三菱机械臂demo程序

近期使用了三菱的机械臂，这里简单总结一个对于三菱机械臂的编程demo，以便温习。

Servo On
*L20:If M_Svo<>1 GoTo *L20
Spd M_NSpd
Ovrd 10 '机器人动作的速度以 0.01 ～ 100% 指定。 涉及到全部程序的倍率修调。'
M_OPovrd=10 '操作面板的速度比例
If M_Open(1)<>1 Then
 Open "COM5:" As #1
 Wait M_Open(1)=1
EndIf
P0=(+328.02,+18.47,+1018.40,+3.11,-0.44,+5.47)
Mov P0
Dly 1
*L1: Input #1, M1
If M1 = 100  GoTo *FISHEYE
If M1 = 200  GoTo *OMNI
If M1 = 300  GoTo *FISHEYEIMU
If M1 = 400  GoTo *OMNIIMU
End
*OMNI '执行全景镜头标定
P111=(+508.90,-11.31,+672.71,-20.98,-12.89,-116.55)
P112=(+508.90,-11.31,+672.71,-22.07,+10.84,-61.48)
P113=(+501.32,-19.26,+827.97,+1.37,+20.26,+4.72)
P114=(+501.32,-19.26,+827.97,-17.04,+11.21,-56.84)
P115=(+501.32,