logix5000控制器运动控制指令集 452页

Logix5000控制器运动控制Logix5000指令集੦዆ഗሏۯຫ௽੊๮೗ణ୤ࡽ1756-L1M1Ă1756-L1M2Ă1756-L1M3Ă1756-L55M12Ă1756-L55M13Ă1756-L55M14Ă1756-L55M16Ă1756-L55M22Ă1756-L55M23Ă1756-L55M24Ă1756-L60M03SEĂ1756-L61Ă1756-L62Ă1756-L63Ă1756-L64Ă1768-L43Ă1789-L60Ă1789-20D\nዘ重要用ᄲᆩࢽ户႑须知တࠦༀยԢਏᆶփཞᇀऐۉยԢڦፕ༬Ⴀăňࠦༀ੦዆ڦᆌᆩĂҾጎࢅྼࢺҾඇኸళė固态设备具有不同于机电设备的运行特性。《固态控制设备的应用、安装与维护安全指南》((؜Ӳࡽ出版号SGI-1.1，本LjԨጨଙ੗ٗړں资料可从当地ڦஆਖ਼ྴܻጲۯࣅၨ๳Ӹ๚تईཚࡗ的罗克韦尔自动化销售处或通过http://www.rockwellautomation.comhttp://www.rockwellautomation.com在线获得ሞ၍इڥ)说明了固态设备和硬接线电动机)ຫ௽କࠦༀยԢࢅᆘথ၍ऐۉยԢኮक़械设备之间ڦԢยༀࠦၵኄԍඓඪሴᆶᇵටຍरᆶ໯ُᅺLjႠᄣܠڦᆩᆌԢยༀࠦतᅜሞ٪ڦၵኄᇀᆯăᄲዘڦ௅ၜᆌᆩ๟੗ႜڦăܔᇀᅺ๑ᆩ޿ยԢܸᆅഐڦक़থईᆯُᆅ݀ڦ໦฿Ljஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິփ׶څඪࢆሴඪईᅭခăԨ๮໯Ԉࡤڦ๖૩ࢅ཮՗ৈৈᆩᇀຫ௽ăᅺྺඪࢆ༬ۨҾጎᆶጣ༬ۨڦՎࣅᅺ໎ࢅᄲ൱Lj໯ᅜஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິփ׶څᆩᇀएᇀ๖૩ࢅ཮՗ዐํाᆌᆩڦඪࢆሴඪईᅭခă࠲ᇀԨ๮ዐ໯ຫ௽ڦ႑တĂۉୟĂยԢई෉ॲLjஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິփ׶څඪࢆጆ૧ሴඪăසࡕுᆶڥڟஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິກ௬ሎႹLjჹ্ඪࢆཷ༹ĂࠅິĂ߲ටܔԨ๮ڦాඹ৊ႜኝ༹ईևް዆ăሞԨ๮ዐLj࿢்ཚࡗຫ௽༵ႝᆩࢽᆶ࠲Ҿඇጀᅪ๚ၜă๟ኸᆶ࠲ሞླ၃࣍ৣዐᆅഐԖቊܸڞዂටวฅ࡞Ă֎໦࣋ईঢ়ष໦฿ڦํा警WARNING告ᆌᆩई࣍ৣ൧઄ڦ႑တăIMPORTANT重要提示๟ኸᆩࢽܔᆶ࠲೗ኟඓᆌᆩࢅ૙঴໯Ⴔቨ࿥ڦዘᄲ႑တă๟ኸᆶ࠲ڞዂටᇵฅྨĂ֎໦࣋ईঢ়ष໦฿ڦํाᆌᆩई࣍ৣ൧઄ڦ႑တă注意ATTENTIONጀᅪ๚ၜڦՔኾ੗ӻዺට்๎ླ၃LjՆ௨ླ၃Ljժ൐ඟටණ๎ڟླ၃໯ټઠڦࢫࡕ有电危险SHOCKՎೕഗईۉ၃ླሞ٪ీ੗்ටߢয়LjധՔڦ࠲၎ᆶཌྷႷՂևాई௬՗ڦऐۉუăB高URNHAZARD温危险Վೕഗईۉऐڦ՗௬ईాևՂႷཌྷᆶ၎࠲ڦՔധLjয়ߢට்ยԢ՗௬੗ీਏᆶ变频器或电机的表面或内部必须贴有相关的标签，警告人们设备表面可能具有ླ၃ۉუă高温危险。Allen-Bradley艾伦-布拉德利（ĂRockwellAutomationAllen-Bradley）、罗克韦尔自动化（ࢅTechConnectRockwellAutomationྺஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິڦฆՔă）和TechConnect为罗克韦尔自动化有限公司的商标。փຌᇀஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິڦฆՔྺഄ߳ጲࠅິڦ֎ă\nኸସۨ࿋ഗࢆتቴኸସ๑ᆩኄ߲ۨ࿋ഗ੗ቴ࠲ᇀLogixኸସڦ੊ၘဦ႑တDŽࣨ၂ڦኸସሞഄ໱๮ዐ༵ࠃDžăኄ߲؜ଚ้࣏ཞഗ࿋ۨనၵՊײᇕჾ੗ᆩᇀ޿ኸସăසࡕۨ࿋ഗଚ؜ኸସ࿋ᇀᄻஓԨ๮߁ຎLogix5000Logix5000控制器通用指令੦዆ഗएԨኸସ੊๮Lj集参考手册，Lj1756-RM003ࡗײ过程控制Logix5000Logix5000控制器过程控制和驱动器指令੦዆ഗࡗײ੦዆ࢅൻۯഗኸସ੊๮Lj集参考手册，1756-RM006঩܎Logix5000੦዆ഗPhaseManagerᆩࢽ๮LjLOGIX-UM001ኸସ࿋ዃᇕჾኸସ࿋ዃᇕჾABL߁ຎीۉഗ༱ႚ཮梯形图ASIN߁ຎ঳ࠓ࿔Ԩ࣐ݒԨ࿔ࠓ঳๬ASCIIڦႜ൶؋ኟ၀ABS߁ຎीۉഗ༱ႚ཮梯形图ASN߁ຎ梯形图ीۉഗ༱ႚ཮ਨܔኵ঳ࠓ࿔Ԩݒኟ၀ࠀీ੷ࠀీ੷ATAN߁ຎ঳ࠓ࿔ԨACB߁ຎ梯形图ीۉഗ༱ႚ཮ݒኟൎ࣐؋൶ዐڦASCIIጴޙ঳ࠓ࿔ԨATN߁ຎ梯形图ीۉഗ༱ႚ཮ACL߁ຎीۉഗ༱ႚ཮梯形图ݒኟൎࠀీ੷ASCIIأ࣐؋൶঳ࠓ࿔ԨAVE߁ຎीۉഗ༱ႚ཮梯形图ACOS߁ຎ঳ࠓ࿔Ԩ࿔ॲೝ਩ݒᇆ၀AWA߁ຎीۉഗ༱ႚ཮梯形图ACS߁ຎ梯形图ीۉഗ༱ႚ཮ASCIIႀ෇޹े঳ࠓ࿔Ԩݒᇆ၀ࠀీ੷AWT߁ຎ梯形图ीۉഗ༱ႚ཮ADD߁ຎीۉഗ༱ႚ཮梯形图ASCIIႀ෇঳ࠓ࿔Ԩे݆঳ࠓ࿔Ԩࠀీ੷BAND߁ຎ঳ࠓ࿔Ԩքܻᇑࠀీ੷AFI߁ຎीۉഗ༱ႚ཮梯形图恒假指令๔ዕٱဃኸସBNOT߁ຎ঳ࠓ࿔Ԩքܻݥࠀీ੷AHL߁ຎ梯形图ीۉഗ༱ႚ཮ASCII࿥๮ႜ঳ࠓ࿔ԨBOR߁ຎ঳ࠓ࿔Ԩքܻईࠀీ੷ALMA߁ຎीۉഗ༱ႚ཮梯形图ఇెԒয়঳ࠓ࿔ԨBRK߁ຎीۉഗ༱ႚ཮梯形图ࠀీ੷ዐALMࡗײ঳ࠓ࿔ԨBSL߁ຎीۉഗ༱ႚ཮梯形图过程控制Ԓয়ࠀీ੷࿋ፑᅎALMD߁ຎीۉഗ༱ႚ཮梯形图BSR߁ຎीۉഗ༱ႚ཮梯形图ຕጴԒয়঳ࠓ࿔Ԩ࿋ᆸᅎࠀీ੷BTD߁ຎीۉഗ༱ႚ཮梯形图AND߁ຎीۉഗ༱ႚ཮梯形图࿋ᇘದӀ࿋ᇑ঳ࠓ࿔ԨBTDT߁ຎ঳ࠓ࿔Ԩࠀీ੷࿋ᇘದतణՔࠀీ੷ARD߁ຎ梯形图ीۉഗ༱ႚ཮BTR߁ຎीۉഗ༱ႚ཮梯形图ASCII܁ൽ঳ࠓ࿔Ԩၩတ঳ࠓ࿔ԨARL߁ຎ梯形图ीۉഗ༱ႚ཮ASCII܁ൽႜ঳ࠓ࿔Ԩ3؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nኸସۨ࿋ഗኸସ࿋ዃᇕჾኸସ࿋ዃᇕჾBTW߁ຎीۉഗ༱ႚ཮梯形图DTOS߁ຎीۉഗ༱ႚ཮梯形图ၩတ঳ࠓ࿔ԨDINTDINT转换为዁ጴޙزString঳ࠓ࿔ԨBXOR߁ຎ঳ࠓ࿔ԨDTR߁ຎीۉഗ༱ႚ཮梯形图քܻᅴईࠀీ੷ຕ਍঳ຐ数据转换CC过程控ࡗײ制঳ࠓ࿔ԨEOT߁ຎीۉഗ༱ႚ཮梯形图૴ۯ੦዆协调控制ࠀీ੷ገ࣑঳ຐ঳ࠓ࿔ԨCLR߁ຎीۉഗ༱ႚ཮梯形图EQU߁ຎीۉഗ༱ႚ཮梯形图ଭ঳ࠓ࿔Ԩڪᇀ঳ࠓ࿔Ԩࠀీ੷CMP߁ຎीۉഗ༱ႚ཮梯形图ԲডESELࡗײ过程控制঳ࠓ࿔Ԩሺഽ႙჋ስࠀీ੷CONCAT߁ຎ梯形图ीۉഗ༱ႚ཮ጴޙز૶থ঳ࠓ࿔ԨEVENT߁ຎीۉഗ༱ႚ཮梯形图ة݀๚ॲඪခ঳ࠓ࿔ԨCOP߁ຎीۉഗ༱ႚ཮梯形图ް዆࿔ॲ঳ࠓ࿔ԨFAL߁ຎीۉഗ༱ႚ཮梯形图࿔ॲ໙ຍࢅஇडCOS߁ຎीۉഗ༱ႚ཮梯形图ᇆ၀঳ࠓ࿔ԨFBC߁ຎीۉഗ༱ႚ཮梯形图ࠀీ੷࿔ॲ࿋ԲডCPS߁ຎीۉഗ༱ႚ཮梯形图FFL߁ຎीۉഗ༱ႚ཮梯形图ཞօް዆࿔ॲ঳ࠓ࿔ԨFIFOेሜCPT߁ຎीۉഗ༱ႚ཮梯形图FFU߁ຎीۉഗ༱ႚ཮梯形图ऺ໙FIFOႂሜCTD߁ຎीۉഗ༱ႚ཮梯形图FGEN过程控制ࡗײ঳ࠓ࿔Ԩڿ३ࡧຕ݀ิഗࠀీ੷CTU߁ຎीۉഗ༱ႚ཮梯形图FIND߁ຎीۉഗ༱ႚ཮梯形图ڿሺቴጴޙز঳ࠓ࿔ԨCTUD߁ຎ঳ࠓ࿔ԨFLL߁ຎीۉഗ༱ႚ཮梯形图ڿሺ/ڿ३ࠀీ੷࿔ॲགD2SD过程控ࡗײ制঳ࠓ࿔ԨFOR߁ຎ梯形图ीۉഗ༱ႚ཮૗ො႙_2ༀยԢࠀీ੷ᆶ࠲D3SDࡗײ过程控制঳ࠓ࿔ԨFRD߁ຎीۉഗ༱ႚ཮梯形图૗ො႙_3ༀยԢࠀీ੷ገ࣑ྺኝຕࠀీ੷DDT߁ຎीۉഗ༱ႚ཮梯形图FSC߁ຎ梯形图ीۉഗ༱ႚ཮ኑॠ࿔ॲ໇໭ࢅԲডDEDT过程控ࡗײ制঳ࠓ࿔ԨGEQ߁ຎीۉഗ༱ႚ཮梯形图ຶ൶้क़ࠀీ੷ٷᇀईڪᇀ঳ࠓ࿔Ԩࠀీ੷DEG߁ຎ梯形图ीۉഗ༱ႚ཮܈঳ࠓ࿔ԨGRT߁ຎीۉഗ༱ႚ཮梯形图ࠀీ੷ٷᇀ঳ࠓ࿔Ԩࠀీ੷DELETE߁ຎीۉഗ༱ႚ཮梯形图ጴޙۉीຎ߁GSVԨ࿔ࠓ঳أ෸زഗ༱ႚ཮梯形图इൽဣཥኵ঳ࠓ࿔ԨDERV过程控ࡗײ制঳ࠓ࿔Ԩྲࠀీ੷HLLࡗײ过程控制঳ࠓ࿔Ԩฉ၌/ူ၌ࠀీ੷DFFࡗײ过程控制঳ࠓ࿔ԨDة݀ഗࠀీ੷HPFࡗײ过程控制঳ࠓ࿔Ԩߛཚ୳հഗࠀీ੷DIV߁ຎ梯形图ीۉഗ༱ႚ཮أ݆঳ࠓ࿔ԨICONࡗײ过程控制ࠀీ੷ࠀీ੷๼෇၍ୟ૶থഗ4؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nኸସۨ࿋ഗኸସ࿋ዃᇕჾኸସ࿋ዃᇕჾIMCࡗײ过程控制঳ࠓ࿔ԨMAAT228ीۉഗ༱ႚ཮梯形图ాև႙ࡽ੦዆ࠀీ੷ᆌᆩዡኝۨຕ঳ࠓ࿔ԨINSERT߁ຎीۉഗ༱ႚ཮梯形图MAFR55ीۉഗ༱ႚ཮梯形图෇ጴޙز঳ࠓ࿔Ԩሏۯዡࠤቱް࿋঳ࠓ࿔ԨINTGࡗײ过程控制঳ࠓ࿔ԨMAG100梯ीۉഗ༱ႚ཮形图ओഗࠀీ੷ۉጱ؃୾঳ࠓ࿔ԨIOT߁ຎीۉഗ༱ႚ཮梯形图MAHD239ीۉഗ༱ႚ཮梯形图૬न๼؜঳ࠓ࿔Ԩᆌᆩዡ૶থኑ঳ࠓ࿔ԨIREFࡗײ过程控制ࠀీ੷MAH73ीۉഗ༱ႚ཮梯形图๼෇੊ሏۯዡლ঳ࠓ࿔ԨJKFFࡗײ过程控制঳ࠓ࿔ԨMAJ76梯形图ीۉഗ༱ႚ཮JKة݀ഗࠀీ੷ዡ໏܈঳ࠓ࿔ԨJMP߁ຎीۉഗ༱ႚ཮梯形图MAM88梯ीۉഗ༱ႚ཮形图ཌገڟՔധዡ࿋ᅎ঳ࠓ࿔ԨJSR߁ຎ梯形图ीۉഗ༱ႚ཮MAOC196梯ीۉഗ༱ႚ཮形图ཌገڟጱ૩ײ঳ࠓ࿔Ԩਸഔሏۯཫ୾๼؜঳ࠓ࿔Ԩࠀీ੷MAPC128ीۉഗ༱ႚ཮梯形图JXR߁ຎीۉഗ༱ႚ཮梯形图ሏۯዡ࿋ዃཫ୾঳ࠓ࿔Ԩཌገڟྔև૩ײMAR186ीۉഗ༱ႚ཮梯形图LBL߁ຎीۉഗ༱ႚ཮梯形图ਸഔዡ࿋ዃጃಆ঳ࠓ࿔ԨՔധMASD45梯ीۉഗ༱ႚ཮形图LDL2ࡗײ过程控制঳ࠓ࿔Ԩ࠲Կሏۯዡ঳ࠓ࿔Ԩ二阶超前滞后ܾ঩גമ_ውࢫց׋ࠀీ੷MAS58ीۉഗ༱ႚ཮梯形图LDLGࡗײ঳ࠓ࿔Ԩሏۯዡཕኹ঳ࠓ࿔Ԩ过程控制גമ/ውࢫࠀీ੷MASR48梯ीۉഗ༱ႚ཮形图LEQ߁ຎीۉഗ༱ႚ཮梯形图ሏۯዡ࠲Կް࿋঳ࠓ࿔Ԩၭᇀईڪᇀ঳ࠓ࿔ԨMATC150梯ीۉഗ༱ႚ཮形图ࠀీ੷ሏۯዡ้क़ཫ୾঳ࠓ࿔ԨLES߁ຎीۉഗ༱ႚ཮梯形图MAVEࡗײ过程控制঳ࠓ࿔Ԩၭᇀ঳ࠓ࿔Ԩᅎۯೝ਩ኵࠀీ੷ࠀీ੷MAW180ीۉഗ༱ႚ཮梯形图LFL߁ຎीۉഗ༱ႚ཮梯形图ਸഔሏۯ॔๫঳ࠓ࿔ԨLIFOेሜMAXCࡗײ过程控制঳ࠓ࿔ԨLFU߁ຎीۉഗ༱ႚ཮梯形图վጛፌٷኵࠀీ੷LIFOႂሜMCD111梯ीۉഗ༱ႚ཮形图LIM߁ຎीۉഗ༱ႚ཮梯形图ሏۯۯༀۙኝ঳ࠓ࿔Ԩ၌዆ࠀీ੷MCCD338ीۉഗ༱ႚ཮梯形图LN߁ຎ梯形图ीۉഗ༱ႚ཮ሏۯցۯༀۙኝ঳ࠓ࿔Ԩጲ඗ܔຕ঳ࠓ࿔Ԩࠀీ੷MCCM292梯ीۉഗ༱ႚ཮形图LOG߁ຎीۉഗ༱ႚ཮梯形图ሏۯᇶࢷց঳ࠓ࿔Ԩڹྺ以10为底的对数10ڦܔຕ঳ࠓ࿔Ԩࠀీ੷MCLM266ीۉഗ༱ႚ཮梯形图LOWER߁ຎीۉഗ༱ႚ཮梯形图ሏۯ኱၍ց঳ࠓ࿔Ԩၭႀጴజ঳ࠓ࿔ԨMCCP123ीۉഗ༱ႚ཮梯形图LPFࡗײ过程控制঳ࠓ࿔Ԩऺ໙ཫ୾ሏۯ൸၍঳ࠓ࿔Ԩگཚ୳հഗࠀీ੷؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ5\nኸସۨ࿋ഗኸସ࿋ዃᇕჾኸସ࿋ዃᇕჾMCR߁ຎीۉഗ༱ႚ཮梯形图MRP118梯ीۉഗ༱ႚ཮形图ዷ੦ް࿋ሏۯ࿋ዃዘย঳ࠓ࿔ԨMCT362ीۉഗ༱ႚ཮梯形图MSF42ीۉഗ༱ႚ཮梯形图ሏۯցፖՔገ࣑঳ࠓ࿔Ԩ࠲ሏۯົޜ๑ీ঳ࠓ࿔ԨMCTP375ीۉഗ༱ႚ཮梯形图MSG߁ຎीۉഗ༱ႚ཮梯形图ऺ໙ፖՔገ࣑࿋ዃ঳ࠓ࿔Ԩၩတ঳ࠓ࿔ԨMDF53ीۉഗ༱ႚ཮梯形图MSO39梯形图ीۉഗ༱ႚ཮኱থ࠲ሏۯ๑ీ঳ࠓ࿔Ԩਸሏۯົޜ๑ీ঳ࠓ࿔ԨMDOC223梯ीۉഗ༱ႚ཮形图MSTDࡗײ过程控制঳ࠓ࿔Ԩ࠲Կሏۯཫ୾๼؜঳ࠓ࿔ԨᅎۯՔጚೋࠀీ੷MDO50梯形图ीۉഗ༱ႚ཮MUL߁ຎीۉഗ༱ႚ཮梯形图ሏۯ኱থ๑ీ঳ࠓ࿔Ԩױ঳ࠓ࿔Ԩࠀీ੷MDR193ीۉഗ༱ႚ཮梯形图࠲Կዡ࿋ዃጃಆ঳ࠓ࿔ԨMUXࡗײ过程控制ࠀీ੷ܠୟൎ࣑ഗMDW184梯ीۉഗ༱ႚ཮形图࠲Կሏۯ॔๫঳ࠓ࿔ԨMVM߁ຎीۉഗ༱ႚ཮梯形图ೡԸஓ࿋ᅎMEQ߁ຎ梯形图ीۉഗ༱ႚ཮ᄄஓڪᇀ঳ࠓ࿔ԨMVMT߁ຎ঳ࠓ࿔Ԩࠀీ੷ೡԸஓ࿋ᅎټణՔࠀీ੷MGSD171ीۉഗ༱ႚ཮梯形图NEG߁ຎीۉഗ༱ႚ཮梯形图࠲Կሏݒ൱Ԩ࿔ࠓ঳ፇۯ঳ࠓ࿔Ԩࠀీ੷MGS166梯ीۉഗ༱ႚ཮形图ሏۯፇཕኹ঳ࠓ࿔ԨNEQ߁ຎीۉഗ༱ႚ཮梯形图փڪᇀ঳ࠓ࿔ԨMGSP176梯形图ीۉഗ༱ႚ཮ࠀీ੷ጃಆሏۯፇ࿋ዃ঳ࠓ࿔ԨNOP߁ຎीۉഗ༱ႚ཮梯形图MGSR174ीۉഗ༱ႚ཮梯形图࿮ۯፕሏۯፇ࠲Կް࿋঳ࠓ࿔ԨNOT߁ຎ梯形图ीۉഗ༱ႚ཮MID߁ຎीݥ࿋Ӏ图形梯཮ႚ༱ഗۉ঳ࠓ࿔Ԩዐक़ጴޙز঳ࠓ࿔Ԩࠀీ੷MINCࡗײ过程控制঳ࠓ࿔ԨNTCHࡗײ过程控制঳ࠓ࿔Ԩվጛፌၭኵࠀీ੷။հ୳հഗࠀీ੷MMCࡗײ过程控制঳ࠓ࿔ԨOCONࡗײ过程控制ࠀీ੷ఇ੷ࣅܠՎଉ੦዆模块多变量控制ࠀీ੷๼؜၍ୟ૶থഗ输出线连接器MOD߁ຎ梯形图ीۉഗ༱ႚ཮ONS߁ຎीۉഗ༱ႚ཮梯形图ఇຕ঳ࠓ࿔Ԩڇة݀ࠀీ੷ईOR߁ຎीۉഗ༱ႚ཮梯形图MOV߁ຎ梯形图ीۉഗ༱ႚ཮Ӏ࿋ई঳ࠓ࿔Ԩ࿋ᅎࠀీ੷MRAT233梯形图ीۉഗ༱ႚ཮OREFࡗײ过程控制ࠀీ੷ሏႜዡኝۨ঳ࠓ࿔Ԩ๼؜੊MRHD243梯ीۉഗ༱ႚ཮形图OSFI߁ຎ঳ࠓ࿔Ԩሏႜዡ૶থኑ঳ࠓ࿔Ԩ带输入的下降沿单触发๼෇ူইᄂڇة݀ࠀీ੷OSF߁ຎीۉഗ༱ႚ཮梯形图ူইᄂڇة݀OSRI߁ຎ঳ࠓ࿔Ԩ带๼෇ฉืᄂڇة݀输入的上升沿单触发ࠀీ੷OSR߁ຎीۉഗ༱ႚ཮梯形图ฉืᄂڇة݀6؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nኸସۨ࿋ഗኸସ࿋ዃᇕჾኸସ࿋ዃᇕჾOTE߁ຎीۉഗ༱ႚ཮梯形图RET߁ຎीۉഗ༱ႚ཮梯形图๼؜घ૤ݓ࣮঳ࠓ࿔Ԩࠀీ੷OTL߁ຎीۉഗ༱ႚ཮梯形图๼؜໮٪RLIM过程控ࡗײ制঳ࠓ࿔ԨՎࣅ୲၌዆ഗࠀీ੷OTU߁ຎीۉഗ༱ႚ཮梯形图๼؜঴໮٪RMPSࡗײ过程控制঳ࠓ࿔Ԩၽ/าཪࠀీ੷PATT঩܎ीۉഗ༱ႚ཮梯形图૶থڟยԢ঩܎঳ࠓ࿔ԨRTO߁ຎीۉഗ༱ႚ཮梯形图ԍ׼ऺ้ഗٶਸPCLF঩܎ीۉഗ༱ႚ཮梯形图ยԢ঩܎أ฿Ө设备阶段清零失败঳ࠓ࿔ԨRTOR߁ຎ঳ࠓ࿔Ԩټᆶް࿋ڦԍ׼ऺ้ഗࠀీ੷PCMD঩܎ीۉഗ༱ႚ཮梯形图ٶਸยԢ঩܎ంସ঳ࠓ࿔ԨRTOS߁ຎीۉഗ༱ႚ཮梯形图PDET঩܎梯形图ीۉഗ༱ႚ཮REALڟጴޙز঳ࠓ࿔ԨٗยԢ঩܎ਸ঳ࠓ࿔ԨPFL঩܎ीۉഗ༱ႚ཮梯形图SBR߁ຎीۉഗ༱ႚ཮梯形图ยԢ঩܎฿Ө঳ࠓ࿔Ԩጱ૩ײ঳ࠓ࿔Ԩࠀీ੷PIDEࡗײ过程控制঳ࠓ࿔ԨSCLሺഽڦ增强型PIDPIDࠀీ੷ࡗײ过程控制঳ࠓ࿔Ԩຕ਍ኝۨࠀీ੷PID߁ຎीۉഗ༱ႚ཮梯形图SCRVࡗײ঳ࠓ࿔ԨԲ૩/ओ/ྲ঳ࠓ࿔Ԩ过程控制S൸၍ႚࠀీ੷PIࡗײ过程控制঳ࠓ࿔ԨSELࡗײࠀీ੷Բ૩+ओࠀీ੷过程控制჋ስPMULࡗײ过程控制঳ࠓ࿔ԨSETDࡗײ过程控制঳ࠓ࿔Ԩஞ؋ױ݆ഗࠀీ੷ዃ࿋ᆫံࠀీ੷POSPࡗײ过程控制঳ࠓ࿔ԨSFP߁ຎ梯形图ीۉഗ༱ႚ཮࿋ዃԲ૩ࠀీ੷SFCሡཕ঳ࠓ࿔ԨPOVR঩܎ीۉഗ༱ႚ཮梯形图SFR߁ຎ梯形图ीۉഗ༱ႚ཮ยԢ঩܎ޮ߃ంସ঳ࠓ࿔ԨSFCް࿋঳ࠓ࿔ԨPPD঩܎ीۉഗ༱ႚ཮梯形图SIN߁ຎीۉഗ༱ႚ཮梯形图ยԢ঩܎ᅙሡཕ঳ࠓ࿔Ԩኟ၀঳ࠓ࿔ԨPRNP঩܎ीۉഗ༱ႚ཮梯形图ࠀీ੷ยԢ঩܎ႎຕ঳ࠓ࿔ԨSIZE߁ຎीۉഗ༱ႚ཮梯形图PSC঩܎ीٷ໎ᇮ图形梯཮ႚ༱ഗۉၭ঳ࠓ࿔Ԩ঩܎ጒༀྜׯ঳ࠓ࿔ԨSNEG过程控ࡗײ制঳ࠓ࿔ԨPXRQ঩܎ीۉഗ༱ႚ཮梯形图ൽݒ჋ስࠀీ੷ยԢ঩܎ྔև൩൱঳ࠓ࿔ԨSOCࡗײ过程控制঳ࠓ࿔ԨRAD߁ຎीۉഗ༱ႚ཮梯形图ܾ঩੦዆ഗࠀీ੷ࢷ܈঳ࠓ࿔Ԩࠀీ੷SQI߁ຎीۉഗ༱ႚ཮梯形图ۨႾײႾ๼෇RESDࡗײ过程控制঳ࠓ࿔ԨSQLް࿋ᆫံࠀీ੷߁ຎीۉഗ༱ႚ཮梯形图ۨႾײႾेሜRES߁ຎीۉഗ༱ႚ཮梯形图ް࿋SQO߁ຎीۉഗ༱ႚ཮梯形图ۨႾײႾ๼؜SQR߁ຎीۉഗ༱ႚ཮梯形图ೝݛߵࠀీ੷SQRT߁ຎ঳ࠓ࿔Ԩೝݛߵ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ7\nኸସۨ࿋ഗኸସ࿋ዃᇕჾኸସ࿋ዃᇕჾSRT߁ຎ梯形图ीۉഗ༱ႚ཮UPPER߁ຎीۉഗ༱ႚ཮梯形图࿔ॲಇႾ঳ࠓ࿔Ԩٷႀጴజ঳ࠓ࿔ԨSRTPࡗײ过程控制঳ࠓ࿔ԨXIC߁ຎीۉഗ༱ႚ཮梯形图ஞ੻ۙ዆ࠀీ੷ॠ๟ޏᅙ࠲ԿSSUM过程控ࡗײ制঳ࠓ࿔ԨXIO߁ຎीۉഗ༱ႚ཮梯形图൱ࢅ჋ስࠀీ੷ॠ๟ޏᅙٶਸSSV߁ຎीۉഗ༱ႚ཮梯形图XOR߁ຎ梯形图ीۉഗ༱ႚ཮ยዃဣཥኵ঳ࠓ࿔ԨӀ࿋ᅴई঳ࠓ࿔Ԩࠀీ੷STD߁ຎीۉഗ༱ႚ཮梯形图࿔ॲՔጚೋXPY߁ຎीۉഗ༱ႚ཮梯形图XݛْYڦ঳ࠓ࿔ԨSTOD߁ຎीۉഗ༱ႚ཮梯形图ࠀీ੷ጴޙزڟString转换为DINTDINT঳ࠓ࿔ԨSTOR߁ຎीۉഗ༱ႚ཮梯形图ጴޙزڟ字符串转换为实数REAL঳ࠓ࿔ԨSUB߁ຎीۉഗ༱ႚ཮梯形图३݆঳ࠓ࿔Ԩࠀీ੷SWPB߁ຎीۉഗ༱ႚ཮梯形图঍࣑ጴব字节交换঳ࠓ࿔ԨTAN߁ຎीۉഗ༱ႚ཮梯形图ኟൎ঳ࠓ࿔Ԩࠀీ੷TND߁ຎीۉഗ༱ႚ཮梯形图ଣ้঳ຐTOD߁ຎीۉഗ༱ႚ཮梯形图ገ࣑ྺBCDࠀీ੷TOFR߁ຎ঳ࠓ࿔Ԩټᆶް࿋ڦऺ้ഗ࠲Կ带复位的延时断开计时ࠀీ੷ჽ׿器TOF߁ຎीۉഗ༱ႚ཮梯形图ऺ้ഗ࠲Կჽ׿延时断开计时器TONR߁ຎ঳ࠓ࿔Ԩټᆶް࿋ڦऺ้ഗٶਸ带复位的延时导通计时ࠀీ੷ჽ׿器TON߁ຎ梯形图ीۉഗ༱ႚ཮ऺ้ഗٶਸჽ׿延时导通计时器TOT过程控ࡗײ制঳ࠓ࿔Ԩેेഗࠀీ੷TRN߁ຎीۉഗ༱ႚ཮梯形图পࠀీ੷TRUNC߁ຎ঳ࠓ࿔ԨপUID߁ຎीۉഗ༱ႚ཮梯形图্ኹᆩࢽዐ঳ࠓ࿔ԨUIE߁ຎीۉഗ༱ႚ཮梯形图ሎႹᆩࢽዐ঳ࠓ࿔ԨUPDN过程控ࡗײ制঳ࠓ࿔Ԩሺ/३ેेഗࠀీ੷8؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nణ୤ኸସۨ࿋ഗࢆتቴኸସ.....................................3ణ୤മჾ०঻...........................................13Ԩ๮๢ᆩܔၡ..................................14Ԩ๮ڦణڦ....................................14ຩႾࠀీ཮(SFC).................................15࠹૩ࢅ၎࠲ຍᇕ..................................16ഄ໱ጨᇸ........................................17ቤব1ሏۯ߁౒०঻...........................................19ኸସऺ้........................................19Պႀᅃ߲໏܈ఇ๕ײႾ.............................24჋ስంସ........................................33ቤব2运ሏۯ动控制状ጒༀኸସ态指令०঻...........................................37(MSOĂMSFĂMASDĂਸሏۯົޜ๑ీ(MSO)............................39MASRĂMDOĂMDFĂMAFR)࠲ሏۯົޜ๑ీ(MSF).............................42࠲Կሏۯዡ(MASD)...............................45ሏۯዡ࠲Կް࿋(MASR)...........................48ሏۯ኱থ๑ీ(MDO)..............................50኱থ࠲ሏۯ๑ీ(MDF).............................53ሏۯዡࠤቱް࿋(MAFR)...........................55ቤব3ሏۯ࿋ᅎኸସ०঻...........................................57(MASĂMAHĂMAJĂMAMĂሏۯዡཕኹ(MAS)................................58MAGĂMCDĂMRPĂMCCPĂሏۯዡლ(MAH)................................72ዡ໏܈(MAJ)....................................76MAPCĂMATCĂMCSV)ዡ࿋ᅎ(MAM)....................................88ۉጱ؃୾(MAG).................................100ሏۯۯༀۙኝ(MCD).............................111ሏۯ࿋ዃዘย(MRP).............................118ऺ໙ཫ୾ሏۯ൸၍(MCCP)........................123ሏۯዡ࿋ዃཫ୾(MAPC)..........................128ሏۯዡ้क़ཫ୾(MATC)..........................150ऺ໙ٗዡሏۯኵ(MCSV)..........................163ቤব4ሏۯፇኸସ०঻..........................................165(MGSĂMGSDĂMGSRĂሏۯፇཕኹ(MGS)...............................166MGSP)࠲Կሏۯፇ(MGSD)..............................171ሏۯፇ࠲Կް࿋(MGSR)..........................174ጃಆሏۯፇ࿋ዃ(MGSP)..........................1769؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ9\nణ୤ቤব5ሏۯ๚ॲኸସ०঻..........................................179(MAWĂMDWĂMARĂMDRĂਸഔሏۯ॔๫(MAW)............................180MAOCĂMDOC)࠲Կሏۯ॔๫(MDW).............................184ਸഔዡ࿋ዃጃಆ(MAR)............................186࠲Կዡ࿋ዃጃಆ(MDR)...........................193ਸഔሏۯཫ୾๼؜(MAOC)........................196ࡀࣄ๼؜ఇ੷...................................216࠲Կሏۯཫ୾๼؜(MDOC)........................223ቤব6ሏۯದዃኸସ०঻..........................................227(MAATĂMRATĂMAHDĂᆌᆩዡኝۨຕ(MAAT)...........................228MRHD)ሏႜዡኝۨ(MRAT)..............................233ᆌᆩዡ૶থኑ(MAHD)..........................239ሏႜዡ૶থኑ(MRHD)..........................243ቤব7ሏۯၹۙኸସ०঻..........................................249(MCLMĂMCCMĂMCCDĂሞंࢇኸସ้๑ᆩփཞڦዕኹૌ႙...................251MCSĂMCSDĂMCTĂ჋ስዕኹૌ႙...................................257ࠌ၍ሏۯڦ໏܈ఇ๕..............................260MCTPĂMCSR)ܔ׬ఇ๕.......................................262සࢆڥڟൎ၍໏܈ఇ๕............................264ᅜփཞ໏܈ंࢇሏۯ..............................265ሏۯ኱၍ց(MCLM)............................266ሏۯᇶࢷց(MCCM)............................292ሏۯցۯༀۙኝ(MCCD)........................338ሏۯցཕኹ(MCS).............................349ሏۯց࠲Կ(MCSD)............................358ሏۯցፖՔገ࣑(MCT)..........................362ऺ໙ፖՔገ࣑࿋ዃ(MCTP).........................375ቤব8ኝۨS൸၍ఇ๕०঻..........................................387ኴႜ้ऐ.......................................387ሞ౞ਸ๔ኮമ准备事宜...................................388ײႾ..........................................388ഄ໱ጨᇸ.......................................389޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)޹ेٱဃپஓ႑တ...............................399޹୤B10؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nణ୤ሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDž०঻..........................................401CAM঳ࠓ......................................401CAM_PROFILE঳ࠓ.............................402MOTION_GROUP঳ࠓ...........................403MOTION_INSTRUCTIONຕ਍ૌ႙..................404OUTPUT_CAM঳ࠓ.............................405OUTPUT_COMPENSATION঳ࠓ...................407޹୤C঳ࠓ࿔ԨՊײ०঻..........................................409঳ࠓ࿔Ԩᇕ݆...................................409ޯኵ..........................................411՗ٳ๕........................................413ኸସ..........................................420ࠓሰ..........................................421IF...THEN......................................422CASE...OF.....................................425FORĹDO......................................428WHILEĹDO....................................431REPEATĹUNTIL................................434ጀ๥..........................................437໭ᆅஆਖ਼ྴܻጲۯࣅኧ׼...............................14؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ11\nణ୤12؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nമჾ०঻Ԩ๮๟࠲ᇀLogix5000ڦኸସ๮ኮᅃăඪခ/ణՔ࿔ڗྺႾଚᆌᆩ৊ႜ੦዆ഗՊײLogix5000Logix5000控制器通用指令੦዆ഗएԨኸସ੊๮Lj؜Ӳࡽ集参考手册，1756-RM003ྺࡗײईՎೕഗᆌᆩ৊ႜ੦዆ഗՊňLogix5000Logix5000控制器过程控制和驱动器指令੦዆ഗࡗײ੦዆ࢅൻۯഗኸସ੊๮ėLj集参考手册Lj؜Ӳࡽײ1756-RM006ྺሏۯ੦዆ᆌᆩ৊ႜ੦዆ഗՊײňLogix5000੦዆ഗሏۯ੦዆ኸସणėLj؜Ӳࡽ1756-RM007౞ڦړമ࿋ዃྺ๑ᆩยԢ঩܎৊ႜ੦዆ഗՊײňPhaseManagerᆩࢽ๮ėLj؜ӲࡽLOGIX-UM001ॽ࿔Ԩ࿔ॲईՔऻ؜Lj๮੊؜ڞ/෇ڞഗ዆੦5000xigoLణၜ෇ڞӲࡽ1756-RM084ॽၜణईՔऻڟ؜ڞ࿔Ԩ࿔ॲॽPLC-5ईSLC500ᆌᆩገ࣑ྺLogix5000੦዆ഗPLC-5ईSLC500இडڟLogix5550இडገ࣑੊Logix5000ᆌᆩ๮Lj؜Ӳࡽ1756-6.8.5为运动轴、坐标系和运动控ྺሏۯዡĂፖՔဣࢅሏۯఇ੷ದዃ制模块配ňLogix5000੦዆ဣཥᆩࢽ๮ėLj؜ӲࡽLOGIX-UM002ă置੦዆ഗ控制器౞੗ᅜ๑ᆩᅜူLogix5000੦዆ഗ৊ႜሏۯ੦዆ǖ•1756ControlLogix੦዆ഗ•1756GuardLogix੦዆ഗ(ӲԨ16त߸ߛӲԨ)•1768CompactLogix੦዆ഗ(ӲԨ15त߸ߛӲԨ)•1789SoftLogix5800੦዆ഗ•20DPowerFlex700SټDriveLogix੦዆ഗසࡕ౞ᆛᆶPowerFlex700SՎೕഗټDriveLogix੦዆ഗ౞փీሞDriveLogix੦዆ഗฉ๑ᆩᅜူኸସǖ•ሏۯ኱থ๑ీ(MDO)•኱থ࠲ሏۯ๑ీ(MDF)•ᆌᆩዡኝۨຕ(MAAT)•ሏႜዡኝۨ(MRAT)•ᆌᆩዡ૶থኑ(MAHD)•ሏႜዡ૶থኑ(MRHD)13؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ13\nPrefaceԨ๮๢ᆩܔၡԨ๮ྺײႾᇵ༵ࠃ੗ᆩᇀLogix5000੦዆ഗڦሏۯ੦዆ኸସڦ၎࠲ၘဦ႑တă౞ᆌ޿ᅙঢ়ຄဒLogix5000੦዆ഗසࢆتࢅئ٪૙ຕ਍ăႎ๮ײႾᇵሞਸ๔๑ᆩኸସኮമLjᆌለ܁௅ཉኸସڦ໯ᆶాඹăᆶঢ়ᄓڦײႾᇵ੗ᅜ੊ኸସ႑တᅜᄓኤၘ൧ăԨ๮ڦణڦԨ๮༵ࠃ௅ཉሏۯኸସڦ၎࠲႑တă本手册提供每条运动控制指令的相关信息。ኄ߲և༵ࠃኄ߲ૌ႙ڦ႑တኸସఁ׬๎ኸସăۨᅭኸۨ๟๼෇ኸସ࣏๟๼؜ኸସăፕຕଚ؜ኸସڦ໯ᆶፕຕă঳ࠓ࿔Ԩ঻ถᆩ঳ࠓ࿔Ԩ߭๕ڦፕຕڦ๑ᆩăሏڦସኸ؜ଚ构结令指制控动运ࠓ঳ସኸۯ੦዆ጒༀ࿋ࢅኵDŽසࡕᆶDžă௮ຎ঻ถኸସڦ๑ᆩăۨᅭኸସԥ๑ీࢅԥ্ኹDŽසࡕ๢ᆩDžኮक़ڦ൶ă໙ຍጒༀՔኾۨᅭኸସ๟ޏࣷᆖၚ໙ຍጒༀՔኾăࠤቱཉॲۨᅭኸସ๟ޏࣷิׯൟྲईჹዘࠤቱăසࡕ๟Ljۨᅭࠤቱૌ႙ࢅپஓăپဃٱڦᆩ๢ᅭۨժ؜ଚஓپဃٱஓăጒༀ࿋ଚ؜๴ᆖၚڦጒༀ࿋Ăഄጒༀࢅۨᅭă๖૩༵ࠃ዁ณᅃ߲Պײ๖૩ăԈઔ঴๥௅߲๖૩ڦ঻ถă14؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nPrefaceຩႾࠀీ཮(SFC)ຩႾࠀీ཮๟੦዆ऐഗईࡗײڦୁײ཮ăSFC๑ᆩօႾࢅࡗ܉ઠኸۨኸۨڦፕईۯፕă౞੗ᅜ๑ᆩSFCઠǖ•ፇኯ౞ڦဣཥڦࠀీरຍຕă•๑ᆩᅃဣଚօႾࢅࡗ܉ઠՊײժ੦዆౞ڦဣཥăཚࡗ๑ᆩຩႾࠀీ཮(SFC)੗इڥᅜူᆫ๞ă•ࡗײ཮ႚࣅߪׯٷڦஇडೌ܎ă•े੺߲߳இडೌ܎ڦዘްኴႜă•०ࣅೡట၂๖ă•໫܌ยऺࢅڦႾײ๬้ۙक़ă•ࠤቱت૙߸੺Ă߸०ڇă•኱থۅडஇڦቱࠤ၄؜ഗऐ࿚ݡă•ሺഽࢅ߸ႎ߸ेඹᅟăᆶ࠲සࢆՊײࢅ๑ᆩSFCڦၘဦ႑တLj൩ለňLogix5000੦዆ഗײႾཚᆩՊஓ๮ėLj؜Ӳࡽ通用程序编程手册》出版号1756-PM001。1756-PM001ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ15\nPreface࠹૩ࢅ၎࠲ຍᇕยዃࢅأԨ๮๑ᆩยዃࢅأઠۨᅭ࿋DŽքܻኵDžࢅኵDŽݥքܻኵDžڦጒༀǖኄ߲ຍᇕࡤᅭ๟ยዃ࿋ԥยዃྺ1(ਸ)ኵԥยዃྺඪࢆݥଭኵأ࿋ԥأྺ0(࠲)ኵాڦ໯ᆶ࿋ԥأྺ0සࡕኸସڦ໯ᆶፕຕۼ๟ᆩ၎ཞڦፌॅຕ਍ૌ႙DŽཚ׉ྺDINTईREALDžLjሶኸସڦኴႜࣷ߸੺LjႴᄲా٪߸ณă༱पཉॲ੦዆ഗएᇀኸସമڦ༱पཉॲDŽ༱प๼෇ཉॲDžઠೠࠚ༱ႚኸସăߵ਍༱प๼෇ཉॲࢅኸସLj੦዆ഗยዃኸସࢫڦ༱पཉॲDŽ༱प๼؜ཉॲDžLj৊ܸᆖၚඪࢆࢫჄڦኸସă๼෇ኸସ๼؜ኸସ༱प๼෇༱प๼؜ཉॲཉॲසࡕగ߲๼෇ኸସڦ༱प๼෇ཉॲྺኈLj੦዆ഗॽೠࠚኸସLjժߵ਍ኸସڦ঳ࡕยዃ༱प๼؜ཉॲăසࡕኸସኴႜ঳ࡕྺኈLjሶ༱प๼؜ཉॲྺኈǗසࡕኸସኴႜ঳ࡕྺ्Ljሶ༱प๼؜ཉॲྺ्ă16؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nPrefaceഄ໱ጨᇸ൩ለኄၵ๮ࢅ࿔ڗLjକ঴࠲ᇀ请参阅这些手册和文档，了解关于Logix5000Logix5000控੦዆ဣཥዐ๑ᆩሏۯఇ制系统中使用运动控੷ڦ߸ܠ႑တă制模块的更多信息。؜Ӳࡽ؜ӲࡽLogix5000੦዆ഗ੺໏෇ோ1756-QS001Logix5000Logix5000控੦዆ഗཚᆩײႾ制器通用程序编程手册1756-PM001Logix5000੦዆ഗሏۯ੦዆ኸସ੊๮1756-RM007Logix5000Logix5000控制器通用指令੦዆ഗ೵ཚኸସ੊๮集参考手册1756-RM003LoLogix5000gix5000控制器过程控制和驱动器指令੦዆ഗࡗײᇑՎೕഗኸସ੊๮集参考手册1756-RM006Logix5000੦዆ዐڦሏۯఇ੷运动控制模块LOGIX-UM002ሏۯࡆगࡀࣄᆌᆩ঴ਦݛӄRA-AP031PhaseManagerᆩࢽ๮LOGIX-UM001ControlLogix੦዆ഗᆩࢽ๮1756-UM001CompactLogix੦዆ഗᆩࢽ๮1768-UM001ఇెଉՊஓഗ(AE)ົޜఇ੷Ҿጎຫ௽1756-IN047ControlLogixSERCOSথ੨ఇ੷Ҿጎኸళ1756-IN572CompactLogixSERCOSথ੨ఇ੷Ҿጎኸళ1768-IN0051394SERCOSথ੨ܠዡሏۯ੦዆ဣཥҾጎ๮1394-IN0021394SERCOSणׯ๮1394-IN024Ultra3000ຕጴ๕ົޜൻۯഗҾጎ๮2098-IN003Ultra3000ຕጴົޜൻۯഗणׯ๮2098-IN005Kinetix6000Ҿጎ๮2094-IN001Kinetix6000णׯ๮2094-IN0028720MCߛႠీՎೕഗҾጎ๮8720MC-IN0018720MCߛႠీՎೕഗणׯ๮8720MC-IN002؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ17\nPrefaceጀ提ᅪ示：ǖ18؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nቤব1ሏۯ߁౒०঻Ԩቤ঻ถܔᇀ໯ᆶሏۯ੦዆ኸସۼཚᆩڦ߁౒ăᇡକ঴၎࠲႑တ९ᄻஓኸସऺ้19Պႀᅃ߲໏܈ఇ๕ײႾ24჋ስంସ33ኸସऺ้ሏۯ੦዆ኸସ๑ᆩෙዖૌ႙ڦऺ้ຩႾăऺ้ૌ႙௮ຎ૬नኸସሞᅃْ෢௮ాྜׯăၩတኸସሞबْ෢௮ాྜׯLjᅺྺኸସၠົޜఇ੷݀ໃၩတăࡗײኸସڦྜׯ੗Ⴔᄲփۨ׊ڦ้क़ă૬नૌ႙ڦኸସ૬नૌ႙ڦሏۯ੦዆ኸସሞᅃْ෢௮ዐኴႜ዁ྜׯăසࡕ੦዆ഗሞኴႜኄၵኸସڦࡗײዐॠڟٱဃLjሶยዃጒༀ࿋Ljፕ঳ຐă૬नૌ႙ڦኸସ๖૩Ԉઔǖ•ሏۯۯༀۙኝ(MCD)ኸସ•ጃಆሏۯፇ࿋ዃ(MGSP)ኸସ૬नኸସڦ߾ፕݛ๕සူ໯ຎǖ1.ړԈࡤሏۯኸସڦ༱पՎྺኈ้Lj੦዆ഗॽǖ当包含运动控制指令的梯级变为真时，控制器将：•ยዃഔᆩ(.EN)࿋ă•أྜׯ(.DN)࿋ă•أٱဃ(.ER)࿋ă੦዆ഗྜඇኴႜ޿ኸସă19؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ19\nቤব1ሏۯ߁౒2.සࡕ੦዆ഗఫ஺ሞኸସኴႜ้ுᆶॠڟٱဃ੦዆ഗยዃ.DN࿋ăሞኸସኴႜ้ॠڟٱဃ੦዆ഗยዃ.ER࿋Ljժሞ੦዆঳ࠓዐ٪ئᅃ߲ٱဃپஓă3.ሞ.DNई.ER࿋ยዃᅜࢫLjူْ޿༱पՎྺ्้Lj੦዆ഗॽأ.EN࿋ă4.ْምᅜ੗ഗ዆੦Lj้ኈׯՎप༱޿ړኴႜ޿ኸସă.EN.DN.ER෢௮෢௮෢௮෢௮༱प༱प༱प༱पኈኈ्ኈ૬नૌ႙ڦኸସ–༱पཉॲ20؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1ၩတૌ႙ڦኸସၩတૌ႙ڦሏۯ੦዆ኸସၠົޜఇ੷݀ໃᅃཉईܠཉၩတăၩတૌ႙ڦኸସ๖૩Ԉઔǖ•ሏۯ኱থ๑ీ(MDO)ኸସ•ሏۯ࿋ዃዘย(MRP)ኸସၩတૌ႙ڦኸସ߾ፕݛ๕සူ໯ຎǖ1.当包含运动控制指令的梯级变为真时，控制器将：ړԈࡤሏۯኸସڦ༱पՎྺኈ้Lj੦዆ഗॽǖ•ยዃഔᆩ(.EN)࿋ă•أྜׯ(.DN)࿋ă•أٱဃ(.ER)࿋ă2.੦዆ഗཚࡗॺ૬݀ྫົޜఇ੷ڦၩတ൩൱Ljਸ๔ኴႜኸସăኸସڦ฻ᇆևᇑײႾ෢௮ཞ้ኴႜă3.੦዆ഗॠົޜఇ੷๟ޏጚԢ੗ᅜথ๭ႎၩတă4.੦዆ഗॽॠ঳ࡕݣዃሞ੦዆঳ࠓڦၩတጒༀጴాă5.ړఇ੷৽ჃࢫLj੦዆ഗࠓሰၩတժॽഄ݀ໃڟఇ੷ăසࡕ޿ኸସႴᄲܠ߲ၩတLjኄ߲ࡗײ੗ీዘްܠْă6.සࡕ੦዆ഗఫ஺ሞኸସኴႜ้ுᆶॠۼတၩᆶ໯ڦ੷ఇྫ݀ࡕසဃٱڟᅙྜׯLjሶ੦዆ഗยዃ.DN࿋ăሞኸସኴႜ้ॠڟٱဃ੦዆ഗยዃ.ER࿋Ljժሞ੦዆঳ࠓዐ٪ئᅃ߲ٱဃپஓă7.ሞ.DNई.ER࿋ยዃᅜࢫLjူْ޿༱पՎྺ्้Lj੦዆ഗॽأ.EN࿋ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ21\nቤব1ሏۯ߁౒8.ْምᅜ੗ഗ዆੦Lj้ኈྺՎप༱ړኴႜ޿ኸସă.EN.DN.ER෢௮෢௮ኴႜ෢௮෢௮༱प༱पྜׯ༱प༱पኈ््ኈၩတૌ႙ڦኸସ–༱पཉॲࡗײૌ႙ڦኸସࡗײૌ႙ڦሏۯ੦዆ኸସ݀ഐڦሏۯࡗײ੗ీႴᄲփۨ׊ڦ้क़ઠྜׯăࡗײૌ႙ڦኸସ๖૩Ԉઔǖ•ਸഔሏۯ࿋ዃ॔๫(MAW)ኸସ•ዡ࿋ᅎ(MAM)ኸସࡗײૌ႙ڦኸସ߾ፕݛ๕සူ໯ຎǖ1.ړԈࡤሏۯኸସڦ༱पՎྺኈ้Lj੦዆ഗॽǖ当包含运动控制指令的梯级变为真时，控制器将：•ยዃഔᆩ(.EN)࿋ă•أྜׯ(.DN)࿋ă•أٱဃ(.ER)࿋ă•أࡗײྜׯ(.PC)࿋ă•ยዃኟሞ৊ႜ(.IP)࿋ă2.੦዆ഗ݀ഐሏۯࡗײă22؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব13.සࡕሶ੦዆ഗ੦዆ഗሞኸସኴႜ้ுᆶॠ•ยዃ.DN࿋ăڟٱဃ•ยዃኟሞ৊ႜ(.IP)࿋ă੦዆ഗሞኸସኴႜ้ॠڟٱ•ยዃ.ER࿋ăဃ•ሞ੦዆঳ࠓዐ٪ئᅃ߲ٱဃپஓă控制器检测到另一个运动控制੦዆ഗॠڟଷᅃ߲ሏۯኸସأ޿ํ૩ڦ.IP࿋ă指ڦํ૩令的实例ሏۯࡗײڟٳ੗ምْኴႜ޿ኸยዃ.DN࿋ăସڦۅܔᇀᆶၵࡗײૌ႙ڦኸସLj૩සMAMLjኄࣷሞڼᅃْ෢௮้݀ิăܸܔᇀഄ໱ኸସLj૩සMAHLj.DN࿋ॽ኱ڟኝ߲ࡃଭࡗײྜׯࢫ֍ࣷԥยዃăሞሏۯࡗײዐ݀ิူ௬ᅃዖ൧أ.IP࿋ă઄ǖ•ሏۯࡗײྜׯ•ଷྔᅃ߲ኸସڦํ૩ኴႜ•ଷྔᅃ߲ኸସཕኹ޿ሏۯࡗײ•ሏۯࠤቱཕኹ޿ሏۯࡗײ4.ሞሏۯࡗײڦ݀ഐኮࢫLjײႾ෢௮੗ᅜीჄăኸସڦ฻ᇆևࢅ੦዆ࡗײᇑײႾ෢௮ཞ้ीჄ৊ႜă5.ሞ.DN࿋ई.ER࿋ยዃᅜࢫLjူْ޿༱पՎྺ्้Lj੦዆ഗॽأ.EN࿋ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ23\nቤব1ሏۯ߁౒6.ْም੗ସኸLj้ኈྺՎप༱ړኴႜă.EN.DN.ER.IP.PC෢௮෢௮ኴႜ෢௮ࡗײ༱पኈ༱प्ྜׯ༱प्ྜׯࡗײૌ႙ڦኸସ–༱पཉॲՊႀᅃ߲໏܈ఇ๕ײႾ౞੗ᅜྺ߳ዖኸସ๑ᆩኄၵሏۯఇ๕ዐඪࢆᅃዖǖ•༱ႚఇ๕Ljᆩᇀ၍Ⴀे໏ࢅ३໏•S൸၍ఇ๕Ljᆩᇀ੦዆ሂ܈ᆶ࠲९ᄻஓሂ܈ڦۨᅭ24჋ስఇ๕25ሞፌڦ؛ሂ܈Պײዐ๑ᆩ้क़%26໏܈ఇ๕ၳࡕ27ሂ܈ኵऺ໙28ሂ܈ڦۨᅭሂ܈๟ኸे໏܈ई३໏܈ڦ߀Վ໏܈ă变化率。24؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1ሂ܈ຕৈ๢ᆩᇀ๑ᆩᅜူኸସڦS൸၍ఇ๕࿋ᅎǖ•MAJ•MCS•MAM•MCCD•MAS•MCCM•MCD•MCLM๖૩ǖසࡕे໏܈ሞ0.2௱ాٗ0Վׯ40mm/s2Ljሶሂ܈ྺǖ(40mm/s2-0mm/s2)/0.2s=200mm/s3჋ስఇ๕ړ౞჋ስᅃዖఇ๕้Lj൩੊୯თ้࣍क़ࢅೝࣂ܈ăසࡕ౞Ⴔᄲ൩჋ስኄዖఇ๕ጀᅪ๚ၜ•ፌ੺ڦे໏ࢅ३໏้क़༱ႚሂ܈փփࣷ၌዆े໏ࢅ३໏้क़ǖ•ሞՊႀࢫჄሏۯײႾዐᆶ߸ٷڦଳऄ܈•े໏ࢅ३໏໏܈੦዆ጣ໏܈ڦፌٷՎࣅă•౞ڦยԢࢅ޶ࢁฉڦუ૰໏܈ࣷԲS൶ᇘఇ๕ᄲߛă้क़•ሂ܈ԥණྺ๟࿮၌ڦLj၂๖ྺᅃཉ኱၍ăे໏้क़ሂ܈้क़؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ25\nቤব1ሏۯ߁౒ೝࣂڦे໏ࢅ३໏੗ইگܔS൸၍ሂ܈၌዆े໏ࢅ३໏้क़ǖยԢࢅ޶ࢁฉڦუ૰•ഄे໏ࢅ३໏ᄲԲ༱ႚఇ๕้क़ᄲ׊ă•සࡕኸସ๑ᆩS൸၍ఇ๕Lj੦዆ഗሞ౞ഔۯኸସ้ऺ໙े໏Ă३໏ࢅሂ܈ă໏܈•੦዆ഗऺ໙ෙঙႚे໏ࢅ้क़३໏ఇ๕ăे໏้क़ሂ܈้क़ሞፌڦ؛ሂ܈Պײዐ๑ᆩ้क़%้क़๑ᆩ%ᆩઠኸۨᆶܠณे໏ई३໏้क़ਏᆶሂ܈ă౞փႴᄲऺ໙ํाڦሂ܈ኵă๖૩ఇ๕100%้क़ሞ100%้क़تLjे໏ई३໏ॽ߀Վዡे੺ई३஥ڦኝ้߲क़ă໏܈100%้क़ሂ܈३໏100%้क़26؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1๖૩ఇ๕60%้क़ሞ60%้क़ڦ஥३ई੺ेዡՎ߀ॽ໏३ई໏ेLjت60%้क़ăܔᇀഄ໱40%้क़Ljे໏ई३໏๟࢛ۨڦă໏܈60%้क़ሂ܈३໏304030໏܈ఇ๕ၳࡕኄ߲՗߭ጺ঳କ߳ዖఇ๕ኮक़ڦᅴǖఇ๕े໏/३໏ۉऐ੦዆ڦᆫံपૌ႙้क़უ૰ፌߛڟፌگ༱ႚፌ੺ፌे໏/३໏໏܈࿋ዃS൸၍2Xฎ஥ፌॅሂ܈े໏/३໏໏܈࿋ዃ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ27\nቤব1ሏۯ߁౒ሂ܈ኵऺ໙සࡕኸସ๑ᆩई߀ՎS൸၍ఇ๕Lj੦዆ഗሞ౞ഔۯኸସ้ऺ໙े໏Ă३໏ࢅሂ܈ăMAJڦሂ܈ຕᅜ%้क़ྺڇ࿋৊ႜՊײLjӀᅜူݛ๕࣑໙ׯ߾ײڇ࿋ǖසࡕਸ๔໏܈MAJՊײ໏܈Պײ३໏໏܈23200३໏܈ሂ܈DŽڇ࿋/௱)=*-1Max(Պײ໏܈Lj[ਸ๔໏܈-Պײ໏܈])(%้क़)३໏ሂ܈໏܈Պײ໏܈้क़28؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1ᆩ%้क़ྺڇ࿋ڦՊײ࿋ᅎڦሂ܈Lj૩සMAMईMCLMኸସLjӀቷᅜူݛ๕࣑໙ׯ߾ײڇ࿋ǖසࡕਸ๔໏܈<Պײ໏܈Պײे໏໏܈23200े໏܈ሂ܈DŽڇ࿋/௱)=*-1Պײ໏܈(%้क़)Պײ३໏໏܈23200३໏܈ሂ܈DŽڇ࿋/௱)=*-1Max(Պײ໏܈Lj[ਸ๔໏܈-Պײ໏܈])(%้क़)Պײ໏܈३໏ሂ܈໏܈े໏ሂ܈้क़සࡕਸ๔໏܈>Պײ໏܈Պײ३໏໏܈2200३໏ሂ܈1=*-1Max(Պײ໏܈Lj[ਸ๔໏܈-Պײ໏܈])(%้क़)Պײ३໏໏܈2200३໏ሂ܈2=*-1Պײ໏܈(%้क़)३໏ሂ܈1໏܈Պײ໏܈३໏ሂ܈2้क़ړമ໏܈>Պײ໏܈้Lj๑ᆩ३໏ሂ܈1ړമ໏܈<Պײ໏܈้Lj๑ᆩ३໏ሂ܈2؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ29\nቤব1ሏۯ߁౒ߵ਍ኸସڦ໏܈ຕڦփཞLj၎ཞڦĐ%้क़đሂ܈ܔे໏ఇ๕ࢅܔ३໏ఇ๕੗ీิփཞڦၽ୲ă໏܈60%้क़ሂ܈३໏ሏۯࡆगࡀࣄ໙݆ۙኝํाڦሂ܈Lj๑े໏ఇ๕ࢅ३໏ఇ๕ԈࡤፌၭڦĐ%้क़đၽ้क़ăසࡕਸ๔໏܈থৎՊײ໏܈ຕLjሶํाڦၽ้क़ӥԲ੗ీࣷߛᇀՊײኵăሞٷܠຕ൧઄ူLjཉॲසူǖසࡕǖ(ਸ๔໏܈==0.0)OR(ਸ๔໏܈ྺ>2*ፌٷ໏܈)ఫ஺ǖ౞ൽՊՊײڦၽ้क़ӥԲޏሶǖ౞ൽߛߛᇀՊײڦၽ้क़ӥԲڇײ߾ׯ໙࣑क़้%ٗ࿋සࡕ౞ᄲॽ%้क़࣑໙ׯ߾ײڇ࿋Lj൩๑ᆩᅜူࠅ๕ăܔᇀे໏ሂ܈ǖ2ja[%้क़]=3100ja[EU/s]vmax1+amax30؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1ܔᇀ३໏ሂ܈ǖ2jd[%้क़]=3100jd[EU/s]vmax1+dmaxሂ܈Պײڇ๟࿋ڇ࿋/௱3සࡕᄲᆩĐڇ࿋/௱3đپ༺Đ%้क़đઠኸۨሂ܈Lj൩Ӏቷᅜူݛ๕ۙኝሂ܈ኵLj๑౞ీڥڟՊײڦኵǖՊײ३໏໏܈2ଣ้໏܈=೺ྭڇ๟࿋ڇLjኵ܈ሂڦ࿋/௱3ਸ๔໏܈-Պײ໏܈k=Max(Պײ໏܈Ljଣ้໏܈)සࡕ(k<1)•ኸସ௬ӱ३໏ሂ܈DŽᆩڇ࿋/௱3Dž=೺ྭڦ३໏ሂ܈DŽᆩڇ࿋/௱3Džޏሶ•ኸସ௬ӱ३໏ሂ܈DŽᆩڇ࿋/௱3Dž=೺ྭڦ३໏ሂ܈DŽᆩڇ࿋/௱3Dž*k示例EXAMPLE๖૩#1ਸ๔໏܈=8.0ᆈ٫/௱೺ྭ໏܈=5.0ᆈ٫/௱೺ྭ३໏܈=2.0ᆈ٫/௱2೺ྭ३໏ሂ܈=1.0ᆈ٫/௱3ଣ้໏܈=(೺ྭ३໏܈)2/೺ྭሂ܈ኵDŽᆩڇ࿋/௱3Dž=2.02/1.0==4.0ᆈ٫/௱k=(8.0-5.0)/max(5.0,4.0)=3.0/5.0==0.6ᆯᇀk<1Lj࿢்੗ᅜॽ೺ྭڦ३໏ሂ܈኱থ๼෇௬ӱኸସ௬ӱ३໏ሂ܈DŽᆩڇ࿋/௱3Dž=1.0ᆈ٫/௱3؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ31\nቤব1ሏۯ߁౒示例EXAMPLE๖૩#2ਸ๔໏܈=13.0ᆈ٫/௱೺ྭ໏܈=5.0ᆈ٫/௱೺ྭ३໏܈=2.0ᆈ٫/௱2೺ྭ३໏ሂ܈=1.0ᆈ٫/௱3ଣ้໏܈=(೺ྭ३໏܈)2/೺ྭሂ܈ኵDŽᆩڇ࿋/௱3Dž=2.02/1.0==4.0ᆈ٫/௱k=(13.0-5.0)/max(5.0,4.0)=8.0/5.0==1.6ᆯᇀk>1Lj࿢்ՂႷӀᅜူݛ๕ऺ໙३໏ሂ܈֍ీᆩሞኸସ௬ӱฉǖኸସ௬ӱ३໏ሂ܈DŽᆩڇ࿋/௱3Dž==1.0ᆈ٫/௱3*1.6==1.6ᆈ٫/௱3౞৊ႜనၵ߀ۯǛ•15ई߸ራ-%้क़ࠦۨྺ100ă•16ई߸ྟ-%้क़ఐණྺڦฉణၜڦઠ؜໙࣑ฉԨӲራডٗ100%้क़ăܔᇀႎڦၜణLj౞ՂႷ๼෇ሂ܈ኵă32؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1჋ስంସ๑ᆩኄ߲՗߭ઠ჋ስᅃ߲ኸସLjੂഄ๟ޏ੗ᆩፕሏۯ኱থంସǖසࡕ౞Ⴔᄲܸ൐๑ᆩኄ߲ኸସሏۯ኱থంସ߸߀ዡڦጒༀ๑ీົޜൻۯLjժघऄዡົޜ࣍ăMSO๟ਸሏۯົޜ๑ీ্ኹົޜൻۯLjժඁघऄዡົޜ࣍ăMSF๟࠲ሏۯົޜ๑ీഽ዆ዡ৊෇࠲ԿጒༀLjժፆኹඪࢆ݀ഐዡሏۯڦMASD๟ኸସă࠲Կሏۯዡॽዡࡗ܉ۼዡᆶ໯ڦ੷ఇޜົࡕසăༀጒჃ৽ڟMASR๟ᅺྺኄཉኸସܸ૗ਸ࠲Կఇ๕Ljሶఇ੷ۯሏीOKڦዡ࠲Կް࿋ۉഗةۅ࠲Կă๑ీົޜൻۯLjժยዃగ߲ዡڦົޜ๼؜ۉუăMDO๟ሏۯ኱থ๑ీ্ኹົޜൻۯLjժॽົޜ๼؜ۉუยዃྺ๼؜ೋMDF๟ᅎۉუă኱থ࠲ሏۯ๑ీأగ߲ዡڦ໯ᆶሏۯࠤቱăMAFR๟ሏۯዡࠤቱް࿋੦዆ዡڦ࿋ዃཕኹగ߲ዡฉڦඪࢆሏۯࡗײăMAS๟ሏۯዡཕኹ๑ዡࡃଭăMAH๟ሏۯዡლ๑ዡۅۯăMAJ๟ዡ໏܈ॽዡᅎۨ༬ڟ࿋ዃăMAM๟ዡ࿋ᅎഔۯଇ߲ዡኮक़ڦۉጱ؃୾MAG๟ۉጱ؃୾߸߀ኟሞ৊ႜዐڦ࿋ᅎईۅۯڦ໏܈Ăे໏ई३MCD๟໏ăሏۯۯༀۙኝ߸߀ዡڦంସ࿋ዃईኁํा࿋ዃăMRP๟ሏۯ࿋ዃዘยएᇀᅃဣଚཫ୾ۅઠऺ໙ཫ୾൸၍ăMCCPޏऺ໙ཫ୾ሏۯ൸၍ഔۯଇ߲ዡኮक़ڦۉጱཫ୾MAPCޏሏۯዡ࿋ዃཫ୾ഔۯۉጱཫ୾ፕྺ้क़ڦࡧຕăMATCޏሏۯዡ้क़ཫ୾ऺ໙ٗዡኵĂၽ୲ࢅၽ୲ڞຕᅜइڥཫ୾൸၍ࢅMCSVޏዷዡኵăऺ໙ٗዡሏۯኵ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ33\nቤব1ሏۯ߁౒සࡕ౞Ⴔᄲܸ൐๑ᆩኄ߲ኸସሏۯ኱থంସ݀ഐሞ໯ᆶዡฉڦፕăཕኹ໯ᆶዡڦሏۯăMGS๟ሏۯፇཕኹഽ዆໯ᆶዡ৊෇࠲ԿጒༀăMGSD๟࠲Կሏۯፇॽ໯ᆶዡࡗ܉ڟ৽ჃጒༀăMGSR๟ሏۯፇ࠲Կް࿋໮٪ړമంସࢅ໯ᆶዡڦํा࿋ዃăMGSP๟ጃಆሏۯፇ࿋ዃጚԢࢅ঴ڦዡ߲గԢጚॠॲ๚ڦ๺༬أ࠵࿋ዃ๚ॲॠăMAW๟ࠀీLj૩සऻ୤ࢅ࠵ਸഔሏۯ࿋ዃ॔๫࿋ዃ঴أగ߲ዡڦ࠵࿋ዃ๚ॲॠăMDW๟࠲Կሏۯ࿋ዃ॔๫ጚԢగ߲ዡڦົޜఇ੷ऻ୤๚ॲॠăMAR๟ਸഔዡ࿋ዃጃಆ঴أగ߲ዡڦົޜఇ੷ऻ୤๚ॲॠăMDR๟࠲Կዡ࿋ዃጃಆྺగ߲ዡࢅ๼؜ጚԢగ߲ཫ୾๼؜ăMAOCޏਸഔሏۯཫ୾๼؜঴؜๼୾ཫևඇई߲ᅃڦዡ߲గڟথ૶أăMDOCޏ࠲Կሏۯཫ୾๼؜ۙኝగ߲ዡժྺ౞ڦ੦዆๑ᆩMAATኸସڦ঳ࡕઠऺ໙ࢅ߸ႎగ߲ዡڦMAATޏဣཥሏႜኑ๬ăኄၵຳޜሺᅮࢅۯༀோ၌ăᆌᆩዡኝۨຕ๬Ԉઔǖሏႜగ߲ዡڦኝۨሏۯఇ๕MRATޏሏႜዡኝۨ•ۉऐ/Պஓഗ૶থ๬๑ᆩMRHDኸସڦ঳ࡕઠยዃՊஓഗࢅົޜटMAHDޏ•Պஓഗ૶থ๬Ⴀăᆌᆩዡ૶থኑ•Քኾ๬ሞగ߲ዡฉሏႜኑ๬ኮᅃăMRHDޏሏႜዡ૶থኑ34؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ߁౒ቤব1සࡕ౞Ⴔᄲܸ൐๑ᆩኄ߲ኸସሏۯ኱থంସ੦዆ܠዡၹۙሏۯྺၹۙဣཥڦዡഔۯᅃ߲၍Ⴀၹۙ࿋ᅎăMCLMޏሏۯ኱၍ցྺၹۙဣཥڦዡഔۯᅃ߲ᇶႚ࿋ᅎăMCCMޏሏۯᇶࢷց߸߀ፖՔဣฉڦᆶၳሏۯڦୟ০ۯༀຕ਍ăMCCDޏሏۯցۯༀۙኝཕኹፖՔဣڦዡLjईኁൽၩገ࣑ăMCSޏሏۯցཕኹ࠲ԿፖՔဣڦዡăMCSDޏሏۯց࠲Կഔۯᅃ߲ॽଇ߲ፖՔဣ૶ഐઠڦገ࣑ăኄૌຼᇀMCTޏມၠ؃୾ăሏۯցፖՔገ࣑(1)ऺ໙ᅃ߲ፖՔဣ၎ܔᇀଷᅃ߲ፖՔဣڦ࿋ዃăMCTPޏऺ໙ፖՔገ࣑࿋ዃ(1)ॽፖՔဣڦዡأժLjༀጒჃ৽ڟ܉ࡗዡڦࠤMCSRޏቱăሏۯց࠲Կް࿋(1)౞ኻీሞ1756-L6x੦዆ഗฉ๑ᆩኄཉኸସă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ35\nቤব1ሏۯ߁౒提ጀᅪ示：ǖ36؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nቤব2ሏ运动控制状态指令ۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)注意ATTENTIONᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă०঻运动控制状态指令直接控制或更改轴的工作状态。运动控制状态指令为：ሏۯጒༀኸସ኱থ੦዆ई߸߀ዡڦ߾ፕጒༀăሏۯጒༀኸସኸସྺǖසࡕ౞Ⴔᄲ๑ᆩኄ߲ኸସ在以下语言中可用༵ࠃڦᇕჾ๑ీົޜൻۯLjժघऄዡົޜ࣍ăMSOीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ্ኹົޜൻۯLjժඁघऄዡົޜ࣍ăMSFीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩഽ዆໯ᆶዡ৊෇࠲Կ߾ፕጒༀăዡᅃڋ৊෇࠲MASD梯ीۉഗ༱ႚ཮形图Կ߾ፕጒༀLj੦዆ഗॽፆኹඪࢆ݀ഐዡሏۯڦኸସă঳ࠓ࿔Ԩॽዡٗړമڦ࠲Կፕጒༀ߸߀ڟዡ৽ჃፕMASRीۉഗ༱ႚ཮梯形图ጒༀăසࡕົޜఇ੷ۼዡᆶ໯ڦᅺྺኄཉኸସܸ૗ਸ࠲Կఇ๕Ljሶఇ੷ۅةഗۉीOKڦ࠲঳ࠓ࿔ԨԿă๑ీົޜൻۉीMDOۉ؜๼ޜົڦዡ߲గዃยժLjۯഗ༱ႚ཮梯形图უă঳ࠓ࿔ԨඁघऄົޜൻۯLjժॽົޜ๼؜ۉუยዃྺ๼MDFीۉഗ༱ႚ཮梯形图؜ೋᅎۉუă঳ࠓ࿔Ԩأగ߲ዡڦ໯ᆶሏۯࠤቱăMAFRीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ37؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ37\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ዡڦ࿵߲߾ፕጒༀྺǖ߾ፕጒༀ௮ຎዡ৽Ⴣኄ๟ዡڦኟ׉ฉۉጒༀăሞኄዖጒༀူǖ•ົޜఇ੷Վೕഗ๑ీ๼؜փऄሂă•ົޜፕԥ্ኹă•փ٪ሞົޜࠤቱă኱থՎೕഗ੦዆ኄዖፕጒༀሎႹົޜఇ੷DAC኱থ੦዆ྔևՎೕഗăሞኄዖጒༀူǖ•ົޜఇ੷Վೕഗ๑ీ๼؜ऄሂă•࿋ዃົޜፕԥ্ኹăົޜ੦዆ኄዖፕጒༀሎႹົޜఇ੷ኴႜ࠲Կڦთ࣍ሏۯăሞኄዖጒༀူǖ•ົޜఇ੷Վೕഗ๑ీ๼؜ऄሂă•ົޜፕԥ๑ీă•ዡԥഽ዆ԍ׼ంସڦົޜ࿋ዃăዡࠤቱሞኄዖ߾ፕጒༀူLj٪ሞగ߲ົޜࠤቱLjՎೕഗ๑ీ๼؜ڦጒༀĂົޜڦፕᅜतOKةۅڦཉॲൽਦᇀ໯٪ሞڦࠤቱᅜतࠤቱۯፕă࠲Կኄዖ߾ፕጒༀሎႹOKीۉഗةۅٶਸՎೕഗۉᇸथཕ࣍ాڦᅃဣଚةۅăሞኄዖጒༀူǖ•ົޜఇ੷Վೕഗ๑ీ๼؜փऄሂă•ົޜፕԥ্ኹă•OKةۅٶਸă38؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2ਸሏۯົޜ๑ీ๑ᆩMSOኸସ੗घऄኸۨዡڦՎೕഗݣٷഗᅜतघऄዡڦົޜ੦዆伺服环。(MSO)თ࣍ăፕຕǖ梯形图ीۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎዡAXIS_GENERICՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMSO(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MSOኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡڦົޜፕᅙঢ়ׯࠀԥ๑ీܸ൐ົޜऄሂጒༀ࿋ԥยዃ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖਸሏۯົޜ๑ీ(MSO)ኸସ኱থघऄՎೕഗLjժ๑ీᅙದዃڦᇑ࿿૙ົޜዡ࠲૴ڦົޜ࣍ă໲੗ᅜᆩሞײႾዐڦඪࢆ࿋ዃLjڍዡኟሞሏۯ้փᆌ๑ᆩăසࡕ׈๬๑ᆩLjሶMSOኸସิׯĐዡሞሏۯዐđٱဃăMSOኸସཚࡗघऄՎೕഗࢅघऄ࠲૴ڦົޜ࣍Ljጲۯ๑ీኸۨڦዡăዡڦ঳ࡕጒༀ๟ኸົޜ੦዆ጒༀăኄཉኸସڦፌ׉ᆩڦںݛ๟ሞᇨԢంସሏۯ้Ljܔኸۨڦዡሞഄړമ࿋ዃघऄົޜ࣍ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ39\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ᄲׯࠀኴႜMSOኸସLjణՔዡՂႷದዃྺົޜዡăසࡕփ஢ፁኄ߲ཉॲLjሶኸସٱ؜ă重要IMPORTANT提示MSOኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတLjժႴᄲ้क़ඟՎೕഗ๼؜࿘ۨူઠᅜतघऄົޜ࣍ăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞዡتᇀົޜ੦዆ጒༀᅜࢫă这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Căփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMSOኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃăકቛٱဃپஓ(ๆ၎࠲૴ڦٱဃپஓ(ๆ৊዆)ࡤᅭ৊዆)ܔၡఇ๕؋཭(12)SERVO_MESSAGE_FAILUዡتᇀ࠲ԿጒༀăRE(12)඄၌ԥ਌ਨ(15)SERVO_MESSAGE_FAILU๑ీ๼෇ਸ࠲ٱဃăRE(12)(SERCOS)ยԢتᇀٱဃጒༀSERVO_MESSAGE_FAILUยԢጒༀփీᆩᇀ(16)RE(12)ፕă(SERCOS)40؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2MSOܔጒༀ࿋ڦ߸߀ዡጒༀ࿋࿋ఁ׬ጒༀࡤᅭServoActStatusኈዡتᇀົޜ੦዆ጒༀLjົޜ࣍ऄሂăDriveEnableStatusኈዡՎೕഗ๑ీ๼؜ऄሂăሏۯጒༀ࿋࿮๖૩ǖڦዃದ໯1ዡऄघժഗೕՎޜົీ๑ഗ዆੦Lj้ኈྺॲཉ෇๼ړዡົޜ࣍ă梯形图ीۉഗ༱ႚ཮MSO༱ႚ཮๖૩঳ࠓ࿔ԨMSO(Axis0,MSO_1);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ41\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)࠲ሏۯົޜ๑ీ(MSF)๑ᆩMSFኸସ੗ඁघऄኸۨዡڦՎೕഗ๼؜ᅜतඁघऄዡڦົޜ੦伺服环。዆თ࣍ăIMPORTANT重要提示සࡕړዡኟሞሏۯ้ኴႜMSFኸସLjዡॽ࠹Ⴀሏገ዁ݥ੦዆ཕኹăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_GENERICՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMSF(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MSFኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡڦົޜፕᅙঢ়ׯࠀԥ্ኹܸ൐Վೕഗ๑ీࢅົޜऄሂጒༀ࿋ۼԥยዃ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖ࠲ሏۯົޜ๑ీ(MSF)ኸସ኱থժ૬न࠲ԿՎೕഗ๼؜Ljժ্ኹඪࢆ࿿૙ົޜዡฉڦົޜ࣍ăኄ੗ॽዡዃᇀዡ৽ჃጒༀăMSFኸସ্࣏ࣷኹ੗ీࣷሞኴႜ้ԥघऄڦඪࢆሏۯऺࣄഗăMSFኸସփႴᄲຕ–ኻႴ०ڇں๼෇ई჋ስ໯Ⴔڦዡन੗ăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăۯᅎۯ๮౞ړዡ้Lj੗๑ᆩMSFኸସઠॽົޜፕ࠲࠲Կăᇱᅺ๟न๑ົޜፕ࠲Կ้Lj࿋ዃीჄԥ߶ጷăړົޜ࣍ԥMSOኸସምْٶਸ้Ljዡሞႎ࿋ዃॽምْتᇀԿ࣍੦዆ኮူă42؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2ዡڦཕኹႜྺܔᇀփཞڦՎೕഗૌ႙ࣷ߳փ၎ཞăሞగၵ൧઄ူዡ࠹Ⴀሏገ዁ཕኹLjܸሞଷᅃၵ൧઄ူዡࣷ๑ᆩՎೕഗ༵ࠃڦཕኹገਈ३໏ཕኹăᄲׯࠀኴႜMSFኸସLjణՔዡՂႷದዃྺົޜዡăසࡕփ஢ፁኄ߲ཉॲLjሶኸସٱ؜ସኸሶLjెႵྺ႙ૌዡڦ౞ࡕසăٱ؜LjᅺྺܔᇀႵెዡLjົޜፕࢅՎೕഗ๑ీጒༀԥ๔ዕഽ዆ྺኈăᅙ๑ᆩዡຕ਍虚轴ૌ႙ᄺࣷ؜ٱLjᅺྺิ੦዆ഗࣷ߀Վᅙ๑ᆩዡڦጒༀă重要提示IMPORTANTMSFኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတLjժႴᄲ้क़ඟՎೕഗ๼؜ࢅົޜ࣍ԥྜඇඁघऄăྜׯ(.DN)࿋኱ڟኄཉၩတԥׯࠀ݀ໃĂዡࡗ܉ڟዡ৽Ⴣጒༀࢫ֍ࣷยዃă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ43\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)MSFܔጒༀ࿋ڦ߸߀ǖዡጒༀ࿋࿋ఁ׬ጒༀࡤᅭServoActionStatus्ዡتᇀົޜਸഔጒༀLjົޜ࣍ऄሂăDecelStatus्ዡՎೕഗ๑ీ๼؜ऄሂăሏۯጒༀ࿋࿋ఁ׬ጒༀࡤᅭAccelStatus्ዡுᆶሞे໏ăDecelStatus्ዡுᆶሞ३໏ăMoveStatus्ዡுᆶሞᅎۯăJogStatus्ዡுᆶሞۅۯăGearingStatus्ዡுᆶሞ؃୾ሏۯዐăHomingStatus्ዡுᆶሞࡃଭăStoppingStatus्ዡுᆶሞཕኹăPositionCamStatus्ዡுᆶሞ࿋ዃཫ୾ሏۯዐăTimeCamStatus्ዡுᆶሞ้क़ཫ୾ሏۯዐăPositionCamPendingStat्ዡுᆶࠬഐڦ࿋ዃཫ୾ăusTimeCamPendingStatus्ዡுᆶࠬഐڦ้क़ཫ୾ăGearingLockStatus्ዡுᆶتᇀ؃୾໮ۨጒༀăPositionCamLockStatus्ዡுᆶتᇀཫ୾໮ۨጒༀă๖૩ǖڦዃದ໯1ዡतᅜഗೕՎޜົኹ্ഗ዆੦Lj้ኈྺॲཉ෇๼ړዡົޜ࣍ăीۉഗ༱ႚ཮梯形图MSF༱ႚ཮๖૩঳ࠓ࿔ԨMSF(Axis0,MSF_1);44؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2࠲Կሏۯዡ(MASD)๑ᆩMASDኸସ੗ഽ዆ኸۨڦ໯ᆶዡ৊෇࠲Կጒༀăዡڦ࠲ԿጒༀԈઔኄၵཉॲǖՎೕഗ๼؜ԥ্ኹĂົޜ࣍ԥඁघऄĂඪࢆ੗ᆩई࠲૴ڟ኱LjༀጒԿ࠲׼ԍॽዡăਸٶۅةഗۉीༀࠦOKڦኴႜዡईፇ࠲Կް࿋ྺኹăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMASD(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MASDኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡԥׯࠀዃᇀ࠲Կጒༀ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖ࠲Կሏۯዡ(MASD)ኸସ኱থժ૬न্ኹՎೕഗ๼؜Lj্ኹົޜ࣍LjժُăۅةOKڦ૴࠲ࢆඪਸٶፕॽዡዃᇀ࠲ԿጒༀăMASDኸସ݀ഐڦଷᅃ߲ፕ๟أ໯ᆶኟሞ৊ႜڦሏۯࡗײժأ໯ᆶሏۯጒༀ࿋ăᇑُፕ၎࠲Ljంସ࣏ࣷأړമྺణՔዡยዃڦ໯ᆶሏۯኸସڦ所有运动状态位。与此操作相关，命令还会清除当前为目标轴设置的IP࿋ă所有运动控制指令的IP位。MASDኸସഽ዆ణՔዡ৊෇࠲Կጒༀă࠲Կጒༀڦ܀༬༬ۅኮᅃ৽๟Ljසࡕ੗ᆩLjሶሏۯ੦዆ఇ੷ईՎೕഗڦOKࠦༀीۉഗةۅٶਸăኄዖࠀీ੗ᆩᇀٶਸ੦዆Վೕഗဣཥዷۉᇸڦथཕ࣍ăጀᅪLjཚ׉௅߲ሏۯ੦዆ఇ੷ኻᆶᅃ߲OKةۅLjኄᅪ࿆ጣܔᇀߴۨڦఇ੷Ljሞඪᅃ࠲૴ڦዡฉኴႜMASDኸସۼॽٶਸOKةۅă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ45\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)࠲ऐጒༀۼସኸڦۯሏഐ݀ࢆඪLj๟ۅ༬߲ᅃଷڦԥፆኹኴႜă׈๬ኄᄣፔࣷڞዂኴႜٱဃăኻᆶཚࡗኴႜഄዐᅃ߲࠲Կް࿋ኸସLj֍ీׯࠀں݀ഐሏۯăᄲׯࠀኴႜMASDኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ăዡॽԍ׼࠲ԿጒༀLj኱ڟሏۯዡ࠲Կް࿋(MASR)ईሏۯፇ࠲Կް࿋(MGSR)ኸସኴႜྺኹă重要IMPORTANT提示MASDኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏُᅺăတၩཉᅃ๼د੷ఇ዆੦ۯLjྜׯ(.DN)࿋኱ڟ܉ࡗዡĂໃ݀ࠀׯԥတၩཉኄڟ࠲Կጒༀࢫ֍ࣷยዃă这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă46؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2MASDܔጒༀ࿋ڦ߸߀ǖዡጒༀ࿋࿋ఁ׬ጒༀࡤᅭServoActStatus्•ዡتᇀዡ৽Ⴣጒༀă•ົޜ࣍փऄሂăDriveEnableStatus्Վೕഗ๑ీ๼؜փऄሂăShutdownStatusኈዡتᇀ࠲Կጒༀăሏۯጒༀ࿋࿋ఁ׬ጒༀࡤᅭAccelStatus्ዡுᆶሞे໏ăDecelStatus्ዡுᆶሞ३໏ăMoveStatus्ዡுᆶሞᅎۯăJogStatus्ዡுᆶሞۅۯăGearingStatus्ዡுᆶሞ؃୾ሏۯዐăHomingStatus्ዡுᆶሞࡃଭăStoppingStatus्ዡுᆶሞཕኹăPositionCamStatus्ዡுᆶሞ࿋ዃཫ୾ሏۯዐăTimeCamStatus्ዡுᆶሞ้क़ཫ୾ሏۯዐăPositionCamPendingStat्ዡுᆶࠬഐڦ࿋ዃཫ୾ăusTimeCamPendingStatus्ዡுᆶࠬഐڦ้क़ཫ୾ăGearingLockStatus्ዡுᆶتᇀ؃୾໮ۨጒༀăPositionCamLockStatus्ዡுᆶتᇀཫ୾໮ۨጒༀă๖૩ǖړ๼෇ཉॲྺኈ้Lj੦዆ഗഽ዆ዡ1৊෇࠲Կ߾ፕጒༀă梯ीۉഗ༱ႚ཮形图MASD༱ႚ཮๖૩঳ࠓ࿔ԨMASD(Axis0,MASD_1);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ47\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ሏۯዡ࠲Կް࿋๑ᆩMASRኸସ੗ॽዡٗړമڦ࠲Կፕጒༀࡗ܉ڟዡ৽Ⴣፕጒ(MASR)ༀă໯ᆶᇑኸۨڦዡ࠲૴ڦࠤቱۼԥጲۯأăසࡕᅺኄཉኸସڦኴႜܸ๑၎࠲ሏڦ੷ఇሶLjༀጒԿ࠲ᇀتምփۼዡᆶ໯ڦ੷ఇ዆੦ۯOKीۉഗةۅ࠲Կăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMASR(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MASRኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڟ኱ༀጒዃย׼ԍժLjዃยԥ࿋߲ኄ้࣑ገڦኈڟ्ْٗᅃႜ৊प༱ړົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡԥׯࠀٗ࠲Կጒༀዐް࿋้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖሏۯዡ࠲Կް࿋(MASR)ኸସأ໯ᆶڦዡࠤቱLjժॽኸۨڦዡټ૗࠲Կጒༀăසࡕሏۯ੦዆ఇ੷ኧ׼OKةۅLjܸ൐ுᆶഄ໱ఇ੷ዡتᇀ࠲ԿጒༀLjMASRኸସॽۅةഗۉीༀࠦOKڦ੷ఇ޿ዂڞ࠲Կăփ࠶OKةۅڦཉॲසࢆLjኴႜMASRࣷॽዡዃᇀዡ৽Ⴣጒༀă৽ၟMASDኸସഽ዆ణՔዡ৊෇࠲ԿጒༀᅃᄣLjMASRኸସॽዡټ૗࠲ԿጒༀLj৊෇ዡ৽Ⴣጒༀă࠲Կጒༀڦ܀༬༬ۅኮᅃ৽๟Lj޿ሏٶۅةഗۉीༀࠦOKڦ૴࠲ࢆඪ੷ఇ዆੦ۯਸăසࡕᅺኴႜMASRኸସܸ๑ߴۨڦሏۯ੦዆ఇ੷ዐ࠲૴ڦዡۼ૗ਸକ࠲ԿጒༀLjሶOKीۉഗةۅࣷሞMASRኴႜࢫ࠲Կăኄዖࠀీ੗ᆩᇀ࠲Կ੦዆Վೕഗဣཥዷۉᇸڦथཕ࣍LjᅺُሎႹਜ਼ࢽၠՎೕഗዘႎแेۉᇸăጀᅪLjཚ׉௅߲ሏۯ੦዆ఇ੷ኻᆶᅃ߲OKةۅLjኄᅪ࿆ጣ੗ీႴᄲܔߴۅةOK๑ࣷ֍ସኸMASRႜኴᄲۼዡ࠲၎ᆶ໯ڦ੷ఇۨ࠲Կă48؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2ᄲׯࠀኴႜMASRኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ă重要提示IMPORTANTMASRኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏُᅺăတၩཉᅃ๼د੷ఇ዆੦ۯLjྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞၩတԥׯࠀ݀ໃᅜࢫăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。