【正文】 tline)39。存儲運動的點類型 DMDEL g_apara1(g_cureditline) DMDEL g_apara2(g_cureditline) DMDEL g_apara3(g_cureditline) DMDEL g_apara4(g_cureditline) DMDEL g_apara5(g_cureditline) DMINS g_apara6(g_cureditline) If (g_cureditline + 1) g_totallines And g_cureditline 0 Then g_cureditline = g_cureditline 1 End If sub_togedit sub_showedit End If ElseIf curcmd = 713 Then 39。定位 If g_cureditline g_totallines Then For k = 0 To AXISNUM 1 base (k) speed = g_guidespdPer * setspeed(k) / 10039。手動速度計算 示教*最高速度 Next moveabs(g_apara2(g_cureditline)) axis(1) 39。shuangxia moveabs(g_apara1(g_cureditline)) axis(0) End If 39。39。 ElseIf curcmd = 709 Then39。清除文件 g_totallines = 0 g_cureditline = 0 sub_showedit ElseIf curcmd = 710 Then 39。保存 sub_readedit sub_savefile ElseIf curcmd = 712 Then 39。退出，不保存 sub_readprg g_cureditline = 0 sub_showedit ElseIf curcmd = 715 Then 39。取當(dāng)前坐標(biāo) If g_cureditline g_totallines Then temptype = g_atype(g_cureditline) If (temptype = 1 And temptype = 50) Then For i = 0 To AXISNUM 1 modbus_ieee(865 + (i * 2)) = mpos(i) Next sub_readedit End If End If ElseIf curcmd 730 And curcmd = 780 Then g_atype(g_cureditline) = curcmd 730 If g_cureditline = g_totallines Then g_totallines = g_totallines + 1 End If sub_togedit sub_readedit sub_showedit End if End IfEnd Sub39。手動Sub sub_domanu()If g_state 3 and g_state 5 Then If curcmd = 900 Then39。定位命令 39。 BASE(1) speed =g_guidespdPer * setspeed(1) / 10039。 setspeed(i)39。設(shè)置速度參數(shù) moveabs (modbus_ieee(403))39。運動 WAIT UNTIL IDLE(1) BASE(0) speed =g_guidespdPer * setspeed(0) / 10039。 setspeed(i)39。設(shè)置速度參數(shù) moveabs (modbus_ieee(401))39。運動 WAIT UNTIL IDLE(0) ElseIf curcmd = 901 Then39。修改坐標(biāo)命令 For i = 0 To AXISNUM 1 tempi = i * 2 mpos(i) = modbus_ieee(401 + tempi) Next End IfEnd IfEnd SubSub sub_dolookset()If g_state 3 and g_state 5 Then If curcmd = 1000 Then 39。上一頁 If g_pagelines 0 Then g_pagelines=g_pagelines5 End If Sub_look ElseIf curcmd = 1001 Then 39。下一頁 If g_pagelines+5 g_totallines Then g_pagelines=g_pagelines+5 End If Sub_look End If If curcmd =1100 And curcmd = 1104 Then If ((curcmd1100) + g_pagelines) g_totallines Then g_cureditline = g_pagelines + curcmd 1100 sub_togedit39。跳轉(zhuǎn)至編輯界面 g_state = 6 modbus_reg(415) = g_state39。設(shè)置控制器狀態(tài) sub_showedit39。調(diào)用子過程sub_showedit End If End IfEnd IfEnd Sub39。跳轉(zhuǎn)到編輯界面sub sub_togedit() modbus_reg(450) = 10039。跳轉(zhuǎn)至編輯界面 if Fsd = 0 then modbus_reg(708) = 139。設(shè)置為低速 g_guidespdPer = setlowsp trace g_guidespdPer=g_guidespdPer Fsd = 1 endif if g_atype(g_cureditline) = 12 then 39。延時 modbus_reg(450) = 111 g_apara2(g_cureditline) = 0 g_apara3(g_cureditline) = 0 g_apara4(g_cureditline) = 0 g_apara5(g_cureditline) = 0 elseif g_atype(g_cureditline) = 10 then 39。等待輸入 modbus_reg(450) = 112 g_apara3(g_cureditline) = 0 g_apara4(g_cureditline) = 0 g_apara5(g_cureditline) = 0 elseif g_atype(g_cureditline) = 9 then 39。IO輸出 modbus_reg(450) = 113 g_apara3(g_cureditline) = 0 g_apara4(g_cureditline) = 0 g_apara5(g_cureditline) = 0 elseif g_atype(g_cureditline) = 14 then 39?；亓? modbus_reg(450) = 114 g_apara1(g_cureditline) = 0 g_apara2(g_cureditline) = 0 g_apara3(g_cureditline) = 0 g_apara4(g_cureditline) = 0 g_apara5(g_cureditline) = 0 endifend sub39。瀏覽Sub sub_look() For i=0 to 4 tempi=i*12 If g_pagelines+i = g_totallines Then modbus_reg(864 + tempi) = 0 modbus_ieee(865 + tempi) = 0 modbus_ieee(867 + tempi) = 0 modbus_ieee(869 + tempi) = 0 modbus_ieee(871 + tempi) = 0 modbus_ieee(873 + tempi) = 0 modbus_reg(875 + tempi) = 0 Else modbus_reg(864 + tempi) = g_atype(g_pagelines+i)39。類型:點，直線，圓弧等 modbus_ieee(865 + tempi) = g_apara1(g_pagelines+i)39。X坐標(biāo) modbus_ieee(867 + tempi) = g_apara2(g_pagelines+i)39。Y坐標(biāo) modbus_ieee(869 + tempi) = g_apara3(g_pagelines+i)39。Z坐標(biāo) modbus_ieee(871 + tempi) = g_apara4(g_pagelines+i)39。U坐標(biāo) modbus_ieee(873 + tempi) = g_apara5(g_pagelines+i)39。V坐標(biāo) modbus_reg(875 + tempi) = g_apara6(g_pagelines+i)39。當(dāng)前速度 End If modbus_long(1000+2*i)=i+g_pagelines+1 NextEnd Sub 三軸主程序sub_readset39。讀取設(shè)置sub_readprg39。讀取FLASH文件39。modbus寄存器初始化modbus_reg(415) = g_state39。狀態(tài)顯示modbus_reg(416) = runerror39。狀態(tài)顯示modbus_long(432) = g_totaltimes39。運行次數(shù)modbus_long(420) = g_maxloop39。最大循環(huán)次數(shù) y以前是408modbus_long(434) = g_loops39。已加工次數(shù)modbus_long(444) = g_curline + 139。當(dāng)前