实例介绍
【实例简介】TRIO-motion8-Trio BASIC.pdf
【实例截图】
【核心代码】
目 录 运动及轴命令............................................................................................................................... 8-8 ACC ...................................................................................................................................... 8-8 ADD_DAC............................................................................................................................ 8-8 ADDAX................................................................................................................................. 8-9 AXIS ................................................................................................................................... 8-10 BASE...................................................................................................................................8-11 CAM.................................................................................................................................... 8-12 CAMBOX ........................................................................................................................... 8-13 CANCEL ............................................................................................................................ 8-16 CONNECT......................................................................................................................... 8-17 DATUM .............................................................................................................................. 8-18 DEC .................................................................................................................................... 8-18 DEFPOS............................................................................................................................ 8-18 FORWARD........................................................................................................................ 8-19 MATCH .............................................................................................................................. 8-20 MHELICAL......................................................................................................................... 8-20 MOVE................................................................................................................................. 8-21 MOVEABS......................................................................................................................... 8-22 MOVECIRC....................................................................................................................... 8-23 MOVEMODIFY ................................................................................................................. 8-29 RAPIDSTOP...................................................................................................................... 8-29 REGIST.............................................................................................................................. 8-30 REVERSE.......................................................................................................................... 8-32 输入/输出指令 ........................................................................................................................... 8-33 AINO..7 / AINBIO..7 ......................................................................................................... 8-33 CURSOR ........................................................................................................................... 8-34 CHR.................................................................................................................................... 8-34 DEFKEY............................................................................................................................. 8-34 FLAG.................................................................................................................................. 8-34 FLAGS ............................................................................................................................... 8-34 GET .................................................................................................................................... 8-35 GET# .................................................................................................................................. 8-35 HEX .................................................................................................................................... 8-36 IN()IN.................................................................................................................................. 8-36 INPUT................................................................................................................................. 8-37 INPUTS0 / INPUTS1........................................................................................................ 8-37 INVERT_IN........................................................................................................................ 8-37 KEY..................................................................................................................................... 8-38 LINPUT .............................................................................................................................. 8-38 OP....................................................................................................................................... 8-39 PRINT................................................................................................................................. 8-39 运动控制器技术参考手册 PRINT# .............................................................................................................................. 8-40 PSWITCH .......................................................................................................................... 8-40 READPACKET.................................................................................................................. 8-42 RECORD ........................................................................................................................... 8-42 SEND ................................................................................................................................. 8-42 SETCOM ........................................................................................................................... 8-43 程序循环和结构......................................................................................................................... 8-45 BASICERROR .................................................................................................................. 8-45 ELSE .................................................................................................................................. 8-45 ELSEIF............................................................................................................................... 8-45 ENDIF................................................................................................................................. 8-46 FOR..TO.. STEP..NEXT.................................................................................................. 8-47 GOSUB.............................................................................................................................. 8-48 GOTO................................................................................................................................. 8-48 IF..THEN..ELSE.. ENDIF ................................................................................................ 8-49 NEXT.................................................................................................................................. 8-49 ON.. GOSUB..................................................................................................................... 8-49 ON…GOTO....................................................................................................................... 8-50 REPEAT.. UNTIL.............................................................................................................. 8-50 RETURN............................................................................................................................ 8-51 STEP.................................................................................................................................. 8-51 STOP.................................................................................................................................. 8-51 THEN.................................................................................................................................. 8-52 TO....................................................................................................................................... 8-52 UNTIL................................................................................................................................. 8-52 WA...................................................................................................................................... 8-53 WAIT IDLE......................................................................................................................... 8-53 WAIT LOADED................................................................................................................. 8-53 WAIT UNTIL...................................................................................................................... 8-53 WHILE................................................................................................................................ 8-54 WEND ................................................................................................................................ 8-54 ADDRESS ......................................................................................................................... 8-55 APPENDPROG ................................................................................................................ 8-55 AUTORUN......................................................................................................................... 8-55 AXISVALUES.................................................................................................................... 8-55 CAN .................................................................................................................................... 8-56 CANIO_ADDRESS .......................................................................................................... 8-57 CANIO_ENABLE.............................................................................................................. 8-57 CANIO_STATUS.............................................................................................................. 8-57 CHECKSUM...................................................................................................................... 8-57 CLEAR ............................................................................................................................... 8-58 CLEAR_PARAMS ............................................................................................................ 8-58 COMMSERROR............................................................................................................... 8-58 COMMSTYPE................................................................................................................... 8-59 命令 8- 2 运动控制器技术参考手册 COMPILE........................................................................................................................... 8-59 CONTRO ........................................................................................................................... 8-59 COPY ................................................................................................................................. 8-59 DATE.................................................................................................................................. 8-60 DAYE$ ............................................................................................................................... 8-60 DAY .................................................................................................................................... 8-60 DAY$ .................................................................................................................................. 8-60 DEL..................................................................................................................................... 8-61 DIR...................................................................................................................................... 8-61 DEVICENET...................................................................................................................... 