أൎ࣑ڟยዃă•在结构文本中，限制指令只对转换执行。请参阅附录C。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăጒༀ࿋ǖ࿋ఁ׬ጒༀࡤᅭShutdownStatus्ዡփ๟تᇀ࠲Կጒༀă๖૩ǖڟ܉ࡗༀጒፕ߾Կ࠲ٗ1ዡॽഗ዆੦Lj้ኈྺॲཉ෇๼ړዡ৽Ⴣ߾ፕጒༀă梯形图ीۉഗ༱ႚ཮঳ࠓ࿔ԨMASR(Axis0,MASR_1);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ49\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ሏۯ኱থ๑ీ(MDO)MDOኸସᄲದࢇ๑ᆩኧ׼ྔևఇెଉົޜՎೕഗথ੨DŽ૩ස1756-M02AEई1784-PM02AEົޜఇ੷Džڦሏۯ੦዆ఇ੷ăኄཉኸସඁघऄఇ੷ڦՎೕഗ๑ీLj๑ీྔևົޜՎೕഗLjཞ้ॽົޜఇ੷ڦՎೕഗ๼؜ۉუยዃྺኸۨڦۉუăՎೕഗ๼؜ኵ੗ᆩޚ༬ईኁፌڦ዆၌؜๼ዡٷ%ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕຕ਍ૌ႙௮ຎዡՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăሏۯ੦዆MOTION_ᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăINSTRUCTIONՔധՎೕഗ๼ڦ዆၌؜๼ޜົᆩLjუۉڦ؜๼ᄲREAL؜%ईኁޚ༬Վೕഗڇ࿋քܻ႙Վೕഗ๼؜ኵԥ঴๥้໯ᆩڦڇ࿋ă঳ࠓ࿔ԨMDO(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MDOኸସڦፕຕ၎ཞăDriveOutput,DriveUnits);ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴDriveUnitsvolts0ӥԲ1MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡڦՎೕഗഔᆩ࿋ԥघऄLjܸ൐ኸۨڦఇెଉ๼؜ԥׯࠀᆌᆩ้Ljྜׯ࿋ԥยዃă.ERDŽڦ෇๼౞ස૩Ljဃٱڟॠସኸ๖՗ዃยԥ࿋߲ኄ28࿋DžဃٱՎೕഗ๼؜ኵ໿ٷă50؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2ຫ௽ǖܔᇀਏᆶྔևົޜՎೕഗথ੨ڦሏۯ੦዆ఇ੷Lj૩ස1756-M02AEई1784-PM02AELjሏۯ኱থ๑ీ(MDO)ኸସ੗ᆩઠ኱থ๑ీዡڦՎೕഗ๑ీ๼؜Ljժॽఇెଉ๼؜ยዃྺᆯՎೕഗ๼؜ຕඓۨڦኸۨڦࠃ༵໯Ⴀຌ዆၌؜๼ྺኁईLjუۉྺ๖՗੗ຕ؜๼ഗೕՎăೝۉፌٷದዃ๼؜ۉუኵڦӥԲăMDOኸସኻీᆩሞዡૌ႙ԥದዃྺົޜڦ࿿૙ዡฉăኻᆶړዡփتᇀዡ৽Ⴣጒༀ้DŽ૩සົޜፕԥ࠲ԿDžLjኄཉኸସ֍ీኴႜăዡڦ঳ࡕጒༀ๟ኸՎೕഗ੦዆ጒༀăMDOኸସሞॽົޜఇ੷ڦఇెଉ๼؜ยዃྺኸۨڦۉუኵኮമံघऄ၎ᆌڦՎೕഗ๑ీ๼؜Ljܸٗጲۯ๑ీኸۨڦዡăཚ׉LjሞՎೕഗ๑ీ๼؜ڦघऄᇑॽఇెଉ๼؜ยዃྺኸۨۉೝኮक़ᆶ500ࡹ௱ڦჽ׿LjඟՎೕഗڦۉᇸ঳ࠓీࠕ࿘ۨူઠăྺକॽኄ߲Վೕഗ๑ీჽ׿೺क़ڦ೏ᅎই዁ፌگLjڟՎೕഗڦ๼؜ۉუԥยዃྺ๼؜ೋᅎຌႠኵDŽఐණኵྺଭDžăഄࢫLj๼؜ۉუᆯMDOኸସڦኸۨՎೕഗ๼؜ኵઠ༵ࠃLjժཚࡗົޜ๼؜ጒༀຌႠኵઠኸ๖ăᇑ߳ዖLogixົޜఇ੷࠲૴ۯሏഗೕՎথ኱ॽॲᆘDAC࿋16ڦ੦዆ڦᆶၳՐ୲၌዆ྺ305Vई0.003%ăሞ኱থՎೕഗፕڦ൧઄ူLjఇ੷ڟ๴ৈସኸీ๑থ኱ۯሏă୼ࢮԥ൐ժሂऄփ࣍ޜົڦ޿ዡڦົޜ๼؜टႠದዃ࿋Ă๼؜ೋᅎࢅ๼؜၌዆ຌႠڦᆖၚăසࡕ๼؜၌዆ದዃኵই዁؜๼ڟ࿋ᶏۯጲኵ؜๼ޜົሶLjူᅜኵუۉ؜๼മړ၌዆ኵăኄཉኸସڦፌ׉ᆩڦںݛ๟༵ࠃ܀૬ڦ੗Պײఇెଉ๼؜Ljፕྺྔև可编程模拟输出Վೕഗڦਸ࣍໏܈੊Ljईኁᆩᇀ๬ྔևົޜՎೕഗڦԿ࣍ፕă速度基准值。或者用于测试外部伺服变频器的闭环操作。ᄲׯࠀኴႜMDOኸସLjణՔዡՂႷದዃྺົޜዡժ൐تᇀዡ৽ჃጒༀLjܸ൐ົޜٱ؜ସኸሶLjॲཉၵኄፁ஢փࡕසăԿ࠲ፕۯă重要提示IMPORTANTMDOኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတLjժႴᄲ้क़ඟՎೕഗ๼؜࿘ۨူઠăྜׯ(.DN)࿋ᄲڟሞዡتᇀՎೕഗ੦዆ጒༀᅜࢫ֍ԥยዃăኄ๟ᅃཉࡗ܉Ⴀኸସǖ转换指令؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ51\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMDOኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃăકቛٱဃپஓ၎࠲૴ڦٱဃپஓ(ๆ৊዆)ࡤᅭ(ๆ৊዆)ܔၡఇ๕؋཭(12)SERVO_MESSAGE_FAILUዡتᇀ࠲ԿጒༀăRE(12)ጒༀ࿋ǖMDOܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀࡤᅭDriveEnableStatusኈዡتᇀՎೕഗ੦዆ጒༀLjՎೕഗ๑ీ๼؜घऄă๖૩ǖڦ1ዡዃยժLjഗೕՎޜົڦ1ዡऄघഗ዆੦Lj้ኈྺॲཉ෇๼ړົޜ๼؜ۉუăሞኄ߲૩ጱዐLj๼؜ڪᇀ๼؜ኵڦ2%ă梯ीۉഗ༱ႚ཮形图MDO༱ႚ཮๖૩঳ࠓ࿔ԨMDO(Axis0,MDO_1,4,percent);52؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2኱থ࠲ሏۯ๑ీ(MDF)๑ᆩMDFኸସ੗ඁघऄົޜൻۯLjժॽົޜ๼؜ۉუยዃྺ๼؜ೋᅎۉუă޿๼؜ೋᅎۉუ๟ิଭईፌၭՎೕഗሏۯڦ๼؜ۉუă౞੗ᅜሞዡದዃࡗײዐኸۨኄ߲ኵăፕຕǖ梯形图ीۉഗ༱ႚ཮ፕຕຕ਍ૌ႙௮ຎዡՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăሏۯ੦዆MOTION_ᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăINSTRUCTIONՔധ঳ࠓ࿔ԨMDF(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MDFኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡڦՎೕഗ႑ࡽԥׯࠀ্ኹLjܸ൐Վೕഗ๑ీጒༀ࿋ԥأࢫLjྜׯࢫԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖܔᇀਏᆶྔևົޜՎೕഗথ੨ڦሏۯ੦዆ఇ੷Lj૩ස1756ᳮ02AELj኱থ࠲ሏۯ๑ీ(MDF)ኸସ኱থ্ኹኸۨ࿿૙ዡڦሏۯ੦዆ఇ੷Վೕഗ๑ీ๼؜Ljཞ้࣏ཚࡗᆌᆩ໯ದዃڦ๼؜ೋᅎኵLjॽఇ੷ڦົޜ๼؜ĐࡃଭđڟྔևՎೕഗăMDFኸସᆩᇀཕኹᆯമᅃཉMDOኸସ݀ഐڦሏۯLjॽዡٗ኱থՎೕഗ੦዆ጒༀࡗ܉࣮ڟዡ৽ჃጒༀăᄲׯࠀኴႜMDFኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ăIMPORTANT重要提示MDFኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞၩတԥׯࠀ݀ໃᅜࢫă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ53\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăMDFܔጒༀ࿋ڦ߸߀ǖዡጒༀ࿋࿋ఁ׬ጒༀࡤᅭDriveEnableStatus्ዡኟتᇀዡ৽ჃጒༀLjܸ൐Վೕഗ๑ీ๼؜၄ሞऄሂă๖૩ǖڦ_ዡॽժLjഗೕՎޜົڦ1ዡऄघඁഗ዆੦Lj้ኈྺॲཉ෇๼ړົޜ๼؜ۉუยዃྺ๼؜ೋᅎኵă梯形图ीۉഗ༱ႚ཮MDF༱ႚ཮๖૩঳ࠓ࿔ԨMDF(Axis0,MDF_1);54؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ቤব2ሏۯዡࠤቱް࿋๑ᆩMAFRኸସ੗أగ߲ዡڦ໯ᆶሏۯࠤቱăኄ๟أዡሏۯࠤ(MAFR)ቱڦྸᅃݛ݆ă重要提示IMPORTANTMAFRኸସ෸أࠤቱጒༀLjڍժփኴႜඪࢆ࣬ް߾ፕLj૩ස๑ీົޜፕăُྔLj੦዆ഗ෸أࠤቱጒༀࢫLjิ޿ࠤቱڦཉॲ੗ీධ඗٪ሞăසࡕሞ๑ᆩMAFRኸସኮമுᆶৰኟཉॲLjዡࣷ૬नምْ؜၄ࠤቱăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMAFR(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MAFRኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡڦࠤቱԥׯࠀأ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖሏۯዡࠤቱް࿋(MAFR)ኸସ኱থأኸۨዡฉڦኸۨࠤቱጒༀă໲փৰኟڞዂ޿ٱဃڦཉॲăසࡕሞኴႜMAFRኸସኮമுᆶৰኟཉॲLjዡࣷ૬नም؜ْ၄ࠤቱLj՗၄ྺࠤቱጒༀժுᆶް࿋ăኄཉኸସፌ׉ᆩᇀፕྺࠤቱت૙ഗײႾڦᅃևLj޿ײႾ༵ࠃ༬ۨᇀᆌᆩڦࠤቱፕઠၚᆌ߳ዖയሞڦሏۯ੦዆ࠤቱăᅃڋൽ၎ᆌڦࠤቱፕࢫLjMAFRኸସ੗ᆩᇀأ໯ᆶऄሂڦࠤቱጒༀ࿋ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ55\nቤব2ሏۯጒༀኸସ(MSOĂMSFĂMASDĂMASRĂMDOĂMDFĂMAFR)ᄲׯࠀኴႜMAFRኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ă重要提示IMPORTANTMAFRኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞၩတԥׯࠀ݀ໃᅜࢫăփీԍኤُኸସ੗ᅜأ໯ᆶࠤቱLjᅺྺᅃ߲ईܠ߲ࠤቱ੗ీ๟గዖ׼Ⴤཉॲڦ঳ࡕăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăMAFRܔጒༀ࿋ڦ߸߀ǖ࿮MAFR๖૩ǖۯሏᆶ໯ڦ1ዡأഗ዆੦Lj้ኈྺॲཉ෇๼ړࠤቱăीۉഗ༱ႚ཮梯形图MAFR༱ႚ཮๖૩঳ࠓ࿔ԨMAFR(Axis0,MAFR_1);56؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)०঻๑ᆩሏۯ࿋ᅎኸସઠ੦዆ዡڦ࿋ዃăසࡕ౞Ⴔᄲ๑ᆩኄ߲ኸସ在以下语言中可用༵ࠃڦᇕჾཕኹగ߲ዡฉڦඪࢆሏۯࡗײሏۯዡཕኹ(MAS)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ๑ዡࡃଭሏۯዡლ(MAH)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ๑ዡۅۯዡ໏܈(MAJ)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩॽዡᅎۉी)MAM(ᅎ࿋ዡዃ࿋ۨ༬ڟഗ༱ႚ཮梯形图঳ࠓ࿔Ԩഔۯଇ߲ዡኮक़ڦۉጱ؃୾ۉጱ؃୾(MAG)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ߸߀ኟሞ৊ႜዐڦᅎۯईۅۯڦ໏܈Ăे໏ईሏۯۯༀۙኝ(MCD)ीۉഗ༱ႚ཮梯形图३໏঳ࠓ࿔Ԩ߸߀ዡڦంସ࿋ዃईኁํा࿋ዃሏۯ࿋ዃዘย(MRP)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩएᇀᅃဣଚཫ୾ۅઠऺ໙ཫ୾൸၍ऺ໙ཫ୾ሏۯ൸၍(MCCP)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩഔۯଇ߲ዡኮक़ڦۉጱཫ୾ሏۯዡ࿋ዃཫ୾(MAPC)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩഔۯۉጱཫ୾ፕྺ้क़ڦࡧຕሏۯዡ้क़ཫ୾(MATC)ीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩऺ໙ٗዡኵĂၽ୲ࢅၽ୲ڞຕᅜइڥཫ୾൸၍ऺ໙ٗዡሏۯኵ(MCSV)ीۉഗ༱ႚ཮梯形图ࢅዷዡኵ঳ࠓ࿔Ԩ57؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ57\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሏۯዡཕኹ(MAS)๑ᆩMASኸସઠཕኹగ߲ዡฉڦ༬ۨሏۯࡗײईኁྜඇཕኹ޿ዡă注ATTENTION意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_VIRTUALՔധዡڦఁ׬AXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_INSTRՔധኸସڦ੦዆ՔധUCTIONཕኹૌ႙DINT૬नᄲཕኹ჋ስኄዖཕኹૌ႙ኄ߲ዡ໯ᆶኟሞ৊ႜڦሏۯඇև(0)ৈగዖૌ႙ڦሏۯLjܸ๑ഄ໱჋ስ౞ᄲཕኹڦሏۯૌ႙ǖሏۯࡗײीჄሏႜ•ۯۅ(1)•ᅎۯ(2)•؃୾(3)•ࡃଭ(4)•ኝۨ(5)•๬(6)•࿋ዃཫ୾(7)•้क़ཫ୾(8)•ዷೋᅎᅎۯ(9)ړMASኸସྜׯࢫLjዡධ඗ࣷሞᅎۯă58؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎՎ߸३໏܈DINT૬नසࡕ౞Ⴔᄲఫ஺჋ስ๑ᆩዡڦፌٷ३໏܈ޏ(0)ኸۨ३໏܈๟(1)३໏܈REAL૬नईՔധዘዘᄲ๚ၜǖසࡕሏۯኟሞ৊ႜኮዐܸ౞ইگ३໏܈Ljሶዡ੗ీࣷࡗ؋ഄణՔ࿋ዃăዡڦ३໏܈ăኻᆶړՎ߸३໏ྺ๟้Ljኸସ֍ࣷ๑ᆩኄ߲ኵă३໏܈ڇ஺๊ᆩ๑܈໏३ྺᄲ౞न૬DINT࿋ڇ࿋Ǜ•ڇ࿋௅௱2(0)•ፌٷኵ%(1)Վ߸३໏܈ሂ܈DINT૬नසࡕ౞Ⴔᄲఫ஺჋ስ๑ᆩዡڦፌٷ३໏܈ሂ܈ޏ(0)Պײ३໏܈ሂ܈໏୲๟(1)३໏ሂ܈REAL૬नईՔധዘዘᄲ๚ၜǖසࡕሏۯኟሞ৊ႜኮዐܸ౞ইگ३໏܈ሂ܈Ljሶዡ੗ీࣷࡗ؋ഄణՔ࿋ዃăሂ܈ڇ࿋DINT૬न౞ՂՂႷ๔ዕྺ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă•३໏ሂ܈๟ዡڦ३໏ሂ܈ኵă๑ᆩኄၵኵഐօă३໏܈ሂ܈=100(้क़%)0=ڇ࿋௅௱31=ፌٷኵ%2=้क़%(๑ᆩኄ߲ኵഐօ)؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ59\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)঳ࠓ࿔ԨMAS(Axis,MotionControl,঳ࠓ࿔Ԩፕຕᇑीۉഗ༱ႚ཮ፕຕ၎ཞă梯形图StopType,ChangeDecel,DecelRate,DecelUnits,ChangeDecelJerk,ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞DecelJerk,JerkUnits);๼෇ྺ࿔Ԩईኁ๼෇ྺཕኹૌ႙all0jog1move2gear3home4tune5test6timecam7positioncam8masteroffsetmove9Վ߸३໏܈࿮0๟1३໏܈ڇ࿋ڇ࿋௅௱20%ofmaximum1Վ߸३໏܈ሂ܈࿮0๟1३໏ሂ܈࿮஼ਉ౞ՂՂႷ๔ዕྺ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă•३໏ሂ܈๟ዡڦ३໏ሂ܈ኵă๑ᆩኄ߲ኵഐօă३໏܈ሂ܈=้क़100%(2)ሂ܈ڇ࿋unitspersec30ፌٷኵ%1%้क़260؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3MOTION_INSTRUCTIONຕ਍ૌ႙ᄲੂ๟ޏॠኄ߲࿋๟ޏຕ਍ૌ႙ጀᅪǖԥยዃ्ٗڟኈڦࡗ܉ॽڞዂኄ߲ኸସኴႜENBOOLEN࿋ԍ׼ยዃጒༀLj኱ڟࡗײྜׯĂ༱पՎྺ्ྺኹăཕኹԥׯࠀ݀ഐDNBOOL؜၄ٱဃERBOOLዡኟሞཕኹIPBOOLኄၵፕڦඪࢆᅃ߲ۼࣷ঳ຐMASኸସLjժأIP࿋ǖ•ዡԥཕኹ•ଷྔᅃཉMASኸସൽپኄཉMASኸସ•࠲Կంସ•ࠤቱፕዡԥཕኹPCBOOLPC࿋ԍ׼ยዃጒༀLj኱ْᅃႜ৊प༱ڟ्ٗڟኈڦࡗ܉ă௮ຎۯሏ዆੦ڦႜ৊ሞኟࢆඪڦዡܔᄲၙ౞ړ৊ႜ३໏ཕኹ้Ljन੗๑ᆩሏۯዡཕኹ(MAS)ኸସă޿ኸସཕኹሏۯLjܸփ্ࣷኹົޜ࣍ăܔᇀMASยዃཕኹૌ႙=ඇև้Ljኄዖ३໏๔ዕ๑ᆩ༱ႚఇ๕Ljփ࠶Պײڦఇ๕ૌ႙සࢆă๑ᆩ޿ኸସઠǖ•ཕኹ༬ۨڦሏۯࡗײLj૩සۅۯĂᅎۯई؃୾•ྜඇཕኹ޿ዡ•ዐኹᆯMRHDईMRATኸସ݀ഐڦ๬ईኝۨࡗײMASኸସ๑ᆩనዖૌ႙ڦఇ๕Ǜසࡕཕኹૌ႙ྺሶMASኸସ๑ᆩኄዖఇ๕ڦཞ၎ସኸ)MAJ(܈໏ዡڦۯۅ޿ۯഔᇑۯۅఇ๕ૌ႙ᅎۯᇑഔۯ޿࿋ᅎڦዡ࿋ᅎ(MAM)ኸସ၎ཞڦఇ๕ૌ႙ᅜฉۼփ๟༱ႚ๖૩्ย౞๑ᆩMAJኸସᅜतS൸၍ఇ๕ઠਸ๔ᅃ߲ۅۯă඗ࢫ౞ᆩMASኸସᅜतཕኹૌ႙ྺۅۯઠཕኹ޿ۅۯăሞኄዖ൧઄ူLjMASኸସ๑ᆩS൸၍ఇ๕ઠཕኹۅۯă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ61\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ՊײᇱሶATTENTION注意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦ؋ࡗዃ࿋ۅዕई/ࢅ܈໏႐ၭᄲLjସኸڦޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌڦ%क़้ᆩࡕසLjऻ઺൩๟ڍă໏ेሞኟዡܸگই܈ሂ܈໏ेٷۨኸ࿋ڇLjሂ܈੗ీࣷक़থԥ߀Վăᆶ࠲߸ܠ႑တLj൩९TroubleshootAxisMotionฉڦpage9ăኸڞᇱሶၘဦຫ௽•ሞी梯形ړ௅Ljዐ཮ႚ༱图ഗۉ౞ထኄ๟ᅃཉࡗ܉Ⴀኸସǖ转换指令ྭኴႜኸସ้Lj൩ൎ࣑༱पཉ•ሞीأٗॲཉ෇๼प༱ॽLj้ସኸႜኴྭထ౞ړ௅Ljዐ཮ႚ༱ഗۉൎ࣑梯形图ॲăڟยዃन੗ă•ሞ在结构文本中，限制指令只对঳ࠓ࿔ԨዐLjยዃኸସڦཉሞ঳ࠓ࿔ԨዐLjኸସ௅ْԥ෢௮้৽ࣷኴႜăॲ转换执行。Lj๑ഄৈሞࡗ܉้ኴႜă•ยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă๑ᆩူ௬ڦݛ݆ኮᅃǖ限制指令只对转换执行。