库卡机器人等待超时后操作程序

最新推荐文章于 2025-02-19 16:58:46 发布

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最新推荐文章于 2025-02-19 16:58:46 发布

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本文链接：https://blog.csdn.net/qq_42652006/article/details/126833140

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逻辑为机器人在发送数据后进行计时，等待的时间超过设定时候后执行跳转或者报错

SWITCH JudgeStation
                  CASE 1
                     Bytes[]="c0001s0155R0002"
                     RaT = EKI_Send("BinaryStream10",Bytes[])
                     $TIMER[10] = 0
                     $TIMER_STOP[10] = FALSE
                  CASE 2
                     Bytes[]="c0001s0151R0002"
                     RaT = EKI_Send("BinaryStream10",Bytes[])  
                     $TIMER[10] = 0
                     $TIMER_STOP[10] = FALSE
                  DEFAULT
                     PCFirstSend=FALSE
                     MyMessage={modul[]"USER",Nr 102,msg_txt[]"pc DATE ERROR"}
                     result1=SET_KRLMSG(#notify, MyMessage,Para[] ,Myoptions )
                     robStop = ROB_STOP(#PATH_MAINTAINING)
               ENDSWITCH
               WAIT FOR ($FLAG[10] OR ($TIMER[10]>10000))
               IF $TIMER[10]>9999 THEN
                  PCconMSG=TRUE
                  GOTO jump
               ENDIF