8-61 DISPLAY............................................................................................................................ 8-62 DLINK................................................................................................................................. 8-62 EDPROG ........................................................................................................................... 8-65 EDIT ................................................................................................................................... 8-65 ERROR_AXIS................................................................................................................... 8-66 ETHERNET....................................................................................................................... 8-66 EX ....................................................................................................................................... 8-67 EXECUTE.......................................................................................................................... 8-67 FEATURE_ENABLE........................................................................................................ 8-68 FLASHVR .......................................................................................................................... 8-68 FRAME............................................................................................................................... 8-69 FREE.................................................................................................................................. 8-69 HALT .................................................................................................................................. 8-70 INITIALISE......................................................................................................................... 8-70 LAST AXIS ........................................................................................................................ 8-70 LIST.................................................................................................................................... 8-70 LOADSYSTEM ................................................................................................................. 8-70 LOCK.................................................................................................................................. 8-71 MOTION_ERROR............................................................................................................ 8-71 NAIO................................................................................................................................... 8-72 NETSTAT .......................................................................................................................... 8-72 NEW ................................................................................................................................... 8-72 NIO ..................................................................................................................................... 8-72 PEEK.................................................................................................................................. 8-72 POKE ................................................................................................................................. 8-73 POWER_UP...................................................................................................................... 8-73 PROCESS......................................................................................................................... 8-73 PROFIBUS ........................................................................................................................ 8-73 REMOTE ........................................................................................................................... 8-73 RENAME ........................................................................................................................... 8-73 RUN.................................................................................................................................... 8-74 RUNTYPE.......................................................................................................................... 8-74 SCOPE............................................................................................................................... 8-75 SCOPE_POS.................................................................................................................... 8-76 命令 8- 3 运动控制器技术参考手册 SELECT............................................................................................................................. 8-76 SLOT .................................................................................................................................. 8-76 SERCOS............................................................................................................................ 8-76 SERVO_PERIOD ............................................................................................................. 8-77 STEPLINE ....................................................................................................................... 8-877 STICK READ..................................................................................................................... 8-78 STICK WRITE................................................................................................................... 8-78 STORE............................................................................................................................... 8-78 TABLE................................................................................................................................ 8-79 TABLEVALUES ................................................................................................................ 8-79 TIME................................................................................................................................... 8-80 TIME$................................................................................................................................. 8-80 TRIGGER .......................................................................................................................... 8-80 TROFF ............................................................................................................................... 8-80 TRON ................................................................................................................................. 8-80 TSIZE ................................................................................................................................. 8-81 UNLOCK............................................................................................................................ 8-81 USB .................................................................................................................................... 8-82 USB_STALL...................................................................................................................... 8-82 VERSION........................................................................................................................... 8-82 VIEW .................................................................................................................................. 8-82 VR....................................................................................................................................... 8-83 WDOG................................................................................................................................ 8-84 : ........................................................................................................................................... 8-84 ’............................................................................................................................................ 8-84 # .......................................................................................................................................... 8-84 $ .......................................................................................................................................... 8-84 任务参数及指令......................................................................................................................... 8-85 ERROR_LINE................................................................................................................... 8-85 INDEVICE.......................................................................................................................... 8-85 LOOKUP............................................................................................................................ 8-86 OUTDEVICE ..................................................................................................................... 8-86 PMOVE.............................................................................................................................. 8-86 PROC................................................................................................................................. 8-86 PROC_LINE...................................................................................................................... 8-87 PROCNUMBER................................................................................................................ 8-87 PROC_STATUS............................................................................................................... 8-87 RESET ............................................................................................................................... 8-87 RUN_ERROR ................................................................................................................... 8-87 TICKS............................................................................................................................... 8-888 数学操作和指令......................................................................................................................... 8-89 Add.................................................................................................................................. 8-89 - Subtract ........................................................................................................................... 8-89 * Multiply ............................................................................................................................ 8-89 命令 8- 4 运动控制器技术参考手册 / Divide ............................................................................................................................... 8-89 = Equals............................................................................................................................. 8-90 <> Not Equal ..................................................................................................................... 8-90 > Greater Than ................................................................................................................. 8-90 >= Greater Than or Equal ............................................................................................... 8-91 < Less Than....................................................................................................................... 8-91 <= Less Than or Equal .................................................................................................... 8-91 ABS..................................................................................................................................... 8-91 ACOS ................................................................................................................................. 8-92 AND .................................................................................................................................... 8-92 ASIN ................................................................................................................................... 8-92 ATAN.................................................................................................................................. 8-93 ATAN2................................................................................................................................ 8-93 CLEAR_BIT....................................................................................................................... 8-93 CONSTANT....................................................................................................................... 