PROC IndexToStn1()                  //检测变位机状态   并设置要运行到的角度位置   并对不同的GetNextPartAdv返回值情况   进行处理 VAR bool bActive;VAR jointtarget jtCurrent;            //声明一个位置变量IF (NOT bInterchCalib1) CalibIntch1;       ! reset inpos signals used in vcReset soLS_1_INPOS;Reset soLS_2_INPOS;                          //复位变位机的输出bActive:=IsMechUnitActive(INTERCH);            //是否变位机激活IF (NOT bActive) ActInterch1;                  //激活变位机jtCurrent:=CJointT();                   // 得到当前角度! get parts for stationsGetNextPartAdv 1,padvTmp1\statusCode:=retCode1;//得到存储的partdata类型的数据的值， 并将GetNextPartAdv 返回状态赋值给retCode1GetNextPartAdv 2,padvTmp2\statusCode:=retCode2;IF (retCode1=0) THENjtCurrent.extax.eax_e:=padvTmp1.procAngle.eax_e;  //如果返回成功，将partdata类型数据的eax_e的值赋值给当前jtCurrentELSEjtCurrent.extax.eax_e:=0;               //否则赋值0         并进行处理text_res_no:=TextResTabGet("CellText");sHeader:=TextResGet(text_res_no,218);IF (retcode1=-1) THENsMsgArr{1}:=TextResGet(text_res_no,202)+" 1";sMsgArr{2}:=TextResGet(text_res_no,214);sMsgArr{3}:="";sMsgArr{4}:="";ErrWrite\W,sHeader,sMsgArr{1}\RL2:=sMsgArr{2}\RL3:=sMsgArr{3}\RL4:=sMsgArr{4};ELSEIF (retcode1=-2) THENsMsgArr{1}:=TextResGet(text_res_no,204)+" 1";sMsgArr{2}:=TextResGet(text_res_no,205)+" 1";sMsgArr{3}:=TextResGet(text_res_no,214);sMsgArr{4}:="";ErrWrite\W,sHeader,sMsgArr{1}\RL2:=sMsgArr{2}\RL3:=sMsgArr{3}\RL4:=sMsgArr{4};ENDIFENDIFIF (retCode2=0) THENjtCurrent.extax.eax_f:=padvTmp2.loadAngle.eax_f;ELSEjtCurrent.extax.eax_f:=0;text_res_no:=TextResTabGet("CellText");sHeader:=TextResGet(text_res_no,218);IF (retcode2=-1) THENsMsgArr{1}:=TextResGet(text_res_no,202)+" 2";sMsgArr{2}:=TextResGet(text_res_no,213);sMsgArr{3}:="";sMsgArr{4}:="";ErrWrite\W,sHeader,sMsgArr{1}\RL2:=sMsgArr{2}\RL3:=sMsgArr{3}\RL4:=sMsgArr{4};ELSEIF (retcode2=-2) THENsMsgArr{1}:=TextResGet(text_res_no,204)+" 2";sMsgArr{2}:=TextResGet(text_res_no,205)+" 2";sMsgArr{3}:=TextResGet(text_res_no,213);sMsgArr{4}:="";ErrWrite\W,sHeader,sMsgArr{1}\RL2:=sMsgArr{2}\RL3:=sMsgArr{3}\RL4:=sMsgArr{4};ENDIFENDIF! apply interchange positionjtCurrent.extax.eax_d:=nInterchStn1;       //将存储的变位机水平轴位置赋值给当前IF (TaskRunRob()) THEN                     //判定程序运行于哪个平台MoveAbsJ jtCurrent,sdInterch1,fine,tool0;                      ELSE%"MoveExtJ"% jtCurrent,sdInterch1,fine;        //如果是外部轴    则运动到指定位置ENDIFIF (NOT RobOS()) Set soLS_1_INPOS;         //并设置相应的变位机状态给PLCWaitTime nTorqueTime;                                                   IF (NOT bActive) DeactInterch1;           //如果在运行这段程序之前   变位机没有激活   则 运行这段程序之后也保持运行之前的状态  ENDPROC