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SIMOTION中軸轉(zhuǎn)矩限幅控制命令代碼
信息來源： 發(fā)布時間：2017-07-17 08:56:26 點擊次數(shù)：0
Axis_RED.DefaultAdditiveTorque := rAdditiveTorque
Axis_RED.DefaultTorqueLimitNegative := rTorqueLimitNegative
Axis_RED.DefaultTorqueLimitPositive := rTorqueLimitPositive
_enableAxisAdditiveTorque, _disableAxisAdditiveTorque,
_enableAxisTorqueLimitPositive, _disableAxisTorqueLimitPositive,
_enableAxisTorqueLimitNegative, _disableAxisTorqueLimitNegative
ST
(1) _enableaxisadditivetorque
If Axis_RED.AdditiveTorqueIn.State = INACTIVE and
Boenableaxisadditivetorque then
my_Ret_DINT := _enableaxisadditivetorque(
axis:=Axis_RED,
valuereferencetype:=VALUE,
additivetorquetype:=DEFAULT_VALUE,
nextcommand:=IMMEDIATELY);
end_if;
(2) _enableAxisTorqueLimitPositive
my_Ret_DINT := _enableaxistorquelimitpositive(
axis:=Axis_RED,
valuereferencetype:=VALUE,
torquelimittype:=DEFAULT_VALUE,
nextcommand:=IMMEDIATELY);
(3) _enableAxisTorqueLimitNegative
IF (boTorqueLimitNegative AND
Axis_RED.TorqueLimitNegativeIn.State = INACTIVE AND
boErrorTorque = FALSE) THEN
my_Ret_DINT := _enableaxistorquelimitnegative(
axis:=Axis_RED,
valuereferencetype:=VALUE,
torquelimittype:=DEFAULT_VALUE,
nextcommand:=IMMEDIATELY);
end_if;
(4) _disableaxisadditivetorque
8
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AG Copyright year
All rights reserved
IF Axis_RED.AdditiveTorqueIn.State = ACTIVE AND bodisableadditivetorque
then
my_Ret_DINT := _disableaxisadditivetorque(
axis:=Axis_RED,
nextcommand:=IMMEDIATELY);
End_IF;
(5) _disableAxisTorqueLimitPositive
IF Axis_RED.TorqueLimitPositiveIn.State = ACTIVE AND … then
my_Ret_DINT := _disableaxistorquelimitpositive(
axis:=Axis_RED,
nextcommand:=IMMEDIATELY);
(6) _disableAxisTorqueLimitNegtive
IF Axis_RED.TorqueLimitNegtiveIn.State = ACTIVE AND … then
my_Ret_DINT := _disableaxistorquelimitnegtive(
axis:=Axis_RED,
nextcommand:=IMMEDIATELY);