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銆€銆€EtherCAT绺界窔涓婃帶鍒跺櫒鐐轰富绔�锛屼己鏈嶉﹨(q奴)鍕曞櫒鐐哄緸绔欍€�

銆€銆€濡�6040h鎺у埗瀛�(鐢ㄤ簬鎺у埗浼烘湇杌哥殑浣胯兘銆佸暉鍕�銆佸仠姝€€佸牨(b脿o)璀�銆佸京(f霉)浣嶇瓑閬�(y霉n)琛岀媭鎱�(t脿i))锛屾瘡鍊�(g猫)鏁�(sh霉)鎿�(j霉)瀛楀吀Index鍖呭惈32鍊�(g猫)瀛愬瓧鍏窼ub-Index銆傛暩(sh霉)鎿�(j霉)瀛楀吀鐨勫姛鑳藉拰鍒濆鍊兼煡鐪嬮﹨(q奴)鍕曞櫒鎵嬪唺鐨勬弿杩般€�

銆€銆€鏁�(sh霉)鎿�(j霉)瀛楀吀鐨勭法铏熷強鍔熻兘鏄崝(xi茅)璀版湰韬氨纰哄畾濂界殑锛岀敤鎴跺彧闇€鎸夌収鏁�(sh霉)鎿�(j霉)瀛楀吀鐨勬弿杩拌ō(sh猫)缃暩(sh霉)鎿�(j霉)瀛楀吀鐨刡it浣�锛屾墍鏈夌殑妯�(bi膩o)婧�(zh菙n)EtherCAT瑷�(sh猫)鍌欓兘浣跨敤涓€濂楁暩(sh霉)鎿�(j霉)瀛楀吀銆�

銆€銆€鏉句笅A6B浼烘湇椹�(q奴)鍕曞櫒鐨凟therCAT鐩搁棞(gu膩n)瑾槑鍏�(n猫i)瀹瑰彲鏌ョ湅鏉句笅鏂囨獢銆婃妧琛�(sh霉)璩囨枡-EtherCAT閫氳▕瑕�(gu墨)鏍肩瘒銆�銆�

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銆€銆€EtherCAT鍒濆鍖栭亷绋嬩腑蹇呴爤閫�(j矛n)琛岄﹨(q奴)鍕曞櫒PDO閰嶇疆锛孌RIVE_PROFILE鎸囦护閰嶇疆椹�(q奴)鍕曞櫒鐨凱DO鍒楄〃锛岀洰鍓嶆彁渚�20骞剧ó閰嶇疆閬告搰锛屾瘡绋厤缃寘鍚摢浜涙暩(sh霉)鎿�(j霉)瀛楀吀鏌ョ湅瑭叉寚浠よ鏄庣⒑瑾�(r猫n)锛屽涓嬪湒锛屽叿楂斿収(n猫i)瀹瑰彲浠ュ湪銆奪Basic绶ㄧ▼鎵嬪唺V3.2.4銆嬩腑鏌ョ湅銆�

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銆€銆€DRIVE_PROFILE=-1琛ㄧず椹�(q奴)鍕曞櫒鐨勫収(n猫i)缃己鐪丳DO鍒楄〃锛岄﹨(q奴)鍕曞櫒鍏�(n猫i)缃甈DO鍒楄〃鍖呭惈鍝簺鏁�(sh霉)鎿�(j霉)瀛楀吀闇€瑕佹煡鐪嬮﹨(q奴)鍕曞櫒鎵嬪唺銆�

銆€銆€DRIVE_PROFILE宸叉湁鐨勯厤缃笉鑳芥豢瓒抽渶姹傚氨鑷畾缇㏄DO锛岄噰鐢⊿DO鐩搁棞(gu膩n)鎸囦护鎿嶄綔鏁�(sh霉)鎿�(j霉)瀛楀吀閰嶇疆椹�(q奴)鍕曞櫒闇€瑕佺殑PDO銆�

銆€銆€椹�(q奴)鍕曞櫒鐨勭浉闂�(gu膩n)鍙冩暩(sh霉)淇敼锛屽悓妯ｄ娇鐢⊿DO鎸囦护璁€瀵皪鎳�(y墨ng)鐨勬暩(sh霉)鎿�(j霉)瀛楀吀閫�(j矛n)琛岄厤缃垨閫氶亷椹�(q奴)鍕曞櫒杌熶欢淇敼銆係DO鎸囦护鍖呭惈鏁�(sh霉)鎿�(j霉)瀛楀吀璁€鍙朣DO_READ銆丼DO_READ_AXIS鍜屾暩(sh霉)鎿�(j霉)瀛楀吀瀵叆SDO_WRITE銆丼DO_WRITE_AXIS銆�

