PROGRAM P_axis
VAR
bPower:BOOL;
bStop:BOOL;
bHalt:bool;
bReset:BOOL;
nActualTorque:LREAL;
bMode:BOOL;
nMode:SMC_CONTROLLER_MODE;
bSetTorque:BOOL;
nSetTorque:LREAL;
MC_Power_0: MC_Power;
MC_Stop_0: MC_Stop;
MC_Reset_0: MC_Reset;
MC_ReadActualTorque_0:MC_ReadActualTorque;
SMC_SetControllerMode_0: SMC_SetControllerMode;
SMC_SetTorque_0: SMC_SetTorque;
END_VAR
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MC_Power_0(
Axis:=Axis_SV660N ,
Enable:=TRUE ,
bRegulatorOn:=bPower ,
bDriveStart:=TRUE ,
Status=> ,
bRegulatorRealState=> ,
bDriveStartRealState=> ,
Busy=> ,
Error=> ,
ErrorID=> );
MC_Stop_0(
Axis:=Axis_SV660N ,
Execute:=bStop ,
Deceleration:=1000 ,
Jerk:= ,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
MC_Reset_0(
Axis:=Axis_SV660N ,
Execute:=bReset ,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
MC_ReadActualTorque_0(
Axis:=Axis_SV660N ,
Enable:=TRUE ,
Valid=> ,
Busy=> ,
Error=> ,
ErrorID=> ,
Torque=>nActualTorque );
SMC_SetControllerMode_0(
Axis:=Axis_SV660N ,
bExecute:=bMode ,
nControllerMode:=nMode ,
bDone=> ,
bBusy=> ,
bError=> ,
nErrorID=> );
SMC_SetTorque_0(
Axis:=Axis_SV660N ,
bEnable:=bSetTorque ,
fTorque:=nSetTorque ,
bBusy=> ,
bError=> ,
nErrorID=> );
原文链接:https://blog.csdn.net/weixin_58619062/article/details/132069803