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机械手川崎程序代码学习
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机械手川崎程序代码 ;(一直监控) ;异常后马达断电 ;--------------------------------- WHILE 1 DO IF SWITCH(REPEAT )==-1 AND SWITCH(CS )==0 AND SWITCH(TEACH_LOCK )==0 AND SWITCH(ERROR )==0 THEN ;气缸传感器异常 IF SIG(2001) THEN SIGNAL -2001 $dd = $DATE(3) $tt = $TIME PRINT 2: "-----------------------------------------------------------" PRINT 2: "Time:",$dd,"-",$tt PRINT 2: "***机器人夹手气缸到位传感器异常***" PRINT 2: "------------------------------------------------------
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