codesys 轴程序

//控制模式上升沿、下降沿
rTrigControlMode(CLK:=bControlMode , Q=> );
fTrigControlMode(CLK:=bControlMode , Q=> );//手模式控制、自动模式控制
IF bControlMode THENAxisControl:=AxisAutomaticControl;AxisParameter:=AxisAutomaticParameter;
ELSEAxisControl:=AxisManualControl;AxisParameter:=AxisManualParameter;
END_IF//状态切换
IF rTrigControlMode.Q OR fTrigControlMode.Q THENAxisControl.bJogBackward:=FALSE;AxisControl.bJogForward:=FALSE;AxisControl.bHome:=FALSE;AxisControl.bMoveRelative:=FALSE;AxisControl.bMoveAbsolute:=FALSE;AxisControl.bMoveVelocity:=FALSE;AxisControl.bHalt:=TRUE;
END_IF//干涉
AxisStatus.bInterferenceError:=FALSE;
FOR i:=1 TO 4 BY 1 DOIF AxisSignal.bInterference[i] THENAxisStatus.bInterferenceError:=TRUE;END_IF
END_FOR//正负软限位
AxisStatus.bPositiveLimitError:=FALSE;
AxisStatus.bNegativeLimitError:=FALSE;
IF AxisOther.bPositionLimit THENIF (AxisStatus.nActualPosition>=AxisOther.nPositiveLimit AND AxisControl.bJogForward)OR (AxisParameter.nPosition>=AxisOther.nPositiveLimit AND AxisControl.bMoveAbsolute)OR ((AxisParameter.nDistance+AxisStatus.nActualPosition)>=AxisOther.nPositiveLimitAND (AxisControl.bMoveRelative AND NOT AxisStatus.bMoveRelativeBusy)) THENAxisStatus.bPositiveLimitError:=TRUE;END_IFIF (AxisStatus.nActualPosition<=AxisOther.nNegativeLimit AND AxisControl.bJogBackward)OR (AxisParameter.nPosition<=AxisOther.nNegativeLimit AND AxisControl.bMoveAbsolute)OR ((AxisParameter.nDistance+AxisStatus.nActualPosition)<=AxisOther.nNegativeLimitAND (AxisControl.bMoveRelative AND NOT AxisStatus.bMoveRelativeBusy)) THENAxisStatus.bNegativeLimitError:=TRUE;END_IF
END_IF//扭矩软限位
AxisStatus.bTorqueLimitError:=FALSE;
IF AxisOther.bTorqueLimit THENIF AxisStatus.nActualTorque>=AxisOther.nTorqueLimit THENAxisStatus.bTorqueLimitError:=TRUE;END_IF
END_IF//控制允许
bMoveAllow:=TRUE;
IF AxisStatus.bInterferenceError OR AxisStatus.bTorqueLimitError
OR AxisStatus.bPositiveLimitError OR AxisStatus.bNegativeLimitError
OR AxisStatus.nAxisErrorID>0 OR AxisStatus.bHomeError OR AxisStatus.bJogError
OR AxisStatus.bMoveRelativeError OR AxisStatus.bMoveAbsoluteError OR AxisStatus.bMoveVelocityError
OR AxisControl.bHalt OR AxisControl.bStop OR bSystemStop OR bSystemEmergency THENbMoveAllow:=FALSE;
END_IF//复位
bResetAllow:=FALSE;
IF AxisStatus.bInterferenceError OR AxisStatus.bTorqueLimitError
OR AxisStatus.bPositiveLimitError OR AxisStatus.bNegativeLimitError
OR AxisStatus.nAxisErrorID>0 OR AxisStatus.bHomeError OR AxisStatus.bJogError
OR AxisStatus.bMoveRelativeError OR AxisStatus.bMoveAbsoluteError OR AxisStatus.bMoveVelocityError THENIF AxisControl.bReset OR bSystemReset THENbResetAllow:=TRUE;END_IF
END_IF//使能
IF AxisStatus.nAxisErrorID>0 OR NOT AxisControl.bPower OR AxisStatus.bHomeBusy OR bSystemEmergency THENbPowerAllow:=FALSE;
ELSEbPowerAllow:=TRUE;
END_IF//回原点
IF bMoveAllow AND NOT AxisStatus.bJogBusy
AND NOT AxisStatus.bMoveRelativeBusy AND NOT AxisStatus.bMoveAbsoluteBusy AND NOT AxisStatus.bMoveVelocityBusy
AND AxisControl.bHome THENbHomeAllow:=TRUE;
ELSEbHomeAllow:=FALSE;
END_IF//正向点动
IF bMoveAllow AND NOT AxisStatus.bHomeBusy
