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LM small programmable controller software (based on CoDeSys) Note 23: conversion of relative coordinates of servo motor operation (stepping motor) to absolute coordinates
2022-07-07 06:26:00 【Gutie_ bartholomew】
FUNCTION_BLOCK LSteppingMotor
VAR_INPUT
INPUT1: BOOL;(* Work sign *)
INPUT2: BOOL;(* Work sign *)
INPUT3: DINT;(* Work sign *)
Origin: BOOL;(* origin *)
Axis:BYTE; (* Output selection ,1, QX0.0 2 QX0.3*)
Target:DINT; (* Target set point *)
VMax:DWORD; (* The highest frequency y*)
ACCTime:WORD; (* Acceleration and deceleration time (ms)*)
END_VAR
VAR_OUTPUT
OUT1: BOOL; (* Control direction *)
CV2: DINT; (* Coordinate value *)
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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