機械手-氣動機械手回轉(zhuǎn)臂結構設計
機械手-氣動機械手回轉(zhuǎn)臂結構設計,機械手,氣動,回轉(zhuǎn),結構設計
主程序
Network 1
LD M12.0
CALL SBR1
Network 2
LD I0.0
ED
R V5000.0, 1
S V5000.1, 1
Network 3
LD I0.1
ED
R V5000.1, 1
S V5000.0, 1
Network 4
LD I0.2
ED
R V5000.4, 1
S V5000.2, 1
Network 5
LD I0.3
ED
R V5000.2, 1
S V5000.4, 1
Network 6
LD I0.4
ED
R V5000.5, 1
S V5000.6, 1
Network 7
LD I0.5
ED
R V5000.6, 1
S V5000.5, 1
Network 8
LD I0.6
ED
R V5001.0, 1
S V5000.7, 1
Network 9
LD I0.7
ED
R V5000.7, 1
S V5001.0, 1
Network 10
LD M12.1
AN M15.1
AN M12.2
CALL SBR2
Network 11
LD M12.2
CALL SBR0
在現(xiàn)子程序
Network 1
LD M10.2
EU
MOVW 0, VW4020
MOVD &VB4100, VD4022
MOVD VD4006, VD4026
Network 2
LD T42
EU
LD M10.2
EU
OLD
BMB *VD4022, VB4030, 3
MOVB VB4030, QB0
MOVW VW4031, VW4033
+D 3, VD4022
DECD VD4026
Network 3
LD M10.2
AN T42
AD>= VD4026, 0
TON T42, VW4033
Network 4
LDD= VD4026, 0
R M10.2, 1
初始化
Network 1
LD M12.0
O M11.0
AN M10.2
AN I0.1
= M11.0
= Q0.1
Network 2
LD M12.0
O M11.1
AN M10.2
AN I0.2
= M11.1
= Q0.4
Network 3
LD M12.0
O M11.2
AN I0.7
= M11.2
R Q0.7, 1
Network 4
LD M12.0
O M11.3
AN M10.2
AN I0.5
= M11.3
= Q0.6
存儲程序
Network 1
LD M10.0
EU
MOVD &VB4100, VD4040
MOVW 0, VW4004
MOVD 0, VD4006
Network 2
LD V5000.0
EU
LD V5000.1
EU
OLD
LD V5000.2
EU
OLD
LD V5000.4
EU
OLD
LD V5000.5
EU
OLD
LD V5000.6
EU
OLD
LD V5000.7
EU
OLD
= M15.0
Network 3
LD M15.0
EU
MOVB VB5000, VB4000
MOVW T41, VW4001
-I VW4010, VW4001
MOVW T41, VW4010
BMB VB4000, *VD4040, 3
+D 3, VD4040
INCD VD4006
Network 4
LD M10.0
TON T41, 30000
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