TwinCAT 3 alarm程序
ST
TYPE ST_alarm :
STRUCT
bState:BOOL;//报警状态
nCode:INT;//报警码
sTime:STRING;//报警时间
sComment:WSTRING;//报警信息
rTrig:R_TRIG;
fTrig:F_TRIG;
END_STRUCT
END_TYPE
TYPE ST_alarm_list :
STRUCT
sTime:STRING;
sCode:STRING;
sComment:WSTRING;
END_STRUCT
END_TYPEGVL_alarm
VAR_GLOBAL CONSTANT
//报警最大编号
nAlarmMaxNum:INT:=1500;
//历史报警最大编号
nAlarmHistoryMaxNum:INT:=1500;
//系统急停索引编号
indexAlarmSystemEmergency:INT:=1;
//系统自动模式未初始化完成索引编号
indexAlarmSystemNoInitialDone:INT:=2;
//急停按钮起始编号
nAlarmEmergencyStartNum:INT:=10;
//急停按钮索引编号
indexAlarmEmergency:INT:=10;
//安全光栅起始编号
nAlarmSafetySensorStartNum:INT:=101;
//安全光栅索引编号
indexAlarmSafetySensor:INT:=101;
//安全门起始编号
nAlarmSafetyDoorStartNum:INT:=201;
//安全门索引编号
indexAlarmSafetyDoorExample:INT:=201;
indexAlarmSafetyDoorExample2:INT:=202;
indexAlarmSafetyDoorExample3:INT:=203;
//轴起始编号
nAlarmAxisStartNum:INT:=301;
//轴索引编号
indexAlarmAxisExample:INT:=301;
indexAlarmAxisExample2:INT:=302;
indexAlarmAxisExample3:INT:=303;
//马达起始编号
nAlarmMotorStartNum:INT:=501;
//马达索引编号
indexAlarmMotorExample:INT:=501;
indexAlarmMotorExample2:INT:=502;
indexAlarmMotorExample3:INT:=503;
//气缸起始编号
nAlarmCylinderStartNum:INT:=601;
//气缸索引编号
indexAlarmCylinderExample:INT:=601;
indexAlarmCylinderExample2:INT:=602;
indexAlarmCylinderExample3:INT:=603;
//工位报警索引编号
indexAlarmExampleStartNum:INT:=901;
END_VAR
VAR_GLOBAL
alarm:ARRAY[0..nAlarmMaxNum] OF ST_alarm;
alarmList:ARRAY [0..nAlarmMaxNum] OF ST_alarm_list;
alarmHistoryList:ARRAY[0..nAlarmHistoryMaxNum] OF ST_alarm_list;
END_VARP_alarm
//******报警码赋值******//
FOR i:=0 TO nAlarmMaxNum BY 1 DO
alarm[i].nCode:=i;
END_FOR
//******系统急停报警******//
IF system.control.bEmergency THEN
alarm[indexAlarmSystemEmergency].bState:=TRUE;
alarm[indexAlarmSystemEmergency].sComment:="系统急停--按下报警";
ELSIF system.control.bReset THEN
alarm[indexAlarmSystemEmergency].bState:=FALSE;
END_IF
//******系统自动模式未初始化完成******//
IF system.control.bManualOrAutomatic AND NOT system.status.bInitialDone THEN
alarm[indexAlarmSystemNoInitialDone].bState:=TRUE;
alarm[indexAlarmSystemNoInitialDone].sComment:="系统自动模式未初始化完成";
ELSIF system.control.bReset THEN
alarm[indexAlarmSystemNoInitialDone].bState:=FALSE;
END_IF
//******急停按钮报警******//
FOR i:=nAlarmEmergencyStartNum TO nAlarmEmergencyStartNum+nEmergencyMaxNum-1 BY 1 DO
IF emergency[i-nAlarmEmergencyStartNum+1].bError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("急停按钮:",INT_TO_WSTRING(i-nAlarmEmergencyStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,emergency[i-nAlarmEmergencyStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--按下报警");
ELSIF system.control.bReset THEN
alarm[i].bState:=FALSE;
END_IF
END_FOR
//******安全光栅报警******//
FOR i:=nAlarmSafetySensorStartNum TO nAlarmSafetySensorStartNum+nSafetySensorMaxNum-1 BY 1 DO
IF safetySensor[i-nAlarmSafetySensorStartNum+1].bError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("安全光栅:",INT_TO_WSTRING(i-nAlarmSafetySensorStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,safetySensor[i-nAlarmSafetySensorStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--遮挡报警");
ELSIF system.control.bReset THEN
alarm[i].bState:=FALSE;
END_IF
END_FOR
//******安全门报警******//
FOR i:=nAlarmSafetyDoorStartNum TO nAlarmSafetyDoorStartNum+nSafetyDoorMaxNum-1 BY 1 DO
IF safetyDoor[i-nAlarmSafetyDoorStartNum+1].status.bCloseError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("安全门:",INT_TO_WSTRING(i-nAlarmSafetyDoorStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,safetyDoor[i-nAlarmSafetyDoorStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--关闭报警");
ELSIF system.control.bReset THEN
alarm[i].bState:=FALSE;
END_IF
END_FOR
//******轴报警******//
FOR i:=nAlarmAxisStartNum TO nAlarmAxisStartNum+nAxisMaxNum-1 BY 1 DO