銆€銆€鏁�(sh霉)鎿�(j霉)瀛楀吀璁€鍙栬獮娉曪細

銆€銆€SDO_READ (妲戒綅铏�, 瑷�(sh猫)鍌欑法铏�, 鏁�(sh霉)鎿�(j霉)瀛楀吀绶ㄨ櫉, 鏁�(sh霉)鎿�(j霉)瀛楀吀瀛愮法铏�, 鏁�(sh霉)鎿�(j霉)椤炲瀷, 璁€鍙栨暩(sh霉)鎿�(j霉)瀛樺劜TABLE浣嶇疆)

銆€銆€SDO_READ_AXIS (杌歌櫉, 鏁�(sh霉)鎿�(j霉)瀛楀吀绶ㄨ櫉, 鏁�(sh霉)鎿�(j霉)瀛楀吀瀛愮法铏�, 鏁�(sh霉)鎿�(j霉)椤炲瀷, 璁€鍙栨暩(sh霉)鎿�(j霉)瀛樺劜TABLE浣嶇疆)

銆€銆€鏁�(sh霉)鎿�(j霉)瀛楀吀瀵叆瑾炴硶锛�

銆€銆€SDO_WRITE (妲戒綅铏�, 瑷�(sh猫)鍌欑法铏�, 鏁�(sh霉)鎿�(j霉)瀛楀吀绶ㄨ櫉, 鏁�(sh霉)鎿�(j霉)瀛楀吀瀛愮法铏�, 鏁�(sh霉)鎿�(j霉)椤炲瀷, 瀵叆鏁�(sh霉)鎿�(j霉)鍊�)

銆€銆€SDO_WRITE_AXIS (杌歌櫉, 鏁�(sh霉)鎿�(j霉)瀛楀吀绶ㄨ櫉, 鏁�(sh霉)鎿�(j霉)瀛楀吀瀛愮法铏�, 鏁�(sh霉)鎿�(j霉)椤炲瀷, 瀵叆鏁�(sh霉)鎿�(j霉)鍊�)

銆€銆€鑷畾缇㏄DO鐨勯厤缃柟娉曡珛鍜ㄨ姝ｉ亱(y霉n)鍕曠殑閵峰敭宸ョ▼甯垨鑰呮妧琛�(sh霉)宸ョ▼甯�銆�

銆€銆€(涓�)椹�(q奴)鍕曞櫒鍙冩暩(sh霉)瑷�(sh猫)缃�

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銆€銆€榛�(di菐n)鎿婅彍鍠瑒鈥滈’绀衡€濃啋鈥滃皪璞＄法杓櫒鈥濓紝鎵撻枊濡備笅绐楀彛锛屾壘鍒伴渶瑕佽ō(sh猫)缃殑鏁�(sh霉)鎿�(j霉)瀛楀吀锛屽湪鈥淪etting Value鈥濅竴娆勭洿鎺ヤ慨鏀规暩(sh霉)鎿�(j霉)瀛楀吀鐨勫収(n猫i)瀹�銆�

銆€銆€淇敼瀹屾垚灏囧弮鏁�(sh霉)鍌抽€佺郸椹�(q奴)鍕曞櫒锛屽苟瀵叆椹�(q奴)鍕曞櫒鐨凟EPROM锛岄﹨(q奴)鍕曞櫒鍐嶆涓婇浕鍚庡弮鏁�(sh霉)鐢熸晥銆�

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銆€銆€渚嬶細瑷�(sh猫)缃甎NITS鑴堟矕鐣�(d膩ng)閲�锛屽嵆瑷�(sh猫)缃浕姗�(j墨)杞�(zhu菐n)涓€鍦堥渶瑕佺櫦(f膩)閫佸灏戝€�(g猫)鑴堟矕銆�

銆€銆€SPEED閫熷害銆丄CCEL鍔犻€熷害銆丏ECEL娓涢€熷害鍜岄亱(y霉n)鍕曟寚浠ょ瓑閮芥槸浠NITS鐐哄熀鏈柈浣�銆�

銆€銆€濡傚湒锛岄€氶亷鏁�(sh霉)瀛楀瓧鍏�6091h瑷�(sh猫)缃浕瀛愰綊杓瘮锛�6091h-01h瑷�(sh猫)缃浕瀛愰綊杓瘮鍒嗗瓙锛�6091h-02h瑷�(sh猫)缃浕瀛愰綊杓瘮鍒嗘瘝锛屾鏅�(sh铆)锛岄浕瀛愰綊杓瘮=1/1锛�6092h-01h瑷�(sh猫)鐐�10000琛ㄧず绲﹂浕姗�(j墨)鐧�(f膩)10000鍊�(g猫)鑴堟矕鑳戒娇闆绘(j墨)鏃嬭綁(zhu菐n)涓€鍦堬紝灏嶆噳(y墨ng)鐨勮剤娌栫暥(d膩ng)閲廢NITS=10000锛孧OVE(2)琛ㄧず绲﹂浕姗�(j墨)鐧�(f膩)閫�20000鍊�(g猫)鑴堟矕锛屾鏅�(sh铆)闆绘(j墨)杞�(zhu菐n)鍏╁湀銆�

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銆€銆€鎴栬€呬娇鐢⊿DO鎸囦护璁€瀵暩(sh霉)鎿�(j霉)瀛楀吀淇敼鍙冩暩(sh霉)銆備慨鏀瑰畬鎴愪娇鐢ㄩ﹨(q奴)鍕曞櫒杌熶欢璁€鍙�6092h-01h鐨勫€肩偤10000銆�

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銆€銆€        SDO_WRITE(Bus_Slot,iNode,$6091,1,7,1)             '闆诲瓙榻掕吉姣斿垎瀛�

銆€銆€        SDO_WRITE(Bus_Slot,iNode,$6091,2,7,1)             '闆诲瓙榻掕吉姣斿垎姣�

銆€銆€        SDO_WRITE(Bus_Slot,iNode,$6092,1,7,10000)     '闆绘(j墨)涓€鍦堣剤娌栨暩(sh霉)

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銆€銆€椹�(q奴)鍕曞櫒IO鏄犲皠闇€瑕丳DO鍖呭惈鏁�(sh霉)鎿�(j霉)瀛楀吀60FDh锛岀劧鍚庝娇鐢―RIVE_IO鎸囦护瑷�(sh猫)缃﹨(q奴)鍕曞櫒IO鍦板潃锛屾槧灏勭殑绶ㄨ櫉鑼冨湇涓嶈鑸囩附绶氫笂鐨勫叾浠栬ō(sh猫)鍌欑殑IO绶ㄨ櫉閲嶅京(f霉)銆�

銆€銆€DRIVE_IO (杌歌櫉)=杓稿叆杓稿嚭IO璧峰绶ㄨ櫉銆�

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銆€銆€        DRIVE_PROFILE(iAxis) = 5         '瑷�(sh猫)瀹氬皪鎳�(y墨ng)鐨勫付IO鏄犲皠鐨凱DO妯″紡

銆€銆€        DRIVE_IO(iAxis) = i_IoNum        '瑷�(sh猫)瀹氶﹨(q奴)鍕曞櫒杓稿叆/杓稿嚭IO璧峰绶ㄨ櫉

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銆€銆€椹�(q奴)鍕曞櫒鐨勬暩(sh霉)鎿�(j霉)瀛楀吀鍙冩暩(sh霉)鎴栧叾浠栫殑鍙冩暩(sh霉)瑷�(sh猫)缃畬鎴愬悗锛屽厛榛�(di菐n)鎿娾€滃偝閫佲€濆皣淇敼鐨勫叏閮ㄥ弮鏁�(sh霉)鍌冲叆椹�(q奴)鍕曞櫒锛屽啀榛�(di菐n)鎿奅EP锛屽皣鍙冩暩(sh霉)瀵叆椹�(q奴)鍕曞櫒鐨凟EPROM锛岀郸椹�(q奴)鍕曞櫒閲嶆柊涓婇浕鍚庝慨鏀圭殑鍙冩暩(sh霉)鐢熸晥锛屽湒鐗囦笂鍊间慨鏀逛簡杓稿叆?y煤n)顣�?sh霉)锛屽湪涓嬪湒鏌ョ湅涓嶅悓椤炲垾鍙冩暩(sh霉)璁婃洿鍚庣殑鍊煎苟淇敼銆�

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銆€銆€EtherCAT绺界窔涓婇€ｆ帴鐨勮ō(sh猫)鍌欑殑瑷�(sh猫)鍌欒櫉鎸夌収閫ｆ帴闋嗗簭寰�0闁嬪鑷嫊绶ㄨ櫉锛岄﹨(q奴)鍕曞櫒绶ㄨ櫉涔熸槸鎸夐€ｆ帴闋嗗簭绲﹂﹨(q奴)鍕曞櫒瑷�(sh猫)鍌欒嚜鍕曞緸0闁嬪绶ㄨ櫉鐨�锛屽彧绠楃附绶氫笂鐨勯﹨(q奴)鍕曞櫒瑷�(sh猫)鍌�锛屽叾浠栬ō(sh猫)鍌欐槸娌掓湁椹�(q奴)鍕曞櫒绶ㄨ櫉鐨�銆�

