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TIN_PMC
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Koks: 7d324a6687
Atzari Tagi
TIN_PMC
/
TIN001-PLC
/
TIN001
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PMC
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POU
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_200_Axis
/
MC_Axis.TcPOU

MC_Axis.TcPOU 37 KB
Vēsture Neapstrādāts

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  1. <?xml version="1.0" encoding="utf-8"?>
    2. 

  2. <TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
    3. 

  3.   <POU Name="MC_Axis" Id="{fad15423-8beb-467d-9406-8ef20a004661}" SpecialFunc="None">
    4. 

  4.     <Declaration><![CDATA[PROGRAM MC_Axis 
    5. 

  5. VAR
    6. 

  6. Buffer		          : AxisFunction;
    7. 

  7. Boat		          : AxisFunction;
    8. 

  8. CAPS		          : AxisFunction;
    9. 

  9. END_VAR
    10. 

  10. 

  11. 

  12. 

  13. ]]></Declaration>
    14. 

  14.     <Implementation>
    15. 

  15.       <ST><![CDATA[//01.Axis 基础参数设置（TP MODE）
    16. 

  16. 	Boat(AxisControl:=_200_Axis.BoatControl ,AxisData:= _200_Axis.BoatData, AxisState=>_200_Axis.BoatAxisState );
    17. 

  17. 	Buffer(AxisControl:=_200_Axis.BufferControl ,AxisData:=_200_Axis.BufferData ,AxisState=>_200_Axis.BufferAxisState );
    18. 

  18. 	CAPS(AxisControl:=_200_Axis.CapControl ,AxisData:=_200_Axis.CapData ,AxisState=>_200_Axis.CapAxisState );
    19. 

  19. 

  20. 	//轴最大转矩设置
    21. 

  21. 	_200_Axis.BufferMaxTorque:=_200_Axis.BufferData.MaxTorque:=1000;
    22. 

  22. 	_200_Axis.BoatMaxTorque:=_200_Axis.BoatData.MaxTorque:=1000;
    23. 

  23. 	_200_Axis.CapMaxTorque:=_200_Axis.CapData.MaxTorque:=1000;
    24. 

  24. 	
    25. 

  25. 	//轴最大速度
    26. 

  26. 	_200_Axis.BufferMaxSpeed:=_200_Axis.BufferData.MaxSpeed:=400;
    27. 

  27. 	_200_Axis.BoatMaxSpeed:=_200_Axis.BoatData.MaxSpeed:=400;
    28. 

  28. 	_200_Axis.CapMaxSpeed:=_200_Axis.CapData.MaxSpeed:=1000;
    29. 

  29. 	
    30. 

  30. 	//轴转矩当前值
    31. 

  31. 	_200_Axis.BufferData.ActTorque:=_200_Axis.BufferActTorque;
    32. 

  32. 	_200_Axis.BoatData.ActTorque:=_200_Axis.BoatActTorque;
    33. 

  33. 	
    34. 

  34. 	
    35. 

  35. //--.01 Buffer	
    36. 

  36. 	//Buffer使能
    37. 

  37. 	_200_Axis.BufferControl.RobotToAxisEnable:=FBI.I403_15;
    38. 

  38. 	//Buffer JOG+
    39. 

  39. 	_200_Axis.BufferControl.TPToAxisJogForward:=_200_Axis.JogPosEn AND _200_Axis.Run;
    40. 

  40. 	//Buffer JOG-
    41. 

  41. 	_200_Axis.BufferControl.TPToAxisJogBackwards:=_200_Axis.JogNegEn AND _200_Axis.Run;
    42. 

  42. 	//Buffer JOG速度
    43. 

  43. 	_200_Axis.BufferData.Vel[31]:=_200_Axis.JogVel;
    44. 

  44. 	//Buffer 相对定位
    45. 

  45. 	_200_Axis.BufferControl.RobotToCmdMoveRelative:=_200_Axis.MoveRelEn AND _200_Axis.Run;
    46. 

  46. 	//Buffer 绝对定位
    47. 

  47. 	_200_Axis.BufferControl.RobotToCmdMoveAbsolute:=_200_Axis.MovAbsEn AND _200_Axis.Run;
    48. 

  48. 	//原点回归
    49. 

  49. 	_200_Axis.BufferControl.RobotToCmdHome:=_200_Axis.HomeEn AND _200_Axis.Run;
    50. 

  50. 	//A1 位置保存
    51. 

  51. 	IF _200_Axis.A1PosSaveEn  THEN
    52. 

  52. 		_200_Axis.A1Position:=_200_Axis.TPInputPos;
    53. 

  53. 		_200_Axis.BufferData.Pos[1]:=_200_Axis.A1Position;
    54. 

  54. 		ELSE
    55. 

  55. 			_200_Axis.A1Position:=_200_Axis.BufferData.Pos[1];
    56. 

  56. 	END_IF
    57. 

  57. 

  58. 		
    59. 

  59. 	
    60. 

  60. 	//A2 位置保存
    61. 

  61. 	IF _200_Axis.A2PosSaveEn  THEN
    62. 

  62. 		_200_Axis.A2Position:=_200_Axis.TPInputPos;
    63. 

  63. 		_200_Axis.BufferData.Pos[2]:=_200_Axis.A2Position;
    64. 

  64. 		ELSE
    65. 

  65. 			_200_Axis.A2Position:=_200_Axis.BufferData.Pos[2];
    66. 

  66. 	END_IF
    67. 

  67. 	
    68. 

  68. 	//A3 位置保存
    69. 

  69. 	IF _200_Axis.A3PosSaveEn  THEN
    70. 

  70. 		_200_Axis.A3Position:=_200_Axis.TPInputPos;
    71. 

  71. 		_200_Axis.BufferData.Pos[3]:=_200_Axis.A3Position;
    72. 

  72. 		ELSE
    73. 

  73. 			_200_Axis.A3Position:=_200_Axis.BufferData.Pos[3];
    74. 

  74. 	END_IF
    75. 

  75. 	
    76. 

  76. 	//A4 位置保存
    77. 

  77. 	IF _200_Axis.A4PosSaveEn  THEN
    78. 

  78. 		_200_Axis.A4Position:=_200_Axis.TPInputPos;
    79. 

  79. 		_200_Axis.BufferData.Pos[4]:=_200_Axis.A4Position;
    80. 

  80. 		ELSE
    81. 

  81. 			_200_Axis.A4Position:=_200_Axis.BufferData.Pos[4];
    82. 

  82. 	END_IF
    83. 

  83. 	
    84. 

  84. 	//B1 位置保存
    85. 

  85. 	IF _200_Axis.B1PosSaveEn  THEN
    86. 

  86. 		_200_Axis.B1Position:=_200_Axis.TPInputPos;
    87. 

  87. 		_200_Axis.BufferData.Pos[5]:=_200_Axis.B1Position;
    88. 

  88. 		ELSE
    89. 

  89. 			_200_Axis.B1Position:=_200_Axis.BufferData.Pos[5];
    90. 

  90. 	END_IF
    91. 

  91. 	//B2 位置保存
    92. 

  92. 	IF _200_Axis.B2PosSaveEn  THEN
    93. 

  93. 		_200_Axis.B2Position:=_200_Axis.TPInputPos;
    94. 

  94. 		_200_Axis.BufferData.Pos[6]:=_200_Axis.B2Position;
    95. 

  95. 		ELSE
    96. 

  96. 			_200_Axis.B2Position:=_200_Axis.BufferData.Pos[6];
    97. 

  97. 	END_IF
    98. 

  98. 	//B3 位置保存
    99. 

  99. 	IF _200_Axis.B3PosSaveEn  THEN
    100. 

  100. 		_200_Axis.B3Position:=_200_Axis.TPInputPos;
    101. 

  101. 		_200_Axis.BufferData.Pos[7]:=_200_Axis.B3Position;
    102. 

  102. 		ELSE
    103. 

  103. 			_200_Axis.B3Position:=_200_Axis.BufferData.Pos[7];
    104. 

  104. 	END_IF
    105. 

  105. 	//B4 位置保存
    106. 

  106. 	IF _200_Axis.B4PosSaveEn  THEN
    107. 

  107. 		_200_Axis.B4Position:=_200_Axis.TPInputPos;
    108. 

  108. 		_200_Axis.BufferData.Pos[8]:=_200_Axis.B4Position;
    109. 

  109. 		ELSE
    110. 

  110. 			_200_Axis.B4Position:=_200_Axis.BufferData.Pos[8];
    111. 

