Input_To_Integer()

important; overflow-wrap: break-word !important;">5.3.6.Input_To_Real()

important; overflow-wrap: break-word !important;">5.3.7.Integer_To_Output()

important; overflow-wrap: break-word !important;">5.3.8.Real_To_Output()

important; overflow-wrap: break-word !important;">5.3.9.Real_Swap_Output()

important; overflow-wrap: break-word !important;">6. 判断机器人是否到目标位置

important; overflow-wrap: break-word !important;">6.1.AxisPosReached()

important; overflow-wrap: break-word !important;">6.2.E3AxisPosReached()

important; overflow-wrap: break-word !important;">6.3.E6AxisPosReached()

important; overflow-wrap: break-word !important;">6.4.CartPosReached()

important; overflow-wrap: break-word !important;">6.5.E3CartPosReached()

important; overflow-wrap: break-word !important;">6.6.E6CartPosReached()

important; overflow-wrap: break-word !important;">7. 运动编程

important; overflow-wrap: break-word !important;">7.1.运动简介

important; overflow-wrap: break-word !important;">7.2.运动参数说明

important; overflow-wrap: break-word !important;">7.2.1.高级编程运动指令：

important; overflow-wrap: break-word !important;">7.2.2.高级编程运动系统变量

important; overflow-wrap: break-word !important;">7.2.3.高级编程运动参数说明

important; overflow-wrap: break-word !important;">7.3.指令运动

important; overflow-wrap: break-word !important;">7.4.运动编程

important; overflow-wrap: break-word !important;">更多资讯  库卡机器人