•SFCፕ၌ۨޙ•঳ࠓ࿔Ԩࠓॺᆶ࠲߸ܠ႑တLj൩ለ޹ॲCă•჋ስ๟ཕኹඇևሏۨ༬๟࣏ۯසࡕ౞ၙᄲཕኹఫ஺჋ስኄዖཕኹૌ႙ૌ႙ڦሏۯăኄ߲ዡ໯ᆶኟሞ৊ႜڦሏۯඇևኸସ๑ᆩ༱ႚఇ๕Ljཕኹ޿ዡăৈཕኹగዖૌ႙ڦሏۯLjܸ๑ഄ໱౞ᄲཕኹڦሏۯૌ႙ሏۯࡗײीჄሏႜۯᅎሞࣷ඗ධዡLjࢫׯྜସኸMASړăኸସ๑ᆩS൸၍ఇ๕ઠཕኹዡLjৈړǖ•ཕኹૌ႙ྺۅۯई࿋ᅎLjժ൐•ۅۯई࿋ᅎ๑ᆩS൸၍ఇ๕ă๖૩ǖ्ย౞ڍLjۯۅኹཕৈᄲၙ౞ย्ምăᅎ࿋ࢅۯۅႜኴ้ཞሞኟዡڦඟ࿋ᅎीჄሏႜăሞኄዖ൧઄ူLj჋ስཕኹૌ႙ྺۅۯă62؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ኸڞᇱሶၘဦຫ௽•ᄲཕኹ؃୾ईཫ୾Lj൩჋ስٗᄲཕኹ؃୾ई࿋ዃཫ୾ࡗײLj൩๼෇ٗٗዡઠ࠲Կ༬ۨڦࡗײժཕኹ޿ዡăසዡăࡕዷዡ๟ᅃ߲ົޜዡLj౞੗ᅜཕኹዷዡLjܸٗཕኹٗዡLjܸփ্ࣷኹ؃୾ई࿋ዃཫ୾ă•ᄲཕኹዷዡೋᅎ࿋ᅎLj൩๼෇ᄲཕኹਨܔኵईሺଉዷዡೋᅎ࿋ᅎǖٗዡLjڍ๑ᆩዷዡڇ࿋ă•ܔᇀዡLj൩๼෇ٗዡă•ܔᇀ३໏܈ࢅሂ܈Lj൩๼෇ᆩᇀዷዡڇࢅኵڦ࿋ă•൩ၭ႐ጀᅪኸସ๟ޏ߸߀ሏڦዐႜ৊ሞኟঢ়ᅙᇀᆩኵ܈ሂࢅ܈໏३ڦႎᆩ๑ዡLj้ସኸMASႜኴ౞ړۯຕăሏݒ၎ၠݛई؋ࡗዃ࿋ຐ঳Ă؋ࡗ܈໏ڦዡዂڞీ੗ኄăۯăS൸၍ఇ๕ܔຕՎ߸߸े௺ߌăᆶ࠲߸ܠ႑တLj൩९TroubleshootAxisMotionฉڦpage9ă•๑ᆩሂ܈ፕຕᆩᇀS൸၍ఇ๑ᆩሂ܈ፕຕڦཉॲ๕ă•ཕኹૌ႙ྺۅۯई࿋ᅎă•ۅۯई࿋ᅎ๑ᆩS൸၍ఇ๕ăሞኄၵཉॲူLjኸସ๑ᆩS൸၍ఇ๕ઠཕኹዡăኸସ๑ᆩྺ໯ᆶഄ໱ڦཕኹૌ႙๑ᆩ࢛ۨ३໏܈ă౞ՂႷགႀሂ܈ፕຕLjփ࠶๑ᆩనዖཕኹૌ႙ă•ሞፌ؛ڦሂ܈Պײࢅኝۨዐ๑ྺକ๑ሂ܈ڦՊײࢅኝۨ߸ेݛՍLj൩ॽഄ๼෇ྺे໏ई३໏้क़ڦ%ăᆩ้क़%ăᆶ࠲߸ܠ႑တLj൩ለǖ•Պႀᅃ߲໏܈ఇ๕ײႾሞᄻஓ27•ኝۨS൸၍ఇ๕Ljሞᄻஓ387ฉă໙ຍጒༀՔऻփ๴ᆖၚࠤቱཉॲ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛڦဃٱᇀ࠲ڟڥ੗)EXERR(ஓپဃٱቛકᆩ๑ஓپဃٱ߸ܠ႑တăසࡕERRྺժ൐EXERR๟ఫ஺ᇱᅺց৸ٯแ13߳ዖగ߲ፕຕڼăࡽՊڦຕፕڦྷݔ؜ג๟EXERRגᅃ߲ፕຕ๟0ă؜ഄݔྷă૩සLjසࡕEXERR=4Ljఫ஺৽ॠ३໏܈ăEXERRMASፕຕ0ዡ1ሏۯ੦዆2ཕኹૌ႙3Վ߸३໏܈4३໏܈؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ63\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ܔጒༀ࿋ۯሏ߀߸ڦጒༀ࿋සࡕཕኹૌ႙ྺఫ஺ݥඇևኸସྺ౞ཕኹڦሏۯࡗײأሏۯጒༀ࿋ăඇևኸସأ໯ᆶሏۯጒༀ࿋ă࿋ጒༀࡤᅭMoveStatus्ዡுᆶሞೝᅎăJogStatus्ዡுᆶሞۅۯăGearingStatus्ዡுᆶሞ؃୾ሏۯዐăHomingStatus्ዡுᆶሞࡃଭăStoppingStatusኈዡኟሞཕኹăPositionCamStatus्ዡுᆶሞ࿋ዃཫ୾ሏۯዐăTimeCamStatus्ዡுᆶሞ้क़ཫ୾ሏۯዐăPositionCamPendingStatus्ዡுᆶࠬഐڦ࿋ዃཫ୾ăTimeCamPendingStatus्ዡுᆶࠬഐڦ้क़ཫ୾ăGearingLockStatus्ዡுᆶتᇀ؃୾໮ۨጒༀăPositionCamLockStatus्ዡுᆶتᇀཫ୾໮ۨጒༀă64؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3๖૩1ٶStop.I.sraV_sixA_ovreSړਸ้ཕኹServo_Axisฉڦ໯ᆶሏۯăᅜ20.0ڦ2௱௅࿋ڇ३໏܈३໏ăኸସփ๑ᆩ३໏܈ሂ܈ኵăᆯᇀཕኹૌ႙ྺඇևLjኸସ๑ᆩ༱ႚఇ๕ઠཕኹዡă梯ीۉഗ༱ႚ཮形图঳ࠓ࿔ԨཕኹሞSFC૗ਸօႾኮമLjཕኹServo_AxisăP0၌ۨޙॽኄ၌዆ྺፌࢫᅃْօႾ෢௮ăٶStop.I.sraV_sixA_ovreSړਸ้LjSFC૗ਸ޿օႾă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ65\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)๖૩2ፕටᇵ๑ᆩӀ౧ઠۅۯగ߲ዡă޿Ӏ౧ٶਸࢅ࠲ԿJog_Fwd_PBՔധăړፕටᇵ๥ݣӀ౧้LjMASኸସཕኹዡăMASኸସ๑ᆩS൸၍ఇ๕ઠཕኹዡLjᅺྺǖ•MAJኸସ๑ᆩS൸၍ఇ๕ă•ཕኹૌ႙ܔᇀMASኸସྺۅۯăीۉഗ༱ႚ཮梯形图၎ཞ३໏܈ăසࡕፕටᇵሞۅۯࢅཕኹኮक़੺໏ཽ࣮ࢅമ৊Ljኄᄣ੗ݞኹዡڛገăሞӲԨ15ࢅ߸ራڦӲԨዐLjړۅۯࢅཕኹ๑ᆩS൸၍ఇ๕้Lj੗ీࣷ݀ิዡڛገă66؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3঳ࠓ࿔ԨཕኹሞSFC૗ਸօႾኮമLjཕኹServo_AxisăP0၌ۨޙॽኄ၌዆ྺፌࢫᅃْօႾ෢௮ăړJog_Fwd_PB࠲Կ้LjSFC૗ਸ޿օႾă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ67\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ఇ๕ፕຕኄ߲ፕຕᆶଇዖఇ๕ૌ႙ǖ•༱ႚ໏܈ఇ๕•S൸၍໏܈ఇ๕༱ႚ໏܈ఇ๕༱ႚ໏܈ఇ๕๟ፌ׉ᆩڦఇ๕Ljᅺྺ໲ܔᇀՊײࢫჄሏۯ༵ࠃፌٷڦଳऄ܈Ljժ༵ࠃፌ੺ڦ܈໏ڦक़้࿋ڇ௅ăक़้໏३ࢅ໏ेڦՎࣅ๟ᆯे໏܈ࢅ३໏܈໯ኸۨڦăሂ܈փ๟༱ႚఇ๕ዐڦᅃ߲ᄲ໎ăᅺُLjሂ܈ԥණྺ๟࿮၌ڦLjሞူ཮ዐ၂๖ྺᅃཉ኱၍ă༱ႚे໏/३໏้क़໏܈้क़े໏้क़ሂ܈้क़68؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3S൸၍໏܈ఇ๕ړႴᄲॽܔऐႁဣཥڦუ૰ࢅ޶ࢁই዁ፌگ้LjS൸၍໏܈ఇ๕ፌྺ׉ᆩă๑ᆩଇ߲޹ेڦຕने໏܈ሂ܈ࢅ३໏܈ሂ܈Ljߵ਍ऐഗڦუ૰ઠೝ࢚े໏ࢅ३໏้क़ăߵ਍ሂ܈ยዃLjे໏܈ఇ๕੗ᅜยዃྺबࢭݛ׊كႚDŽ൩ለ༱ႚे໏/३໏้क़Ljሞᄻஓ68ฉLj(ፌ੺Ljუ૰ፌٷDžDžLjईኁยዃྺෙঙႚDŽ൩ለ੗ՊײS൸၍े໏/३໏้क़Ljे໏܈ሂ܈=้क़60%Ljሞᄻஓ71ฉLj(ፌ஥Ljუ૰ፌၭDžDžăۆ႙ڦे໏ఇ๕ྺუ૰࢈໏܈ኮक़ڦችዐLjසS൸၍े໏/३໏้क़Ljၠࢫग़ඹႠยዃǖे໏܈ሂ܈=้क़100%໯๖DŽሞᄻஓ71ฉDžăሂ܈ᆯᆩࢽኸۨDŽྺڇ࿋/௱3ईኁፌٷኵڦӥԲDžLjईኁᆯ้क़ӥڪԲӥक़้Ljዐ๕ఇ໏३ई໏ेሞ(ă؜ܸ໙ऺԲᇀၽ้क़ӀڦӥԲDžǖa2[EU/s2]max200j[EU/s3]=-1a()vmax[EU/s]ja[้क़%]d2[EU/s2]max200j[EU/s3]=-1a()vmax[EU/s]ja[้क़%]ᄲ઺ऻڦႚঙෙิॽ%100क़้ྺ܈ሂăႠඹग़ࢫၠᇀ࠲๟ۅᅃڦे໏ࢅ३໏ఇ๕ăኄၵఇ๕ྺฉ௬S൸၍े໏/३໏้क़Ljၠࢫग़ඹႠยዃǖे໏܈ሂ܈=้क़100%DŽሞᄻஓ71ฉDž໯๖ڦఇ๕ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ69\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ڦႚݛ׊ᇀৎথิॽLj%5ڦक़้ᇀၭनLjኵ܈ሂڦၭ׉ݥे໏ࢅ३໏ఇ๕Ljස༱ႚे໏/३໏้क़DŽሞᄻஓ68ฉDžዐ໯๖ă重要提示IMPORTANT้क़%ኵሁߛLj໯ิڦሂ܈ኵ၌዆ሁگLjᅺُఇ๕ᄺ৽߸஥ă९ူ՗ፕྺ੊ă(1)༱ႚ໏܈ఇ๕Sႚ໏܈ఇ๕Lj൐Sႚ໏܈ఇ๕Lj1<=ሂ܈<้क़൐ሂ܈=้क़100%(2)100%(3)े໏܈/३໏Ñ22ፌٷे໏܈ፌٷे໏܈܈ሂ܈Ljڇ࿋዁Ñᆩڇ࿋/௱ፌٷ໏܈ፌٷ໏܈3े໏܈/३໏փ๢ᆩ0-100%փ๢ᆩ܈ሂ܈Ljڇ࿋ᆩፌٷኵ%े໏܈/३໏0%1-100%100%܈ሂ܈Ljڇ࿋ᆩ้क़%(1)ᄻஓ68ฉڦႚݛ׊ᆩ๑)क़้໏३/໏ेႚ༱ྺധՔ(๖૩ڦे໏ఇ๕ă(2)ᄻஓ71ฉڦ๖૩(Քധྺ੗ՊײS൸၍े໏/३໏้क़Ljे໏܈ሂ܈=้क़60%)๑ᆩ༱ႚڦे໏܈ఇ๕ă(3)ᄻஓ71ฉڦ๖૩(ՔധྺS൸၍े໏/३໏้क़Ljၠࢫग़ඹႠยዃǖे໏܈ሂ܈=้क़100%)๑ᆩෙঙႚڦे໏܈ఇ๕ă70؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ړ݀ഐዡ࿋ᅎĂ߸߀ۯༀຕईཕኹૌ႙ྺ࿋ᅎईۅۯڦMCSཕኹ้Ljन৊ႜऺ໙ă੗ՊײS൸၍े໏/३໏้क़Ljे໏܈ሂ܈=้क़60%໏܈้क़े໏้क़ሂ܈้क़304030้क़%=60%S൸၍े໏/३໏้क़Ljၠࢫग़ඹႠยዃǖे໏܈ሂ܈=้क़100%໏܈้क़े໏้क़ሂ܈้क़؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ71\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሏۯዡლ(MAH)๑ᆩMAHኸସઠ๑గ߲ዡࡃଭăሞ৊ႜዡದዃዐLj੗჋ስଇዖփཞڦࡃଭఇ๕ǖዷۯईԥۯăසࡕ჋ስዷۯࡃଭႾଚLjሶዡኴႜ໯ದዃڦࡃଭႾଚૌ႙Ljժॺ૬ᅃ߲ਨܔኵዡ࿋ዃăڍ๟Ljසࡕ჋ስԥۯࡃଭLjሶփࣷኴႜ༬ۨڦࡃଭႾଚLjዡॽԍ׼ڪځူᅃ߲Քऻஞ؋ઠॺ૬ࡃଭ࿋ዃă注ATTENTION意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖ梯形图ीۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_ኸସՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓă঳ࠓ࿔ԨMAH(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MAHኸସڦፕຕ၎ཞăMOTION_INSTRUCTIONຕ਍ૌ႙ऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڟ኱ༀጒዃย׼ԍժLjዃยԥ࿋߲ኄ้࣑ገڦኈڟ्ْٗᅃႜ৊प༱ړົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡࡃଭᅙঢ়ׯࠀྜׯࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋27ኄ߲࿋ሞኟڦ༱पገ้࣑ยዃLjሞሏۯዡლྜׯࢫईኁԥཕኹంସĂ࠲Կईົޜࠤቱዕኹ้أă.PC(ࡗײྜׯ)࿋26ړዡࡃଭᅙঢ়ׯࠀྜׯࢫLjࡗײྜׯ࿋ԥยዃă72؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ຫ௽ǖሏۯዡლ(MAH)ኸସᆩᇀၯጚኸۨዡڦਨܔ࿋ዃăܔᇀದዃྺົޜૌ႙ڦዡઠຫLj੗๑ᆩዷۯĂԥۯईਨܔࡃଭఇ๕ದዃઠ৊ႜࡃଭăܔᇀৈݒઍ႙ڦዡLjৈ༵ࠃԥۯࢅਨܔࡃଭఇ๕ăਨܔࡃଭఇ๕ᄲ൱ዡҾጎᆶਨܔኵݒઍጎዃăዷۯࡃଭړዡڦࡃଭఇ๕ԥದዃྺዷۯ้Lj࿿૙ዡ๯ံԥघऄ৊ႜົޜፕăፕྺኄ߲ࡗײڦᅃևLj໯ᆶഄ໱ኟሞ৊ႜڦሏۯۼԥൽၩLj၎ᆌڦጒༀ࿋ԥأă඗ࢫ๑ᆩ໯ದዃڦࡃଭႾଚॽዡࡃଭLj੗ీ๟૬नĂਸ࠲ĂՔऻईਸ࠲-Քऻăࢫ௬ෙዖࡃଭႾଚڦ঳ࡕۼ๟๑ዡӀದዃڦࡃଭݛၠۅۯLj඗ࢫߵ਍ࡃଭ๚ॲڦ॔ዘႎۨᅭ࿋ዃᅜࢫLjዡጲۯᅎۯڟ໯ದዃڦࡃଭ࿋ዃă重要提示IMPORTANTړሞ჉ገዡฉኴႜڇၠዷۯࡃଭܸ൐ࡃଭೋᅎኵၭᇀ३໏ਐ૗้Ljॠڟࡃଭ๚ॲࢫLj੦዆ഗॽዡᅎۯڟଭཽජ࿋ዃăኄᄣ੗ᅜԍኤ໯ิڦၠࡃଭ࿋ዃڦሏۯ๟ڇၠڦăԥۯࡃଭړዡࡃଭఇ๕ԥದዃྺԥۯ้LjMAHሞူᅃْ؜၄ՊஓഗՔऻ้ዘႎۨᅭ࿿૙ዡڦํा࿋ዃăԥۯࡃଭፌ׉ᆩᇀॽৈݒઍዡၯጚڟ໲்ڦՔऻLjڍᄺ੗ᅜᆩᇀົޜዡăԥۯࡃଭڟٳՊஓഗՔऻ้ᇑዷۯࡃଭ၎ཞLjڍሏۯ੦዆ഗփࣷంସඪࢆዡሏۯăሞ݀ഐԥۯࡃଭࢫLjዡՂႷᅎۯཚࡗՊஓഗՔऻLj֍ీඟࡃଭႾଚׯࠀྜׯăܔᇀԿ࣍ົޜዡLjኄ੗ీཚࡗMAMईMAJኸସઠྜׯăܔᇀ࿿૙ۯሏᆯথ኱ీփۯሏLjዡઍݒৈڦ੦዆ഗઠంସLjܸՂႷཚࡗഄ໱ݛ๕ઠํ၄ăਨܔࡃଭසࡕሏۯዡኧ׼ਨܔݒઍጎዃLjሶ੗ᅜ๑ᆩਨܔࡃଭఇ๕ăܔᇀਨܔࡃଭఇ๕LjྸᅃᆶၳڦࡃଭႾଚ๟Đ૬नđăሞኄዖ൧઄ူLjਨܔࡃଭࡗײཚࡗॽದዃڦࡃଭ࿋ዃᆌᆩڟਨܔݒઍጎዃ໯Ԓߢڦ࿋ዃLjॺ૬ኈኟڦዡڦਨܔ࿋ዃăሞཚࡗMAHኸସኴႜਨܔࡃଭࡗײኮമLjዡՂႷتᇀዡ৽ჃጒༀLjܸ൐ົޜ࣍ԥ্ኹă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ73\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ᄲሞದዃྺዷۯࡃଭఇ๕ڦዡฉׯࠀኴႜMAHኸସLjణՔዡՂႷದዃྺົޜዡૌ႙ăᄲׯࠀኴႜMAHኸସLjణՔዡՂႷದዃྺົޜईኁٱ؜ସኸሶLjॲཉࢆඪፁ஢փࡕසăዡᅃྸઍݒă重要提示IMPORTANTْ؛ସኸMAHړኴႜ้Ljኟሞ৊ႜ(.IP)࿋ԥยዃLjࡗײྜׯ(.PC)࿋ԥأăMAHኸସኴႜ੗ీႴᄲܠد੷ఇۯሏၠᄲႴ໲ྺᅺLjႜኴઠ௮෢ْ๼ܠཉ多次扫描来执行，因为它需要向运动控制模块传输多条ၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄၵၩတԥׯࠀ݀ໃᅜࢫăሞྜׯ(.DN)࿋ԥยዃڦཞ้Ljኟሞ৊ႜ(.IP)࿋ԥأLjࡗײྜׯ(.PC)࿋ԥยዃă这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ。•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMAHኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတईኁݥ݆ࡃଭದዃ(41)้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊዆)કቛٱဃپஓࡤᅭ(ๆ৊዆)SERVO_MESSAGE_FAILUࡗײߵ਍൩൱ዕ߶ໜగ߲࠲Կ/্ኹՎೕRE(12)ኹ(1)ഗڦኸସईኁሏۯཕኹኸସڦࡃଭኴႜLjईኁت૙ഗՎ߸൩൱କᅃْࡃଭൽၩăSERVO_MESSAGE_FAILU࿮ጨᇸ(2)ுᆶፁࠕڦా٪ጨᇸઠྜRE(12)ׯ൩൱ă(SERCOS)SERVO_MESSAGE_FAILUܔၡఇ๕؋཭ዡتᇀ࠲ԿጒༀăRE(12)(12)SERVO_MESSAGE_FAILU඄၌ԥ਌ਨ(15)๑ీ๼෇ਸ࠲ٱဃăRE(12)(SERCOS)74؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3၎࠲૴ڦٱဃپஓ(ๆ৊዆)કቛٱဃپஓࡤᅭ(ๆ৊዆)SERVO_MESSAGE_FAILUยԢتᇀٱဃጒዘႎۨᅭ࿋ዃĂࡃଭࢅऻRE(12)ༀ(16)୤2๟၎ࢻಇڦ(SERCOS)LjยԢጒༀփీᆩᇀۯፕă(SERCOS)ILLEGAL_HOMING_CONFIࡃଭႾଚ(4)ړࡃଭႾଚփ๟૬न้LjG(41)౞๑ᆩᅃཉਨܔኵࡃଭኸସăILLEGAL_HOMING_CONFIࡃଭ໏܈ྺଭࡃଭ໏܈փీྺଭăG(41)(6)ILLEGAL_HOMING_CONFIࡃଭݓ࣮໏܈ྺࡃଭݓ࣮໏܈փీྺଭăG(41)ଭ(7)ܔᇀٱဃپஓ54–ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇ࿚ዡຌႠೡటăገڟۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵăጒༀ࿋ǖMAHܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀࡤᅭHomingStatusኈዡኟሞࡃଭJogStatus्ዡփምۅۯ*MoveStatus्ዡփም࿋ᅎ*GearingStatus्ዡփምدۯStoppingStatus्ዡփምཕኹሞኴႜዷۯࡃଭႾଚڦ߲߳և้Ljᅜူ࿋੗ీࣷԥยዃईأăሞࡃଭႾଚዐLjMAHኸସ๑ᆩ࿋ᅎࢅۅۯሏۯఇ๕ઠᅎۯዡăኄཞ้ᅪ࿆ጣᅺഄ໱ሏۯ੦዆ኸସܔ࿋ᅎईۅۯሏۯఇ๕ڦඪࢆዐLjۼ੗ీᆖၚڟMAH݀ഐڦࡃଭႾଚڦׯࠀྜׯăසࡕሞԥۯࡃଭఇ๕LjMAHኸସኻ๟ยዃࡃଭጒༀ࿋ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ75\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ዡ໏܈(MAJ)๑ᆩMAJኸସ੗ᅜ࢛ڟ኱Ljዡۯᅎ܈໏ۨ౞ߢ໕໲ཕኹྺኹă注ATTENTION意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_VIRTUALՔധᄲۅۯڦዡڦఁ׬AXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_INSTRUCՔധኸସڦ੦዆ՔധTIONݛၠDINT૬नຕՔധܔᇀኄ߲ۅۯݛၠ๼෇ኟၠ0ݒၠ1໏܈REAL૬नຕՔധᅎڇ܈໏ᆩLj܈໏ڦዡۯ࿋ă໏܈ڇ஺๊ᆩ๑܈໏ྺᄲ౞न૬DINT࿋ڇ࿋Ǜ•ڇ࿋௅௱(0)•ፌٷኵ%(1)76؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎे໏܈REAL૬नຕՔധዡڇ܈໏ेᆩLj܈໏ेڦ࿋े໏܈ڇ஺๊ᆩ๑܈໏ेྺᄲ౞न૬DINT࿋ڇ࿋Ǜ•ڇ࿋௅௱2(0)•ፌٷኵ%(1)३໏܈REAL૬नຕՔധዡڇ܈໏३ᆩLj܈໏३ڦ࿋३໏܈ڇ஺๊ᆩ๑܈໏३ྺᄲ౞न૬DINT࿋ڇ࿋Ǜ•ڇ࿋௅௱2(0)•ፌٷኵ%(1)ఇ๕DINT૬न჋ስሏႜڦۯۅ໏܈ఇ๕ǖ•༱ႚ(0)•S൸၍(1)ᆶ࠲߸ܠ႑တLj൩९Պႀᅃ߲໏܈ఇ๕ײႾฉڦᄻஓ24ăे໏ሂ܈REAL૬नईՔധ౞ՂՂႷ๔ዕྺे໏܈ࢅ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă३໏ሂ܈REAL૬नईՔധ•े໏ሂ܈๟ዡڦे໏ሂ܈ኵăሂ܈ڇ࿋DINT૬न•३໏ሂ܈๟ዡڦ३໏ሂ܈ኵă๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100(้क़%)•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ᆩᅜူሂ܈ڇ࿋๼෇ሂ܈໏୲ă0=ڇ࿋௅௱31=ፌٷኵ%2=้क़%(๑ᆩኄ߲ኵഐօ)ࢇժDINT૬न౞๟ޏᄲॽ໯ᆶۅكڦ዆੦ସኸ߲ኄᆯׯՎۯሏዡമړۯLjܸփ࠶ړമኟሞ৊ႜڦሏۯ੦዆ኸସසࢆǛ•ޏ–჋ስ্ኹ(0)•๟–჋ስ๑ీ(1)ࢇժ໏܈DINT૬नසࡕࢇժԥ๑ీLj౞Ⴔᄲᅜ๊஺໏܈ۅۯǛ•ُኸସڦ໏܈–჋ስՊײ(0)•ዡڦړമ໏܈–჋ስړമ(1)؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ77\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)঳ࠓ࿔ԨMAJ(Axis,MotionControl,Direction,Speed,঳ࠓ࿔Ԩፕຕᇑीۉഗ༱ႚ཮ፕຕ၎ཞă梯形图SpeedUnits,AccelRate,AccelUnits,DecelRate,ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞DecelUnits,Profile,AccelJerk,DecelJerk,JerkUnits,Merge,๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴMergeSpeed);ዡ࿮஼ਉՔധMotionControl࿮஼ਉՔധݛၠ࿮஼ਉ૬नईՔധ໏܈࿮஼ਉ૬नईՔധSpeedUnitsڇ࿋௅௱0ፌٷኵ%1AccelRateAccelUnitsڇ࿋௅௱20ፌٷኵ%1DecelRateDecelUnitsڇ࿋௅௱20ፌٷኵ%1ఇ๕༱ႚ0൸၍1AccelJerk࿮஼ਉ૬नईՔധDecelJerk࿮஼ਉ౞ՂՂႷ๔ዕྺे໏܈ࢅ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100(้क़%)•३໏܈ሂ܈=100(้क़%)ሂ܈ڇ࿋ڇ࿋௅௱30ፌٷኵ%1%้क़2(๑ᆩኄ߲ኵഐօ)ࢇժᅙ্ኹ0ᅙ๑ీ1MergeSpeedՊײ0ړമ178؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3MOTION_INSTRUCTIONຕ਍ૌ႙ᄲੂ๟ޏॠኄ߲࿋๟ޏຕ਍ૌ႙ጀᅪǖԥยዃ्ٗڟኈڦࡗ܉ॽڞዂኄ߲ኸସኴႜENBOOLEN࿋ԍ׼ยዃጒༀLj኱ڟࡗײྜׯĂ༱पՎྺ्ྺኹăۅۯԥׯࠀ݀ഐDNBOOL؜၄ٱဃERBOOLዡኟሞۅۯIPBOOLኄၵፕڦඪࢆᅃ߲ۼࣷཕኹُۅۯLjժأIP࿋ǖ•ଷྔᅃཉMAJኸସൽپኄཉMAJኸସ•MASኸସ•ઠጲଷᅃཉኸସڦࢇժ•࠲Կంସ•ࠤቱፕ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ79\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ຫ௽ǖ๑ᆩMAJኸସ੗ᅜ࢛ۯᅎ܈໏ۨዡLjᇑ࿋ዃ࿮࠲ăՊײᇱሶ注ATTENTION意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦ؋ࡗዃ࿋ۅዕई/ࢅ܈໏႐ၭᄲLjସኸڦޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌڦ%क़้ᆩࡕසLjऻ઺൩๟ڍă໏ेሞኟዡܸگই܈ሂ܈໏ेٷۨኸ࿋ڇLjሂ܈੗ీࣷक़থԥ߀Վăᆶ࠲߸ܠ႑တLj൩९TroubleshootAxisMotionฉڦpage9ăኸڞᇱሶၘဦຫ௽•ሞी梯形ړ௅Ljዐ཮ႚ༱图ഗۉ౞ထྭኄ๟ᅃཉࡗ܉Ⴀኸସǖ转换指令ኴႜኸସ้Lj൩ൎ࣑༱पཉॲă•ሞीأٗॲཉ෇๼प༱ॽLj้ସኸႜኴྭထ౞ړ௅Ljዐ཮ႚ༱ഗۉൎ梯形图࣑ڟยዃन੗ă•ሞ在结构文本中，限制指令只对转঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLjሞ঳ࠓ࿔ԨዐLjኸସ௅ْԥ෢௮้৽ࣷኴႜă๑换执行。