  111. 	END_IF
    112. 

  112. 	//C1 位置保存
    113. 

  113. 	IF _200_Axis.C1PosSaveEn  THEN
    114. 

  114. 		_200_Axis.C1Position:=_200_Axis.TPInputPos;
    115. 

  115. 		_200_Axis.BufferData.Pos[9]:=_200_Axis.C1Position;
    116. 

  116. 		ELSE
    117. 

  117. 			_200_Axis.C1Position:=_200_Axis.BufferData.Pos[9];
    118. 

  118. 	END_IF
    119. 

  119. 	//C2 位置保存
    120. 

  120. 	IF _200_Axis.C2PosSaveEn  THEN
    121. 

  121. 		_200_Axis.C2Position:=_200_Axis.TPInputPos;
    122. 

  122. 		_200_Axis.BufferData.Pos[10]:=_200_Axis.C2Position;
    123. 

  123. 		ELSE
    124. 

  124. 			_200_Axis.C2Position:=_200_Axis.BufferData.Pos[10];
    125. 

  125. 	END_IF
    126. 

  126. 	//C3 位置保存
    127. 

  127. 	IF _200_Axis.C3PosSaveEn  THEN
    128. 

  128. 		_200_Axis.C3Position:=_200_Axis.TPInputPos;
    129. 

  129. 		_200_Axis.BufferData.Pos[11]:=_200_Axis.C3Position;
    130. 

  130. 		ELSE
    131. 

  131. 			_200_Axis.C3Position:=_200_Axis.BufferData.Pos[11];
    132. 

  132. 	END_IF
    133. 

  133. 	//C4 位置保存
    134. 

  134. 	IF _200_Axis.C4PosSaveEn  THEN
    135. 

  135. 		_200_Axis.C4Position:=_200_Axis.TPInputPos;
    136. 

  136. 		_200_Axis.BufferData.Pos[12]:=_200_Axis.C4Position;
    137. 

  137. 		ELSE
    138. 

  138. 			_200_Axis.C4Position:=_200_Axis.BufferData.Pos[12];
    139. 

  139. 	END_IF
    140. 

  140. 	//D1 位置保存
    141. 

  141. 	IF _200_Axis.D1PosSaveEn  THEN
    142. 

  142. 		_200_Axis.D1Position:=_200_Axis.TPInputPos;
    143. 

  143. 		_200_Axis.BufferData.Pos[13]:=_200_Axis.D1Position;
    144. 

  144. 		ELSE
    145. 

  145. 			_200_Axis.D1Position:=_200_Axis.BufferData.Pos[13];
    146. 

  146. 	END_IF
    147. 

  147. 	//D2 位置保存
    148. 

  148. 	IF _200_Axis.D2PosSaveEn  THEN
    149. 

  149. 		_200_Axis.D2Position:=_200_Axis.TPInputPos;
    150. 

  150. 		_200_Axis.BufferData.Pos[14]:=_200_Axis.D2Position;
    151. 

  151. 		ELSE
    152. 

  152. 			_200_Axis.D2Position:=_200_Axis.BufferData.Pos[14];
    153. 

  153. 	END_IF
    154. 

  154. 	//D3 位置保存
    155. 

  155. 	IF _200_Axis.D3PosSaveEn  THEN
    156. 

  156. 		_200_Axis.D3Position:=_200_Axis.TPInputPos;
    157. 

  157. 		_200_Axis.BufferData.Pos[15]:=_200_Axis.D3Position;
    158. 

  158. 		ELSE
    159. 

  159. 			_200_Axis.D3Position:=_200_Axis.BufferData.Pos[15];
    160. 

  160. 	END_IF
    161. 

  161. 	//D4 位置保存
    162. 

  162. 	IF _200_Axis.D4PosSaveEn  THEN
    163. 

  163. 		_200_Axis.D4Position:=_200_Axis.TPInputPos;
    164. 

  164. 		_200_Axis.BufferData.Pos[16]:=_200_Axis.D4Position;
    165. 

  165. 		ELSE
    166. 

  166. 			_200_Axis.D4Position:=_200_Axis.BufferData.Pos[16];
    167. 

  167. 	END_IF
    168. 

  168. 	//正极限位置保存
    169. 

  169. 	IF _200_Axis.PosSoftLimitSaveEN  THEN
    170. 

  170. 		_200_Axis.PosSoftLimit:=_200_Axis.TPInputPos;
    171. 

  171. 		_200_Axis.BufferData.Pos[17]:=_200_Axis.PosSoftLimit;
    172. 

  172. 		ELSE
    173. 

  173. 			_200_Axis.PosSoftLimit:=_200_Axis.BufferData.Pos[17];
    174. 

  174. 	END_IF
    175. 

  175. 	//负限位置保存
    176. 

  176. 	IF _200_Axis.NegSoftLimitSaveEN  THEN
    177. 

  177. 		_200_Axis.NegSoftLimit:=_200_Axis.TPInputPos;
    178. 

  178. 		_200_Axis.BufferData.Pos[18]:=_200_Axis.NegSoftLimit;
    179. 

  179. 		ELSE
    180. 

  180. 			_200_Axis.NegSoftLimit:=_200_Axis.BufferData.Pos[18];
    181. 

  181. 	END_IF
    182. 

  182. 	//点动速度限制
    183. 

  183. 	IF _200_Axis.JogVel >10.0 THEN
    184. 

  184. 		_200_Axis.JogVel:=1;
    185. 

  185. 		ELSIF _200_Axis.JogVel <0.0 THEN
    186. 

  186. 			_200_Axis.JogVel:=1;
    187. 

  187. 	END_IF
    188. 

  188. 	
    189. 

  189. 	
    190. 

  190. 	
    191. 

  191. 	//A1 在位信号
    192. 

  192. 	
    193. 

  193. 	//A2 在位信号
    194. 

  194. 	//A3 在位信号
    195. 

  195. 	//A4 在位信号
    196. 

  196. 	//B1 在位信号
    197. 

  197. 	//B2 在位信号
    198. 

  198. 	//B3 在位信号
    199. 

  199. 	//B4 在位信号
    200. 

  200. 	//C1 在位信号
    201. 

  201. 	//C2 在位信号
    202. 

  202. 	//C3 在位信号
    203. 

  203. 	//C4 在位信号
    204. 

  204. 	//D1 在位信号
    205. 

  205. 	//D2 在位信号
    206. 

  206. 	//D3 在位信号
    207. 

  207. 	//D4 在位信号
    208. 

  208. 	//位置显示
    209. 

  209. 	_200_Axis.ActPos:=_200_Axis.BufferAxisState.Pos;
    210. 

  210. 	//速度显示
    211. 

  211. 	_200_Axis.ActVel:=_200_Axis.BufferAxisState.vel;
    212. 

  212. 	//转矩显示
    213. 

  213. 	_200_Axis.ActTorque:=_200_Axis.BufferActTorque;
    214. 

  214. 	//使能显示
    215. 

  215. 	_200_Axis.TeachServoOn:=_200_Axis.BufferAxisState.Enabled;
    216. 

  216. 	//运动中
    217. 

  217. 	_200_Axis.TeachServoMoving:=_200_Axis.BufferAxisState.Busy;
    218. 

  218. 	//异常显示
    219. 

  219. 	_200_Axis.TeachServoAlarm:=_200_Axis.BufferAxisState.Error;
    220. 

  220. 	//正极限显示
    221. 

  221. 	//负极限显示
    222. 

  222. 	//异常ID
    223. 

  223. 	_200_Axis.ServoCode:=_200_Axis.BufferAxisState.ErrorID;
    224. 

  224. 	//按钮互锁
    225. 

  225. 	IF _200_Axis.HMINo=190 THEN
    226. 

  226. 		IF _200_Axis.HomeEn THEN 
    227. 

  227. 			_200_Axis.JogPosEn:=0;
    228. 

  228. 			_200_Axis.JogNegEn:=0;
    229. 

  229. 			_200_Axis.A1PosSaveEn:=0;
    230. 

  230. 			_200_Axis.B1PosSaveEn:=0;
    231. 

  231. 			_200_Axis.C1PosSaveEn:=0;
    232. 

  232. 			_200_Axis.D1PosSaveEn:=0;
    233. 

  233. 			_200_Axis.A2PosSaveEn:=0;
    234. 

  234. 			_200_Axis.B2PosSaveEn:=0;
    235. 

  235. 			_200_Axis.C2PosSaveEn:=0;
    236. 