8-93 COS.................................................................................................................................... 8-94 EXP..................................................................................................................................... 8-94 FRAC.................................................................................................................................. 8-94 GLOBAL............................................................................................................................. 8-94 IEEE IN .............................................................................................................................. 8-95 INT...................................................................................................................................... 8-95 LN ....................................................................................................................................... 8-95 MOD ................................................................................................................................... 8-96 NOT .................................................................................................................................... 8-96 OR....................................................................................................................................... 8-96 READ_BIT......................................................................................................................... 8-97 SET_BIT ............................................................................................................................ 8-97 SGN.................................................................................................................................... 8-97 SIN...................................................................................................................................... 8-97 SQR.................................................................................................................................... 8-98 TAN..................................................................................................................................... 8-98 XOR.................................................................................................................................... 8-98 常 量......................................................................................................................................... 8-100 FALSE.............................................................................................................................. 8-100 OFF................................................................................................................................... 8-100 ON..................................................................................................................................... 8-100 PI....................................................................................................................................... 8-100 TRUE................................................................................................................................ 8-100 轴参数....................................................................................................................................... 8-102 ACCEL ............................................................................................................................. 8-102 ADDAX_AXIS.................................................................................................................. 8-102 ATYPE ............................................................................................................................. 8-102 AXISSTATUS.................................................................................................................. 8-102 BOOST............................................................................................................................. 8-103 命令 8- 5 运动控制器技术参考手册 CAN_ ENABLE............................................................................................................... 8-103 CLOSE_WIN ................................................................................................................... 8-103 CLUTCH_RATE.............................................................................................................. 8-103 CREEP............................................................................................................................. 8-104 DAC .................................................................................................................................. 8-104 DAC_OUT........................................................................................................................ 8-104 DAC_SCALE................................................................................................................... 8-105 DAT_IN ............................................................................................................................ 8-105 DECEL ............................................................................................................................. 8-105 DEMAND_EDGES......................................................................................................... 8-106 DPOS ............................................................................................................................... 8-106 D_GAIN............................................................................................................................ 8-106 ENCODER....................................................................................................................... 8-106 ENDMOVE ...................................................................................................................... 8-107 ERRORMASK................................................................................................................. 8-107 FAST_JOG...................................................................................................................... 8-107 FASTDEC........................................................................................................................ 8-107 FE ..................................................................................................................................... 8-107 FE_LIMIT......................................................................................................................... 8-108 FERANGE ....................................................................................................................... 8-108 FEGRAD.......................................................................................................................... 8-108 FEMIN .............................................................................................................................. 8-108 FHOLD_IN....................................................................................................................... 8-108 FHSPEED........................................................................................................................ 8-108 FS_LIMIT......................................................................................................................... 8-109 FWD_IN ........................................................................................................................... 8-109 FWD_JOG....................................................................................................................... 8-109 INVERT_STEP ............................................................................................................... 8-109 I_GAIN ............................................................................................................................. 8-109 JOGSPEED..................................................................................................................... 8-109 LINKAX .............................................................................................................................8-110 MARK................................................................................................................................8-110 MARKB .............................................................................................................................8-110 MERGE.............................................................................................................................8-110 MICROSTEP....................................................................................................................8-110 MPOS................................................................................................................................8-111 MSPEED...........................................................................................................................8-111 MTYPE..............................................................................................................................8-111 NTYPE ..............................................................................................................................8-112 OFFPOS...........................................................................................................................8-112 OPEN_WIN ......................................................................................................................8-112 OUTLIMIT.........................................................................................................................8-112 OV_GAIN..........................................................................................................................8-113 PP_STEP..........................................................................................................................8-113 命令 8- 6 运动控制器技术参考手册 P_GAIN.............................................................................................................................8-113 REG_MATCH...................................................................................................................8-113 REG_POS ........................................................................................................................8-113 REG_POSB......................................................................................................................8-114 AEMAIN ............................................................................................................................8-114 REMOTE_ERROR..........................................................................................................8-115 REPDIST ..........................................................................................................................8-115 REP_OPTION..................................................................................................................8-115 REV_IN .............................................................................................................................8-115 REV_JOG.........................................................................................................................8-116 RS_LIMIT..........................................................................................................................8-116 SERVO..............................................................................................................................8-116 SP ......................................................................................................................................8-116 SPEED..............................................................................................................................8-116 SRAMP .............................................................................................................................8-116 SSI_BITS..........................................................................................................................8-117 TRANS_DPOS.................................................................................................................8-117 TRANSITIONS.................................................................................................................8-117 UNITS................................................................................................................................8-117 VERIFY.............................................................................................................................8-117 VFF_GAIN........................................................................................................................8-118 VP_SPEED.......................................................................................................................8-118
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