ഄৈሞࡗ܉้ኴႜă•ยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă๑ᆩူ௬ڦݛ݆ኮᅃǖ限制指令只对转换执行。•SFCፕ၌ۨޙ•঳ࠓ࿔Ԩࠓॺᆶ࠲߸ܠ႑တLj൩ለ޹ॲCă•๑ᆩሂ܈ፕຕᆩᇀS൸၍ఇ๕ăړMAJኸସ๑ᆩS൸၍ఇ๕้Lj๑ᆩሂ܈ፕຕă౞ՂႷགႀሂ܈ፕຕLjփ࠶๑ᆩనዖఇ๕ă•ሞፌ؛ڦሂ܈Պײࢅኝۨዐ๑ᆩྺକ๑ሂ܈ڦՊײࢅኝۨ߸ेݛՍLj൩ॽഄ๼෇ྺे໏ई३໏้क़ڦ%ă้क़%ăᆶ࠲߸ܠ႑တLj൩ለǖ•Պႀᅃ߲໏܈ఇ๕ײႾሞᄻஓ24•ኝۨS൸၍ఇ๕Ljሞᄻஓ387ฉă80؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ኸڞᇱሶၘဦຫ௽•๑ᆩࢇժઠൽၩഄ໱ኸସۯሏࢆඪڦႜ৊ሞኟঢ়ᅙ૙تࢆසྭထ౞ăۯሏڦǛසࡕ౞Ⴔᄲܸ൐౞Ⴔᄲఫ஺ยዃॽۅۯे෇ඪࢆኟࢇժ=্ኹሞ৊ႜዐڦሏۯࢇժ໏܈=Պײ޿ኸସࢮ୼ࢇժ໏܈Ljڍ౞࣏๟ᄲགႀࢇժ໏܈ăٗഄ໱ኸସዐ঳ຐӀ౞ሞኄ߲ኸସዐยࢇժ=๑ీ޿ሏۯۅ܈໏ڦዃۅ๟ኻܸLjۯࢇժ໏܈=ՊײۯӀዡړമኟሞሏۯڦࢇժ=๑ీ໏܈ۯۅࢇժ໏܈=ړമ޿ኸସࢮ୼౞ሞ໏܈ፕຕዐݣዃڦኵă•ၭ႐ጀᅪሞዡᅙঢ়ኟሞۅۯ้౞සࡕᅙঢ়ᆶۅۯኟሞ৊ႜዐܸ౞ᆼഔۯᅃ߲ႎڦMAJኸସLjሶ੗ీڞዂǖ๟ޏਸ๔ଷᅃ߲ۅۯă•ዡे໏ܸٗࡗ؋ഄ໏܈•ዡ३໏዁ݒገ•(ӲԨ15ࢅ߸ራ)සࡕMAJኸସ๑ᆩS൸၍ఇ๕Ljሶࣷ݀ิኄዖ൧઄ăᇱᅺǖႎڦዐସኸႎᆩ๑ዡăସኸMAJڦ઻ၩൽସኸMAJڦ໏܈Ăे໏܈Ă३໏܈ࢅሂ܈ăᆶ࠲߸ܠ႑တLj൩९TroubleshootAxisMotionฉڦpage9ă•๑ᆩMASኸସઠཕኹۅۯă९๖૩ă•๑ᆩMCDኸସ߸߀ۅۯ้ڦ໏९๖૩1DŽሞᄻஓ84ฉDžă܈ă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛڦဃٱᇀ࠲ڟڥ੗)EXERR(ஓپဃٱቛકᆩ๑ஓپဃٱ߸ܠ႑တă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ81\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)සࡕERRྺժ൐EXERR๟ఫ஺ᇱᅺց৸ٯแ13߳ዖగ߲ፕຕڼăࡽՊڦຕፕڦྷݔ؜ג๟EXERRăྷݔഄ؜גᅃ߲ፕຕ๟0ă૩සLjසࡕEXERR=3Ljఫ஺৽ॠ໏܈ăEXERRፕຕ0ዡ1ሏۯ੦዆2ݛၠ3໏܈54-1ፖՔဣڦፌٷ३໏܈ྺ0ăገڟፖՔဣڦຌႠዐLjยዃፌٷ३໏܈ă0ई߸ܠፖՔဣዐڦగ߲ዡڦፌٷ1.ٶਸ޿ዡڦຌႠă३໏܈ྺ0ă2.๑ᆩEXERRኵੂన߲ዡڦፌٷ३໏܈ྺ0ă3.౞ኟሞۅۯڦዡڦ३໏܈ྺ0ă82؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ܔጒༀ࿋ۯሏǖ߀߸ڦጒༀ࿋සࡕࢇժྺఫ஺ኸସ߸߀ኄၵ࿋࿋ఁ׬ጒༀࡤᅭ্ኹJogStatusኈዡኟሞۅۯă๑ీJogStatusኈዡኟሞۅۯăMoveStatus्ዡփምሏۯăGearingStatus्ዡփምدۯă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ83\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)๖૩1ۅۯ้ڦ໏܈߸߀–ीۉഗ༱ႚ཮梯形图ٶAutoRun.I.sraV_sixA_ovreSړਸ้ሏႜServo_AxisatAuto_SpeedăසࡕAuto_SpeedՎࣅLjሶॽڦdeepS_otuAྺ߀߸܈໏ۯۅႎኵăٶStop.I.sraV_sixA_ovreSړਸ้LjཕኹServo_Axisă޿ኸସփ๑ᆩሂ܈ኵLjᅺྺఇ๕ྺ༱ႚăړAuto_Speed߀Վ้LjNEQࢅMOVኸସ၌዆MCDኸସྺৈᅃْ෢௮ă84؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ۅۯ้ڦ໏܈߸߀–঳ࠓ࿔ԨٶAutoRun.I.sraV_sixA_ovreSړਸ้ሏႜServo_AxisatAuto_SpeedăසࡕAuto_SpeedՎࣅLjሶॽڦdeepS_otuAྺ߀߸܈໏ۯۅႎኵăٶStop.I.sraV_sixA_ovreSړਸ้LjཕኹServo_AxisăۯഔSFCLj้ਸٶAutoRun.I.sraV_sixA_ovreSړStep_001ăۨ၌1PăsixA_ovreSۯۅLj้Ⴞօ޿ۯഔSFCړޙॽኄ၌዆ྺڼᅃْօႾ෢௮ăࢅሰࠓLj้Վ߀deepS_otuAړದࣷ၌዆MCDኸସྺৈᅃْ෢௮ăཕኹሞSFC૗ਸօႾኮമLjཕኹServo_AxisăP0၌ۨޙॽኄ၌዆ྺፌࢫᅃْօႾ෢௮ăٶStop.I.sraV_sixA_ovreSړਸ้LjSFC૗ਸ޿օႾă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ85\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)๖૩2๑ᆩS൸၍ኟၠࢅݒၠۅۯ–ीۉഗ༱ႚ཮梯形图ړົޜ࣍ԥ๑ీࢫժ൐Jog_Fwd_PBईJog_Rev_PBٶਸยዃJog_DirectionăሏႜServo_AxisLjӀServo_Axis_Vars.C.Manual_Jog_Speed໏܈ăړJog_Fwd_PBࢅJog_Rev_PB࠲Կ้LjཕኹServo_Axisăଇ߲ኸସۼ๑ᆩ၎ཞڦ३໏܈ࢅሂ܈ăړ౞੺໏ሞኸସኮक़മࢫൎ้࣑LjኄᄣՆ௨ࡗ؋ईݒገă߸߀३໏܈ᅜत߸߀३໏܈ሂ܈ԥยዃྺ๟ăኄᄣ੗ሎႹዡ๑ᆩኸସڦ३໏܈ࢅ३໏܈ሂ܈ă86؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3๑ᆩS൸၍ኟၠࢅݒၠۅۯ–঳ࠓ࿔Ԩړົޜ࣍ԥ๑ీࢫժ൐Jog_Fwd_PBईJog_Rev_PBٶਸยዃJog_DirectionăሏႜServo_AxisLjӀServo_Axis_Vars.C.Manual_Jog_Speed໏܈ăړJog_Fwd_PBࢅJog_Rev_PB࠲Կ้LjཕኹServo_AxisăٶBP_veR_goJईBP_dwF_goJړਸ้LjSFCഔۯManual_JogօႾăP1၌ۨޙॽُፕ၌዆ྺڼᅃْօႾ෢௮ăยዃݛၠăഔۯۅۯăཕኹăሞSFC૗ਸօႾኮമLjཕኹServo_AxisăP0၌ۨޙॽኄ၌዆ྺፌࢫᅃْօႾ෢௮ăۼBP_veR_goJࢅBP_dwF_goJړ࠲Կ้LjSFC૗ਸ޿օႾă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ87\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ăዡ࿋ᅎ(MAM)๑ᆩዡ࿋ᅎ(MAM)ኸସ੗ॽዡᅎۯڟኸۨڦ࿋ዃă注ATTENTION意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖ梯ीۉഗ༱ႚ཮形图ፕຕૌ႙߭๕௮ຎዡAXIS_VIRTUALՔധዡڦఁ׬AXIS_GENERICܔᇀਨܔኵईሺଉዷዡೋᅎ࿋ᅎLj൩๼෇ٗዡăAXIS_SERVOAXIS_SERVO_DRIVE88؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎሏۯ੦዆MOTION_INSTRUCTIONՔധኸସڦ੦዆Քധሏۯૌ႙DINT૬नຕՔധᄲᄲ๑ᆩኄዖ࿋ᅎૌ႙ժ൐๼෇ॽዡᅎڟᅃ߲ਨܔ࿋ዃਨܔኵ0ॽዡᅎڟਐړമ࿋ዃڦኸସਐ૗ሺଉ1ॽ჉ገዡᅜፌፌ܌ݛၠᅎڟగ߲ਨ჉ገፌ܌ୟ০2ܔ࿋ዃLjփ࠶ഄړമ࿋ዃසࢆॽ჉ገዡᅜኟኟڦݛၠᅎڟగ߲ਨ჉ገኟၠ3ܔ࿋ዃLjփ࠶ഄړമ࿋ዃසࢆॽ჉ገዡᅜ޶޶ڦݛၠᅎڟగ߲ਨ჉ገ޶ၠ4ܔ࿋ዃLjփ࠶ഄړമ࿋ዃසࢆॽ࿋ዃཫ୾ዷዡኵೋᅎڟᅃ߲ਨਨܔዷዡೋᅎ5ܔ࿋ዃॽ࿋ዃཫ୾ዷዡኵೋᅎᅃ߲ሺଉሺଉዷዡೋᅎ6ਐ૗൩ለྺ჉ገዡ჋ስᅃዖ࿋ᅎૌ႙DŽሞᄻஓ95ฉDžLjକ঴࠲ᇀ჉ገሏۯڦ߸ܠ႑တă࿋ዃREAL૬न࿋ᅎڦਨܔ࿋ዃईሺଉਐ૗Քധܔᇀኄዖ࿋ᅎૌ႙๼෇ኄ߲࿋ዃኵਨܔኵᄲ࿋ᅎڟڦ࿋ዃሺଉᄲ࿋ᅎڦਐ૗჉ገፌ܌ୟ০ᄲ࿋ᅎڟڦ࿋ዃă๼෇ᅃ߲჉ገኟၠၭᇀ࿋ዃཽජኵڦኟኵă჉ገ޶ၠਨܔዷዡೋᅎਨܔೋᅎ࿋ዃሺଉዷዡೋᅎሺଉೋᅎਐ૗໏܈REAL૬नຕՔധᅎڇ܈໏ᆩLj܈໏ڦዡۯ࿋ă໏܈ڇ஺๊ᆩ๑܈໏ྺᄲ౞न૬DINT࿋ڇ࿋Ǜ•ڇ࿋௅௱(0)•ፌٷኵ%(1)े໏܈REAL૬नຕՔധዡڇ܈໏ेᆩLj܈໏ेڦ࿋े໏܈DINT૬न౞ᄲྺे໏܈๑ᆩ๊஺ڇ࿋Ǜڇ࿋2•ڇ࿋௅௱(0)•ፌٷኵ%(1)३໏܈REAL૬नຕՔധዡڇ܈໏३ᆩLj܈໏३ڦ࿋३໏܈DINT૬न౞ᄲྺ३໏܈๑ᆩ๊஺ڇ࿋Ǜڇ࿋2•ڇ࿋௅௱(0)•ፌٷኵ%(1)؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ89\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ፕຕૌ႙߭๕௮ຎఇ๕DINT૬न჋ስሏႜ࿋ᅎڦ໏܈ఇ๕ǖ•༱ႚ(0)•S൸၍(1)ᆶ࠲߸ܠ႑တLj൩९Պႀᅃ߲໏܈ఇ๕ײႾฉڦᄻஓ24ăे໏ሂ܈REAL૬नຕՔധኻᆶړఇ๕ྺS൸၍้Ljኸସ֍ࣷ๑ᆩሂ܈ፕຕăڍ๟౞๔ዕۼᄲགႀሂ܈ኵă३໏ሂ܈REAL૬नຕՔധ•े໏ሂ܈๟ዡڦे໏ሂ܈ኵăሂ܈ڇ࿋DINT૬न•३໏ሂ܈๟ዡڦ३໏ሂ܈ኵă๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100•३໏܈ሂ܈=100•ሂ܈ڇ࿋=2(้क़%)౞ᄺ੗ᅜ๑ᆩᅜူሂ܈ڇ࿋๼෇ሂ܈ኵă•ڇ࿋௅௱3(0)•ፌٷኵ%(1)ࢇժDINT૬न౞๟ޏᄲॽ໯ᆶكڦ዆੦ସኸ߲ኄᆯׯՎۯሏዡമړ࿋ᅎLjܸփ࠶ړമኟሞ৊ႜڦሏۯ੦዆ኸସසࢆǛ•ޏ–჋ስ্ኹ(0)•๟–჋ስ๑ీ(1)ࢇժ໏܈DINT૬नසࡕࢇժԥ๑ీLj౞Ⴔᄲᅜ๊஺໏܈࿋ᅎǛ•ُኸସڦ໏܈–჋ስՊײ(0)•ዡڦړമ໏܈–჋ስړമ(1)90؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3঳ࠓ࿔ԨMAM(Axis,MotionControl,MoveType,ፕຕᇑीۉഗ༱ႚ཮ኸସڦፕຕ၎ཞă梯形图Position,Speed,SpeedUnits,AccelRate,AccelUnits,DecelRate,DecelUnits,Profile,AccelJerk,ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞DecelJerk,JerkUnits,Merge,MergeSpeed);๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴSpeedUnitsunitspersec0%ofmaximum1AccelUnitsunitspersec20%ofmaximum1DecelUnitsunitspersec20%ofmaximum1ఇ๕༱ႚ0൸၍1JerkUnitsunitspersec30%ofmaximum1%oftime2ࢇժᅙ্ኹ0ᅙ๑ీ1MergeSpeedprogrammed0current1؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ91\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)MOTION_INSTRUCTIONຕ਍ૌ႙ᄲੂ๟ޏॠኄ߲࿋๟ޏຕ਍ૌ႙ጀᅪǖԥยዃ्ٗڟኈڦࡗ܉ॽڞዂኄ߲ኸସኴႜENBOOLEN࿋ԍ׼ยዃጒༀLj኱ڟࡗײྜׯĂ༱पՎྺ्ྺኹă࿋ᅎԥׯࠀ݀ഐDNBOOL؜၄ٱဃERBOOLዡኟሞၠ঳ຐ࿋ዃ࿋ᅎIPBOOLኄၵፕڦඪࢆᅃ߲ۼࣷཕኹُ࿋ᅎLjժأIP࿋ǖ•ዡڟٳ঳ຐ࿋ዃ•ଷྔᅃཉMAMኸସൽپኄཉMAMኸସ•MASኸସ•ઠጲଷᅃཉኸସڦࢇժ•࠲Կంସ•ࠤቱፕዡڟ኱Ljༀጒዃย׼ԍ࿋PC•BOOLPCዃ࿋ຐ঳ᇀت༱प৊ႜᅃ्ْٗڟኈڦࡗ܉ă•ሞዡڟٳ঳ຐ࿋ዃኮമLjසࡕഄ໱గ߲ፕཕኹ޿࿋ᅎLjሶPC࿋ԍ׼أጒༀăຫ௽ǖዡ࿋ᅎ(MAM)ኸସॽዡᅎۯڟኸۨڦਨܔ࿋ዃईኁᅎۯኸۨڦሺଉਐ૗ăMAMኸସ࣏ీิഄ໱༬๺ૌ႙ڦ࿋ᅎă๖૩ǖٗৢኹਸ๔ڦ༱ႚ࿋ᅎ92؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ՊײᇱሶATTENTION注意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦ؋ࡗዃ࿋ۅዕई/ࢅ܈໏႐ၭᄲLjସኸڦޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌڦ%क़้ᆩࡕසLjऻ઺൩๟ڍă໏ेሞኟዡܸگই܈ሂ܈໏ेٷۨኸ࿋ڇLjሂ܈੗ీࣷक़থԥ߀Վăᆶ࠲߸ܠ႑တLj൩९TroubleshootAxisMotionฉڦpage9ăኸڞᇱሶၘဦຫ௽•ሞी梯ړ௅Ljዐ཮ႚ༱图ഗ形ۉ౞ထྭኄ๟ᅃཉࡗ܉Ⴀኸସǖ转换指令ኴႜኸସ้Lj൩ൎ࣑༱पཉॲă•ሞीأٗॲཉ෇๼प༱ॽLj้ସኸႜኴྭထ౞ړ௅Ljዐ཮ႚ༱ഗۉൎ梯形图࣑ڟยዃन੗ă•ሞ在结构文本中，限制指令只对转঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLjሞ঳ࠓ࿔ԨዐLjኸସ௅ْԥ෢௮้৽ࣷኴႜă๑换执行。ഄৈሞࡗ܉้ኴႜă•ยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă๑ᆩူ௬ڦݛ݆ኮᅃǖ限制指令只对转换执行。•SFCፕ၌ۨޙ•঳ࠓ࿔Ԩࠓॺᆶ࠲߸ܠ႑တLj൩ለ޹ॲCă•ܔᇀዷዡೋᅎ࿋ᅎLj൩๼෇ٗዡLj๑ᆩਨܔኵईሺଉዷዡೋᅎ࿋ᅎઠೋᅎ࿋ዃཫ୾ڦዷዡኵLjܸํाฉփ߀ڍ๑ᆩዷዡڇ࿋ăՎዷዡڦ࿋ዃăኄॽᄂጣዷዡೝᅎ࿋ዃཫ୾൸၍ă•ܔᇀዡLj൩๼෇ٗዡă•ܔᇀ࿋ዃLj൩๼෇ਨܔೋᅎ࿋ዃईኁሺଉೋᅎਐ૗•ܔᇀ໏܈Ăे໏܈Ă३໏܈ࢅሂ܈Lj൩ྺዷዡ๼෇ኄၵኵăኸସे෇໏܈Ăे໏܈Ă३໏܈ࢅሂ܈ኵتڦೋᅎă•ሞፌ؛ڦሂ܈Պײࢅኝۨዐ๑ᆩྺକ๑ሂ܈ڦՊײࢅኝۨ߸ेݛՍLj൩ॽഄ๼෇ྺे໏ई३໏้क़ڦ%ă้क़%ăᆶ࠲߸ܠ႑တLj൩ለǖ•Պႀᅃ߲໏܈ఇ๕ײႾሞᄻஓ24•ኝۨS൸၍ఇ๕Ljሞᄻஓ387ฉă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ93\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ኸڞᇱሶၘဦຫ௽•๑ᆩࢇժઠൽၩഄ໱ኸସۯሏࢆඪڦႜ৊ሞኟঢ়ᅙ૙تࢆසྭထ౞ăۯሏڦǛසࡕ౞Ⴔᄲܸ൐౞Ⴔᄲఫ஺ยዃॽ࿋ᅎे෇ඪࢆኟሞࢇժ=্ኹ৊ႜዐڦሏۯࢇժ໏܈=Պײ޿ኸସࢮ୼ࢇժ໏܈Ljڍ౞࣏๟ᄲགႀࢇժ໏܈ăٗഄ໱ኸସዐ঳ຐ޿Ӏ౞ሞኄ߲ኸସዐยࢇժ=๑ీሏۯLjܸኻ๟࿋ᅎዃڦ໏܈࿋ᅎࢇժ໏܈=ՊײӀዡړമኟሞሏۯڦࢇժ=๑ీ໏܈࿋ᅎࢇժ໏܈=ړമ޿ኸସࢮ୼౞ሞ໏܈ፕຕዐݣዃڦኵăኄ๟ਨܔኵ࿋ᅎईሺଉዷዡೋᅎ࿋ᅎ஘Ǜසࡕኄ๟ਨܔኵईሺଉዷዡೋᅎ࿋ᅎLjժ൐ࢇժԥ๑ీLjሶ•࿋ᅎৈৈ঳ຐᅙঢ়ኟሞ৊ႜڦਨܔኵईሺଉዷዡೋᅎ࿋ᅎă•࿋ᅎփփᆖၚ໯ᆶഄ໱ኟሞ৊ႜڦሏۯă•๑ᆩڼܾཉMAMኸସઠ߸߀ኟሞ౞੗ᅜ߸߀࿋ዃĂ໏܈Ăे໏܈ई३໏܈ă߸߀ॽ૬नิၳă৊ႜڦሏۯăᄲ߸߀࿋ዃၟኄᄣยዃڼܾཉMAMኸସăਨܔኵ࿋ᅎ჋ስඪᅃǖ•ॽ࿋ᅎૌ႙ยዃྺਨܔኵLjॽ࿋ዃยዃྺႎ࿋ዃă•ॽ࿋ᅎૌ႙ยዃྺሺଉLjॽ࿋ዃยዃྺᄲ߸߀঳ຐ࿋ዃڦႎฉेዃ࿋ຐ঳ڦ઻๟ዃ࿋ຐ঳ڦႎă૗ਐڦሺଉਐ૗ăሞඪᅃ൧઄ူLjዡᅎڟႎڦ࿋ዃܸփࣷም઻࿋ዃཕኹ–Ԉઔඪࢆᄲ൱ڦݛၠ߀Վăሺଉ࿋ᅎ჋ስඪᅃǖ•ॽ࿋ᅎૌ႙ยዃྺਨܔኵLjॽ࿋ዃยዃྺႎ࿋ዃăዡ኱থ৊෇ႎ࿋ዃLjܸփྜׯሺଉ࿋ᅎă•ॽ࿋ᅎૌ႙ยዃྺሺଉLjॽ࿋ዃยዃྺ޹ेਐ૗ăዡॽ࿋ᅎଇ߲ሺଉ࿋ᅎኮࢅă•ॽ࿋ᅎᇑ؃୾ࢇժ੗ิްሗఇ౞੗ᅜॽۉጱ؃୾(MAG)ኸସᇑMAMኸସᅃഐ๑ᆩăኄॽሞ࿋ᅎฉ۠े๕ࢅཞօă؃୾Ljईኁሞ؃୾ฉ۠े࿋ᅎă๖૩ǖሞۉጱ؃୾ฉ۠ेᅃ߲ሺଉ࿋ᅎLj੗ᆩᇀ၎࿋༵മࢅ׿ჽ੦዆ă94؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ྺ჉ገዡ჋ስᅃዖ࿋ᅎૌ႙ሏۯૌ႙๖૩௮ຎਨܔኵਨܔ࿋ᅎ዁225°ăݛၠൽਦᇀܔᇀਨܔ࿋ᅎLjႜ৊ڦݛၠൽਦᇀዡڦړമዡڦዃ࿋ຐ঳ٳڟ๟ۨᅃփLjዃ࿋ăዃ࿋๔ਸڦፌ܌ୟ০ăසࡕਸ๔࿋ዃၭᇀ঳ຐ࿋ዃLjሶࣷᅜኟڦݛၠሏۯǗසࡕਸ๔࿋ዃٷᇀ঳ຐ࿋ዃLjሶࣷᅜ޶ڦݛၠሏۯăኸۨڦ࿋ዃᆩෙঙ݆ݛ๕৊ႜ঴๥Lj੗ᅜྺኟईኁྺ޶ăᄺ੗ీڦ޶ăኵජཽዃ࿋ᇀٷ࿋ዃኵڪၳᇀഄ၎ᆌڦኟኵLjړ჉ገዡཚࡗ0้ݥ׉ᆶᆩă૩ස-90°ᇑ+270°၎ཞăגۯᅎዡLj้ኵජཽዃ࿋ᇀٷዃ࿋ړࡗᅃገࢫཕኹሞਨܔ࿋ዃăሺଉኸۨڦਐ૗ᆩෙঙ݆ݛ๕৊ႜ঴๥Lj੗ᅜྺኟईኁྺ޶ăᄺ੗ీٷᇀ࿋ዃཽජኵăړਐ૗ٷᇀ࿋ዃཽජኵ้Ljዡᅎۯגࡗᅃገࢫཕኹă჉ገፌ܌ୟ০჉ገፌ܌ୟ০ٗ30°ᅎۯڟዘᄲ๚ၜǖኻᆶړዡڦۨ࿋ఇ๕ྺ჉ገ้225°ăDŽ჉ገዡDžLj֍ీ๑ᆩ჉ገፌ܌ୟ০࿋ᅎă჉ገፌ܌ୟ০࿋ᅎ๟჉ገዡڦᅃዖ༬๺ڦਨܔኵ࿋ᅎૌ႙ăዡॽǖ•ᅜፌፌ܌ݛၠᅎۯڟኸۨڦ࿋ዃLjփ࠶ഄړമ࿋ዃසࢆ•සࡕႴᄲॽᅎۯཚࡗ0°ă๑ᆩ჉ገፌ܌ୟ০࿋ᅎLj౞ǖ•੗ᅜړዡኟሞ࿋ᅎईتᇀৢኹጒༀ้ਸ๔࿋ᅎ•ཚࡗڇْ࿋ᅎփփీᅎۯዡגࡗᅃገă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ95\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሏۯૌ႙๖૩௮ຎ჉ገኟၠ჉ገኟၠٗ315°ᅎۯڟዘᄲ๚ၜǖኻᆶړዡتᇀৢኹጒༀփሞ࿋ᅎ225°ă้Ljም๑ᆩ჉ገኟၠ࿋ᅎăޏሶዡ੗ీࣷᅜٱဃݛၠ࿋ᅎă჉ገኟၠ࿋ᅎ๟჉ገዡڦᅃዖ༬๺ڦਨܔኵ࿋ᅎૌ႙ăዡॽǖ•ᅜኟኟၠݛၠᅎۯڟኸۨڦ࿋ዃLjփ࠶ഄړമ࿋ዃසࢆ•සࡕႴᄲॽᅎۯཚࡗ0°ཚࡗڇْ჉ገፌ܌ୟ০࿋ᅎփీᅎۯዡגࡗᅃገă჉ገ޶ၠ჉ገ޶ၠٗ45°ᅎۯڟ225°ăዘዘᄲ๚ၜǖኻᆶሞᅜူ൧઄ူ๑ᆩ჉ገፌ܌ୟ০࿋ᅎ•ړዡڦۨ࿋ఇ๕ྺ჉ገ้DŽ჉ገዡDžă•ړዡتᇀৢኹጒༀփሞ࿋ᅎ้ăޏሶዡ੗ీࣷᅜٱဃݛၠ࿋ᅎă჉ገ޶ၠ࿋ᅎ๟჉ገዡڦᅃዖ༬๺ڦਨܔኵ࿋ᅎૌ႙ăዡॽǖ•ᅜ޶޶ၠݛၠᅎۯڟኸۨڦ࿋ዃLjփ࠶ഄړമ࿋ዃසࢆ•සࡕႴᄲॽᅎۯཚࡗ0°ཚࡗڇْ჉ገፌ܌ୟ০࿋ᅎփీᅎۯዡגࡗᅃገă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžă96؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3કቛڦဃٱᇀ࠲ڟڥ੗)EXERR(ஓپဃٱቛકᆩ๑ǖஓپဃٱ߸ܠ႑တăසࡕERRྺժ൐EXERR๟ఫ஺ᇱᅺ13߳ዖగ߲ፕຕڼăࡽՊڦຕፕڦྷݔ؜ג๟EXERRăྷݔഄ؜גᅃ߲ፕຕ๟0ă૩සLjසࡕEXERR=4Ljఫ஺৽ॠ໏܈ăEXERRፕຕ0ዡ1ሏۯ੦዆2ሏۯૌ႙3࿋ዃ4໏܈54-1ፖՔဣڦፌٷ३໏܈ྺ0ăገڟፖՔဣዡڦຌႠዐLjยዃፌٷ३໏܈ă0ई߸ܠፖՔဣዐڦగ߲ዡڦፌٷ1.ٶਸ޿ዡڦຌႠă३໏܈ྺ0ă2.๑ᆩEXERRኵੂన߲ዡڦፌٷ३໏܈ྺ0ă3.