  236. 			_200_Axis.D2PosSaveEn:=0;
    237. 

  237. 			_200_Axis.A3PosSaveEn:=0;
    238. 

  238. 			_200_Axis.B3PosSaveEn:=0;
    239. 

  239. 			_200_Axis.C3PosSaveEn:=0;
    240. 

  240. 			_200_Axis.D3PosSaveEn:=0;
    241. 

  241. 			_200_Axis.A4PosSaveEn:=0;
    242. 

  242. 			_200_Axis.B4PosSaveEn:=0;
    243. 

  243. 			_200_Axis.C4PosSaveEn:=0;
    244. 

  244. 			_200_Axis.D4PosSaveEn:=0;
    245. 

  245. 			END_IF
    246. 

  246. 		IF _200_Axis.JogPosEn THEN 
    247. 

  247. 			_200_Axis.HomeEn:=0;
    248. 

  248. 			_200_Axis.JogNegEn:=0;
    249. 

  249. 			_200_Axis.A1PosSaveEn:=0;
    250. 

  250. 			_200_Axis.B1PosSaveEn:=0;
    251. 

  251. 			_200_Axis.C1PosSaveEn:=0;
    252. 

  252. 			_200_Axis.D1PosSaveEn:=0;
    253. 

  253. 			_200_Axis.A2PosSaveEn:=0;
    254. 

  254. 			_200_Axis.B2PosSaveEn:=0;
    255. 

  255. 			_200_Axis.C2PosSaveEn:=0;
    256. 

  256. 			_200_Axis.D2PosSaveEn:=0;
    257. 

  257. 			_200_Axis.A3PosSaveEn:=0;
    258. 

  258. 			_200_Axis.B3PosSaveEn:=0;
    259. 

  259. 			_200_Axis.C3PosSaveEn:=0;
    260. 

  260. 			_200_Axis.D3PosSaveEn:=0;
    261. 

  261. 			_200_Axis.A4PosSaveEn:=0;
    262. 

  262. 			_200_Axis.B4PosSaveEn:=0;
    263. 

  263. 			_200_Axis.C4PosSaveEn:=0;
    264. 

  264. 			_200_Axis.D4PosSaveEn:=0;
    265. 

  265. 			END_IF
    266. 

  266. 		IF _200_Axis.JogNegEn THEN 
    267. 

  267. 			_200_Axis.HomeEn:=0;
    268. 

  268. 			_200_Axis.JogPosEn:=0;
    269. 

  269. 			_200_Axis.A1PosSaveEn:=0;
    270. 

  270. 			_200_Axis.B1PosSaveEn:=0;
    271. 

  271. 			_200_Axis.C1PosSaveEn:=0;
    272. 

  272. 			_200_Axis.D1PosSaveEn:=0;
    273. 

  273. 			_200_Axis.A2PosSaveEn:=0;
    274. 

  274. 			_200_Axis.B2PosSaveEn:=0;
    275. 

  275. 			_200_Axis.C2PosSaveEn:=0;
    276. 

  276. 			_200_Axis.D2PosSaveEn:=0;
    277. 

  277. 			_200_Axis.A3PosSaveEn:=0;
    278. 

  278. 			_200_Axis.B3PosSaveEn:=0;
    279. 

  279. 			_200_Axis.C3PosSaveEn:=0;
    280. 

  280. 			_200_Axis.D3PosSaveEn:=0;
    281. 

  281. 			_200_Axis.A4PosSaveEn:=0;
    282. 

  282. 			_200_Axis.B4PosSaveEn:=0;
    283. 

  283. 			_200_Axis.C4PosSaveEn:=0;
    284. 

  284. 			_200_Axis.D4PosSaveEn:=0;
    285. 

  285. 			END_IF
    286. 

  286. 		IF _200_Axis.A1PosSaveEn THEN 
    287. 

  287. 			_200_Axis.HomeEn:=0;
    288. 

  288. 			_200_Axis.JogPosEn:=0;
    289. 

  289. 			_200_Axis.JogNegEn:=0;
    290. 

  290. 			_200_Axis.B1PosSaveEn:=0;
    291. 

  291. 			_200_Axis.C1PosSaveEn:=0;
    292. 

  292. 			_200_Axis.D1PosSaveEn:=0;
    293. 

  293. 			_200_Axis.A2PosSaveEn:=0;
    294. 

  294. 			_200_Axis.B2PosSaveEn:=0;
    295. 

  295. 			_200_Axis.C2PosSaveEn:=0;
    296. 

  296. 			_200_Axis.D2PosSaveEn:=0;
    297. 

  297. 			_200_Axis.A3PosSaveEn:=0;
    298. 

  298. 			_200_Axis.B3PosSaveEn:=0;
    299. 

  299. 			_200_Axis.C3PosSaveEn:=0;
    300. 

  300. 			_200_Axis.D3PosSaveEn:=0;
    301. 

  301. 			_200_Axis.A4PosSaveEn:=0;
    302. 

  302. 			_200_Axis.B4PosSaveEn:=0;
    303. 

  303. 			_200_Axis.C4PosSaveEn:=0;
    304. 

  304. 			_200_Axis.D4PosSaveEn:=0;
    305. 

  305. 			END_IF
    306. 

  306. 		IF _200_Axis.B1PosSaveEn THEN 
    307. 

  307. 			_200_Axis.HomeEn:=0;
    308. 

  308. 			_200_Axis.JogPosEn:=0;
    309. 

  309. 			_200_Axis.JogNegEn:=0;
    310. 

  310. 			_200_Axis.A1PosSaveEn:=0;
    311. 

  311. 			_200_Axis.C1PosSaveEn:=0;
    312. 

  312. 			_200_Axis.D1PosSaveEn:=0;
    313. 

  313. 			_200_Axis.A2PosSaveEn:=0;
    314. 

  314. 			_200_Axis.B2PosSaveEn:=0;
    315. 

  315. 			_200_Axis.C2PosSaveEn:=0;
    316. 

  316. 			_200_Axis.D2PosSaveEn:=0;
    317. 

  317. 			_200_Axis.A3PosSaveEn:=0;
    318. 

  318. 			_200_Axis.B3PosSaveEn:=0;
    319. 

  319. 			_200_Axis.C3PosSaveEn:=0;
    320. 

  320. 			_200_Axis.D3PosSaveEn:=0;
    321. 

  321. 			_200_Axis.A4PosSaveEn:=0;
    322. 

  322. 			_200_Axis.B4PosSaveEn:=0;
    323. 

  323. 			_200_Axis.C4PosSaveEn:=0;
    324. 

  324. 			_200_Axis.D4PosSaveEn:=0;
    325. 

  325. 			END_IF
    326. 

  326. 		IF _200_Axis.C1PosSaveEn THEN 
    327. 

  327. 			_200_Axis.HomeEn:=0;
    328. 

  328. 			_200_Axis.JogPosEn:=0;
    329. 

  329. 			_200_Axis.JogNegEn:=0;
    330. 

  330. 			_200_Axis.A1PosSaveEn:=0;
    331. 

  331. 			_200_Axis.B1PosSaveEn:=0;
    332. 

  332. 			_200_Axis.D1PosSaveEn:=0;
    333. 

  333. 			_200_Axis.A2PosSaveEn:=0;
    334. 

  334. 			_200_Axis.B2PosSaveEn:=0;
    335. 

  335. 			_200_Axis.C2PosSaveEn:=0;
    336. 

  336. 			_200_Axis.D2PosSaveEn:=0;
    337. 

  337. 			_200_Axis.A3PosSaveEn:=0;
    338. 

  338. 			_200_Axis.B3PosSaveEn:=0;
    339. 

  339. 			_200_Axis.C3PosSaveEn:=0;
    340. 

  340. 			_200_Axis.D3PosSaveEn:=0;
    341. 

  341. 			_200_Axis.A4PosSaveEn:=0;
    342. 

  342. 			_200_Axis.B4PosSaveEn:=0;
    343. 

  343. 			_200_Axis.C4PosSaveEn:=0;
    344. 

  344. 			_200_Axis.D4PosSaveEn:=0;
    345. 

  345. 			END_IF
    346. 

  346. 		IF _200_Axis.D1PosSaveEn THEN 
    347. 

  347. 			_200_Axis.HomeEn:=0;
    348. 

  348. 			_200_Axis.JogPosEn:=0;
    349. 

  349. 			_200_Axis.JogNegEn:=0;
    350. 