銆€銆€EtherCAT绺界窔涓婇€ｆ帴鐨勯﹨(q奴)鍕曞櫒闇€瑕佷娇鐢ㄦ寚浠ゆ槧灏勯﹨(q奴)鍕曞櫒鐨勮桓铏�锛屼娇鐢ˋXIS_ADDRESS 鎸囦护鏄犲皠锛屾槧灏勫畬鎴愪箣鍚庢墠鑳戒娇鐢˙ASE鎸囦护閬告搰椹�(q奴)鍕曞櫒杌歌櫉锛岀櫦(f膩)閫佽剤娌栵紝鎺у埗椹�(q奴)鍕曞櫒鎵€閫ｇ殑闆绘(j墨)閬�(y霉n)琛�銆�

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銆€銆€瑾炴硶锛欰XIS_ADDRESS(杌歌櫉)=(妲戒綅铏�<<16)+椹�(q奴)鍕曞櫒绶ㄨ櫉+1

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銆€        銆€AXIS_ADDRESS (7)=(0<<16)+1+1         '绗簩鍊�(g猫)ECAT椹�(q奴)鍕曞櫒锛岄﹨(q奴)鍕曞櫒绶ㄨ櫉1锛岀秮瀹氱偤杌�7

銆€        銆€AXIS_ADDRESS (8)=(0<<16)+2+1         '绗笁鍊�(g猫)ECAT椹�(q奴)鍕曞櫒锛岄﹨(q奴)鍕曞櫒绶ㄨ櫉2锛岀秮瀹氱偤杌�8

銆€        銆€ATYPE(6)=65                             '瑷�(sh猫)缃偤ECAT杌搁鍨�锛�65-浣嶇疆 66-閫熷害 67-杞�(zhu菐n)鐭�

銆€        銆€ATYPE(7)=65

銆€        銆€ATYPE(8)=65

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銆€        銆€DELAY 50

銆€        銆€DATUM(0)                 '娓呴櫎鎺у埗鍣ㄨ桓鐙€鎱�(t脿i)閷�(cu貌)瑾�"

銆€        銆€DELAY 100

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銆€銆€EtherCAT绺界窔鍙娇鐢ㄦ帶鍒跺櫒鎻愪緵鐨勫洖闆舵柟寮廌ATUM(mode)锛宮ode妯″紡鍊奸伕鎿囨煡鐪媄Basic绶ㄧ▼鎵嬪唺鐨凞ATUM鎸囦护銆侲therCAT绺界窔涔熷彲浠ヤ娇鐢ㄩ﹨(q奴)鍕曞櫒鏈韩鐨勫洖闆舵ā寮�銆�

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銆€銆€        BASE(iAxis)         '鎸夐﹨(q奴)鍕曞櫒杌歌櫉閫愬€�(g猫)鍥為浂

銆€銆€        AXIS_STOPREASON = 0

銆€        銆€SPEED = 100         '鍥為浂閫熷害

銆€        銆€CREEP = 10         '鍙嶆壘閫熷害

銆€        銆€ACCEL = 1000

銆€        銆€DATUM(21,2)         '椹�(q奴)鍕曞櫒鍥為浂妯″紡value=2

銆€        銆€WAIT IDLE

銆€        銆€IF AXIS_STOPREASON = 0 THEN

銆€            銆€?"鍥為浂鎴愬姛"

銆€        銆€ELSE

銆€            銆€?"鍥為浂澶辨晽" ,"鍋滄鍘熷洜锛�",AXIS_STOPREASON,"鐙€鎱�(t脿i)瀛�0X",HEX(DRIVE_STATUS)

銆€        銆€ENDIF

銆€銆€鍥� EtherCAT绺界窔鍒濆鍖�

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銆€銆€(浜�)鍒濆鍖栫▼搴�

銆€銆€1.涓昏鍒濆鍖栫▼搴�

銆€銆€鐢ㄦ埗浣跨敤鐨勬檪(sh铆)鍊欏彧闇€瑕佽ō(sh猫)缃▼搴忛牠鐨勫洓鍊�(g猫)甯搁噺鐨勫€煎嵆鍙€傜▼搴忓叾浠栧湴鏂逛笉鐢ㄦ敼鍕�銆傚垎鍒ヨō(sh猫)缃捣濮嬬殑鑴堟矕杌歌櫉锛屽拰浣跨敤鐨勮剤娌栬桓鍊�(g猫)鏁�(sh霉)锛岀附绶氳桓鐨勮捣濮嬫槧灏勮桓铏�锛屽拰绺界窔杌哥殑鍊�(g猫)鏁�(sh霉)銆�

