codesys CNC控制程序
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CNC G代码
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N000 F10 E30
N001 G00 X250 Y120
N010 G03 I-100 J0 T360
N020 G00 X300 Y150
N030 G01 X500
N040 G01 Y30
N050 G01 X300
N060 G01 Y150
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变量
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PROGRAM PLC_PRG
VAR
MC_PowerX:MC_Power;
MC_PowerY:MC_Power;
MC_PowerZ:MC_Power;
SMC_Interpolator:SMC_Interpolator;
SMC_TRAFO_Gantry3:SMC_TRAFO_Gantry3;
SMC_ControlAxisByPosX:SMC_ControlAxisByPos;
SMC_ControlAxisByPosY:SMC_ControlAxisByPos;
SMC_ControlAxisByPosZ:SMC_ControlAxisByPos;
x:INT;
y:INT;
z:INT;
SMC_PathCopierFile:SMC_PathCopierFile;
VisuStruct3DControl:VisuStruct3DControl;
SMC_PositionTracker:SMC_PositionTracker;
pointbuffer:ARRAY [0..100000] OF VisuStruct3DPathPoint;
END_VAR
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程序
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//使能X
MC_PowerX(
Axis:=axisX ,
Enable:=TRUE ,
bRegulatorOn:=TRUE ,
bDriveStart:=TRUE ,
Status=> ,
bRegulatorRealState=> ,
bDriveStartRealState=> ,
Busy=> ,
Error=> ,
ErrorID=> );
//使能Y
MC_PowerY(
Axis:=axisY ,
Enable:=TRUE ,
bRegulatorOn:=TRUE ,
bDriveStart:=TRUE ,
Status=> ,
bRegulatorRealState=> ,
bDriveStartRealState=> ,
Busy=> ,
Error=> ,
ErrorID=> );
//使能Z
MC_PowerZ(
Axis:=axisZ ,
Enable:=TRUE ,
bRegulatorOn:=TRUE ,
bDriveStart:=TRUE ,
Status=> ,
bRegulatorRealState=> ,
bDriveStartRealState=> ,
Busy=> ,
Error=> ,
ErrorID=> );
//插补器
SMC_Interpolator(
bExecute:= ,
poqDataIn:=ADR(CNC) ,
bSlow_Stop:= ,
bEmergency_Stop:= ,
bWaitAtNextStop:= ,
dOverride:= ,
iVelMode:= ,
dwIpoTime:=6000 ,
dLastWayPos:= ,
bAbort:= ,
bSingleStep:= ,
bAcknM:= ,
bQuick_Stop:= ,
dQuickDeceleration:= ,
dJerkMax:= ,
dQuickStopJerk:= ,
bSuppressSystemMFunctions:= ,
bDone=> ,
bBusy=> ,
bError=> ,
wErrorID=> ,
piSetPosition=> ,
iStatus=> ,
bWorking=> ,
iActObjectSourceNo=> ,
dActObjectLength=> ,
dActObjectLengthRemaining=> ,
dVel=> ,
vecActTangent=> ,
iLastSwitch=> ,
dwSwitches=> ,
dWayPos=> ,
wM=> ,
adToolLength=> ,
Act_Object=> );
//解析XYZ
SMC_TRAFO_Gantry3(
pi:=SMC_Interpolator.piSetPosition ,
dOffsetX:= ,
dOffsetY:= ,
dOffsetZ:= ,
dx=> ,
dy=> ,
dz=> );
//位置控制轴x
SMC_ControlAxisByPosX(
Axis:=axisX ,
iStatus:=SMC_Interpolator.iStatus ,
bEnable:=SMC_Interpolator.bWorking ,
bAvoidGaps:= ,
fSetPosition:=SMC_TRAFO_Gantry3.dx ,
fGapVelocity:=100 ,
fGapAcceleration:=100 ,
fGapDeceleration:=100 ,
fGapJerk:=100 ,
bBusy=> ,
bCommandAborted=> ,
bError=> ,
iErrorID=> ,
bStopIpo=> );
//位置控制轴y
SMC_ControlAxisByPosY(
Axis:=axisY ,
iStatus:=SMC_Interpolator.iStatus ,
bEnable:=SMC_Interpolator.bWorking ,
bAvoidGaps:= ,
fSetPosition:=SMC_TRAFO_Gantry3.dy ,
fGapVelocity:=100 ,
fGapAcceleration:=100 ,
fGapDeceleration:=100 ,
fGapJerk:=100 ,
bBusy=> ,
bCommandAborted=> ,
bError=> ,
iErrorID=> ,
bStopIpo=> );
//位置控制轴Z
SMC_ControlAxisByPosZ(
Axis:=axisZ ,
iStatus:=SMC_Interpolator.iStatus ,
bEnable:=SMC_Interpolator.bWorking ,
bAvoidGaps:= ,
fSetPosition:=SMC_TRAFO_Gantry3.dz ,
fGapVelocity:=100 ,
fGapAcceleration:=100 ,
fGapDeceleration:=100 ,
fGapJerk:=100 ,
bBusy=> ,
bCommandAborted=> ,
bError=> ,
iErrorID=> ,
bStopIpo=> );
x:=TO_INT(axisX.fActPosition);
y:=TO_INT(-axisY.fActPosition);
z:=TO_INT(axisZ.fActPosition);
//位置跟踪器
SMC_PositionTracker(
bEnable:=SMC_Interpolator.bBusy ,
bClear:=SMC_Interpolator.bDone ,
dX:=axisX.fActPosition ,
dY:=axisY.fActPosition ,
dZ:=axisZ.fActPosition ,
udiNumberOfPointsInArray:=SIZEOF(pointbuffer)/SIZEOF(pointbuffer[0]) ,
pBuffer:=ADR(pointbuffer) ,
vs3dt=> );
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界面
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