ABB DAO01 P37171-4-0369629控制器
ABB DAO01 P37171-4-0369629与动作指令不同，由于层次结构更复杂，与特定移动指令描述相关的指令模板不会存储在描述下的子节点中。12收集所有流程定义的流程定义节点包含一组流程模板，这些模板又包含针对特定流程优化的指令模板。13流程定义节点（此处由通用移动流程表示）包含多组流程模板，这些模板又包含针对特定流程优化的指令模板。14流程模板节点（此处由通用默认流程表示）ABB DAO01 P37171-4-0369629包含多组移动指令模板，这些模板具有针对特定流程优化的参数值。过程模板可以为移动指令描述定义的每个移动指令类型保存一个移动指令模板。ABB DAO01 P37171-4-0369629
ABB DAO01 P37171-4-0369629控制器
Unlike action instructions, instruction templates related to a certain move instruction descriptions are not stored in child nodes under the description, due to a more complex hierarchy. 12 The Process definitions node, which gathers all process definitions, contains sets of process templates which in turn contain instruction templates optimized for specific processes. 13 A Process definition node, here represented by the generic Move process, contains sets of process templates which in turn contain instruction templates optimized for specific processes. 14 A Process template node, here represented by the generic Default process, contains sets of move instruction templates with argument values optimized for specific processes. A process template can hold one move instruction template for each move instruction type defined by a move instruction description.ABB DAO01 P37171-4-0369629
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