70 lines
1.8 KiB
Plaintext
70 lines
1.8 KiB
Plaintext
&ACCESS R6
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&COMMENT HandlerOnRobotFault
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DEF IR_STOPM ( )
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;-----------------------------------
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; Error Handling Robot Controller
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; Switch OFF and Switch ON processes
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; KRC Version >= V5.5
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;-----------------------------------
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;FOLD DECLARATIONS
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;FOLD USER DECL
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; Please insert user defined declarations
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;ENDFOLD (USER DECL)
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;FOLD BASISTECH DECL
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BOOL ApplicationRunFlag
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DECL CHAR ID[3]
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;ENDFOLD (BASISTECH DECL)
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;ENDFOLD (DECLARATIONS)
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;FOLD BASISTECH INIT
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INTERRUPT OFF 3
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STOPM_FLAG=TRUE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt
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ID[]="CTL"
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If ($STOPMESS==TRUE) THEN ;APP// "IF" ~ Notepad++ Formatierung
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BRAKE
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;ENDFOLD (BASISTECH INIT)
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;FOLD USER STOP
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;Make your modifications here
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;ENDFOLD (USER STOP)
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;FOLD COLLISION DETECTION
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IF ($IMPROVED_COLLMON == TRUE) AND ($COLL_ALARM == TRUE) THEN
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CollDetect_UserAction()
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ENDIF
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;ENDFOLD COLLISION DETECTION
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;FOLD BASISTECH STOP
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P00 (#EXT_ERR,#PGNO_GET,ID[],128 )
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ApplicationRunFlag=FALSE
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IF (Appl_Run>0) THEN
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IF $OUT[Appl_Run] THEN
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ApplicationRunFlag=TRUE
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$OUT[Appl_Run]=FALSE
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ENDIF
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ENDIF
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REPEAT
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POWER=SYNC()
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HALT
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UNTIL (($STOPMESS==FALSE) AND ($POWER_FAIL==FALSE))
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;ENDFOLD (BASISTECH STOP)
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;FOLD BASISTECH RESTART
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P00 (#EXT_ERR,#PGNO_GET,ID[],0 )
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IF (ApplicationRunFlag==TRUE) THEN
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IF (Appl_Run>0) THEN
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$OUT[Appl_Run]=TRUE
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ENDIF
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ENDIF
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;ENDFOLD (BASISTECH RESTART)
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;FOLD USER RESTART
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;Make your modifications here
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;ENDFOLD (USER RESTART)
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;FOLD BASISTECH REACTIVATE
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Endif ;APP// "ENDIF" ~ Notepad++ Formatierung
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INTERRUPT ON 3
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STOPM_FLAG=FALSE ;Reflects state of interrupt 3 to activate/deactivate $Stopmess interrupt
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;ENDFOLD (BASISTECH REACTIVATE)
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END
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