  350. 			_200_Axis.A1PosSaveEn:=0;
    351. 

  351. 			_200_Axis.B1PosSaveEn:=0;
    352. 

  352. 			_200_Axis.C1PosSaveEn:=0;
    353. 

  353. 			_200_Axis.A2PosSaveEn:=0;
    354. 

  354. 			_200_Axis.B2PosSaveEn:=0;
    355. 

  355. 			_200_Axis.C2PosSaveEn:=0;
    356. 

  356. 			_200_Axis.D2PosSaveEn:=0;
    357. 

  357. 			_200_Axis.A3PosSaveEn:=0;
    358. 

  358. 			_200_Axis.B3PosSaveEn:=0;
    359. 

  359. 			_200_Axis.C3PosSaveEn:=0;
    360. 

  360. 			_200_Axis.D3PosSaveEn:=0;
    361. 

  361. 			_200_Axis.A4PosSaveEn:=0;
    362. 

  362. 			_200_Axis.B4PosSaveEn:=0;
    363. 

  363. 			_200_Axis.C4PosSaveEn:=0;
    364. 

  364. 			_200_Axis.D4PosSaveEn:=0;
    365. 

  365. 			END_IF
    366. 

  366. 		IF _200_Axis.A2PosSaveEn THEN 
    367. 

  367. 			_200_Axis.HomeEn:=0;
    368. 

  368. 			_200_Axis.JogPosEn:=0;
    369. 

  369. 			_200_Axis.JogNegEn:=0;
    370. 

  370. 			_200_Axis.A1PosSaveEn:=0;
    371. 

  371. 			_200_Axis.B1PosSaveEn:=0;
    372. 

  372. 			_200_Axis.C1PosSaveEn:=0;
    373. 

  373. 			_200_Axis.D1PosSaveEn:=0;
    374. 

  374. 			_200_Axis.B2PosSaveEn:=0;
    375. 

  375. 			_200_Axis.C2PosSaveEn:=0;
    376. 

  376. 			_200_Axis.D2PosSaveEn:=0;
    377. 

  377. 			_200_Axis.A3PosSaveEn:=0;
    378. 

  378. 			_200_Axis.B3PosSaveEn:=0;
    379. 

  379. 			_200_Axis.C3PosSaveEn:=0;
    380. 

  380. 			_200_Axis.D3PosSaveEn:=0;
    381. 

  381. 			_200_Axis.A4PosSaveEn:=0;
    382. 

  382. 			_200_Axis.B4PosSaveEn:=0;
    383. 

  383. 			_200_Axis.C4PosSaveEn:=0;
    384. 

  384. 			_200_Axis.D4PosSaveEn:=0;
    385. 

  385. 			END_IF
    386. 

  386. 		IF _200_Axis.B2PosSaveEn THEN 
    387. 

  387. 			_200_Axis.HomeEn:=0;
    388. 

  388. 			_200_Axis.JogPosEn:=0;
    389. 

  389. 			_200_Axis.JogNegEn:=0;
    390. 

  390. 			_200_Axis.A1PosSaveEn:=0;
    391. 

  391. 			_200_Axis.B1PosSaveEn:=0;
    392. 

  392. 			_200_Axis.C1PosSaveEn:=0;
    393. 

  393. 			_200_Axis.D1PosSaveEn:=0;
    394. 

  394. 			_200_Axis.A2PosSaveEn:=0;
    395. 

  395. 			_200_Axis.C2PosSaveEn:=0;
    396. 

  396. 			_200_Axis.D2PosSaveEn:=0;
    397. 

  397. 			_200_Axis.A3PosSaveEn:=0;
    398. 

  398. 			_200_Axis.B3PosSaveEn:=0;
    399. 

  399. 			_200_Axis.C3PosSaveEn:=0;
    400. 

  400. 			_200_Axis.D3PosSaveEn:=0;
    401. 

  401. 			_200_Axis.A4PosSaveEn:=0;
    402. 

  402. 			_200_Axis.B4PosSaveEn:=0;
    403. 

  403. 			_200_Axis.C4PosSaveEn:=0;
    404. 

  404. 			_200_Axis.D4PosSaveEn:=0;
    405. 

  405. 			END_IF
    406. 

  406. 		IF _200_Axis.C2PosSaveEn THEN 
    407. 

  407. 			_200_Axis.HomeEn:=0;
    408. 

  408. 			_200_Axis.JogPosEn:=0;
    409. 

  409. 			_200_Axis.JogNegEn:=0;
    410. 

  410. 			_200_Axis.A1PosSaveEn:=0;
    411. 

  411. 			_200_Axis.B1PosSaveEn:=0;
    412. 

  412. 			_200_Axis.C1PosSaveEn:=0;
    413. 

  413. 			_200_Axis.D1PosSaveEn:=0;
    414. 

  414. 			_200_Axis.A2PosSaveEn:=0;
    415. 

  415. 			_200_Axis.B2PosSaveEn:=0;
    416. 

  416. 			_200_Axis.D2PosSaveEn:=0;
    417. 

  417. 			_200_Axis.A3PosSaveEn:=0;
    418. 

  418. 			_200_Axis.B3PosSaveEn:=0;
    419. 

  419. 			_200_Axis.C3PosSaveEn:=0;
    420. 

  420. 			_200_Axis.D3PosSaveEn:=0;
    421. 

  421. 			_200_Axis.A4PosSaveEn:=0;
    422. 

  422. 			_200_Axis.B4PosSaveEn:=0;
    423. 

  423. 			_200_Axis.C4PosSaveEn:=0;
    424. 

  424. 			_200_Axis.D4PosSaveEn:=0;
    425. 

  425. 			END_IF
    426. 

  426. 		IF _200_Axis.D2PosSaveEn THEN 
    427. 

  427. 			_200_Axis.HomeEn:=0;
    428. 

  428. 			_200_Axis.JogPosEn:=0;
    429. 

  429. 			_200_Axis.JogNegEn:=0;
    430. 

  430. 			_200_Axis.A1PosSaveEn:=0;
    431. 

  431. 			_200_Axis.B1PosSaveEn:=0;
    432. 

  432. 			_200_Axis.C1PosSaveEn:=0;
    433. 

  433. 			_200_Axis.D1PosSaveEn:=0;
    434. 

  434. 			_200_Axis.A2PosSaveEn:=0;
    435. 

  435. 			_200_Axis.B2PosSaveEn:=0;
    436. 

  436. 			_200_Axis.C2PosSaveEn:=0;
    437. 

  437. 			_200_Axis.A3PosSaveEn:=0;
    438. 

  438. 			_200_Axis.B3PosSaveEn:=0;
    439. 

  439. 			_200_Axis.C3PosSaveEn:=0;
    440. 

  440. 			_200_Axis.D3PosSaveEn:=0;
    441. 

  441. 			_200_Axis.A4PosSaveEn:=0;
    442. 

  442. 			_200_Axis.B4PosSaveEn:=0;
    443. 

  443. 			_200_Axis.C4PosSaveEn:=0;
    444. 

  444. 			_200_Axis.D4PosSaveEn:=0;
    445. 

  445. 			END_IF
    446. 

  446. 		IF _200_Axis.A3PosSaveEn THEN 
    447. 

  447. 			_200_Axis.HomeEn:=0;
    448. 

  448. 			_200_Axis.JogPosEn:=0;
    449. 

  449. 			_200_Axis.JogNegEn:=0;
    450. 

  450. 			_200_Axis.A1PosSaveEn:=0;
    451. 

  451. 			_200_Axis.B1PosSaveEn:=0;
    452. 

  452. 			_200_Axis.C1PosSaveEn:=0;
    453. 

  453. 			_200_Axis.D1PosSaveEn:=0;
    454. 

  454. 			_200_Axis.A2PosSaveEn:=0;
    455. 

  455. 			_200_Axis.B2PosSaveEn:=0;
    456. 

  456. 			_200_Axis.C2PosSaveEn:=0;
    457. 

  457. 			_200_Axis.D2PosSaveEn:=0;
    458. 

  458. 			_200_Axis.B3PosSaveEn:=0;
    459. 

  459. 			_200_Axis.C3PosSaveEn:=0;
    460. 

  460. 			_200_Axis.D3PosSaveEn:=0;
    461. 

  461. 			_200_Axis.A4PosSaveEn:=0;
    462. 

  462. 			_200_Axis.B4PosSaveEn:=0;
    463. 

  463. 			_200_Axis.C4PosSaveEn:=0;
    464. 

