NACHI机械臂后台SOCKET通讯

将机械臂做为服务器，电脑作为客户端。通讯程序在机械臂后台运行，

我是先在电脑上写好，导入机械臂文件夹中，转化成机器人语言，再在用户任务这里开启它的任务号码。
端口号设置为10030

代码

'TCP/IP_Socket(Server)
'分隔符为，解析包
DIM Port           AS INTERGER
DIM State          AS STRING
DIM EndFlag        AS STRING
'DIM SendData       AS STRING   '发送变量，因为我把他设置成全局变量，所以在这里注销掉
DIM ReceiveData[10] AS STRING
DIM RecvLen        AS INTERGER
DIM RecvbuffNum    AS INTERGER
DIM AllowUp        AS INTERGER
DIM AllowDown      AS INTERGER
DIM n              AS INTERGER
DIM m              AS INTERGER
State = "initial"

Port =10030
RecvLen = 0
RecvbuffNum = 1
SendData = ""
V10$="0"

*Reconnect
'CREATE
State = "create socket"
SOCKCREATE 1,0
IF E1%<0 THEN *Judge

'BIND
State = "create port"
SOCKBIND 1,Port
IF E1