IF axis[i-nAlarmAxisStartNum+1].com.nErrorCode>0 THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--驱动器报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.nAxisErrorID>0 THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--NC轴报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bHomeError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--回原点报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bJogError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--点动报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bMoveAbsoluteError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--绝对运动报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bMoveRelativeError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--相对运动报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bInterferenceError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--干涉报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bPositiveLimitError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--正极限值报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bNegativeLimitError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--负极限值报警");
ELSIF axis[i-nAlarmAxisStartNum+1].status.bTorqueLimitError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("轴:",INT_TO_WSTRING(i-nAlarmAxisStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,axis[i-nAlarmAxisStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--扭矩限值报警");
ELSIF system.control.bReset THEN
alarm[i].bState:=FALSE;
END_IF
END_FOR
//******马达报警******//
FOR i:=nAlarmMotorStartNum TO nAlarmMotorStartNum+nMotorMaxNum-1 BY 1 DO
IF motor[i-nAlarmMotorStartNum+1].status.bForwardError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("马达:",INT_TO_WSTRING(i-nAlarmMotorStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,motor[i-nAlarmMotorStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--正转报警");
ELSIF motor[i-nAlarmMotorStartNum+1].status.bBackwardError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("马达:",INT_TO_WSTRING(i-nAlarmMotorStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,motor[i-nAlarmMotorStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--反转报警");
ELSIF system.control.bReset THEN
alarm[i].bState:=FALSE;
END_IF
END_FOR
//******气缸报警******//
FOR i:=nAlarmCylinderStartNum TO nAlarmCylinderStartNum+nCylinderMaxNum-1 BY 1 DO
IF cylinder[i-nAlarmCylinderStartNum+1].status.bCheckError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("气缸:",INT_TO_WSTRING(i-nAlarmCylinderStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,cylinder[i-nAlarmCylinderStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--当前状态和自动状态不一致报警");
ELSIF cylinder[i-nAlarmCylinderStartNum+1].status.bOpenError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("气缸:",INT_TO_WSTRING(i-nAlarmCylinderStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,cylinder[i-nAlarmCylinderStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--打开报警");
ELSIF cylinder[i-nAlarmCylinderStartNum+1].status.bCloseError THEN
alarm[i].bState:=TRUE;
alarm[i].sComment:=WCONCAT("气缸:",INT_TO_WSTRING(i-nAlarmCylinderStartNum+1));
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--");
alarm[i].sComment:=WCONCAT(alarm[i].sComment,cylinder[i-nAlarmCylinderStartNum+1].sComment);
alarm[i].sComment:=WCONCAT(alarm[i].sComment,"--关闭报警");
ELSIF system.control.bReset THEN
alarm[i].bState:=FALSE;
END_IF
END_FOR
//******报警上升沿、下降沿******//
FOR i:=1 TO nAlarmMaxNum BY 1 DO
alarm[i].rTrig(CLK:=alarm[i].bState , Q=> );
alarm[i].fTrig(CLK:=alarm[i].bState , Q=> );
IF alarm[i].rTrig.Q OR alarm[i].fTrig.Q THEN
alarm[i].sTime:=sSystemTime;
END_IF
END_FOR
//******当前报警列表******//
j:=0;
FOR i:=0 TO nAlarmMaxNum BY 1 DO
IF alarm[i].bState THEN
alarmList[j].sTime:=alarm[i].sTime;
alarmList[j].sCode:=DINT_TO_DECSTR(INT_TO_DINT(alarm[i].nCode),4);
alarmList[j].sComment:=alarm[i].sComment;
j:=j+1;
END_IF
END_FOR
FOR i:=j TO nAlarmMaxNum BY 1 DO
alarmList[i].sTime:='';
alarmList[i].sCode:='';
alarmList[i].sComment:="";
END_FOR
//******历史报警列表******//
FOR i:=0 TO nAlarmMaxNum BY 1 DO
IF alarm[i].rTrig.Q THEN
FOR j:=nAlarmHistoryMaxNum TO 1 BY -1 DO
alarmHistoryList[j]:=alarmHistoryList[j-1];
END_FOR
alarmHistoryList[0].sTime:=alarm[i].sTime;
alarmHistoryList[0].sCode:=DINT_TO_DECSTR(INT_TO_DINT(alarm[i].nCode),4);
alarmHistoryList[0].sComment:=alarm[i].sComment;
END_IF
END_FOR