銆€    '****************ECAT绺界窔鍒濆鍖�

銆€    global CONST PUL_AxisStart = 0         '鏈湴鑴堟矕杌歌捣濮嬭桓铏�

銆€    global CONST PUL_AxisNum = 0         '鏈湴鑴堟矕杌歌桓鏁�(sh霉)閲�

銆€    global CONST Bus_AxisStart = 0            '绺界窔杌歌捣濮嬭桓铏�

銆€    global CONST Bus_NodeNum = 1          '绺界窔閰嶇疆绡€(ji茅)榛�(di菐n)鏁�(sh霉)閲�,鐢ㄤ簬鍒ゆ柗瀵�(sh铆)闅涙娓埌鐨勫緸绔欐暩(sh霉)閲忔槸鍚︿竴鑷�

銆€ 銆€global CONST BUS_TYPE = 0                 '绺界窔椤炲瀷?锛熸崕绯滆皬琛旂舶C(j墨)鍗€(q奴)鍒嗙暥(d膩ng)鍓嶇附绶氶鍨�

銆€    global CONST Bus_Slot = 0                     '妲戒綅铏�0(鍠附绶氭帶鍒跺櫒缂虹渷0)

銆€銆€ global MAX_AXISNUM                 '鏈€澶ц桓鏁�(sh霉)

銆€銆€ MAX_AXISNUM = SYS_ZFEATURE(0)

銆€銆€ global Bus_InitStatus         '绺界窔鍒濆鍖栧畬鎴愮媭鎱�(t脿i)

銆€銆€ Bus_InitStatus = -1

銆€銆€ global Bus_TotalAxisnum         '妾㈡煡鎺冩弿鐨勭附杌告暩(sh霉)

銆€銆€ delay(3000)         '寤舵檪(sh铆)3S绛夊緟椹�(q奴)鍕曞櫒涓婇浕锛屼笉鍚岄﹨(q奴)鍕曞櫒鑷韩涓婇浕鏅�(sh铆)闁撲笉鍚�锛屽叿楂旀牴鎿�(j霉)椹�(q奴)鍕曞櫒瑾�(di脿o)鏁村欢鏅�(sh铆)

銆€ 銆€?"绺界窔閫氳▕鍛ㄦ湡锛�",SERVO_PERIOD,"us"

銆€    Ecat_Init()             '鍒濆鍖朎CAT绺界窔

       while (Bus_InitStatus = 0)

銆€        Ecat_Init()

銆€    wend

銆€    END

       '*********************ECAT绺界窔鍒濆************************

銆€    '鍒濆娴佺▼: slot_scan(鎺冩弿绺界窔) -> 寰炵珯绡€(ji茅)榛�(di菐n)鏄犲皠杌�/io -> SLOT_START(鍟熷嫊绺界窔) -> 鍒濆鍖栨垚鍔�

銆€銆€'**********************

銆€銆€global sub Ecat_Init()

銆€    銆€local Node_Num,Temp_Axis,Drive_Vender,Drive_Device,Drive_Alias

銆€    銆€RAPIDSTOP(2)

銆€    銆€for i=0 to MAX_AXISNUM - 1             '鍒濆鍖栭倓鍘熻桓椤炲瀷

銆€        銆€AXIS_ENABLE(i) = 0

銆€        銆€atype(i)=0

銆€        銆€AXIS_ADDRESS(i) =0

銆€        銆€DELAY(10)                         '闃叉鎵€鏈夐﹨(q奴)鍕曞櫒鍏ㄩ儴鍚屾檪(sh铆)鍒囨彌浣胯兘灏�(d菐o)鑷寸灛闁撻浕娴侀亷澶�

銆€銆€next

銆€銆€Bus_InitStatus = -1

銆€    銆€' Bus_TotalAxisnum = 0

銆€銆€SLOT_STOP(Bus_Slot)

銆€銆€delay(200)

銆€銆€slot_scan(Bus_Slot)                     '鎺冩弿绺界窔

銆€銆€if return then

銆€    銆€?"绺界窔鎺冩弿鎴愬姛","閫ｆ帴寰炵珯瑷�(sh猫)鍌欐暩(sh霉)锛�"NODE_COUNT(Bus_Slot)

銆€    銆€if NODE_COUNT(Bus_Slot) <> Bus_NodeNum then '鍒ゆ柗绺界窔妾㈡脯鏁�(sh霉)閲忔槸鍚︾偤瀵�(sh铆)闅涙帴绶氭暩(sh霉)閲�

銆€        銆€?""

