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銆€銆€3.1 PVI閫氫俊
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銆€銆€PVI閫氫俊鐨勬牳蹇冧换鍕�(w霉)鏄缓绔嬮亷绋嬭畩閲忕殑鏄犲儚锛屽缓绔嬬殑绲�(ji茅)鏋滄槸姣忓€嬫槧鍍忛兘鍜岀恫(w菐ng)绲�(lu貌)涓敮涓€鐨勪竴鍊嬭畩閲忎竴涓€灏嶆噳(y墨ng)銆傞€欏€嬭畩閲忓彲浠ユ槸涓€鍊嬪熀鏈鍨嬬殑鏁�(sh霉)鎿�(j霉)锛屽鏁村瀷璁婇噺锛屼篃鍙互鏄竴鍊嬭嚜瀹氱京椤炲瀷鐨勬暩(sh霉)鎿�(j霉)锛屽绲�(ji茅)妲�(g貌u)楂旇畩閲忋€傞€欏€嬫槧鍍忓寘鍚簡寰炴噳(y墨ng)鐢ㄧ▼搴忔墍鍦ㄥ伐浣滅珯鍒拌畩閲忔墍鍦ㄤ换鍕�(w霉)鐨勮矾寰戜俊鎭�銆傚鏋滄妸鎺у埗鍣ㄥ拰妯″涔熺暥(d膩ng)浣滈€氫俊涓皪璞$殑瑭�锛屾瘡鍊嬫槧鍍忚矾寰戝寘鎷殑灏嶈薄鏈夛細鍩烘湰灏嶈薄锛圥vi锛� ;绶氬皪璞★紙Line锛� ;绔欏皪璞★紙 Station锛� ;CPU灏嶈薄锛圕PU 锛� ;妯″灏嶈薄锛圡odule 锛� ;浠诲嫏(w霉)灏嶈薄锛圱ask锛夊拰璁婇噺灏嶈薄锛圴ariable锛�銆傞€欏€嬫槧灏勮矾寰戠敱PVI Manager 绲�(t菕ng)涓€绠$悊锛屾瘡鍊嬪皪璞″寘鍚皪璞″悕锛屽皪璞℃弿杩板拰瀛樺彇鍙冩暀銆傚皪璞″悕锛堝寘鎷矾寰戯級鏄疨VI 涓殑鍚嶅瓧銆傚皪璞″悕鐢辩敤鎴朵换鎰忕⒑瀹�锛屽皪璞℃弿杩板繀闋堣垏PCC 涓緟鏄犲皠鐨勮畩閲忓悕瀛椾竴妯o紝PVI Manager 渚濋潬灏嶈薄鎻忚堪鎵惧埌鍏烽珨鐨勯亷绋嬭畩閲�锛屽鐝�(xi脿n)鏄犺薄闂�(gu膩n)绯�銆傚瓨鍙栧弮鏁�(sh霉)鍖呮嫭鏁�(sh霉)鎿�(j霉)椤炲瀷瑾槑銆佸埛鏂版檪闁�銆佷簨浠堕鍨嬬瓑銆�
銆€銆€鍦ㄦ湰绯荤当(t菕ng)涓�锛屼己鏈嶉浕姗�(j墨)閬�(y霉n)琛屽湪16 鍊嬩綅缃殑閫熷害鏄⒑瀹氱殑锛屼綅缃拰閫熷害鍧囧彲浠ュ湪涓婁綅姗�(j墨)涓婅ō(sh猫)缃紝鐒跺悗鐧�(f膩)閫佽嚦PCC 銆傚皣閫欎簺鏁�(sh霉)鎿�(j霉)灏佽鐐轰竴鍊嬬祼(ji茅)妲�(g貌u)楂旓細
銆€銆€struct MotorCommset 锝� float Position [16];//16鍊嬮粸鐨勪綅缃甪loat Speed[16] ;//16鍊嬮粸鐨勯€熷害int MotorNumber ;//妯�(bi膩o)绀虹暥(d膩ng)鍓嶈ō(sh猫)缃殑鏄骞捐嚭闆绘(j墨)锝� ;
銆€銆€3.2 Automation Stndio绶ㄧ▼
銆€銆€Automation Studio鐐烘瘡鍊嬫噳(y墨ng)鐢ㄨ垏绋嬪簭鎻愪緵浜嗗绋法绋嬫柟娉�銆傚寘鎷細姊舰鍦朙AD锛屾寚浠よ〃IL锛岀祼(ji茅)妲�(g貌u)鏂囨湰ST锛岄爢搴忓姛鑳藉湒SFC锛孉B锛孉NSIC銆傚叾涓瑼NSIC鏄娇鐢ㄤ簬鏂颁竴浠utomation Studio鐨勫姛鑳藉挤(qi谩ng)澶х殑楂樼礆绶ㄧ▼瑾炶█銆傚埄鐢ˋNSIC 绶ㄥ鐨勮獮瑷€鍙互瀵︾従(xi脿n)鏇撮珮绱氱殑鍔熻兘銆傚湪鎼栨摵閮ㄥ垎鐨勯浕姗�(j墨)鎺у埗涓�锛屽埄鐢ㄤ簡ANSIC 渚嗗鐝�(xi脿n)鏇茬窔鐢熸垚鐨勫姛鑳姐€�
銆€銆€3.2.1 灏嶈薄寤虹珛
銆€銆€B&R 鐨勪己鏈嶉亱(y霉n)鍕曟帶鍒堕噰鐢ㄤ簡闈㈠悜?q奴)慰锜洰鍒傚搧缁�?锛屼娇鐢ㄩ珮绱氳獮瑷€C 閲濆皪涓€鍊嬩己鏈嶆帶鍒跺櫒鍓�(chu脿ng)寤轰竴鍊嬮亱(y霉n)鐢ㄥ皪璞x _ obj 鍚�锛屽彲浠ュ埄鐢ㄩ嚌灏嶆閬�(y霉n)鍕曞皪璞″壍(chu脿ng)寤虹殑鎸囬嚌锛� p_ax_dat_锛屽皪闆绘(j墨)瀹屾垚涓嶅悓鐨勯亱(y霉n)鍕曟帶鍒�銆�
銆€銆€ncalloc锛坣cACP10MAN+ncPOWERLINK-IF,ACP10 NONE,ncAXIS,l,锛圲DINT锛�&ax_obj锛� ;姣忚嚭浼烘湇鎺у埗鍣ㄥ湪纭欢涓婇兘鏈変竴鍊嬬瘈(ji茅)榛炶ō(sh猫)缃儴鍒�锛屽彲浠ヨō(sh猫)缃悇鑷〃鏄庝簡寰炶桓鑸囦富杌镐互1000 : 1000閫�(j矛n)琛屼綅缃悓姝�銆�
銆€銆€B&R 鐐轰己鏈嶅弮鏁�(sh霉)鐨勪笂鍌宠垏涓嬭級鎻愪緵浜嗗皥闁€鐨勯€氶亾锛岀ū涔嬬偤SERVICE 閫氶亾銆傞€氶亷SERVICE 閫氶亾锛屾棦鍙互閫�(j矛n)琛屽柈鍊嬪弮鏁�(sh霉)鐨勫偝杓�锛屼篃鍙互閫�(j矛n)琛屽弮鏁�(sh霉)濉婄殑鍌宠几銆傚皣鈥渁utogear 鈥濅綔鐐轰竴鍊嬪弮鏁�(sh霉)濉婏紝閫氶亷SERVICE 閫氶亾涓嬭級鍒颁己鏈嶅悗锛岃櫅杌歌垏瀵﹁桓鐨勯棞(gu膩n)绯讳究寤虹珛浜嗚捣渚�銆�
銆€銆€strcpy锛�& DataDownload .parameter.data_ modul [0]锛屸€渁utogear鈥濓級//鎵€瑕佷笅杓夌殑鏂囦欢鍚�
銆€銆€p_ax_dat_>network.service.data_adr 锕︼紙UDINT锛� & DataDownload //service閫氶亾
銆€銆€ncaction 锛坅x_obj,ncACP_PAR+ncSERVICE,nc-DOWNLOAD 锛�//铏涜桓銆佸杌歌ō(sh猫)瀹氫笅杓�
銆€銆€涓€鏃︿富杌歌垏寰炶桓鐨勯棞(gu膩n)绯诲缓绔嬭捣渚嗕箣鍚�锛屽彧瑕佸皪铏涜桓鍙冩暩(sh霉)閫�(j矛n)琛屾搷浣�锛屽杌稿氨鏈冭窡闅ㄨ櫅杌镐綅缃€�(j矛n)琛�1:1鍚屾銆傝€屽皪浜庤櫅杌稿弮鏁�(sh霉)鐨勬搷浣滃悓妯d篃鍙互閫氶亷SERVICE 閫氶亾閫�(j矛n)琛�銆�
銆€銆€p_ax_dat_> network.service.request.par_ id =ACP10PAR _ CMD _ POS _ MOVE _ VAX1 //鎵€瑕佽肠鍊肩殑鍙冩暩(sh霉)
銆€銆€p_ax_dat_> network . service . data _ adr =锛圲DINT 锛� & par _ dat //鍙冩暩(sh霉)鍊�
銆€銆€ncaction 锛坅x _ obj , ncSERVICE , ncSET锛�//鍙冩暩(sh霉)瑷�(sh猫)缃�
銆€銆€3.2.3 绋嬪簭瑷�(sh猫)瑷�
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