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Add controller-based conditional around the Inform TIMER instruction #168

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merged 1 commit into from
Sep 29, 2023
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Add controller-based conditional around the Inform TIMER instruction #168

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6 changes: 6 additions & 0 deletions src/InformCheckerAndGenerator.c
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,13 @@ const char* rosInitJobLines[] =
"NOP",
"DOUT OT#(890) OFF",
"DOUT OT#(889) OFF",
#if defined(YRC1000) || defined(DX200) //DX2 and YRC use two digit precision on the TIMER
"TIMER T=0.05",
#elif defined(YRC1000u) || defined(FS100) //FS and YRCu use three digit precision on the TIMER
"TIMER T=0.050",
#else
#error Validate the precision of the TIMER instruction on the teach pendant and update this accordingly
#endif
"DOUT OT#(889) ON",
"WAIT OT#(890)=ON",
"DOUT OT#(890) OFF",
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