銆€        銆€?"鎺冩弿绡€(ji茅)榛�(di菐n)鏁�(sh霉)閲忚垏绋嬪簭閰嶇疆鏁�(sh霉)閲忎笉涓€鑷�!" ,"閰嶇疆鏁�(sh霉)閲�:"Bus_NodeNum,"妾㈡脯鏁�(sh霉)閲忥細"NODE_COUNT(Bus_Slot)

銆€        銆€Bus_InitStatus = 0 '鍒濆鍖栧け鏁�銆傚牨(b脿o)璀︽彁绀�

銆€        銆€'return

銆€    銆€endif

銆€銆€'"闁嬪鏄犲皠杌歌櫉"

銆€銆€for Node_Num=0 to NODE_COUNT(Bus_Slot)-1         '閬嶆鎺冩弿鍒扮殑鎵€鏈夊緸绔欑瘈(ji茅)榛�(di菐n)

    銆€銆€Drive_Vender = NODE_INFO(Bus_Slot,Node_Num,0)         '璁€鍙栭﹨(q奴)鍕曞櫒寤犲晢

銆€    銆€Drive_Device = NODE_INFO(Bus_Slot,Node_Num,1)         '璁€鍙栬ō(sh猫)鍌欑法铏�

銆€    銆€Drive_Alias = NODE_INFO(Bus_Slot,Node_Num,3)         '璁€鍙栬ō(sh猫)鍌欐挜纰糏D

銆€銆€if NODE_AXIS_COUNT(Bus_Slot,Node_Num) <> 0 then         '鍒ゆ柗鐣�(d膩ng)鍓嶇瘈(ji茅)榛�(di菐n)鏄惁鏈夐浕姗�(j墨)

銆€銆€    for j=0 to NODE_AXIS_COUNT(Bus_Slot,Node_Num)-1         '鏍规摎(j霉)绡€(ji茅)榛�(di菐n)甯剁殑闆绘(j墨)鏁�(sh霉)閲忓惊鐠�(hu谩n)閰嶇疆杌稿弮鏁�(sh霉)(閲濆皪涓€鎷栧椹�(q奴)鍕曞櫒)

銆€        銆€Temp_Axis = Bus_AxisStart + Bus_TotalAxisnum         '杌歌櫉鎸塏ODE闋嗗簭鍒嗛厤

銆€        銆€'Temp_Axis = Drive_Alias                         '杌歌櫉鎸夐﹨(q奴)鍕曞櫒瑷�(sh猫)瀹氱殑鎾ョ⒓鍒嗛厤(涓€鎷栧闇€瑕佺壒娈婅檿鐞�)

銆€        銆€base(Temp_Axis)

銆€        銆€AXIS_ADDRESS(Temp_Axis)= (Bus_Slot<<16)+ Bus_TotalAxisnum + 1        '鏄犲皠杌歌櫉

        銆€銆€ATYPE=65                 '瑷�(sh猫)缃帶鍒舵ā寮� 65-浣嶇疆 66-閫熷害 67-杞�(zhu菐n)鐭�

銆€            銆€DRIVE_PROFILE=-1             '閰嶇疆鐐洪﹨(q奴)鍕曞櫒鍏�(n猫i)缃甈DO鍒楄〃

銆€            銆€' Sub_SetDriverIo(Drive_Vender,Temp_Axis,128 + 32*Temp_Axis)     '鏄犲皠椹�(q奴)鍕曞櫒IO锛孖O鏄犲皠鍒版帶鍒跺櫒IO32-浠ュ悗姣忓€�(g猫)椹�(q奴)鍕曞櫒闁撻殧32榛�(di菐n)

銆€            銆€' Sub_SetNodePara(Node_Num,Drive_Vender,Drive_Device,j)     '瑷�(sh猫)缃壒娈婄附绶氬弮鏁�(sh霉)

銆€        銆€disable_group(Temp_Axis)     '姣忚桓鍠崹(d煤)鍒嗙祫

銆€        銆€Bus_TotalAxisnum=Bus_TotalAxisnum+1     '绺借桓鏁�(sh霉)+1

銆€    銆€next

銆€銆€else                                                 'IO鎿�(ku貌)灞曟ā濉�

銆€    銆€Sub_SetNodeIo(Node_Num,Drive_Vender,Drive_Device,1024 + 32*Node_Num) '鏄犲皠鎿�(ku貌)灞曟ā濉奍O