  464. 			_200_Axis.D4PosSaveEn:=0;
    465. 

  465. 			END_IF
    466. 

  466. 		IF _200_Axis.B3PosSaveEn THEN 
    467. 

  467. 			_200_Axis.HomeEn:=0;
    468. 

  468. 			_200_Axis.JogPosEn:=0;
    469. 

  469. 			_200_Axis.JogNegEn:=0;
    470. 

  470. 			_200_Axis.A1PosSaveEn:=0;
    471. 

  471. 			_200_Axis.B1PosSaveEn:=0;
    472. 

  472. 			_200_Axis.C1PosSaveEn:=0;
    473. 

  473. 			_200_Axis.D1PosSaveEn:=0;
    474. 

  474. 			_200_Axis.A2PosSaveEn:=0;
    475. 

  475. 			_200_Axis.B2PosSaveEn:=0;
    476. 

  476. 			_200_Axis.C2PosSaveEn:=0;
    477. 

  477. 			_200_Axis.D2PosSaveEn:=0;
    478. 

  478. 			_200_Axis.A3PosSaveEn:=0;
    479. 

  479. 			_200_Axis.C3PosSaveEn:=0;
    480. 

  480. 			_200_Axis.D3PosSaveEn:=0;
    481. 

  481. 			_200_Axis.A4PosSaveEn:=0;
    482. 

  482. 			_200_Axis.B4PosSaveEn:=0;
    483. 

  483. 			_200_Axis.C4PosSaveEn:=0;
    484. 

  484. 			_200_Axis.D4PosSaveEn:=0;
    485. 

  485. 			END_IF
    486. 

  486. 		IF _200_Axis.C3PosSaveEn THEN 
    487. 

  487. 			_200_Axis.HomeEn:=0;
    488. 

  488. 			_200_Axis.JogPosEn:=0;
    489. 

  489. 			_200_Axis.JogNegEn:=0;
    490. 

  490. 			_200_Axis.A1PosSaveEn:=0;
    491. 

  491. 			_200_Axis.B1PosSaveEn:=0;
    492. 

  492. 			_200_Axis.C1PosSaveEn:=0;
    493. 

  493. 			_200_Axis.D1PosSaveEn:=0;
    494. 

  494. 			_200_Axis.A2PosSaveEn:=0;
    495. 

  495. 			_200_Axis.B2PosSaveEn:=0;
    496. 

  496. 			_200_Axis.C2PosSaveEn:=0;
    497. 

  497. 			_200_Axis.D2PosSaveEn:=0;
    498. 

  498. 			_200_Axis.A3PosSaveEn:=0;
    499. 

  499. 			_200_Axis.B3PosSaveEn:=0;
    500. 

  500. 			_200_Axis.D3PosSaveEn:=0;
    501. 

  501. 			_200_Axis.A4PosSaveEn:=0;
    502. 

  502. 			_200_Axis.B4PosSaveEn:=0;
    503. 

  503. 			_200_Axis.C4PosSaveEn:=0;
    504. 

  504. 			_200_Axis.D4PosSaveEn:=0;
    505. 

  505. 			END_IF
    506. 

  506. 		IF _200_Axis.D3PosSaveEn THEN 
    507. 

  507. 			_200_Axis.HomeEn:=0;
    508. 

  508. 			_200_Axis.JogPosEn:=0;
    509. 

  509. 			_200_Axis.JogNegEn:=0;
    510. 

  510. 			_200_Axis.A1PosSaveEn:=0;
    511. 

  511. 			_200_Axis.B1PosSaveEn:=0;
    512. 

  512. 			_200_Axis.C1PosSaveEn:=0;
    513. 

  513. 			_200_Axis.D1PosSaveEn:=0;
    514. 

  514. 			_200_Axis.A2PosSaveEn:=0;
    515. 

  515. 			_200_Axis.B2PosSaveEn:=0;
    516. 

  516. 			_200_Axis.C2PosSaveEn:=0;
    517. 

  517. 			_200_Axis.D2PosSaveEn:=0;
    518. 

  518. 			_200_Axis.A3PosSaveEn:=0;
    519. 

  519. 			_200_Axis.B3PosSaveEn:=0;
    520. 

  520. 			_200_Axis.C3PosSaveEn:=0;
    521. 

  521. 			_200_Axis.A4PosSaveEn:=0;
    522. 

  522. 			_200_Axis.B4PosSaveEn:=0;
    523. 

  523. 			_200_Axis.C4PosSaveEn:=0;
    524. 

  524. 			_200_Axis.D4PosSaveEn:=0;
    525. 

  525. 			END_IF
    526. 

  526. 		IF _200_Axis.A4PosSaveEn THEN 
    527. 

  527. 			_200_Axis.HomeEn:=0;
    528. 

  528. 			_200_Axis.JogPosEn:=0;
    529. 

  529. 			_200_Axis.JogNegEn:=0;
    530. 

  530. 			_200_Axis.A1PosSaveEn:=0;
    531. 

  531. 			_200_Axis.B1PosSaveEn:=0;
    532. 

  532. 			_200_Axis.C1PosSaveEn:=0;
    533. 

  533. 			_200_Axis.D1PosSaveEn:=0;
    534. 

  534. 			_200_Axis.A2PosSaveEn:=0;
    535. 

  535. 			_200_Axis.B2PosSaveEn:=0;
    536. 

  536. 			_200_Axis.C2PosSaveEn:=0;
    537. 

  537. 			_200_Axis.D2PosSaveEn:=0;
    538. 

  538. 			_200_Axis.A3PosSaveEn:=0;
    539. 

  539. 			_200_Axis.B3PosSaveEn:=0;
    540. 

  540. 			_200_Axis.C3PosSaveEn:=0;
    541. 

  541. 			_200_Axis.D3PosSaveEn:=0;
    542. 

  542. 			_200_Axis.B4PosSaveEn:=0;
    543. 

  543. 			_200_Axis.C4PosSaveEn:=0;
    544. 

  544. 			_200_Axis.D4PosSaveEn:=0;
    545. 

  545. 			END_IF
    546. 

  546. 		IF _200_Axis.B4PosSaveEn THEN 
    547. 

  547. 			_200_Axis.HomeEn:=0;
    548. 

  548. 			_200_Axis.JogPosEn:=0;
    549. 

  549. 			_200_Axis.JogNegEn:=0;
    550. 

  550. 			_200_Axis.A1PosSaveEn:=0;
    551. 

  551. 			_200_Axis.B1PosSaveEn:=0;
    552. 

  552. 			_200_Axis.C1PosSaveEn:=0;
    553. 

  553. 			_200_Axis.D1PosSaveEn:=0;
    554. 

  554. 			_200_Axis.A2PosSaveEn:=0;
    555. 

  555. 			_200_Axis.B2PosSaveEn:=0;
    556. 

  556. 			_200_Axis.C2PosSaveEn:=0;
    557. 

  557. 			_200_Axis.D2PosSaveEn:=0;
    558. 

  558. 			_200_Axis.A3PosSaveEn:=0;
    559. 

  559. 			_200_Axis.B3PosSaveEn:=0;
    560. 

  560. 			_200_Axis.C3PosSaveEn:=0;
    561. 

  561. 			_200_Axis.D3PosSaveEn:=0;
    562. 

  562. 			_200_Axis.A4PosSaveEn:=0;
    563. 

  563. 			_200_Axis.C4PosSaveEn:=0;
    564. 

  564. 			_200_Axis.D4PosSaveEn:=0;
    565. 

  565. 			END_IF
    566. 

  566. 		IF _200_Axis.C4PosSaveEn THEN 
    567. 

  567. 			_200_Axis.HomeEn:=0;
    568. 

  568. 			_200_Axis.JogPosEn:=0;
    569. 

  569. 			_200_Axis.JogNegEn:=0;
    570. 

  570. 			_200_Axis.A1PosSaveEn:=0;
    571. 

  571. 			_200_Axis.B1PosSaveEn:=0;
    572. 

  572. 			_200_Axis.C1PosSaveEn:=0;
    573. 

  573. 			_200_Axis.D1PosSaveEn:=0;
    574. 

  574. 			_200_Axis.A2PosSaveEn:=0;
    575. 

  575. 			_200_Axis.B2PosSaveEn:=0;
    576. 

  576. 			_200_Axis.C2PosSaveEn:=0;
    577. 

  577. 			_200_Axis.D2PosSaveEn:=0;
    578. 

  578. 			_200_Axis.A3PosSaveEn:=0;
    579. 