AND NOT AxisStatus.bMoveRelativeBusy AND NOT AxisStatus.bMoveAbsoluteBusy AND NOT AxisStatus.bMoveVelocityBusy
AND NOT AxisSignal.bPositiveSensor AND AxisControl.bJogForward THENbJogForwardAllow:=TRUE;
ELSEbJogForwardAllow:=FALSE;
END_IF//负向点动
IF bMoveAllow AND NOT AxisStatus.bHomeBusy
AND NOT AxisStatus.bMoveRelativeBusy AND NOT AxisStatus.bMoveAbsoluteBusy AND NOT AxisStatus.bMoveVelocityBusy
AND NOT AxisSignal.bNegativeSensor AND AxisControl.bJogBackward THENbJogBackwardAllow:=TRUE;
ELSEbJogBackwardAllow:=FALSE;
END_IF//相对运动
IF bMoveAllow AND NOT AxisStatus.bHomeBusy AND NOT AxisStatus.bJogBusy
AND NOT AxisStatus.bMoveAbsoluteBusy AND NOT AxisStatus.bMoveVelocityBusy
AND NOT AxisSignal.bPositiveSensor AND NOT AxisSignal.bNegativeSensor
AND AxisControl.bMoveRelative THENbMoveRelativeAllow:=TRUE;
ELSEbMoveRelativeAllow:=FALSE;
END_IF//绝对运动
IF bMoveAllow AND NOT AxisStatus.bHomeBusy AND NOT AxisStatus.bJogBusy
AND NOT AxisStatus.bMoveRelativeBusy AND NOT AxisStatus.bMoveVelocityBusy
AND NOT AxisSignal.bPositiveSensor AND NOT AxisSignal.bNegativeSensor
AND AxisControl.bMoveAbsolute THENbMoveAbsoluteAllow:=TRUE;
ELSEbMoveAbsoluteAllow:=FALSE;
END_IF//速度运动
IF bMoveAllow AND NOT AxisStatus.bHomeBusy AND NOT AxisStatus.bJogBusy
AND NOT AxisStatus.bMoveRelativeBusy AND NOT AxisStatus.bMoveAbsoluteBusy
AND NOT AxisSignal.bPositiveSensor AND NOT AxisSignal.bNegativeSensor
AND AxisControl.bMoveVelocity THENbMoveVelocityAllow:=TRUE;
END_IF
IF NOT bMoveAllow THENbMoveVelocityAllow:=FALSE;
END_IF//加速度
AxisParameter.nAcceleration:=AxisParameter.nVelocity*2/AxisParameter.nAccelerationTime;
AxisParameter.nJogAcceleration:=AxisParameter.nJogVelocity*2/AxisParameter.nAccelerationTime;//减速度
AxisParameter.nDeceleration:=AxisParameter.nVelocity*2/AxisParameter.nDecelerationTime;
AxisParameter.nJogDeceleration:=AxisParameter.nJogVelocity*2/AxisParameter.nDecelerationTime;//加加速度
AxisParameter.nJerk:=AxisParameter.nAcceleration*2/AxisParameter.nAccelerationTime;
AxisParameter.nJogJerk:=AxisParameter.nJogAcceleration*2/AxisParameter.nAccelerationTime;//位置比较
IF ABS(AxisStatus.nActualPosition-AxisParameter.nPosition)<AxisOther.nPositionCompareMax THEN AxisStatus.bPositionCompare:=TRUE;
ELSEAxisStatus.bPositionCompare:=FALSE;
END_IF//轴功能块
ReadAxisError(Axis:=AxisRef , Enable:=TRUE , Valid=> , Busy=> , Error=> , ErrorID=> , AxisError=> , AxisErrorID=>AxisStatus.nAxisErrorID , SWEndSwitchActive=> );ReadActualPosition(Axis:=AxisRef , Enable:=TRUE , Valid=> , Busy=> , Error=> , ErrorID=> , Position=>AxisStatus.nActualPosition );ReadActualVelocity(Axis:=AxisRef , Enable:=TRUE , Valid=> , Busy=> , Error=> , ErrorID=> , Velocity=>AxisStatus.nActualVelocity );ReadActualTorque(Axis:=AxisRef , Enable:=TRUE , Valid=> , Busy=> , Error=> , ErrorID=> , Torque=>AxisStatus.nActualTorque );Power(Axis:=AxisRef , Enable:=bPowerAllow , bRegulatorOn:=TRUE , bDriveStart:=TRUE , Status=>AxisStatus.bPowerState , bRegulatorRealState=> , bDriveStartRealState=> , Busy=> , Error=> , ErrorID=> );Halt(Axis:=AxisRef , Execute:=AxisControl.bHalt , Deceleration:= , Jerk:= , Done=> , Busy=> , CommandAborted=> , Error=> , ErrorID=> );Stop(Axis:=AxisRef , Execute:=NOT bMoveAllow AND NOT AxisControl.bHalt , Deceleration:= , Jerk:= , Done=> , Busy=> , Error=> , ErrorID=> );   Reset(Axis:=AxisRef , Execute:=bResetAllow , Done=> , Busy=> , Error=> , ErrorID=> );Jog(Axis:=AxisRef , JogForward:=bJogForwardAllow , JogBackward:=bJogBackwardAllow , Velocity:=AxisParameter.nJogVelocity , Acceleration:=AxisParameter.nJogAcceleration , Deceleration:=AxisParameter.nJogDeceleration , Jerk:=AxisParameter.nJogJerk , Busy=>AxisStatus.bJogBusy , CommandAborted=> , Error=> , ErrorId=> );Home(Axis:=AxisRef , Execute:=bHomeAllow , Position:=0 , Done=>AxisStatus.bHomeDone , Busy=>AxisStatus.bHomeBusy , CommandAborted=> , Error=>AxisStatus.bHomeError , ErrorID=> ); MoveRelative(Axis:=AxisRef , Execute:=bMoveRelativeAllow , Distance:=AxisParameter.nDistance , Velocity:=AxisParameter.nVelocity , Acceleration:=AxisParameter.nAcceleration , Deceleration:=AxisParameter.nDeceleration , Jerk:=AxisParameter.nJerk , BufferMode:= , Done=>AxisStatus.bMoveRelativeDone , Busy=>AxisStatus.bMoveRelativeBusy , Active=> , CommandAborted=> , Error=>AxisStatus.bMoveRelativeError , ErrorID=> );MoveAbsolute(Axis:=AxisRef , Execute:=bMoveAbsoluteAllow , Position:=AxisParameter.nPosition , Velocity:=AxisParameter.nVelocity , Acceleration:=AxisParameter.nAcceleration , Deceleration:=AxisParameter.nDeceleration , Jerk:=AxisParameter.nJerk , Direction:= , BufferMode:= , Done=>AxisStatus.bMoveAbsoluteDone , Busy=>AxisStatus.bMoveAbsoluteBusy , Active=> , CommandAborted=> , Error=>AxisStatus.bMoveAbsoluteError , ErrorID=> );MoveVelocity(Axis:=AxisRef , Execute:=bMoveVelocityAllow , Velocity:=AxisParameter.nVelocity , Acceleration:=AxisParameter.nAcceleration , Deceleration:=AxisParameter.nDeceleration , Jerk:=AxisParameter.nJerk , Direction:=AxisParameter.nDirection , BufferMode:= , InVelocity=>AxisStatus.bMoveVelocityState , Busy=>AxisStatus.bMoveVelocityBusy , Active=> , CommandAborted=> , Error=>AxisStatus.bMoveVelocityError , ErrorID=> );

//描述信息
ACT_comment();//干涉（若有则添加）//轴功能块控制
(*
FOR i:=1 TO nAxisMaxNum BY 1 DOaxis[i].FB(AxisRef:=axis[i].REF , bSystemStop:=system.control.bStop , bSystemEmergency:=system.control.bEmergency , bSystemReset:=system.control.bReset , bControlMode:= , AxisAutomaticControl:=axis[i].automaticControl , AxisAutomaticParameter:=axis[i].automaticParameter , AxisManualControl:=axis[i].manualControl , AxisManualParameter:=axis[i].manualParameter , AxisOther:=axis[i].other , AxisSignal:=axis[i].signal , AxisStatus=>axis[i].status );
END_FOR *)axis[1].FB(AxisRef:=SM_Drive_Virtual , bSystemStop:=system.control.bStop , bSystemEmergency:=system.control.bEmergency , bSystemReset:=system.control.bReset , bControlMode:= , AxisAutomaticControl:=axis[1].automaticControl , AxisAutomaticParameter:=axis[1].automaticParameter , AxisManualControl:=axis[1].manualControl , AxisManualParameter:=axis[1].manualParameter , AxisOther:=axis[1].other , AxisSignal:=axis[1].signal , AxisStatus=>axis[1].status );

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