銆€銆€endif

銆€next

銆€?"杌歌櫉鏄犲皠瀹屾垚","閫ｆ帴绺借桓鏁�(sh霉)锛�"Bus_TotalAxisnum

銆€銆€wa 200

銆€銆€SLOT_START(Bus_Slot)             '鍟熷嫊绺界窔

銆€銆€if return then

銆€銆€    wdog=1     '浣胯兘绺介枊闂�(gu膩n)

銆€    銆€'?"闁嬪娓呴櫎椹�(q奴)鍕曞櫒閷�(cu貌)瑾�"

銆€    銆€for i= Bus_AxisStart to Bus_AxisStart + Bus_TotalAxisnum - 1

銆€        銆€BASE(i)

銆€        銆€DRIVE_CLEAR(0)

銆€        銆€DELAY 50

銆€        銆€'?"椹�(q奴)鍕曞櫒閷�(cu貌)瑾ゆ竻闄ゅ畬鎴�"

銆€        銆€datum(0)     '娓呴櫎鎺у埗鍣ㄨ桓鐙€鎱�(t脿i)閷�(cu貌)瑾�"

銆€        銆€wa 100

銆€        銆€'"杌镐娇鑳�"

銆€        銆€AXIS_ENABLE=1

銆€銆€    next

銆€    銆€Bus_InitStatus = 1

銆€銆€    ?"杌镐娇鑳藉畬鎴�"

銆€    銆€'鏈湴鑴堟矕杌搁厤缃�

銆€    銆€for i = 0 to PUL_AxisNum - 1

銆€        銆€base(PUL_AxisStart + i)

銆€        銆€AXIS_ADDRESS = (-1<<16) + i

銆€        銆€ATYPE = 4

銆€    銆€next

銆€    銆€?"绺界窔闁嬪暉鎴愬姛"

銆€銆€else

銆€    銆€?"绺界窔闁嬪暉澶辨晽"

銆€    銆€Bus_InitStatus = 0

銆€銆€endif

銆€else

銆€銆€?"绺界窔鎺冩弿澶辨晽"

銆€銆€Bus_InitStatus = 0

銆€endif

end sub

銆€銆€2.椹�(q奴)鍕曞櫒IO鏄犲皠(闇€瑕佷娇鐢ㄩ﹨(q奴)鍕曞櫒IO鏅�(sh铆)鎵嶆槧灏�锛屽惁鍓囦笉鐢ㄦ槧灏�)銆�

銆€銆€'************************绺界窔椹�(q奴)鍕旾O鏄犲皠**************************************

銆€銆€'閫氶亷DRIVE_IO鎸囦护鏄犲皠椹�(q奴)鍕曞櫒灏嶈薄瀛楀吀涓�60FD,60FE杓稿叆杓稿嚭鐙€鎱�(t脿i)锛岃瑷�(sh猫)缃纰虹殑DRIVE_PROFILEE鎴栬€匬OD鍚庢墠鍙互姝ｅ父鏄犲皠

銆€銆€'DRIVE_PROFILE妯″紡鍖呭惈60FD/60FE

銆€銆€'iAxis - 杌歌櫉 iVender - 椹�(q奴)鍕曞櫒椤炲瀷 i_IoNum - 杓稿叆杓稿嚭璧峰绶ㄨ櫉

銆€銆€'**************************************************************************

銆€銆€global sub Sub_SetDriverIo(iVender,Iaxis,i_IoNum)

銆€    銆€if iVender = $66f then '鏉句笅椹�(q奴)鍕曞櫒

銆€        銆€DRIVE_PROFILE(iAxis) = 5 '瑷�(sh猫)瀹氬皪鎳�(y墨ng)鐨勫付IO鏄犲皠鐨凱DO妯″紡

銆€        銆€DRIVE_IO(iAxis) = i_IoNum

銆€        銆€REV_IN(iAxis) = i_IoNum '璨�(f霉)闄愪綅鎳�(y墨ng)60FD BIT0

        銆€銆€FWD_IN(iAxis) = i_IoNum + 1 '姝ｉ檺浣嶅厛灏嶆噳(y墨ng)60FD BIT1

銆€        銆€DATUM_IN(iAxis) = i_IoNum + 2 '鍘熼粸(di菐n)鍏堝皪鎳�(y墨ng)60FD BIT2

銆€        銆€INVERT_IN(i_IoNum,ON) '鐗规畩淇¤櫉鏈夋晥闆诲钩鍙嶈綁(zhu菐n)

銆€        銆€INVERT_IN(i_IoNum + 1,ON)