  579. 			_200_Axis.B3PosSaveEn:=0;
    580. 

  580. 			_200_Axis.C3PosSaveEn:=0;
    581. 

  581. 			_200_Axis.D3PosSaveEn:=0;
    582. 

  582. 			_200_Axis.A4PosSaveEn:=0;
    583. 

  583. 			_200_Axis.B4PosSaveEn:=0;
    584. 

  584. 			_200_Axis.D4PosSaveEn:=0;
    585. 

  585. 			END_IF
    586. 

  586. 		IF _200_Axis.D4PosSaveEn THEN 
    587. 

  587. 			_200_Axis.HomeEn:=0;
    588. 

  588. 			_200_Axis.JogPosEn:=0;
    589. 

  589. 			_200_Axis.JogNegEn:=0;
    590. 

  590. 			_200_Axis.A1PosSaveEn:=0;
    591. 

  591. 			_200_Axis.B1PosSaveEn:=0;
    592. 

  592. 			_200_Axis.C1PosSaveEn:=0;
    593. 

  593. 			_200_Axis.D1PosSaveEn:=0;
    594. 

  594. 			_200_Axis.A2PosSaveEn:=0;
    595. 

  595. 			_200_Axis.B2PosSaveEn:=0;
    596. 

  596. 			_200_Axis.C2PosSaveEn:=0;
    597. 

  597. 			_200_Axis.D2PosSaveEn:=0;
    598. 

  598. 			_200_Axis.A3PosSaveEn:=0;
    599. 

  599. 			_200_Axis.B3PosSaveEn:=0;
    600. 

  600. 			_200_Axis.C3PosSaveEn:=0;
    601. 

  601. 			_200_Axis.D3PosSaveEn:=0;
    602. 

  602. 			_200_Axis.A4PosSaveEn:=0;
    603. 

  603. 			_200_Axis.B4PosSaveEn:=0;
    604. 

  604. 			_200_Axis.C4PosSaveEn:=0;
    605. 

  605. 			END_IF
    606. 

  606. 		ELSE
    607. 

  607. 			_200_Axis.HomeEn:=0;
    608. 

  608. 			_200_Axis.JogPosEn:=0;
    609. 

  609. 			_200_Axis.JogNegEn:=0;
    610. 

  610. 			_200_Axis.A1PosSaveEn:=0;
    611. 

  611. 			_200_Axis.B1PosSaveEn:=0;
    612. 

  612. 			_200_Axis.C1PosSaveEn:=0;
    613. 

  613. 			_200_Axis.D1PosSaveEn:=0;
    614. 

  614. 			_200_Axis.A2PosSaveEn:=0;
    615. 

  615. 			_200_Axis.B2PosSaveEn:=0;
    616. 

  616. 			_200_Axis.C2PosSaveEn:=0;
    617. 

  617. 			_200_Axis.D2PosSaveEn:=0;
    618. 

  618. 			_200_Axis.A3PosSaveEn:=0;
    619. 

  619. 			_200_Axis.B3PosSaveEn:=0;
    620. 

  620. 			_200_Axis.C3PosSaveEn:=0;
    621. 

  621. 			_200_Axis.D3PosSaveEn:=0;
    622. 

  622. 			_200_Axis.A4PosSaveEn:=0;
    623. 

  623. 			_200_Axis.B4PosSaveEn:=0;
    624. 

  624. 			_200_Axis.C4PosSaveEn:=0;
    625. 

  625. 			_200_Axis.D4PosSaveEn:=0;
    626. 

  626. 		
    627. 

  627. 		
    628. 

  628. 	END_IF
    629. 

  629. //--.02 Boat
    630. 

  630. 	//Boat使能
    631. 

  631. 	_200_Axis.BoatControl.RobotToAxisEnable:=_200_Axis.HMINo=191;
    632. 

  632. 	//Boat JOG+
    633. 

  633. 	_200_Axis.BoatControl.TPToAxisJogBackwards:=_200_Axis.BoatJogUPEn AND _200_Axis.Run1;
    634. 

  634. 	//Boat JOG-
    635. 

  635. 	_200_Axis.BoatControl.TPToAxisJogForward:=_200_Axis.BoatJogDownEn AND _200_Axis.Run1;
    636. 

  636. 	//Boat JOG速度
    637. 

  637. 	_200_Axis.BoatData.Vel[31]:=_200_Axis.BoatJogVel;
    638. 

  638. 	//Boat 相对定位
    639. 

  639. 	_200_Axis.BoatControl.RobotToCmdMoveRelative:=_200_Axis.BoatMoveRelEn AND _200_Axis.Run1;
    640. 

  640. 	//Boat 绝对定位
    641. 

  641. 	_200_Axis.BoatControl.RobotToCmdMoveAbsolute:=_200_Axis.BoatMovAbsEn AND _200_Axis.Run1;
    642. 

  642. 	//原点回归
    643. 

  643. 	_200_Axis.BoatControl.RobotToCmdHome:=_200_Axis.BoatHomeEn AND _200_Axis.Run1;
    644. 

  644. 	//HOME保存
    645. 

  645. 	IF _200_Axis.BoatHomePosEN  THEN
    646. 

  646. 		_200_Axis.BoatHomePos:=_200_Axis.BoatTPInputPos;
    647. 

  647. 		_200_Axis.BoatData.Pos[1]:=_200_Axis.BoatHomePos;
    648. 

  648. 		ELSE
    649. 

  649. 			_200_Axis.BoatHomePos:=_200_Axis.BoatData.Pos[1];
    650. 

  650. 	END_IF
    651. 

  651. 	//MID保存
    652. 

  652. 	IF _200_Axis.BoatMidPosEN  THEN
    653. 

  653. 		_200_Axis.BoatMidPos:=_200_Axis.BoatTPInputPos;
    654. 

  654. 		_200_Axis.BoatData.Pos[2]:=_200_Axis.BoatMidPos;
    655. 

  655. 		ELSE
    656. 

  656. 			_200_Axis.BoatMidPos:=_200_Axis.BoatData.Pos[2];
    657. 

  657. 	END_IF
    658. 

  658. 	//CAP保存
    659. 

  659. 	IF _200_Axis.BoatCapsPosEN  THEN
    660. 

  660. 		_200_Axis.BoatCapsPos:=_200_Axis.BoatTPInputPos;
    661. 

  661. 		_200_Axis.BoatData.Pos[3]:=_200_Axis.BoatCapsPos;
    662. 

  662. 		ELSE
    663. 

  663. 			_200_Axis.BoatCapsPos:=_200_Axis.BoatData.Pos[3];
    664. 

  664. 	END_IF
    665. 

  665. 	//hmoe在位
    666. 

  666. 	//mid在位
    667. 

  667. 	//CAP在位
    668. 

  668. 	//点动速度限制
    669. 

  669. 	IF _200_Axis.BoatJogVel >10.0 THEN
    670. 

  670. 		_200_Axis.BoatJogVel:=1;
    671. 

  671. 		ELSIF _200_Axis.BoatJogVel <0.0 THEN
    672. 

  672. 			_200_Axis.BoatJogVel:=1;
    673. 

  673. 	END_IF
    674. 

  674. 	//位置显示
    675. 

  675. 	_200_Axis.BoatActPos:=_200_Axis.BoatAxisState.Pos;
    676. 

  676. 	//速度显示
    677. 

  677. 	_200_Axis.BoatActVel:=_200_Axis.BoatAxisState.vel;
    678. 

  678. 	//转矩显示
    679. 

  679. 	_200_Axis.TPBoatActTorque:=_200_Axis.BoatActTorque;
    680. 

  680. 	//使能显示
    681. 

  681. 	_200_Axis.BoatServoOn:=_200_Axis.BoatAxisState.Enabled;
    682. 

  682. 	//运动中
    683. 

  683. 	_200_Axis.BoatServoMoving:=_200_Axis.BoatAxisState.Busy;
    684. 

  684. 	//异常显示
    685. 

  685. 	_200_Axis.BoatServoAlarm:=_200_Axis.BoatAxisState.Error;
    686. 

  686. 	//正极限显示
    687. 

  687. 	//负极限显示
    688. 

  688. 	//异常ID
    689. 

  689. 	_200_Axis.BoatServoCode:=_200_Axis.BoatAxisState.ErrorID;
    690. 

  690. 	//按钮互锁
    691. 

