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SIMOTION中轴转矩限幅控制命令代码

信息来源: 澳门永利402.com     发布时间:2017-07-17 08:56:26      点击次数: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 
 
 
 
Copyright ? Siemens 
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); 


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