{"id":72,"date":"2024-08-30T13:30:54","date_gmt":"2024-08-30T05:30:54","guid":{"rendered":"https:\/\/www.rwr.ink\/?p=72"},"modified":"2024-08-30T13:56:37","modified_gmt":"2024-08-30T05:56:37","slug":"st%e5%9f%ba%e7%a1%80%e7%b1%bb%e5%9e%8b","status":"publish","type":"post","link":"https:\/\/www.rwr.ink\/index.php\/2024\/08\/30\/st%e5%9f%ba%e7%a1%80%e7%b1%bb%e5%9e%8b\/","title":{"rendered":"ST\u57fa\u7840\u5b66\u4e60"},"content":{"rendered":"

ST\u7b80\u5355\u4f7f\u7528<\/h4>\n

\u7a0b\u5e8f\u529f\u80fd\u5206\u89e3<\/h3>\n
    \n
  1. \u63a7\u5236\u4e00\u4e2a\u98ce\u6247\u7684\u5f00\u5173\u57fa\u4e8e\u6e29\u5ea6\u4f20\u611f\u5668\u7684\u8f93\u5165\u3002<\/li>\n
  2. \u4f7f\u7528\u4e0d\u540c\u7684\u6a21\u5f0f\u6765\u63a7\u5236\u9a6c\u8fbe\u3002<\/li>\n
  3. \u5b9e\u73b0\u4e00\u4e2a\u7b80\u5355\u7684\u8ba1\u6570\u5668\u3002<\/li>\n
  4. \u5904\u7406\u4e0a\u5347\u6cbf\u548c\u4e0b\u964d\u6cbf\u89e6\u53d1\u4e8b\u4ef6\u3002<\/li>\n
  5. \u5b9e\u73b0\u4e00\u4e2a\u57fa\u672c\u7684\u8fd0\u52a8\u63a7\u5236\u3002<\/li>\n
  6. \u5904\u7406\u5f02\u5e38\u60c5\u51b5\uff08\u5982\u96640\u4fdd\u62a4\u3001\u6570\u7ec4\u8d8a\u754c\u7b49\uff09\u3002<\/li>\n<\/ol>\n

    \u5b9e\u6218\u7a0b\u5e8f<\/h3>\n
    PROGRAM MainProgram\nVAR\n    temperature: REAL := 0.0; \/\/ \u6e29\u5ea6\u4f20\u611f\u5668\u8f93\u5165\n    fan: BOOL := FALSE; \/\/ \u98ce\u6247\u72b6\u6001\n    mode: INT := 0; \/\/ \u6a21\u5f0f\u9009\u62e9\n    motor: BOOL := FALSE; \/\/ \u9a6c\u8fbe\u72b6\u6001\n    i, j, k, m: INT := 0; \/\/ \u8ba1\u6570\u5668\n    signal: BOOL := FALSE; \/\/ \u8f93\u5165\u4fe1\u53f7\n    rising_edge, falling_edge: BOOL := FALSE; \/\/ \u4e0a\u5347\u6cbf\u548c\u4e0b\u964d\u6cbf\n    r_trig_ins: R_TRIG; \/\/ \u4e0a\u5347\u6cbf\u89e6\u53d1\u5b9e\u4f8b\n    f_trig_ins: F_TRIG; \/\/ \u4e0b\u964d\u6cbf\u89e6\u53d1\u5b9e\u4f8b\n    array: ARRAY[1..10] OF INT := [0, 1, 2, 3, 4, 5, 6, 7, 8, 9]; \/\/ \u6570\u7ec4\n    index: INT := 0; \/\/ \u6570\u7ec4\u4e0b\u6807\n    result: REAL; \/\/ \u8ba1\u7b97\u7ed3\u679c\nEND_VAR\n\n\/\/ \u63a7\u5236\u98ce\u6247\u7684\u5f00\u5173\nIF temperature > 100 THEN\n    fan := TRUE;\nELSIF temperature > 80 THEN\n    fan := TRUE;\n    alarm := TRUE;\nELSE\n    fan := FALSE;\n    alarm := FALSE;\nEND_IF;\n\n\/\/ \u6839\u636e\u6a21\u5f0f\u63a7\u5236\u9a6c\u8fbe\nCASE mode OF\n    1: motor := TRUE;\n    2: motor := FALSE;\n    3, 4, 5: motor := TRUE;\nELSE\n    motor := FALSE;\nEND_CASE;\n\n\/\/ \u7b80\u5355\u8ba1\u6570\u5668\nWHILE i < 10 DO\n    i := i + 1;\nEND_WHILE;\n\nREPEAT\n    j := j + 1;\nUNTIL j >= 10\nEND_REPEAT;\n\n\/\/ \u4f7f\u7528EXIT\u6307\u4ee4\nWHILE TRUE DO\n    k := k + 1;\n    IF k >= 5 THEN\n        EXIT;\n    END_IF;\nEND_WHILE;\n\n\/\/ FOR\u5faa\u73af\nFOR m := 1 TO 10 DO\n    x := x + m;\nEND_FOR;\n\n\/\/ \u4e0a\u5347\u6cbf\u548c\u4e0b\u964d\u6cbf\u89e6\u53d1\nr_trig_ins(CLK := signal, Q => rising_edge);\nf_trig_ins(CLK := signal, Q => falling_edge);\n\n\/\/ \u5f02\u5e38\u5904\u7406\u793a\u4f8b\n\/\/ \u96640\u4fdd\u62a4\nIF denominator = 0 THEN\n    denominator := 1;\nEND_IF;\nresult := numerator \/ denominator;\n\n\/\/ \u6570\u7ec4\u8d8a\u754c\u5904\u7406\nindex := 11; \/\/ \u6545\u610f\u8bbe\u7f6e\u4e00\u4e2a\u8d8a\u754c\u7684\u4e0b\u6807\nIF index > 10 THEN\n    index := 10;\nEND_IF;\nvalue := array[index];\n\n\/\/ \u6b7b\u5faa\u73af\u68c0\u6d4b\nWHILE TRUE DO\n    \/\/ \u6a21\u62df\u6b7b\u5faa\u73af\n    EXIT; \/\/ \u63d0\u524d\u9000\u51fa\u4ee5\u907f\u514d\u5b9e\u9645\u6b7b\u5faa\u73af\nEND_WHILE;\n\nEND_PROGRAM<\/code><\/pre>\n
    \u89e3\u91ca<\/h3>\n
      \n
    1. \n
      \u98ce\u6247\u63a7\u5236<\/strong>\uff1a\u6839\u636e\u6e29\u5ea6\u4f20\u611f\u5668\u7684\u8f93\u5165\u6765\u63a7\u5236\u98ce\u6247\u7684\u5f00\u5173\u3002\u5982\u679c\u6e29\u5ea6\u8d85\u8fc7100\u5ea6\uff0c\u98ce\u6247\u5f00\u542f\uff1b\u5982\u679c\u6e29\u5ea6\u572880\u5230100\u5ea6\u4e4b\u95f4\uff0c\u98ce\u6247\u548c\u62a5\u8b66\u90fd\u5f00\u542f\uff1b\u5426\u5219\uff0c\u98ce\u6247\u548c\u62a5\u8b66\u90fd\u5173\u95ed\u3002<\/p>\n<\/li>\n
    2. \n
      \u9a6c\u8fbe\u63a7\u5236<\/strong>\uff1a\u6839\u636e\u6a21\u5f0f\u9009\u62e9\u6765\u63a7\u5236\u9a6c\u8fbe\u7684\u72b6\u6001\u3002\u5982\u679c\u6a21\u5f0f\u4e3a1\u62163\u30014\u30015\uff0c\u9a6c\u8fbe\u5f00\u542f\uff1b\u5426\u5219\uff0c\u9a6c\u8fbe\u5173\u95ed\u3002<\/p>\n<\/li>\n
    3. \n
      \u8ba1\u6570\u5668<\/strong>\uff1a\u4f7f\u7528WHILE\u548cREPEAT\u5faa\u73af\u6765\u5b9e\u73b0\u7b80\u5355\u7684\u8ba1\u6570\u5668\u3002<\/p>\n<\/li>\n
    4. \n
      EXIT\u6307\u4ee4<\/strong>\uff1a\u5728\u4e00\u4e2a\u65e0\u9650\u5faa\u73af\u4e2d\u4f7f\u7528EXIT\u6307\u4ee4\u6765\u63d0\u524d\u9000\u51fa\u3002<\/p>\n<\/li>\n
    5. \n
      FOR\u5faa\u73af<\/strong>\uff1a\u901a\u8fc7FOR\u5faa\u73af\u6765\u5b9e\u73b0\u7d2f\u52a0\u64cd\u4f5c\u3002<\/p>\n<\/li>\n
    6. \n
      \u4e0a\u5347\u6cbf\u548c\u4e0b\u964d\u6cbf\u89e6\u53d1<\/strong>\uff1a\u4f7f\u7528R_TRIG\u548cF_TRIG\u529f\u80fd\u5757\u6765\u68c0\u6d4b\u4fe1\u53f7\u7684\u4e0a\u5347\u6cbf\u548c\u4e0b\u964d\u6cbf\u3002<\/p>\n<\/li>\n
    7. \n
      \u5f02\u5e38\u5904\u7406<\/strong>\uff1a\u5305\u62ec\u96640\u4fdd\u62a4\u548c\u6570\u7ec4\u8d8a\u754c\u5904\u7406\u3002\u5e76\u4e14\u6a21\u62df\u4e86\u4e00\u4e2a\u6b7b\u5faa\u73af\u7684\u68c0\u6d4b\u3002<\/p>\n<\/li>\n<\/ol>\n
      \u8f74\u63a7\u7b49\u5176\u4ed6\u7a0b\u5e8f<\/h2>\n
      \u5b9e\u6218\u7a0b\u5e8f<\/h3>\n