  691. 	IF _200_Axis.HMINo=191 THEN
    692. 

  692. 		IF _200_Axis.BoatHomeEn THEN
    693. 

  693. 			_200_Axis.BoatJogUPEn:=0;
    694. 

  694. 			_200_Axis.BoatJogDownEn:=0;
    695. 

  695. 			_200_Axis.BoatMovAbsEn:=0;
    696. 

  696. 			_200_Axis.BoatMoveRelEn:=0;
    697. 

  697. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    698. 

  698. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    699. 

  699. 			_200_Axis.BoatCapsPosEN:=0;
    700. 

  700. 			_200_Axis.BoatMidPosEN:=0;
    701. 

  701. 			_200_Axis.BoatHomePosEN:=0;
    702. 

  702. 			_200_Axis.BoatPosSoftLimitEN:=0;
    703. 

  703. 			_200_Axis.BoatNegSoftLimitEN:=0;
    704. 

  704. 		END_IF
    705. 

  705. 		IF _200_Axis.BoatJogUPEn THEN
    706. 

  706. 			_200_Axis.BoatHomeEn:=0;
    707. 

  707. 			_200_Axis.BoatJogDownEn:=0;
    708. 

  708. 			_200_Axis.BoatMovAbsEn:=0;
    709. 

  709. 			_200_Axis.BoatMoveRelEn:=0;
    710. 

  710. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    711. 

  711. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    712. 

  712. 			_200_Axis.BoatCapsPosEN:=0;
    713. 

  713. 			_200_Axis.BoatMidPosEN:=0;
    714. 

  714. 			_200_Axis.BoatHomePosEN:=0;
    715. 

  715. 			_200_Axis.BoatPosSoftLimitEN:=0;
    716. 

  716. 			_200_Axis.BoatNegSoftLimitEN:=0;
    717. 

  717. 		END_IF
    718. 

  718. 		IF _200_Axis.BoatJogDownEn THEN
    719. 

  719. 			_200_Axis.BoatHomeEn:=0;
    720. 

  720. 			_200_Axis.BoatJogUPEn:=0;
    721. 

  721. 			_200_Axis.BoatMovAbsEn:=0;
    722. 

  722. 			_200_Axis.BoatMoveRelEn:=0;
    723. 

  723. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    724. 

  724. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    725. 

  725. 			_200_Axis.BoatCapsPosEN:=0;
    726. 

  726. 			_200_Axis.BoatMidPosEN:=0;
    727. 

  727. 			_200_Axis.BoatHomePosEN:=0;
    728. 

  728. 			_200_Axis.BoatPosSoftLimitEN:=0;
    729. 

  729. 			_200_Axis.BoatNegSoftLimitEN:=0;
    730. 

  730. 		END_IF
    731. 

  731. 		IF _200_Axis.BoatMovAbsEn THEN
    732. 

  732. 			_200_Axis.BoatHomeEn:=0;
    733. 

  733. 			_200_Axis.BoatJogUPEn:=0;
    734. 

  734. 			_200_Axis.BoatJogDownEn:=0;
    735. 

  735. 			_200_Axis.BoatMoveRelEn:=0;
    736. 

  736. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    737. 

  737. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    738. 

  738. 			_200_Axis.BoatCapsPosEN:=0;
    739. 

  739. 			_200_Axis.BoatMidPosEN:=0;
    740. 

  740. 			_200_Axis.BoatHomePosEN:=0;
    741. 

  741. 			_200_Axis.BoatPosSoftLimitEN:=0;
    742. 

  742. 			_200_Axis.BoatNegSoftLimitEN:=0;
    743. 

  743. 		END_IF
    744. 

  744. 		IF _200_Axis.BoatMoveRelEn THEN
    745. 

  745. 			_200_Axis.BoatHomeEn:=0;
    746. 

  746. 			_200_Axis.BoatJogUPEn:=0;
    747. 

  747. 			_200_Axis.BoatJogDownEn:=0;
    748. 

  748. 			_200_Axis.BoatMovAbsEn:=0;
    749. 

  749. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    750. 

  750. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    751. 

  751. 			_200_Axis.BoatCapsPosEN:=0;
    752. 

  752. 			_200_Axis.BoatMidPosEN:=0;
    753. 

  753. 			_200_Axis.BoatHomePosEN:=0;
    754. 

  754. 			_200_Axis.BoatPosSoftLimitEN:=0;
    755. 

  755. 			_200_Axis.BoatNegSoftLimitEN:=0;
    756. 

  756. 		END_IF
    757. 

  757. 		IF _200_Axis.BoatPosSoftLimitSaveEN THEN
    758. 

  758. 			_200_Axis.BoatHomeEn:=0;
    759. 

  759. 			_200_Axis.BoatJogUPEn:=0;
    760. 

  760. 			_200_Axis.BoatJogDownEn:=0;
    761. 

  761. 			_200_Axis.BoatMovAbsEn:=0;
    762. 

  762. 			_200_Axis.BoatMoveRelEn:=0;
    763. 

  763. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    764. 

  764. 			_200_Axis.BoatCapsPosEN:=0;
    765. 

  765. 			_200_Axis.BoatMidPosEN:=0;
    766. 

  766. 			_200_Axis.BoatHomePosEN:=0;
    767. 

  767. 			_200_Axis.BoatPosSoftLimitEN:=0;
    768. 

  768. 			_200_Axis.BoatNegSoftLimitEN:=0;
    769. 

  769. 		END_IF
    770. 

  770. 		IF _200_Axis.BoatNegSoftLimitSaveEN THEN
    771. 

  771. 			_200_Axis.BoatHomeEn:=0;
    772. 

  772. 			_200_Axis.BoatJogUPEn:=0;
    773. 

  773. 			_200_Axis.BoatJogDownEn:=0;
    774. 

  774. 			_200_Axis.BoatMovAbsEn:=0;
    775. 

  775. 			_200_Axis.BoatMoveRelEn:=0;
    776. 

  776. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    777. 

  777. 			_200_Axis.BoatCapsPosEN:=0;
    778. 

  778. 			_200_Axis.BoatMidPosEN:=0;
    779. 

  779. 			_200_Axis.BoatHomePosEN:=0;
    780. 

  780. 			_200_Axis.BoatPosSoftLimitEN:=0;
    781. 

  781. 			_200_Axis.BoatNegSoftLimitEN:=0;
    782. 

  782. 		END_IF
    783. 

  783. 		IF _200_Axis.BoatCapsPosEN THEN
    784. 

  784. 			_200_Axis.BoatHomeEn:=0;
    785. 

  785. 			_200_Axis.BoatJogUPEn:=0;
    786. 

  786. 			_200_Axis.BoatJogDownEn:=0;
    787. 

  787. 			_200_Axis.BoatMovAbsEn:=0;
    788. 

  788. 			_200_Axis.BoatMoveRelEn:=0;
    789. 

  789. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    790. 

  790. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    791. 

  791. 			_200_Axis.BoatMidPosEN:=0;
    792. 

  792. 			_200_Axis.BoatHomePosEN:=0;
    793. 

  793. 			_200_Axis.BoatPosSoftLimitEN:=0;
    794. 

  794. 			_200_Axis.BoatNegSoftLimitEN:=0;
    795. 

  795. 		END_IF
    796. 

  796. 		IF _200_Axis.BoatMidPosEN THEN
    797. 

  797. 			_200_Axis.BoatHomeEn:=0;
    798. 

  798. 			_200_Axis.BoatJogUPEn:=0;
    799. 

  799. 			_200_Axis.BoatJogDownEn:=0;
    800. 

  800. 			_200_Axis.BoatMovAbsEn:=0;
    801. 

  801. 			_200_Axis.BoatMoveRelEn:=0;
    802. 

  802. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    803. 

  803. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    804. 

  804. 			_200_Axis.BoatCapsPosEN:=0;
    805. 

  805. 			_200_Axis.BoatHomePosEN:=0;
    806. 

  806. 			_200_Axis.BoatPosSoftLimitEN:=0;
    807. 

  807. 			_200_Axis.BoatNegSoftLimitEN:=0;
    808. 

  808. 		END_IF
    809. 

  809. 		IF _200_Axis.BoatHomePosEN THEN
    810. 

  810. 			_200_Axis.BoatHomeEn:=0;
    811. 

  811. 			_200_Axis.BoatJogUPEn:=0;
    812. 

  812. 			_200_Axis.BoatJogDownEn:=0;
    813. 

  813. 			_200_Axis.BoatMovAbsEn:=0;
    814. 

  814. 			_200_Axis.BoatMoveRelEn:=0;
    815. 