銆€        銆€INVERT_IN(i_IoNum + 2,ON)

銆€    銆€endif

銆€銆€end sub

銆€銆€3.鎿�(ku貌)灞曟ā濉奍O鏄犲皠(閫ｆ帴浜嗘摯(ku貌)灞曟ā濉婃墠瑷�(sh猫)缃�)銆�

銆€銆€'***********************绺界窔IO鎿�(ku貌)灞曟ā濉婃槧灏�**************************************

銆€銆€'閫氶亷NODE_IO(Bus_Slot,Node_Num)鍒嗛厤妯″IO璧峰鍦板潃

銆€銆€'*******************************************************************************

銆€銆€global sub Sub_SetNodeIo(iNode,iVender,iDevice,i_IoNum)

銆€銆€    if iVender = $41B and iDevice = $130 then '姝ｉ亱(y霉n)鍕旹IO1616

銆€        銆€NODE_IO(Bus_Slot,iNode) = i_IoNum

銆€銆€    endif

銆€銆€end sub

銆€銆€4.鐗规畩鍙冩暩(sh霉)閰嶇疆銆�

銆€銆€'********************************寰炵珯绡€(ji茅)榛�(di菐n)鐗规畩鍙冩暩(sh霉)閰嶇疆********************************

銆€銆€'閫氶亷SDO鏂瑰紡淇敼灏嶆噳(y墨ng)灏嶈薄瀛楀吀鐨勫€间慨鏀瑰緸绔欏弮鏁�(sh霉)(鍏烽珨灏嶈薄瀛楀吀鏌ョ湅椹�(q奴)鍕曞櫒鎵嬪唺)

銆€銆€'******************************************************************************************************

銆€銆€global sub Sub_SetNodePara(iNode,iVender,iDevice,Iaxis)

銆€    銆€if iVender = $41B and iDevice = $1ab0 then                              '姝ｉ亱(y霉n)鍕�24088鑴堟矕鎿�(ku貌)灞曡桓

銆€        銆€SDO_WRITE(Bus_Slot,iNode,$6011+Iaxis*$800,0,5,4)             '瑷�(sh猫)缃摯(ku貌)灞曡剤娌栬桓ATYPE椤炲瀷

銆€        銆€SDO_WRITE(Bus_Slot,iNode,$6012+Iaxis*$800,0,6,0) '            瑷�(sh猫)缃摯(ku貌)灞曡剤娌栬桓INVERT_STEP鑴堟矕杓稿嚭妯″紡

銆€        銆€NODE_IO(Bus_Slot,iNode) = 32 + 32*iNode                           '瑷�(sh猫)缃�240808涓奍O鐨勮捣濮嬫槧灏勫湴鍧€

    銆€銆€elseif iVender = $66f then                                                           '鏉句笅椹�(q奴)鍕曞櫒

        銆€銆€SDO_WRITE(Bus_Slot,iNode,$3741,0,3,0)                                '浠ユ挜纰肩偤ID

銆€        銆€SDO_WRITE(Bus_Slot,iNode,$3401,0,4,$10101)                      '姝ｉ檺浣嶉浕骞� $818181

銆€        銆€SDO_WRITE(Bus_Slot,iNode,$3402,0,4,$20202)                      '璨�(f霉)闄愪綅闆诲钩 $828282

銆€銆€        SDO_WRITE(Bus_Slot,iNode,$6091,1,7,1)                                '闆诲瓙榻掕吉姣斿垎瀛�

銆€銆€        SDO_WRITE(Bus_Slot,iNode,$6091,2,7,1)                                '闆诲瓙榻掕吉姣斿垎姣�

銆€        銆€SDO_WRITE(Bus_Slot,iNode,$6092,1,7,10000)                        '闆绘(j墨)涓€鍦堣剤娌栨暩(sh霉)

        銆€銆€SDO_WRITE(Bus_Slot,iNode,$607E,0,5,0)                                 '闆绘(j墨)姝ｈ綁(zhu菐n)0 鍙嶈綁(zhu菐n)224

銆€        銆€SDO_WRITE(Bus_Slot,iNode,$6085,0,7,4290000000)               '鐣板父娓涢€熷害

銆€        銆€'SDO_WRITE(Bus_Slot,iNode,$1010,1,7,$65766173)                '瀵獷PPROM(瀵獷PPROM鍚庨﹨(q奴)鍕曞櫒闇€瑕侀噸鏂颁笂闆�)

銆€        銆€'?"瀵獷PPR0M OK 璜嬫柗闆婚噸鍟�"

銆€    銆€endif

銆€銆€end sub

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