      PROGRAM MainProgram\nVAR\n    \/\/ \u57fa\u672c\u8f74\u63a7\u53d8\u91cf\n    Axis: AXIS_REF; \/\/ \u8f74\u5f15\u7528\n    PowerStatus: BOOL;\n    AxisError: BOOL;\n    CurrentPosition: REAL;\n    CurrentVelocity: REAL;\n    CurrentTorque: REAL;\n    MoveComplete: BOOL;\n    ErrorID: INT;\n\n    \/\/ \u7f16\u7801\u5668\u53d8\u91cf\n    EncoderStatus: BOOL;\n    EncoderPosition: REAL;\n\n    \/\/ \u5b9a\u65f6\u5668\u53d8\u91cf\n    Timer: TONR;\n    TimerElapsed: BOOL;\n\n    \/\/ \u4e2d\u65ad\u53d8\u91cf\n    InterruptEnabled: BOOL;\n\n    \/\/ \u5b57\u7b26\u4e32\u53d8\u91cf\n    SourceString: STRING[20] := 'Hello World';\n    TargetString: STRING[20];\n\n    \/\/ \u5176\u4ed6\u53d8\u91cf\n    RealResult: REAL;\n    MemoryBlock: ARRAY[1..10] OF BYTE;\nEND_VAR\n\n\/\/ \u57fa\u672c\u8f74\u63a7\u6307\u4ee4\n\/\/ \u4f7f\u80fd\u8f74\nMC_Power(Axis := Axis, Enable := TRUE, Status => PowerStatus, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u8bfb\u53d6\u8f74\u72b6\u6001\nMC_ReadStatus(Axis := Axis, Status => PowerStatus, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u8bfb\u53d6\u8f74\u6545\u969c\nMC_ReadAxisError(Axis := Axis, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u8bfb\u53d6\u5f53\u524d\u4f4d\u7f6e\u4fe1\u606f\nMC_ReadActualPosition(Axis := Axis, Position => CurrentPosition);\n\n\/\/ \u8bfb\u53d6\u5f53\u524d\u901f\u5ea6\u4fe1\u606f\nMC_ReadActualVelocity(Axis := Axis, Velocity => CurrentVelocity);\n\n\/\/ \u8bfb\u53d6\u5f53\u524d\u529b\u77e9\u4fe1\u606f\nMC_ReadActualTorque(Axis := Axis, Torque => CurrentTorque);\n\n\/\/ \u8bbe\u7f6e\u5f53\u524d\u4f4d\u7f6e\nMC_SetPosition(Axis := Axis, Position := 0.0, Execute := TRUE, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u76f8\u5bf9\u5b9a\u4f4d\nMC_MoveRelative(Axis := Axis, Distance := 100.0, Velocity := 10.0, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u7edd\u5bf9\u5b9a\u4f4d\nMC_MoveAbsolute(Axis := Axis, Position := 50.0, Velocity := 10.0, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u901f\u5ea6\u6307\u4ee4\nMC_MoveVelocity(Axis := Axis, Velocity := 10.0, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u70b9\u52a8\nMC_Jog(Axis := Axis, JogForward := TRUE, Velocity := 5.0, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u529b\u77e9\u63a7\u5236\u6307\u4ee4\nMC_TorqueControl(Axis := Axis, Torque := 5.0, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u539f\u70b9\u56de\u5f52\u6307\u4ee4\nMC_Home(Axis := Axis, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u505c\u6b62\u6307\u4ee4\nMC_Stop(Axis := Axis, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u6025\u505c\u6307\u4ee4\nMC_ImmediateStop(Axis := Axis, Done => MoveComplete, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u7f16\u7801\u5668\u6307\u4ee4\n\/\/ \u4f7f\u80fd\u7f16\u7801\u5668\nENC_Counter(Encoder := EncoderStatus, Enable := TRUE, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u8bfb\u53d6\u7f16\u7801\u5668\u72b6\u6001\nENC_ReadStatus(Encoder := EncoderStatus, Status => EncoderStatus, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u8bfb\u53d6\u7f16\u7801\u5668\u4f4d\u7f6e\nENC_SetUnit(Encoder := EncoderStatus, Position := EncoderPosition, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u901a\u8baf\u6307\u4ee4\n\/\/ \u8bfb\u53d6\u4ece\u7ad9\u53c2\u6570\nETC_ReadParameter_CoE(Slave := 1, Index := 0x2000, SubIndex := 1, Data := CurrentPosition, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u5199\u5165\u4ece\u7ad9\u53c2\u6570\nETC_WriteParameter_CoE(Slave := 1, Index := 0x2000, SubIndex := 1, Data := 100, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u91cd\u542f\u4e3b\u7ad9\nETC_RestartMaster(Master := 1, Error => AxisError, ErrorID => ErrorID);\n\n\/\/ \u5b9a\u65f6\u5668\u6307\u4ee4\n\/\/ \u63a5\u901a\u5ef6\u65f6\u5b9a\u65f6\u5668\nTONR(IN := TRUE, PT := T#5S, Q => TimerElapsed, ET => Timer.ET);\n\n\/\/ \u4e2d\u65ad\u6307\u4ee4\n\/\/ \u5f00\u542f\u4e2d\u65ad\nEI();\n\n\/\/ \u5173\u95ed\u4e2d\u65ad\nDI();\n\n\/\/ \u5b57\u7b26\u4e32\u6307\u4ee4\n\/\/ \u79fb\u52a8\u5b57\u7b26\u4e32\nSTRMOV(Source := SourceString, Dest := TargetString);\n\n\/\/ \u5176\u4ed6\u6307\u4ee4\n\/\/ \u5b9e\u6570\u53d6\u4f59\nRealResult := ModReal(10.5, 3.2);\n\n\/\/ \u5185\u5b58\u8bbe\u7f6e\nMSET(DstAddr := ADR(MemoryBlock), SrcAddr := ADR(SourceString), Size := SIZEOF(SourceString));\n\n\/\/ \u5185\u5b58\u590d\u4f4d\nMCPY(DstAddr := ADR(MemoryBlock), SrcAddr := ADR(SourceString), Size := SIZEOF(SourceString));\n\nEND_PROGRAM\n<\/code><\/pre>\n","protected":false},"excerpt":{"rendered":"**\u63a7\u5236\u98ce\u6247\u548c\u9a6c\u8fbe\uff0c\u8ba1\u6570\u548c\u89e6\u53d1\u4e8b\u4ef6\uff0c\u5e76\u5904\u7406\u5f02\u5e38\u3002**","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"emotion":"","emotion_color":"","title_style":"","license":"","footnotes":""},"categories":[1],"tags":[],"class_list":["post-72","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"_links":{"self":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts\/72","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/comments?post=72"}],"version-history":[{"count":2,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts\/72\/revisions"}],"predecessor-version":[{"id":77,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/posts\/72\/revisions\/77"}],"wp:attachment":[{"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/media?parent=72"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/categories?post=72"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.rwr.ink\/index.php\/wp-json\/wp\/v2\/tags?post=72"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}