  815. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    816. 

  816. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    817. 

  817. 			_200_Axis.BoatCapsPosEN:=0;
    818. 

  818. 			_200_Axis.BoatMidPosEN:=0;
    819. 

  819. 			_200_Axis.BoatPosSoftLimitEN:=0;
    820. 

  820. 			_200_Axis.BoatNegSoftLimitEN:=0;
    821. 

  821. 		END_IF
    822. 

  822. 		IF _200_Axis.BoatPosSoftLimitEN THEN
    823. 

  823. 			_200_Axis.BoatHomeEn:=0;
    824. 

  824. 			_200_Axis.BoatJogUPEn:=0;
    825. 

  825. 			_200_Axis.BoatJogDownEn:=0;
    826. 

  826. 			_200_Axis.BoatMovAbsEn:=0;
    827. 

  827. 			_200_Axis.BoatMoveRelEn:=0;
    828. 

  828. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    829. 

  829. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    830. 

  830. 			_200_Axis.BoatCapsPosEN:=0;
    831. 

  831. 			_200_Axis.BoatMidPosEN:=0;
    832. 

  832. 			_200_Axis.BoatHomePosEN:=0;
    833. 

  833. 			_200_Axis.BoatNegSoftLimitEN:=0;
    834. 

  834. 		END_IF
    835. 

  835. 		IF _200_Axis.BoatNegSoftLimitEN THEN
    836. 

  836. 			_200_Axis.BoatHomeEn:=0;
    837. 

  837. 			_200_Axis.BoatJogUPEn:=0;
    838. 

  838. 			_200_Axis.BoatJogDownEn:=0;
    839. 

  839. 			_200_Axis.BoatMovAbsEn:=0;
    840. 

  840. 			_200_Axis.BoatMoveRelEn:=0;
    841. 

  841. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    842. 

  842. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    843. 

  843. 			_200_Axis.BoatCapsPosEN:=0;
    844. 

  844. 			_200_Axis.BoatMidPosEN:=0;
    845. 

  845. 			_200_Axis.BoatHomePosEN:=0;
    846. 

  846. 			_200_Axis.BoatPosSoftLimitEN:=0;
    847. 

  847. 		END_IF
    848. 

  848. 	ELSE
    849. 

  849. 			_200_Axis.BoatHomeEn:=0;
    850. 

  850. 			_200_Axis.BoatJogUPEn:=0;
    851. 

  851. 			_200_Axis.BoatJogDownEn:=0;
    852. 

  852. 			_200_Axis.BoatMovAbsEn:=0;
    853. 

  853. 			_200_Axis.BoatMoveRelEn:=0;
    854. 

  854. 			_200_Axis.BoatPosSoftLimitSaveEN:=0;
    855. 

  855. 			_200_Axis.BoatNegSoftLimitSaveEN:=0;
    856. 

  856. 			_200_Axis.BoatCapsPosEN:=0;
    857. 

  857. 			_200_Axis.BoatMidPosEN:=0;
    858. 

  858. 			_200_Axis.BoatHomePosEN:=0;
    859. 

  859. 			_200_Axis.BoatPosSoftLimitEN:=0;
    860. 

  860. 			_200_Axis.BoatNegSoftLimitEN:=0;
    861. 

  861. 	
    862. 

  862. 	END_IF
    863. 

  863. 	
    864. 

  864. 	
    865. 

  865. 	
    866. 

  866. 	
    867. 

  867. 	
    868. 

  868. 	
    869. 

  869. 	
    870. 

  870. 	
    871. 

  871. 	
    872. 

  872. 	
    873. 

  873. //--.03 Cap	
    874. 

  874. 	//Cap 使能
    875. 

  875. 	_200_Axis.CapControl.RobotToAxisEnable:=_200_Axis.HMINo=191;
    876. 

  876. 	//Cap JOG+
    877. 

  877. 	_200_Axis.CapControl.TPToAxisJogForward:=_200_Axis.CapsJogFEn AND _200_Axis.Run1;
    878. 

  878. 	//Cap JOG-
    879. 

  879. 	_200_Axis.CapControl.TPToAxisJogBackwards:=_200_Axis.CapsJogBEn AND _200_Axis.Run1;
    880. 

  880. 	//Cap JOG速度
    881. 

  881. 	_200_Axis.CapData.Vel[31]:=_200_Axis.CapsJogVel;
    882. 

  882. 	//原点传感器
    883. 

  883. 	_200_Axis.CapControl.HomeSW:=NOT LAI.I503_01;
    884. 

  884. 	//原点回归
    885. 

  885. 	_200_Axis.CapControl.RobotToCmdHome:=_200_Axis.CapsHomeEn  AND _200_Axis.Run1;
    886. 

  886. 	//原点在位判断
    887. 

  887. 	
    888. 

  888. 	//位置显示
    889. 

  889. 	_200_Axis.CapsActPos:=_200_Axis.CapAxisState.Pos;
    890. 

  890. 	//速度显示
    891. 

  891. 	_200_Axis.CapsActPos:=_200_Axis.CapAxisState.vel;
    892. 

  892. 	//使能显示
    893. 

  893. 	_200_Axis.CapsServoOnOK:=_200_Axis.CapAxisState.Enabled;
    894. 

  894. 	//运动中
    895. 

  895. 	_200_Axis.CapsServoMoving:=_200_Axis.CapAxisState.Busy;
    896. 

  896. 	//异常显示
    897. 

  897. 	_200_Axis.CapsServoAlarm:=_200_Axis.CapAxisState.Error;
    898. 

  898. 	//正极限显示
    899. 

  899. 	
    900. 

  900. 	//负极限显示
    901. 

  901. 	
    902. 

  902. 	//异常ID
    903. 

  903. 	_200_Axis.CapsServoCode:=_200_Axis.CapAxisState.ErrorID;
    904. 

  904. 	//按钮互锁
    905. 

  905. 	IF _200_Axis.HMINo=190 THEN
    906. 

  906. 		IF _200_Axis.CapsHomeEn THEN
    907. 

  907. 			_200_Axis.CapsJogFEn:=0;
    908. 

  908. 			_200_Axis.CapsJogBEn:=0;
    909. 

  909. 			_200_Axis.CapsServoOn:=0;
    910. 

  910. 		END_IF
    911. 

  911. 		IF _200_Axis.CapsJogFEn THEN
    912. 

  912. 			_200_Axis.CapsHomeEn:=0;
    913. 

  913. 			_200_Axis.CapsJogBEn:=0;
    914. 

  914. 			_200_Axis.CapsServoOn:=0;
    915. 

  915. 		END_IF
    916. 

  916. 		IF _200_Axis.CapsJogBEn THEN
    917. 

  917. 			_200_Axis.CapsHomeEn:=0;
    918. 

  918. 			_200_Axis.CapsJogFEn:=0;
    919. 

  919. 			_200_Axis.CapsServoOn:=0;
    920. 

  920. 		END_IF
    921. 

  921. 		IF _200_Axis.CapsServoOn THEN
    922. 

  922. 			_200_Axis.CapsHomeEn:=0;
    923. 

  923. 			_200_Axis.CapsJogFEn:=0;
    924. 

  924. 			_200_Axis.CapsJogBEn:=0;
    925. 

  925. 		END_IF
    926. 

  926. 	ELSE
    927. 

  927. 			_200_Axis.CapsHomeEn:=0;
    928. 

  928. 			_200_Axis.CapsJogFEn:=0;
    929. 

  929. 			_200_Axis.CapsJogBEn:=0;
    930. 

  930. 			_200_Axis.CapsServoOn:=0;
    931. 

  931. 		
    932. 

  932. 	END_IF
    933. 

  933. 	//点动速度限制
    934. 

  934. 	IF _200_Axis.CapsJogVel >50.0 THEN
    935. 

  935. 		_200_Axis.CapsJogVel:=1;
    936. 

  936. 		ELSIF _200_Axis.CapsJogVel <0.0 THEN
    937. 

  937. 			_200_Axis.CapsJogVel:=1;
    938. 

  938. 	END_IF
    939. 

  939. 

  940. //02.Axis 基础参数设置（PC MODE）
    941. 

  941. 

  942. 

  943. 

  944. 

  945. 

  946. 

  947. 

  948. //03.Axis Error(轴异常报警）
    949. 

  949. 

  950. 

  951. 

  952. 

  953. 	
    954. 

  954. ]]></ST>
    955. 

  955.     </Implementation>
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