KRL System Time Milliseconds

    Hello to everyone,


    I would like to know if it is possible to get the system clock in milliseconds on the KR C4 controller.


    What I am looking for is something similar to $DATE (attached snip from the Kuka System Variables document).


    In C++ I would get this value by the following program:

    #include <iostream>

    #include <windows.h>


    int main()

    {

    std::cout << GetTickCount();

    }


    In Arduino I would get this value by the following function: millis()



    Regards,

    Cezar

    Yes, for some reason, the CSEC member of the $DATE aggregate never updates. I suspect that, when the $DATE variable was created, CSEC was added for potential future utilization that never came about.


    $TIMER variables act like stopwatches, and have a 12ms resolution. Can be set to any value between -2147483648 and +2147483647, and can be stopped/started on command. Also has the $TIMER_FLAG variable associated.


    $ROB_TIMER is only available in KSS 8.x, and has a resolution of 1ms. However, it cannot be stopped or started -- it begins at 0 any time the robot is booted, and counts continuously upward until it hits the upper 32-bit bound and rolls over back to 0.

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