TwinCAT中PLC编程ST常用功能块的总结

1.前言
使用软PLC最好是多创建action，这样编程比较清晰，主程序里代码比较少，实现语言我推荐使用结构化文本（ST）。
2.常用功能块
①.power
VAR：

power1 : mc_power;
power_do : BOOL;

action:

power1(
    Axis:=axis1 , 
    Enable:=power_do , 
    Enable_Positive:= , 
    Enable_Negative:= , 
    Override:= , 
    BufferMode:= , 
    Options:= , 
    Status=> , 
    Busy=> , 
    Active=> , 
    Error=> , 
    ErrorID=> );

②.stop
VAR:

stop1 : MC_Stop;
stop_do : BOOL;

action:

stop1(
    Axis:=axis1 , 
    Execute:=stop_do , 
    Deceleration:= , 
    Jerk:= , 
    Options:= , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );

③.reset
VAR:

reset1 :mc_reset;
reset_do: BOOL;

action:

reset1(
    Axis:=axis1 , 
    Execute:=reset_do , 
    Done=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );

④.jog
VAR:

jog1 : MC_Jog;
jog_forward,jog_backward : BOOL;

action:

jog1(
    Axis:=axis1 , 
    JogForward:=jog_forward , 
    JogBackwards:=jog_backward , 
    Mode:= , 
    Position:= , 
    Velocity:= , 
    Acceleration:= , 
    Deceleration:= , 
    Jerk:= , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );

⑤.move_relative
VAR:

move_r1 : MC_MoveRelative;
mover_do : BOOL;

action:

move_r1(
    Axis:=axis1 , 
    Execute:=mover_do , 
    Distance:=10000 , 
    Velocity:=100 , 
    Acceleration:= , 
    Deceleration:= , 
    Jerk:= , 
    BufferMode:= , 
    Options:= , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );

⑥.move_absolute
VAR:

move_a1: MC_MoveAbsolute;
movea_do;

action:

move_a1(
    Axis:=axis1 , 
    Execute:=movea_do , 
    Position:=0 , 
    Velocity:=100 , 
    Acceleration:= , 
    Deceleration:= , 
    Jerk:= , 
    BufferMode:= , 
    Options:= , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );

⑦.
VAR:

camin : mc_camin;
camout : mc_camout;
camin_do: BOOL;
camin_out: BOOL;

action:

camin(
    Master:=axis1 , 
    Slave:=axis2 , 
    Execute:=camin_do , 
    MasterOffset:= , 
    SlaveOffset:= , 
    MasterScaling:= , 
    SlaveScaling:= , 
    StartMode:= , 
    CamTableID:=1 , 
    BufferMode:= , 
    Options:= , 
    InSync=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );
camout(
    Slave:=axis2, 
    Execute:=camout_do , 
    Options:= , 
    Done=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );

⑧.gear
VAR:

gearin2 : MC_GearIn;
gearout2 : MC_GearOut;
greain_do: BOOL;
gearout_do: BOOL;

action:

gearin2(
    Master:=axis1 , 
    Slave:=axis2 , 
    Execute:=greain_do , 
    RatioNumerator:= 1, 
    RatioDenominator:= 1, 
    Acceleration:= , 
    Deceleration:= , 
    Jerk:= , 
    BufferMode:= , 
    Options:= , 
    InGear=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );
gearout2(
    Slave:=axis2 , 
    Execute:=gearout_do , 
    Options:= , 
    Done=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );

⑨.setposition
VAR:

setpos1: mc_setposition;
set_do :BOOL;

action:

setpos1(
    Axis:=axis1 , 
    Execute:=set_do , 
    Position:=0 , 
    Mode:= , 
    Options:= , 
    Done=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );

⑩.home
VAR:

home1 : mc_home;
home_do : BOOL;
sensor : BOOL;

action:

home(
    Axis:=axis1 , 
    Execute:=home_do , 
    Position:= , 
    HomingMode:= , 
    BufferMode:= , 
    Options:= , 
    bCalibrationCam:=sensor , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorID=> );