庫卡KUKA機器人資料mp2-loop-if-switch-en

Endlessloop(LOOP)DescriptionCyclicexecutionscanbeprogrammedusingLOOP.

ThestatementblockintheLOOPiscontinuallyrepeated.

Ifyouwanttoendtherepeatedexecutionofthestatementblock,youmustcalltheEXITstatement.Statements01/20061mp2_loop_if_switch_en.pptEndlessloop...PTPHOMELOOP

LINP1 LINP2 LINP4ENDLOOPPTPHOME...Syntax:LOOP

Statement1

... StatementnENDLOOPStatement1...Statementn01/20062mp2_loop_if_switch_en.pptConditionalbranch(IF..THEN..ELSE)DescriptionDependingonacondition,eitherthefirststatementblock(THENblock)orthesecondstatementblock(ELSEblock)isexecuted.Thereisnolimitonthenumberofstatementscontainedinthestatementblocks.

SeveralIFstatementscanbenestedineachother.ThekeywordELSEandthesecondstatementblockmaybeomitted.TheremustbeanENDIFforeachIF.01/20063mp2_loop_if_switch_en.pptConditionalbranch...IF

$IN[22]==TRUE

THEN

PTPHOMEELSE

$OUT[17]=TRUE $OUT[18]=FALSE PTPHOMEENDIF...Syntax:IF

Execution_Condition

THEN

StatementELSE

StatementENDIFStatementStatementConditionmet?YesNo01/20064mp2_loop_if_switch_en.pptUnconditionalexitfromloops(EXIT)DescriptionTheEXITstatementappearsinthestatementblockofaloop.

Itmaybeusedinanyloop.TheEXITstatementcanbeusedtoexitthecurrentloop.

TheprogramisthencontinuedaftertheENDLOOPstatement.01/20065mp2_loop_if_switch_en.pptUnconditionalexitfromloopsDEFEXIT_PRO()

PTPHOME

LOOP ;Startofendlessloop LINP1 IF$IN[1]==TRUETHEN

EXIT

;Terminatewheninput1set ENDIF LINP2

ENDLOOP ;Endofendlessloop PTPHOMEENDSyntax:EXIT01/20066mp2_loop_if_switch_en.pptSwitchDescriptionTheSWITCHstatementisaselectioninstructionforvariousprogrambranches.

OnlyoneprogrambranchisexecutedandtheprogramthenjumpsimmediatelytotheENDSWITCHstatement.Selection?StatementsStatementsStatementsStatements01/20067mp2_loop_if_switch_en.pptSwitchSWITCHPROG_NR

CASE1

Part1();ifProg_No=1

CASE2

Part2();ifProg_No=2

DEFAULT

ERROR_SP();allothervaluesENDSWITCHSyntax:SWITCHVariable CASE1

Statement CASE2

Statement

DEFAULTENDSWITCHSelection1StatementStatementSelectionn01/20068mp2_loop_if_sw