当前位置:网站首页>LM小型可编程控制器软件(基于CoDeSys)笔记二十三:伺服电机运行(步进电机)相对坐标转换为绝对坐标
LM小型可编程控制器软件(基于CoDeSys)笔记二十三:伺服电机运行(步进电机)相对坐标转换为绝对坐标
2022-07-07 01:39:00 【Gutie_bartholomew】
FUNCTION_BLOCK LSteppingMotor
VAR_INPUT
INPUT1: BOOL;(*工作标志*)
INPUT2: BOOL;(*工作标志*)
INPUT3: DINT;(*工作标志*)
Origin: BOOL;(*原点*)
Axis:BYTE; (*输出选择,1, QX0.0 2 QX0.3*)
Target:DINT; (*目标设定值*)
VMax:DWORD; (*最高频率y*)
ACCTime:WORD; (*加减速时间 (ms)*)
END_VAR
VAR_OUTPUT
OUT1: BOOL; (*控制方向*)
CV2: DINT; (*坐标值*)
PTO_X: BOOL;(**)
END_VAR
VAR
ADH164_PTO: ADH164_PTO;
EN_R:BOOL; (*enable bit*)
DIR_CTRL:BOOL; (*input connet with direction,don't use temporary*)
INT_EN:BOOL; (*interrupt enable bit *)
CV:DINT; (*pulse number have finished*)
Error:BYTE; (*error word*)
R_TRIG1: R_TRIG;
M1: BOOL;
TON1: TON;
Target_1: DINT;
m2: BOOL;
CV1: DINT;
PTO_X1: BOOL;
TON2: TON;
R_TRIG2: R_TRIG;
F_TRIG1: F_TRIG;
S2: BOOL;
M3: BOOL;
END_VAR
VAR RETAIN
Mode: BYTE := 1; (*motion mode*)
END_VAR
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