౞ཚࡗMAMኸସኟሞ࿋ᅎڦዡڦ३໏܈ྺ0ăܔጒༀ࿋ۯሏǖ߀߸ڦጒༀ࿋සࡕ࿋ᅎૌ႙ྺժ൐ࢇժྺఫ஺ኸସ߸߀ኄၵ࿋࿋ఁ׬ጒༀࡤᅭݥਨܔኵዷዡೋᅎई্ኹMoveStatusኈዡኟሞ࿋ᅎሺଉዷዡೋᅎ๑ీMoveStatusኈዡኟሞ࿋ᅎJogStatus्ዡփምۅۯGearingStatus्ዡփምدۯăਨܔኵዷዡೋᅎईሺMasterOffsetMoveStatኈዡԥೋᅎଉዷዡೋᅎus؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ97\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)๖૩࿋ᅎ–ीۉഗ༱ႚ཮梯形图ኄ߲๖૩๑ᆩReg_Sequenceڦ࿋ఇ๕ઠደօྜׯஇडăٶ3.ecneuqeS_geRړਸ้ॽServo_Axisᅎۯਐ૗Reg_Errorăړ࿋ᅎྜׯࢫLjॽReg_Sequenceױᅜ2ăኄॽ࠲ԿReg_SequenceٶLj3࿋ڦਸ࿋4ă࿋ᅎૌ႙1=ሺଉ࿋ᅎăኸସ௅ْኴႜ้ॽߵ਍࿋ዃኵ࿋ᅎ޿ዡăᆯᇀఇ๕๟S൸၍Ljኸସኸۨሂ܈ኵăසࡕ౞ऺࣄሞሏႜ้๑ᆩሂ܈ኵLj൩๑ᆩՔധઠپ༺૬नຕă98؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3࿋ᅎ–঳ࠓ࿔ԨۯഔSFCړReg_CorrectionօႾ้LjॽServo_Axis࿋ᅎਐ૗Reg_ErrorăP1၌ۨޙॽኄ၌዆ྺڼᅃْօႾ෢௮ăٶ࿋PCړăਸٶ࿋PCڦᅎ࿋Ljࢫׯྜᅎ࿋ړਸ้LjSFC૗ਸ޿օႾăఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ99\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ۉጱ؃୾(MAG)ۉጱ؃୾(MAG)ኸସ༵ࠃକඪࢆଇ߲ዡኮक़ӀኸۨݛၠࢅኸۨԲ୲৊ႜۉጱ؃୾دۯăړԥۙᆩ้LjኸۨڦٗዡӀቷኸۨڦԲ୲DŽ૩ස1.345)ईኁӀቷٗዡऺຕԲዷዡऺຕDŽ૩ස1:3)ᇑዷዡ૴ۯăMAGኸସኧ׼ᅜଇዖփཞ߭๕ઠኸ؃ۨ๼๕߭୲ԲᆯLjຕईຕํǖԲ୾؃ۨ୾Բ෇჋ስઠඓۨăٗዡ၎ܔᇀዷዡڦݛၠ๟ᆯᅃ߲ݥ׉ଳऄڦݛၠ๼෇ຕઠۨᅭڦă؃୾ݛၠ੗ᅜ၂Ⴀںยዃྺ၎ཞई၎ݒLjईኁ၎ܔᇀړമ؃୾ݛၠยዃྺ၎ݒईփՎă࣏ᄲጀᅪڦ๟LjԲ୲ڦኵ๟ټޙࡽڦăዷዡ੊჋ስ੗ඟ؃୾๼෇ٗዷዡڦํाईంସ࿋ዃዐڥڟăړኸସڦ૗ࢇഗࠀీԥघऄ้Ljሞٗዡ໮ۨڟዷዡኮമLj؃୾ኸସంସٗዡӀቷ੦዆໏܈े໏ई३໏ժ๑ᆩኸସڦे໏܈ኵLjݥ׉ૌຼᇀഛڦכ૗ࢇഗă注ATTENTION意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖ梯ी形图ۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎٗዡAXIS_VIRTUALՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEዷዡAXIS_FEEDBACKՔധٗዡ߶ໜڦዡăAXIS_CONSUMEDAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕኸସڦ঳ࠓă100؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎݛၠUINT32૬नईՔധٗዡ߶ጷዷዡڦ၎ܔݛၠă჋ስူ௬ᅃዖǖ0=ٗዡӀቷᇑዷዡ၎ཞڦݛၠᅎۯ1=ٗዡӀቷᇑഄړമݛၠ၎ݒڦݛၠᅎۯ2=ٗዡٗړമईᅜമڦݛၠݒၠ3=ٗዡीჄഄړമईᅜമڦݛၠԲ୲REAL૬नईՔധټޙࡽڦํຕኵLjॺ૬௅ዷᆩࢽٗڦ࿋ڇᆩࢽ؃࿋ڇ୾ԲăٗዡऺຕUINT32૬नईՔധኝຕኵLj՗๖ሞኸۨຕ؃୾Բዐ๑ᆩڦٗዡऺຕăዷዡऺຕUINT32૬नईՔധኝຕኵLj՗๖ሞኸۨຕ؃୾Բዐ๑ᆩڦዷዡऺຕăዷዡ੊քܻ႙૬नॽዷዡ࿋ዃ੊ยዃྺంସ࿋ዃईํा࿋ዃă0=ํा–ٗዡሏۯॽӀቷഄՊஓഗईഄ໱ݒઍยԢڦଉڦዷዡڦړമ࿋ዃઠิׯă1=ంସ–ٗዡሏۯॽٗ໯Ⴔᄲڦईంఁڦዷዡ࿋ዃઠิׯăԲ୲߭๕քܻ႙૬न໯ႴڦԲ୲ኸۨ߭๕ă჋ስඪᅃǖ0=ํຕ؃୾Բ1=ኝຕևLjྺٗዡՊஓഗऺຕԲዷዡՊஓഗऺຕ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ101\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ፕຕૌ႙߭๕௮ຎ૗ࢇഗքܻ႙૬नړ૗ࢇഗԥ๑ీ้Ljሏۯ੦዆Ӏቷኸସۨᅭڦे໏܈ኵၽे໏ٗዡ؃ڟٳ୾໏܈ăසࡕ࿄๑ీLjۨ໮न૬ॽዡٗڟዷዡăසࡕዷዡړമኟሞᅎۯLjኄዖ൧઄ॽڞዂٗዡ཭඗Ⴀݥ੦዆े໏๚ॲLjኄ੗ీࣷሰׯዡ؜၄ࠤቱă჋ስඪᅃǖ0=ᅙ๑ీ1=ᅙ্ኹे໏܈քܻ႙૬नईՔധٗዡڦे໏܈Ljᆩ%ईे໏܈ړă࿋ڇ૗ࢇഗࠀీԥ๑ీ้Lj໲ԥᆌᆩăे໏܈ڇڦኵ܈໏े၂๖ᇀᆩन૬DINTڇ࿋࿋ă჋ስඪᅃǖ0=ڇ࿋௅௱21=ፌٷे໏܈%঳ࠓ࿔ԨMAG(SlaveAxis,MasterAxis,ፕຕᇑीۉഗ༱ႚ཮梯形图MAGኸସڦፕຕ၎ཞăMotionControl,Direction,Ratio,SlaveCounts,MasterCounts,ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞MasterReference,RatioFormat,Clutch,ڦ჋ስǖAccelRate,AccelUnits);ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴMasterReferenceํा0ంସ1RatioFormatํຕ႙0fraction_slave_master_counts1૗ࢇഗᅙ๑ీ0ᅙ্ኹ1AccelUnitsunitspersec20%ofmaximum1102؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡ؃୾ׯࠀ݀ഐ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋26ኄ߲࿋ሞኟڦ༱पገ้࣑ยዃLjሞԥଷᅃཉۉጱ؃୾ంସ໯ൽپLjईኁԥཕኹంସĂࢇժĂ࠲Կईົޜࠤቱዕኹ้أăຫ௽ǖۉጱ؃୾(MAG)ኸସሎႹଇ߲ዡኮक़ӀኸۨԲ୲৊ႜۉጱ؃୾دۯăۉጱ؃୾ሎႹඪࢆ࿿૙ዡӀቷ৛ඓڦԲ୲ཞօڟଷᅃ߲࿿૙ዡڦํा࿋ዃईంସ࿋ዃă໲ሞଇ߲ዡኮक़༵ࠃ኱থۨ໮ՉڟՉڦ–փ๑ᆩፌڦዡٗă዆၌܈໏३ई܈໏ेĂ܈໏ٷ໏܈Ăे໏܈ࢅ३໏܈ྜඇᆯዷዡڦሏۯᅜतኸۨڦ؃୾Բඓۨă注ATTENTION意ሞዡದዃࡗײዐ໯ॺ૬ڦፌٷ໏܈Ăे໏܈ई३໏܈၌዆փᆌᆩᇀۉጱ؃୾ă჋ስई๼෇໯ႴڦዷዡĂٗዡࢅݛၠLjժྺ໯ႴԲ୲๼෇ᅃ߲ኵईՔധՎଉăසࡕዡԥӁ၂DŽࣨڇ؜ڑዡٗሞ࿄ኁईDžۖዐ၂๖Ljሶ޿࿿૙ዡுᆶۨᅭྺົޜፕăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀົޜፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăۉጱ؃୾ሞཚࡗٗዡࢫჄڦۅۯኴႜई࿋ᅎࡗײࢫධԍ׼ऄሂăኄᄣሎႹۉጱ؃୾ԥۅۯई࿋ᅎఇ๕໯۠ेLjܸٗ੗ظॺްሗڦሏۯࢅཞօă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ103\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ۯٗ዁ํा࿋ዃړํा࿋ዃԥ๼෇ई჋ስྺዷዡ੊ᇸ้Ljٗዡሏۯ๟ٗዷዡڦํा࿋ዃิׯڦLjසူ໯๖ăۉጱ؃୾ٗዡంସ࿋ዃዷዡํा࿋ዃMSዷዡ/ٗዡ؃୾Բۯٗ዁ํा࿋ዃํा࿋ዃ๟ᆯዡՊஓഗڥڦ࿿૙ዡڦړമ࿋ዃăړዷዡڦዡૌ႙ԥದዃྺݒઍ้Ljኄ๟ྸᅃڦᆶၳ჋ስăۯٗ዁ంସ࿋ዃڦዡዷٗ๟ۯሏዡٗLj้ᇸ੊ዡዷྺስ჋ई෇๼ԥዃ࿋ସంړంସ࿋ዃิׯڦLjසူ໯๖ăۉጱ؃୾ٗዡంସ࿋ዃዷዡMంସ࿋ዃSዷዡ/ٗዡ؃୾Բۯٗ዁ంସ࿋ዃంସ࿋ዃDŽৈړዷዡڦዡૌ႙ԥದዃྺົޜ้֍ᆶၳDž๟ዷዡړമ೺ྭڦईంସڦ࿋ዃăᆯᇀంସ࿋ዃփԈࡤඪࢆ၎࠲ۯඡዃ࿋ևྔĂဃٱໜ߶ڦईଉࣅሯำLj໲ܔᇀ؃୾ઠຫ๟߸ेጚඓࢅ࿘ۨڦ੊ăړ؃୾૶থ዁ዷዡڦంସ࿋ዃ้LjዷዡՂႷԥంସ࿋ᅎLjܸٗሞٗዡฉิඪࢆሏۯă൩ለሏڦ੊ዡዃ࿋ाํࢅዃ࿋ସం࠲ᆶ঴କLjຕຍरၡܔዡۯ߸ܠ႑တă104؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ཞݛၠ؃୾සࡕॽݛၠ჋ስई๼෇၎ཞLjړዷዡሞഄኟၠݛၠᅎۯ้LjٗዡӀഄኟၠݛၠᅜኸۨڦ؃୾ԲᅎۯLjݒኮᅨ඗ăݒݛၠ؃୾සࡕॽݛၠ჋ስई๼෇၎ݒLjړዷዡሞഄኟၠݛၠᅎۯ้LjٗዡӀഄ޶ၠݛၠᅜኸۨڦ؃୾ԲᅎۯLjLjݒኮᅨ඗ă߸߀؃୾Բසࡕॽݛၠ჋ስई๼෇փՎLjሞԍ׼ړമ؃୾ݛၠDŽ၎ཞई၎ݒDžڦཞ้੗ᅜ߸߀؃୾Բăසࡕړമݛၠ࿄ኪईኁժփዘᄲLjኄࣷݥ׉ᆶᆩăݒገ؃୾ݛၠසࡕॽݛၠ჋ስई๼෇ྺݒၠLjሶۉጱ؃୾ڦړമݛၠٗ၎ཞ߸߀ྺ၎ْ௅ሞࡕසዐᆩᆌජ׀ሞăཞ၎ྺ߀߸ݒ၎ٗኁईLjݒ׀ජ঳ຐ้Ⴔᄲݥ৽ኄLjԲ୾؃ገݒ׉ᆶᆩăํຕ؃୾ԲړԲ୲߭๕ԥ჋ስई๼෇ྺํຕ้Lj؃୾Բԥኸۨྺํຕईኁኵሞݔྷ0.00001ٗڦႴ໯๖՗LjଉՎധՔڦक़ኮ)ࡤ(99999.9ڟዡ࿋ዃݥԲ୾؃ڦٳ՗๕ݛዖኄᆩă୲Բڦ࿋ڇዃ࿋ዡዷᇑ࿋ڇ׉ඹᅟ঴܁Ljᅺྺ໲๟ᆩዡ໯ದዃڦ࿋ዃڇ࿋ۨᅭڦă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ105\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ຕ؃୾ԲړԲ୲߭๕ԥ჋ስई๼෇ྺຕ้Lj؃୾ԲԥኸۨྺᅃܔኝຕईՔധՎଉLj՗๖ٗዡݒઍऺຕᇑዷዡݒઍऺຕኮक़ڦԲ୲ăܔٗዡऺຕፌܠ੗๑ᆩ࿵࿋ຕጴ(99999)Ljܔዷዡऺຕፌܠ੗๑ᆩ৵࿋ຕጴ(999999999)ă൩ለԨ๮മ௬ڦՔധՎଉิׯഗLjକ঴ᆶ࠲ՔധՎଉڦ႑တă重要提示IMPORTANTྺۨኸԥ๕߭୲ԲڦସኸMAGړຕ้Ljሞዡದዃօየዐ໯๼෇ڦገ࣑׉ຕփփࣷ๑ᆩăසࡕ౞ڦጴຕ࿋࿵ܠፌՉᆸۅຕၭྺ๖՗ںඓጚ݆࿮Բ୾؃ڦํຕLj੗๑ᆩຕፕྺԲ୲߭๕ăॽ؃୾Բኸۨྺຕ੗኱থํแ࿮૙ຕ؃୾Բ(Բස1/3)Ljܸփࣷᆶેओۨ࿋ဃईป෇ăᆯᇀዷዡࢅٗዡऺຕኵփ๑ᆩዡገ࣑׉ຕLjܸ൐ᅺྺ໲்ۼ๟ኝຕLjᅺُٗዡࢅዷዡኮक़ڦํा؃୾Բ࠲ဣጚඓںޙࢇኸۨڦԲ୲ă૩සLj࿮૙ຕ؃୾Բ1/3੗ڪၳኸۨྺ1ْٗዡऺຕԲ3ْዷዡऺຕĂ10ْٗዡऺຕԲ30ْዷዡऺຕĂ3ْٗዡऺຕԲ9ْዷዡऺຕLjڪڪă૗ࢇഗٗLj้ዐ჋ԥ઀჋ްഗࢇ૗ړዡॽ๑ᆩ༱ႚ໏܈ఇ๕DŽ၍Ⴀे໏ई३໏Džे໏ई३໏Ljٳڟᅜኸۨڦ؃୾Բࢅݛၠدۯڟ჋ۨዷዡړമ໯Ⴔڦሏۯ໏܈ăٗዡᅃڋڟٳ؃୾໏܈Ljۉጱ؃୾ߵ਍ഄ໱჋ስጲۯघऄă๼෇໯Ⴔڦे໏܈ፕྺړമದዃڦፌٷे໏܈ኵڦӥԲLjईኁ኱থ๑ᆩྺे໏܈ದዃڇࢽᆩڦ࿋ă106؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ኄዖ૗ࢇഗࠀీٗඟ੗Ljഗࢇ૗ڦዐכഛᇀຼૌ׉ݥ૙ᇱፕ߾ڦዡೝ࿘ںᇑዷዡౚࢇLjසူ໯๖ă૗ࢇഗࠀీړዷዡኟሞሏۯ้සࡕۉጱ؃୾ԥ๑ీLj๑ᆩ૗ࢇഗࠀీ੗Ն௨໯ሰׯڦݥ੦዆े໏ई३໏ă૗ࢇഗࠀీ࣏੗ᅜᆩᇀሞࡗײዐࢇժ؃୾ԲՎ߸Ljฯ዁๟ݛၠ߀Վăሏۯ੦዆ഗጲۯॽٗዡၽे໏዁ӀቷႎڦԲ୲ࢅ/ईݛၠዷዡ໯Ӂኸڦ໏܈ă૗ࢇഗၽ݀ิഗڦፕܔٗዡฉ੗ీኟሞ৊ႜڦۅۯई࿋ᅎࡗײுᆶᆖၚă߸߀ዷዡۉጱ؃୾ڦዷዡ੗ໜ้߸߀Ljฯ዁๟؃୾ړമᅙঢ়ԥ๑ీڦ൧઄ူăٗࢅዡዷޜົࡕසLj୾؃ጱۉీ๑ฉዡ߲ܠሞᅜ੗้ཞᇀᆯLj๟ڍዡԥہڛLjዡ੗ీࣷԥ঍᳘ࢇLjሰׯᅪྔڦሏۯă૩සLjසࡕ౞ኟሞॽዡ0ౚࢇڟዡ1DŽۨᅭྺົޜዡDžฉLj඗ࢫᆼထྭ߸߀ྺዡ1ౚࢇڟዡ0ฉLjሶՂႷံ্ኹዡ0ฉڦ؃୾DŽ൩ለԨবࢫ௬ڦ্ኹ؃୾Džăኄ๟ᅺྺኸۨዡ1ྺٗዡĂዡ0ྺዷዡLjփࣷጲۯ্ኹዡ0ׯྺٗዡཞ้ዡ1ׯྺዷዡă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ107\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)؃୾ग़࿋ᅎሞۉጱ؃୾ԥ๑ీ้LjሺଉMAMኸସ੗ᆩᇀٗዡDŽईኁዷዡLjසࡕዡૌ႙ԥದዃྺົޜDžăኄ༬੗ᆩᇀํ၄၎࿋༵മ/׿ჽ੦዆ăሺଉ࿋ᅎਐ૗੗ᆩᇀၩတዷዡᇑٗዡኮक़ڦඪࢆ၎࿋ဃLjईኁᆩᇀظॺጚඓڦݥଭ၎࿋࠲ဣăሺଉMAMኸସ࣏੗ᅜ঳ࢇۉጱ؃୾ઠց׋࿿ଙࣂᅎăཚ׉၎࿋ڦ1:1Ljമኮኟৰႜ৊ઠᅎ࿋ႜኴሞă1Բ୾؃ᆩ๑ዐኝۙԲ୲੗ԍኤऺ໙؃ጱۉăՎ߀ࣷփဃ࿋၎ڦ؜୾ཚ׉փᆩᇀਨܔ࿋ᅎLjᅺྺፌዕۅຐ঳ڦ࿮݆ᇨăᄲׯࠀኴႜۉጱ؃୾ኸସLjణՔዡՂႷದዃྺົޜዡૌ႙ժ൐تᇀົޜഔٱ؜ସኸሶLjॲཉࢆඪፁ஢փࡕසăༀጒۯă重要提示IMPORTANTMAGኸସኴႜሞᅃْ෢௮ዐྜׯLjᅺُྜׯ(.DN)࿋ࢅኟሞ৊ႜDŽ.IPDž࿋ԥ૬नยዃLjࡗײྜׯ(.PC)࿋ԥ૬नأăኟሞ৊ႜ(.IP)࿋ԍ׼ยዃጒༀLj኱ڟ݀ഐڦ؃୾ࡗײԥଷᅃཉMAGኸସൽپLjईኁԥሏۯዡཕኹంସĂࢇժፕईົޜࠤቱፕዕኹྺኹă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăዡ࿄ದዃ(11)ٱဃپஓڦકቛٱဃپஓසူǖ•કቛٱဃپஓ1՗๖ٗዡ࿄ದዃă•કቛٱဃپஓ2՗๖ዷዡ࿄ದዃă108؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ຕڦኸࡽՊڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜ג๟ፕຕُᅺăଭྺऺԥຕፕ߲ᅃڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦܔᇀMAGኸସLjકቛٱဃپஓ4ኸڦ๟Բ୲ፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăܔᇀٱဃپஓ54–ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăڟገăటೡႠຌዡ࿚ݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵăጒༀ࿋ǖMAGܔጒༀ࿋ڦ߸߀සࡕ૗ࢇഗް჋઀࿄჋ዐLjሶኴႜMAGኸସኻ๟ॽ؃୾ጒༀ࿋ยዃྺኈă࿋ఁ׬ጒༀࡤᅭGearingStatusኈዡኟሞ؃୾ሏۯዐසࡕ૗ࢇഗް჋઀ԥ჋ዐLjሶړ૗ࢇࡗײྜׯࢫLjኴႜMAGኸସॽӝ؃୾໮ۨጒༀ࿋ยዃྺኈă࿋ఁ׬ጒༀࡤᅭ؃୾໮ۨጒༀኈዡᅙঢ়ྜׯ૗ࢇࡗײժ໮ۨăGearingStatusኈዡኟሞ؃୾ሏۯዐ๖૩ǖ؃ጱۉࠃ༵क़ኮ1ዡࢅ2ዡሞഗ዆੦Lj้ኈྺॲཉ෇๼ړ୾ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ109\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ीۉഗ༱ႚ཮梯形图MAG༱ႚ཮๖૩঳ࠓ࿔ԨMAG(Axis0,Axis1,MAG_3,3,Ratio_3,0,100,100,Actual,Real,Enabled,50,Unitspersec2);110؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ሏڦ๕ఇۯۅई๕ఇᅎ࿋ڦႜ৊ሞኟ߀߸ںႠስ჋੗ସኸMCDᆩ๑)MCD(ኝۙༀۯۯ໏܈Ăे໏܈ई३໏܈ă注意ATTENTIONኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_VIRTUALՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_ኸସՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăሏۯૌ႙UDINT૬नᄲ߸߀ڦఇ๕DŽۅۯई࿋ᅎDžă჋ስඪᅃǖ0=ۯۅ1=࿋ᅎՎ߸໏܈քܻ႙૬नยዃᅜ๑ీ໏܈Վ߸ă჋ስඪᅃǖ0=ޏ1=๟໏܈REAL૬नईᅎۯዡڦႎ໏܈Ljᆩ%Քധई໏܈ڇ࿋ăՎ߸े໏քܻ႙૬नยዃᅜ๑ీे໏܈Վ߸ă჋܈ስඪᅃǖ0=ޏ1=๟े໏܈REAL૬नईዡڦे໏܈Ljᆩ%ईेՔധ໏܈ڇ࿋ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ111\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ፕຕૌ႙߭๕௮ຎՎ߸३໏քܻ႙૬नยዃᅜ๑ీ३໏܈Վ߸ă჋܈ስඪᅃǖ0=ޏ1=๟३໏܈REAL૬नईዡڦ३໏܈Ljᆩ%ई३Քധ໏܈ڇ࿋ăසࡕሏۯኟሞ৊ႜኮዐܸ౞ইگ३໏܈Ljሶዡ੗ీࣷࡗ؋ഄణՔ࿋ዃăՎ߸े໏SINTĂINTईDINT૬न0=ޏ܈ሂ܈1=๟े໏ሂ܈SINTĂINTĂDINTई૬नई౞ՂՂႷ๔ዕྺे໏܈ሂ܈REALՔധፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă•े໏ሂ܈๟ዡڦे໏ሂ܈ኵă๑ᆩኄ߲ኵഐօăे໏܈ሂ܈=100(้क़%)ሂ܈ڇ࿋=2Վ߸३໏SINTĂINTईDINT૬न0=ޏ܈ሂ܈1=๟३໏ሂ܈SINTĂINTĂDINTई૬नई౞ՂՂႷ๔ዕྺ३໏܈ሂ܈REALՔധፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă•३໏ሂ܈๟ፖՔဣڦ३໏ሂ܈ኵă๑ᆩኄၵኵഐօă३໏܈ሂ܈=100(้क़%)ሂ܈ڇ࿋=2SpeedUniքܻ႙૬नᆩᇀ၂๖໏܈ኵڦڇ࿋ă჋tsስඪᅃǖ0=ڇ࿋௅௱1=ፌٷ໏܈%112؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎे໏܈քܻ႙૬नᆩᇀ၂๖े໏܈ኵڦڇ࿋ăڇ࿋჋ስඪᅃǖ0=ڇ࿋௅௱21=ፌٷे໏܈%३໏܈քܻ႙૬नᆩᇀ၂๖३໏܈ኵڦڇ࿋ăڇ࿋჋ስඪᅃǖ0=ڇ࿋௅௱21=ፌٷ३໏܈%ሂ܈ڇ=0न૬DINTईINTĂINTS࿋ڇ࿋௅௱31=ፌٷኵ%2=้क़%঳ࠓ࿔Ԩፕຕᇑीۉഗ༱ႚ཮梯形图MCDኸସڦፕຕ၎ཞăܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...MCD(Axis,MotionControl,๼෇ྺ࿔Ԩईኁ๼෇ྺMotionType,ChangeSpeed,Speed,ChangeAccel,AccelRate,Changዡ࿮஼ਉՔധeAccelJerk,AccelJerk,ChangeDecelJerMotionControl࿮஼ਉՔധk,ChangeDecel,DecelRate,MotionTypejog0SpeedUnits,AccelUnits,DecelUnits,JerkUnits);move1ChangeSpeed࿮0๟1໏܈࿮஼ਉ૬नईՔധChangeAccel࿮0๟1AccelRate࿮஼ਉ૬नईՔധChangeDecel࿮0๟1३໏܈࿮஼ਉ૬नईՔധ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ113\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺChangeAccelJerk࿮஼ਉ0=ޏ1=๟AccelJerk࿮஼ਉ૬नईՔധ౞ՂՂႷ๔ዕྺे໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄ߲ኵഐօăे໏܈ሂ܈=100ChangeDecelJerk࿮஼ਉ0=ޏ1=๟DecelJerk࿮஼ਉ૬नईՔധ౞ՂՂႷ๔ዕྺ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄ߲ኵഐօă३໏܈ሂ܈=100SpeedUnitsunitspersec0%ofmaximum1AccelUnitsunitspersec20%ofmaximum1DecelUnitsunitspersec20%ofmaximum1JerkUnitsUnitspersec30%ofmaximum1%oftime2114؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡۯༀՎ߸ׯࠀ݀ഐ้Ljྜׯ࿋ԥยዃă޿ኸସኴႜሞᅃْ෢௮ዐྜׯLjᅺُྜׯ(.DN)࿋ԥ૬नยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖMCDኸସ੗ሞ৊ႜዐ߸߀༱ႚఇ๕࿋ᅎڦႜ৊ሞኟ߀߸Lj܈໏ڦ༱ႚఇ๕ۅۯڦ໏܈Ăे໏܈ࢅ३໏܈ă჋ስ໯Ⴔڦ࿿૙ዡࢅሏۯૌ႙Lj๼෇໏܈Ăे໏܈ࢅ३໏܈ڦኵईՔധՎଉă໏܈Ăे໏܈ࢅ३໏܈ኵ੗๼෇ྺړമፌٷದዃኵڦӥԲLjईኁ኱থᆩྺዡದዃڦ໏܈ई३໏܈ڇ࿋ăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀົޜፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăATTENTION注意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦ؋ࡗዃ࿋ۅዕई/ࢅ܈໏႐ၭᄲLjସኸڦޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌڦ%क़้ᆩࡕසLjऻ઺൩๟ڍă໏ेሞኟዡܸگই܈ሂ܈໏ेٷۨኸ࿋ڇLjሂ܈੗ీࣷक़থԥ߀Վăᆶ࠲߸ܠ႑တLj൩९TroubleshootAxisMotionฉڦpage9ăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ115\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)߸߀࿋ᅎۯༀຕڦᅎ࿋ڦႜ৊ሞኟLj้ᅎ࿋ྺ႙ૌۯሏڦ෇๼ईስ჋ڍ໏܈Ăे໏܈ࢅ/ई३໏܈੗ᅜ߸߀ྺኸت܈໏ेڦۨኸሞ߀߸܈໏ăኵڦۨ৊ႜDŽසࡕႎ໏܈ߛᇀت܈໏३ڦۨኸሞኁईDž܈໏മړ৊ႜDŽසࡕႎ໏܈گᇀړമ໏܈Džăሡཕ࿋ᅎMCDኸସ੗ཚࡗॽ໏܈߸߀ྺଭLjᆩᇀଣ้ሡཕኟሞ৊ႜڦሏۯă๑ᆩଷᅃཉMCDኸସժᆩݛڦۨኸ؛ፌӀ੗नኵ܈໏ଭݥ๕ྜׯ࿋ᅎă߸߀ۅۯۯༀຕڦۯۅڦႜ৊ሞኟLj้ۯۅྺ႙ૌۯሏڦ෇๼ईስ჋ڍ໏܈Ăे໏܈ࢅ/ई३໏܈੗ᅜ߸߀ྺኸت܈໏ेڦۨኸሞ߀߸܈໏ăኵڦۨ৊ႜDŽසࡕႎ໏܈ߛᇀت܈໏३ڦۨኸሞኁईDž܈໏മړ৊ႜDŽසࡕႎ໏܈گᇀړമ໏܈Džă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăຕڦኸࡽՊڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜ג๟ፕຕُᅺăଭྺऺԥຕፕ߲ᅃڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦܔᇀMCDኸସLjકቛٱဃپஓ4ኸڦ๟໏܈ፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăܔᇀٱဃپஓ54–ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇ࿚ዡຌႠೡటăገڟۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵă116؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3MCDܔጒༀ࿋ڦ߸߀ǖ࿮๖૩ǖۯۅई๕ఇᅎ࿋ڦႜ৊ሞኟ1ዡ߀߸ഗ዆੦Lj้ኈྺॲཉ෇๼ړఇ๕ڦ໏܈Ăे໏܈ई३໏܈ăीۉഗ༱ႚ཮梯形图MCD༱ႚ཮๖૩঳ࠓ࿔ԨMCD(Axis1,MCD_1,Move,Yes,75,Yes,50,No,0,%ofmaximum,%ofmaximum,%ofmaximum);ఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ117\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሏۯ࿋ዃዘย(MRP)๑ᆩMRPኸସ੗߸߀ዡڦంସ࿋ዃईํा࿋ዃăᆯ࿋ዃ໯ኸۨڦኵᆩᇀ߸ႎዡڦํा࿋ዃईంସ࿋ዃă࿋ዃڦዘႎऺ໙੗Ӏਨܔኵई၎ܔኵڦݛ๕৊ႜăසࡕ჋ስਨܔኵLjሶ࿋ዃڦኵԥޯኵڟړമڦํा࿋ዃईంସ࿋ዃăසࡕ჋ስ၎ܔኵLjሶ࿋ዃڦኵፕྺ࿋ᅎԥेڟړമڦํा࿋ዃईంସ࿋ዃฉăዘႎۨᅭړമዡ࿋ዃڦࡗײܔᇀኟሞ৊ႜڦሏۯுᆶᆖၚLjᅺྺኸସԍାዘႎۨᅭࡗײዐڦړമົޜ߶ໜٱဃăᅺُLjዡ࿋ዃ੗ሞࡗײዐ৊ႜዘႎۨᅭLjܸփࣷ߅ඡዡڦሏۯăATTENTION注意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସຕڦ঳ࠓăኸସૌ႙քܻ႙૬न౞ထྭසࢆ৊ႜዘႎۨᅭڦݛ๕ă჋ስඪᅃǖ0=ਨܔኵ1=၎ܔኵ࿋ዃ჋ስքܻ႙૬न჋ስᄲኴႜዘႎۨᅭፕڦ࿋ዃă჋ስඪᅃǖ0=ํा࿋ዃ1=ంସ࿋ዃ࿋ዃREAL૬नईՔᆩᇀ߸߀ዡ࿋ዃईړമ࿋ዃധೋᅎڦኵă118؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3঳ࠓ࿔ԨMRP(Axis,MotionControl,Type,ፕຕᇑीۉഗ༱ႚ཮梯形图MRPኸସڦፕຕ၎ཞăPositionSelect,Position);ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴૌ႙absolute0relative1PositionSelectํा0ంସ1MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡڦ࿋ዃፕׯࠀዘႎۨᅭ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖሏۯ࿋ዃዘย(MRP)ኸସ኱থॽኸۨڦዡڦంସ࿋ዃईํा࿋ዃยዃྺኸۨڦਨܔई၎ܔ࿋ዃăኄ߲ኸସփิሏۯ–ኻ๟ړമዡ࿋ዃԥዘႎۨᅭă჋ስई๼෇໯ႴڦዡĂૌ႙Ă࿋ዃ჋ስLjժྺ໯Ⴔႎ࿋ዃ๼෇ᅃ߲ኵईՔധՎଉăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăړዡኟሞᅎۯईኁৢኹ้LjMRPኸସۼ੗ᅜ๑ᆩăMRPᆩᇀĐሞ৊ႜዐđዘႎۨᅭ࿋ዃLj੗ᆩᇀగၵऻ୤Ăࣂց׋ࢅዘႎၯጚᆌᆩăਨܔኵఇ๕ړྺMRPૌ႙჋ስई๼෇ਨܔኵ้Ljႎ࿋ዃኸۨڦ৽๟ዡڦਨܔ࿋ዃăփࣷิሏۯ–ኻ๟ړമڦዡ࿋ዃDŽํाڦईంସڦDžԥዘႎۨᅭྺኸۨڦႎ࿋ዃă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ119\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)සࡕ๑ᆩକ෉ॲגײ၌዆DŽ൩ለሏۯዡܔၡरຍኸՔLjକ঴෉ॲג软件超行程限制运动轴对象技术参数。ႜײದዃڦᆶ࠲႑တDžLjႎ࿋ዃՂႷتᇀፌٷኟၠࢅፌٷ޶ၠႜײڦದዃኵኮक़ăޏሶLjړኸସԥኴႜ้Ljࣷิׯᅃ߲෉ॲגႜײࠤቱă如果软件超行程限制检查正在生效，以绝对值模式执ATTENTION注意සࡕ෉ॲגײ၌዆ॠኟሞิၳLjᅜਨܔኵఇ๕ኴႜMRP੗ీሞਨܔኵᅪᅭฉݭأړമڦፌٷኟၠࢅፌٷ޶ၠႜײ၌዆ăሞܔਏᆶႜײ၌዆ڦዡ৊ႜਨܔ࿋ዃዘႎۨᅭ้Ljᅃۨᄲၭ႐ăړዡփሞሏۯ้Ljਨܔኵࢅ၎ܔኵఇ๕ူڦMRPኸସਏᆶ၎ཞڦ঳ࡕăڍ๟ړዡሞሏۯ้LjሞኴႜMRPኸସࢅ޶ኵႎ࿋ዃ໯ࢾڦ้क़ࡗײዐLjਨܔኵఇ๕ᆅ෇ᅃ߲࿋ዃဃLjڪᇀዡሞኄ߲೺क़ڦሏۯă၎ܔఇ๕փࣷᆅ෇ኄዖဃLjԍኤᇑዡ໏܈ई࿋ዃ࿮࠲ڦጚඓၯኟă၎ܔኵఇ๕ړྺMRPૌ႙჋ስई๼෇၎ܔኵ้Ljႎ࿋ዃڦኵᆩᇀೋᅎዡڦړമ࿋ዃăփࣷิሏۯ–ኻ๟ړമڦዡ࿋ዃDŽํाڦईంସڦDžԥዘႎۨᅭྺړമ࿋ዃेฉኸۨڦႎ࿋ዃăሞ၎ܔኵఇ๕ူLjዡ࿋ዃڦዘႎۨᅭ๑ዡሞሏۯዐᄺփࣷᆅ෇࿋ዃဃă໲༬๢ᆩᇀײႾ੦዆ူڦཽජዡ࿋ዃLjܸփ๟๑ᆩాዃڦ჉ገዡࠀీăړዡփሞሏۯ้Ljਨܔኵࢅ၎ܔኵఇ๕ူڦMRPኸସਏᆶ၎ཞڦ঳ࡕăڍ๟ړዡሞሏۯ้LjሞኴႜMRPኸସࢅ޶ኵႎ࿋ዃ໯ࢾڦ้क़ࡗײዐLjਨܔኵఇ๕ᆅ෇ᅃ߲࿋ዃဃLjڪᇀዡሞኄ߲೺क़ڦሏۯă၎ܔఇ๕փࣷᆅ෇ኄዖဃLjԍኤᇑዡ໏܈ई࿋ዃ࿮࠲ڦጚඓၯኟăํा࿋ዃړྺMRP࿋ዃ჋ስ๼෇ई჋ስํाኵ้Ljႎ࿋ዃ኱থᆌᆩڟ࿿૙ዡڦํा࿋ዃăዡڦంସ࿋ዃᄺ๑ᆩႎڦํा࿋ዃ৊ႜۙኝLjᅜԍାඪࢆ٪ሞڦ࿋ዃဃăኄᄣ੗ԍኤړ࿋ዃԥዘႎۨᅭࢫLjփࣷ؜၄ᅪྔڦዡሏۯă൩ለሏۯዡܔၡरຍຕLjକ঴࠲ᇀంସ࿋ዃĂํा࿋ዃࢅ࿋ዃဃڦ߸ܠ༪ஃă120؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ంସ࿋ዃړྺMRP࿋ዃ჋ስ๼෇ई჋ስంସኵ้Ljႎ࿋ዃ኱থᆌᆩڟົޜዡईႵెዡڦంସ࿋ዃăᆯᇀৈݒઍዡுᆶంସ࿋ዃLj൩ٗ࿋ዃڇዐ虚轴๔ዕྺৈዷዡૌڦዡ჋ስํाኵăົޜዡڦํा࿋ዃᄺ๑ᆩႎڦంସ࿋ዃ৊ႜۙኝLjᅜԍାඪࢆ٪ሞڦ࿋ዃဃăኄᄣ੗ԍኤړ࿋ዃԥዘႎۯሏዡڦྔᅪ၄؜ࣷփLjࢫᅭۨăంସ࿋ዃ๟ົޜڦ೺ྭईంସ࿋ዃLjᆯඪࢆᅜമڦሏۯ੦዆ኸସิׯăํा࿋ዃ๟ᆯዡՊஓഗईഄ໱ݒઍጎዃڥڦ࿿૙ዡईႵెዡڦ虚轴ړമ࿋ዃă࿋ዃဃ๟ኄଇኁኮक़ڦᅴLjᆩᇀൻۯۉऐઠ๑ํा࿋ዃڪᇀంସ࿋ዃăူ཮၂๖କኄෙ߲࿋ዃኮक़ڦ࠲ဣă࿋ዃဃ+ంସ࿋ዃ-ํा࿋ዃ࿋ዃ࠲ဣ൩ለሏۯዡܔၡरຍຕLjၘဦକ঴ControlLogixሏۯ੦዆ഗ໯๑ᆩڦഴ༫ຕጴົޜ࣍ڦ߁ᄲ႑တăᄲׯࠀኴႜMRPኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ă重要提示IMPORTANTMRPኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏُᅺăတၩཉܠ๼د੷ఇۯLjྜׯ要向运动控制模块传输多条消息。因此，完成(.DN)(.DN)࿋位ժփ૬नยዃLjܸኻ๟ሞኄၵၩတԥׯࠀ݀ໃᅜࢫă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ121\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMRPኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAIยԢتᇀٱဃጒༀዘႎۨᅭ࿋ዃĂࡃଭࢅLURE(12)(16)ऻ୤2๟၎ࢻಇڦă(SERCOS)ăຕۅᆶ๕ݛፕ߾ஓپဃٱቛકڦဃٱ)13(ྷݔ؜גփཞăփ๟ᆩՔጚڦ஼ਉLjકቛٱဃپஓ໯၂๖ڦՊࡽኸڦ๟ፕຕڦՊࡽLjሞ௬ӱዐُᅺăଭྺऺԥຕፕ߲ᅃڼLj؜ଚူڟฉٗܔᇀMRPኸସLjકቛٱဃپஓ4ኸڦ๟࿋ዃፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăMRPܔጒༀ࿋ڦ߸߀ǖ࿮๖૩ǖڦ1ዡ߀߸ഗ዆੦Lj้ኈྺॲཉ෇๼ړ࿋ዃă梯形图ीۉഗ༱ႚ཮MRP༱ႚ཮๖૩঳ࠓ࿔ԨMRP(Axis1,MRP_1,Absolute,Actual,75);122؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ऺ໙ཫ୾ሏۯ൸၍ऺ໙ཫ୾ሏۯ൸၍(MCCP)एᇀᅃဣଚཫ୾ۅઠऺ໙ཫ୾൸၍ăཫ୾(MCCP)ۅຕፇ੗ཚࡗײႾईኁ๑ᆩRSLogix5000ཫ୾൸၍Պडഗઠॺ૬ăཫ୾ຕፇዐڦ௅߲ཫ୾ۅԈઔٗ࿋ዃኵĂዷዡ࿋ዃDŽ࿋ዃཫ୾Džई้क़DŽ้क़ཫ୾Džኵᅜतాૌ႙DŽ၍ႠईෙْݛDžă໯ิڦཫ୾൸၍੗ࠃሏۯዡ࿋ዃཫ୾(MAPC)ईኁሏۯዡ้क़ཫ୾(MATC)ኸସ๑ᆩLjઠӀቷዷዡ࿋ዃई้क़ઠ੦዆ٗዡڦሏۯă注意ATTENTIONኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎሏۯ੦዆MOTION_Քധᆩᇀݡ࿚੷ጒༀຕڦ঳ࠓăኸସཫ୾CAMຕፇᆩᇀऺ໙ཫ୾൸၍ڦཫ୾ຕፇՔധఁ׬ăຕጴຕፇ໭ᆅ՗๖ሞཫ୾൸၍ऺ໙ዐ๑ᆩڦຕፇዐڦਸ๔ཫ୾ᇮ໎ăู୼ࡽ੗ഔۯཫ୾൸၍Պडഗă׊܈UINT૬नईՔധඓۨሞཫ୾൸၍ऺ໙ዐ๑ᆩڦຕፇዐڦཫ୾ᇮ໎ڦ߲ຕăഐ๔ၽ୲REAL૬नईՔധኄ๟൸၍؛๔ၽ୲ڦՉহཉॲă໲ৈܔᇀෙْݛڦڼᅃ܎ᆶၳLjᆩᇀኸۨཚࡗڼᅃ߲ۅڦၽ୲ăዕኹၽ୲REAL૬नईՔധኄ๟൸၍ዕኹၽ୲ڦՉহཉॲă໲ৈܔᇀෙْݛڦፌࢫᅃ܎ᆶၳLjᆩᇀኸۨཚࡗፌࢫᅃ߲ۅڦၽ୲ăཫ୾൸၍CAM_PROFIຕፇऺ໙ڦཫ୾൸၍ຕፇڦՔധఁLE׬LjᆩፕMAPCࢅMATCኸସڦ๼෇ăܔᇀཫ୾൸၍ຕፇLjৈሎႹଭຕፇᇮ໎([0])ăู୼ࡽ੗ഔۯཫ୾൸၍Պडഗă঳ࠓ࿔ԨMCCP(MotionControl,Cam,ፕຕᇑीۉഗ༱ႚ཮梯形图MCCPኸସڦፕຕ၎ཞăܔᇀຕፇፕຕLjLength,StartSlope,EndSlope,CamProfile);౞փႴᄲԈࡤຕፇ໭ᆅăසࡕ౞փԈࡤຕፇ໭ᆅLjሶኸସٗຕፇ([0])ዐڦڼᅃ߲ᇮ໎ਸ๔ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ123\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڟ኱Ljዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړྜׯ࿋ԥยዃժ൐༱पՎׯ्ኮമॽԍ׼ยዃጒༀă.DNDŽྜׯDž࿋29ړऺ໙ཫ୾ኸସԥׯࠀኴႜժ൐ऺ໙؜ཫ୾൸၍ຕጴᅜࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ٱဃ࿋ኸ๖ኸସॠڟٱဃLj૩සཫ୾ຕፇڦ׊܈ݥ݆ăຫ௽ǖऺ໙ཫ୾ሏۯ൸၍(MCCP)एᇀኸۨཫ୾ຕፇాߴۨڦۅणઠऺ໙ཫ୾൸၍ăኄ߲ኸସ໯ิڦཫ୾൸၍੗ԥࢫჄڦMAPCईMATCཫ୾ኸସ๑ᆩLjྺٗዡ༵ࠃᇑዷዡ࿋ዃईዷዡ้क़၎࠲ڦްሗሏۯăᆯᇀཫ୾൸၍੗኱থᆯRSLogix5000ཫ୾൸၍Պडഗऺ໙؜ઠLjMCCPኸସڦዷᄲణڦ๟༵ࠃᅃዖݛ݆ઠएᇀܔ၎ᆌཫ୾ຕፇڦײႾՎࣅํ้ںऺ໙ཫ୾൸၍ăኸۨཫ୾ຕፇྺକኴႜMCCPኸସLjՂႷ๑ᆩRSLogixՔധՊडഗईཫ୾൸၍Պडഗઠظॺཫ୾ຕፇՔധăူ཮၂๖සࢆॺ૬ཫ୾ຕፇՔധժᆩፕMCCPኸସڦ๼෇ăཫ୾ຕፇᇮ໎Ԉࡤۅ)xp(ዷࢅ)yp(ٗܔLj࣏ᆶᅃ߲ాૌ႙ăᆯᇀᇑ༬ۨڦዡ࿋ዃई้क़ுᆶ࠲૴Ljxࢅyۅኵுᆶڇ࿋ăాૌ႙੗ྺ௅߲ۅኸۨྺĐ၍ႠđईĐෙْݛđăኸۨཫ୾൸၍ՔധᄲኴႜMAPCኸସLj࣏ՂႷظॺᅃ߲ཫ୾൸၍ຕፇՔധăཫ୾൸၍ຕፇՔധ੗ᅜཚࡗRSLogix5000ՔധՊडഗઠظॺLjईኁཚࡗMAPC/MATCኸସ๑ᆩాዃڦཫ୾൸၍Պडഗઠظॺăཫ୾൸၍ຕፇాևڦຕ਍੗ሞՊᅳ้๑ᆩཫ୾൸၍Պडഗ৊ႜႪ߀Ljईኁሞሏႜ้๑ᆩऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସ৊ႜႪ߀ăሞሏۯ้߸߀้LjՂႷظॺᅃ߲ཫ୾ຕፇ֍ీ๑ᆩMCCPኸସăጒༀຕᆩᇀኸ๖ཫ୾൸၍ຕፇᇮ໎ᅙঢ়ऺ໙؜ઠăසࡕཫ୾ኸସڦኴႜ׈๬๑ᆩཫ୾൸၍ዐඪࢆ࿄ऺ໙ڦᇮ໎LjሶMAPCईMATCኸସ৽ࣷ؜ٱăૌ႙ຕਦۨକሞኄ߲ཫ୾ຕፇᇮ໎ᇑူᅃ߲ཫ୾ᇮ໎ኮक़ᆌᆩڦాૌ႙ă124؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ཫ୾൸၍ຕፇጒༀׯᇵཫ୾൸၍ຕፇዐڼᅃ߲ᇮ໎ڦጒༀׯᇵԲড༬Ljᆩᇀຕ਍ྜኝႠॠăᅺُLjMCCPኸۨཫ୾൸၍้ՂႷ๑ᆩॽਸ๔໭ᆅยዃྺ0ăኄڼᅃ߲ཫ୾൸၍ᇮ໎ጒༀׯᇵ੗ᅜൽᅜူኵǖጒༀՎଉ௮ຎ0ཫ୾൸၍ᇮ໎ช࿄ऺ໙؜ઠ1ཫ୾൸၍ᇮ໎ኟሞ৊ႜऺ໙2ཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠnཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠLjణമኟԥ(n-2)ཉMAPCईMATCኸସ๑ᆩă၍Ⴀࢅෙْݛᄣཉా঳ࡕऺ໙ڦമړࡕසጣ࿆ᅪኄăڦ؜ڥాࡗཚඇྜ๟၍൸୾ཫڦ؜ዷዡ࿋ዃई้क़ժփጚඓںܔᆌᇀᆩᇀิׯཫ୾൸၍ڦཫ୾ຕፇాڦۅLjॽሞ၎ତڦۅኮक़๑ᆩ၍Ⴀࢅෙْݛాઠඓۨٗዡڦ࿋ዃăኄᄣLjन༵ࠃፌٷ੗ీڦೝࣂٗዡሏۯăMCCPኸସཚࡗऺ໙ܠၜ๕ݛײڦဣຕLjඓۨٗዡፕྺዷዡ࿋ዃई้क़ڦࡧຕLjܸٗํ၄ኄᅃۅăऺ໙ཫ୾൸၍ሞኸۨڦዡฉऺ໙ཫ୾൸၍ኮമLjMCCPኸସ๯ံཚࡗॠཫ୾൸၍ᇮ໎ڦጒༀׯᇵڦኵLjॠཫ୾൸၍ຕፇ๟ޏᅙঢ়ऺ໙؜ઠăසࡕጒༀኵྺ0ई2LjሶMCCPीჄ৊ႜཫ୾൸၍ڦऺ໙ăړཫ୾൸၍ຕፇԥྜඇऺ໙ڦ໎ᇮ၍൸୾ཫ߲ᅃڼॽସኸPCCMLjࢫઠ؜ጒༀኵยዃྺĐኟሞ৊ႜऺ໙đईኁ1Lj඗ࢫॽ໯ᆶഄ໱ཱଙ൸၍ᇮ໎ڦጒༀኵยዃྺĐኟሞ৊ႜऺ໙đăሞऺ໙৊ႜࡗײዐLj߲߳ཫ୾൸၍ׯᇵڦጒༀኵԥยዃྺĐᅙঢ়ऺ໙đई2ăړཫ୾൸၍ຕፇాڦ໯ᆶᇮ໎ڦ໎ᇮ၍൸୾ཫ߲ᅃڼLjࢫઠ؜໙ऺᅙۼጒༀኵԥยዃྺĐᅙঢ়ऺ໙đăڦ๔؛้ႜኴԥସኸMCCPࡕසLj๟ڍཫ୾൸၍ጒༀኵྺ1Ljሶཫ୾൸၍ኟሞԥଷᅃཉMCCPኸସऺ໙LjMCCPኸସٱ؜ăසࡕጒༀኵྺ>2Ljሶཫ୾൸၍ኟሞᆶၳںԥMAPCईMATCኸସࡗײ๑ᆩLjMCCPኸସٱ؜ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ125\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ഐ๔ၽ୲ࢅዕኹၽ୲ྺକݛْෙਸ૗ई෇৊ںࣂೝՍݛཫ୾൸၍Lj༵ࠃକၽ୲੦዆ăഐ๔ၽ୲ࢅዕኹၽ୲ຕඓۨକٗዡ၎ܔᇀዷዡڦ؛๔Վࣅ໏୲ăኄၵኵᆩᇀሞཫ୾ຕፇฉኴႜٗዷକ၂๖཮ူăዐ໙ऺཉᄣݛْෙڦၽ୲࠲ဣăཫ୾൸၍ٗዡ࿋ዃዷዡ࿋ዃഐ๔ၽ୲ዕኹၽ୲ഐ๔ၽ୲ࢅዕኹၽ୲ഐ๔ၽ୲ࢅዕኹၽ୲ڦఐණኵྺ0LjᅜݛՍٗཕኹጒༀೝࣂںਸ๔ࢅ঳ຐཫ୾൸၍ăڍ๟Ljසࡕዡᅙঢ়ሞፔཫ୾ሏۯLjሶ੗ᅜኸۨᅃ߲၎ᆌڦݥଭഐ๔ၽ୲ᅜ೅ದړമኟሞኴႜڦཫ୾ڦዕኹၽ୲Ljܸٗॽଇ߲ཫ୾൸၍࿮ފںබࢇሞᅃഐăഐ๔ၽ୲ࢅዕኹၽ୲փ๢ᆩᇀᆩ၍Ⴀా้ڦཫ୾൸၍ڦਸ๔ࢅ঳ຐă重要提示IMPORTANTMCCPኸସኴႜሞᅃْ෢௮ዐྜׯăᅺُLjኄཉኸସᆌݣዃሞڇ܀ڦඪခዐLjᅜՆ௨ᆖၚᆩࢽײႾڦ෢௮้क़ă扫描周期。ኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că126؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ཫ୾ፕ཮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛٱဃپஓǖ࢔ܠٱဃپஓܔᇀӻዺۨ࿋࿚༶փࠕਏ༹Ljܸٱဃپஓકቛሶ༵ࠃ߸扩展错误代码ܠڦኸସ༬ۨڦ႑တăړMCCPኸସ๭ڟݥ݆ཫ୾׊܈(26)ٱဃၩတLjඟ໲ኪڢ׊܈๼෇ຕժփܔᆌᇀኸସ໯೺ྭڦኵ้Lj၎ᆌڦકቛٱဃپஓ༵ࠃକ޿ཫ୾ሞၠኸସ༵ࠃڦཫ୾ՔധዐڦՊࡽăړMCCPኸସ๭ڟݥ݆ཫ୾׊܈(27)ٱဃၩတLjඟ໲ኪڢ׊܈๼෇ຕժփܔᆌᇀኸସ໯೺ྭڦኵ้Lj၎ᆌڦકቛٱဃپஓ༵ࠃକኸସኟሞ׈๬ิׯڦཫ୾ۅڦ߲ຕăMCCPܔጒༀ࿋ڦ߸߀ǖ࿮๖૩ǖीۉഗ༱ႚ཮梯形图MCCP༱ႚ཮๖૩؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ127\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)঳ࠓ࿔ԨMCCP(MCCP_1,Cam_1[0],30,1.0,1.0,cam_pro1[1]);ሏۯዡ࿋ዃཫ୾ሏۯዡ࿋ዃཫ୾(MAPC)ኸସӀቷኸۨڦཫ୾൸၍ሞඪࢆଇ߲ዡኮक़(MAPC)༵ࠃۉጱཫ୾ăړኴႜ้Ljኸۨڦٗዡᇑኸۨڦዷዡ๑ᆩᆯRSLogix5000ཫ୾൸၍Պडഗईኁཚࡗᅜമኴႜڦऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସ໯ॺ૬ڦ࿋ዃཫ୾൸၍ઠཞօăٗዡ၎ܔᇀዷዡڦݛၠ๟ᆯᅃ߲ଳऄڦݛၠ๼෇ຕઠۨᅭڦăᆌᆩڟٗዡฉڦཫ୾ݛၠ੗ᅜ၂Ⴀںยዃྺ၎ཞई၎ݒLjईኁ၎ܔᇀړമཫ୾ݛၠยዃྺ၎ݒईփՎăྺକॽٗዡ࿋ዃጚඓںᇑዷዡ࿋ዃཞօLj੗ྺዷዡ༵ࠃᅃ߲ኴႜऺࣄยዃࢅ၎࠲ڦۨኸຕࣄऺႜኴᆯቷӀײႜዡዷړăዃ࿋ۨ໮ዡዷڦۨኸڦ๔ਸዃ࿋ۨ໮୾ཫٗቷӀॽዡٗLj้ዃ࿋ۨ໮ዡዷࡗཚၠݛཫ୾൸၍໮ۨڟዷዡ࿋ዃăཫ୾൸၍࣏੗ᅜཚࡗኴႜऺࣄຕ৊ႜದዃLjᅜ૬नईࠬഐኴႜړമኟሞኴႜْᅃႜኴᅜ੗ᄺ၍൸୾ཫăׯྜڦ၍൸୾ཫዃ࿋ڦĂ૶Ⴤኴႜईཚࡗኸۨ໯Ⴔڦኴႜఇ๕ઠኴႜăዷዡ੊჋ስ੗ඟઠጲዷዡڦཫ୾๼෇ٗዷዡڦํाई࿋ዃంସ࿋ዃዐۯࣂĐዖᅃ੗ࠃ༵Ljᆩᆌڦۯሏၠڇ൱ᄲ׼ኧྺăڟڥ૗ࢇഗđࠀీLjݞኹړዷዡݒገݛၠ้ٗዡĐڛכđăኄዖࠀీ๟ᆯዷዡݛၠຕ੦዆ڦăዷዡࢅٗዡԲ૩ࠀీ੗ᆩᇀӀቷՔጚཫ୾൸၍ઠยۨٗዡሏۯڦԲ标定标定。૩Ljܸփᆩምظॺႎڦཫ୾՗ࢅऺ໙ႎڦཫ୾൸၍ă注意ATTENTIONኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ă128؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕǖ梯ीۉഗ༱ႚ཮形图ፕຕૌ႙߭๕௮ຎٗዡAXIS_VIRTUALՔധཫ୾൸၍໯ᆌᆩڟڦዡڦఁ׬ăู୼ࡽॽഔۯዡຌႠܔAXIS_GENERICࣆ઀ăAXIS_SERVOAXIS_SERVO_DRIVEዷዡAXIS_FEEDBACKՔധٗዡӀቷཫ୾൸၍໯߶ໜڦዡăู୼ࡽॽഔۯዡຌႠܔAXIS_CONSUMEDࣆ઀ăසࡕኴႜऺࣄዐ჋ስକࠬഐLjሶዷዡԥࢮ୼ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚੷ጒༀຕڦ঳ኸସࠓăݛၠUINT32૬नईٗዡ၎ܔᇀዷዡڦݛၠǖՔധ•၎ཞ–ٗዡ࿋ዃኵᇑዷዡ࿋ዃਏᆶ၎ཞݛၠă•၎ٗ–ݒዡ࿋ዃኵᇑዷዡ࿋ዃਏᆶ၎ݒݛၠăईኁ၎ܔᇀړമईᅜമڦཫ୾ݛၠǖ•ݒገ–࿋ዃཫ୾ڦړമईᅜമݛၠሞኴႜ้ݒገă჋ስݒገࢫሞڼᅃْኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ݒă•փՎ–ሎႹഄ໱ཫ୾ຕԥ߸߀Ljܸփ߀Վړമईᅜമڦཫ୾ݛၠă჋ስփՎࢫሞڼᅃْኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ཞă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ129\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ፕຕૌ႙߭๕௮ຎཫ୾൸၍CAM_PROFILEຕፇᆩᇀॺ૬ዷ/ڦဣ࠲ዃ࿋ٗऺ໙؜ڦཫ୾൸၍ຕፇڦՔധఁ׬ăܔᇀཫ୾൸၍ຕፇLjৈሎႹଭຕፇᇮ໎([0])ăู୼ࡽ੗ഔۯཫ୾൸၍ՊडഗăٗዡԲ૩标定REAL૬नईยۨٗዡཚࡗཫ୾൸၍໯ޮՔധ߃ڦጺਐ૗ڦԲ૩ă标定。ዷዡԲ૩标定REAL૬नईยۨዷዡཚࡗཫ୾൸၍໯ޮՔധ߃ڦጺਐ૗ڦԲ૩ă标定。ኴႜఇ๕UINT32૬नඓۨཫ୾൸၍ྺኴႜᅃْ࣏๟ዘްኴႜǖ0=ᅃْ–ৈሞዷዡᅎۯڟᆯཫ୾൸၍ਸ๔ۅຐ঳ࢅۅۨᅭڦݔྷా้Ljٗዡڦཫ୾ሏۯ֍ࣷਸ๔ăړዷዡᅎٗLj้ྷݔڦᅭۨ໯؜גۯዡฉڦሏۯཕኹLjࡗײྜׯ࿋ԥยዃăසࡕዷዡٗႎ࣮ڟཫ୾൸၍ݔྷాLjٗዡሏۯփࣷ࣬ްă1=૶Ⴤ–ᅃڋਸ๔ࢫLjཫ୾൸၍ॽ࿮၌ںኴႜူඁăሞႴᄲཫ୾࿋ዃᅜ჉ገईྫްݛ๕૶Ⴤሏۯڦ჉ገᆌᆩዐLjኄዖࠀీԲড׉ᆩă2=׼Ⴤ–ړዷዡᅎۯג؜໯ۨᅭڦݔྷ้LjٗዡฉڦሏۯཕኹLjPositionCamLockStatus࿋ԥأăසࡕዷዡٗႎ࣮ڟཫ୾൸၍ݔྷాLjPositionCamLockStatus࿋ԥยዃLjٗዡሏۯॽࣷ࣬ްă130؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎኴႜऺࣄUINT32૬न჋ስኴႜཫ୾൸၍้໯ᆩڦݛ݆ă჋ၜසူǖ0=૬न–ڟۨ໮न૬ዡٗዷዡLj࿋ዃཫ୾ࡗײਸ๔ă1=ࠬഐ–ሎႹ౞ሞᅃ߲ኟሞ৊ႜڦ࿋ዃཫ୾ྜׯࢫंࢇᅃ߲ႎڦ࿋ዃཫ୾ăړ჋ስࠬഐ้Ljᅜူຕॽԥࢮ୼ǖዷዡĂዷዡ໮ۨ࿋ዃࢅዷዡ੊ă2=ৈኟၠ–ړዷዡ࿋ዃٗኟۨ໮ዡዷࡗحၠݛڦ࿋ዃ้Ljཫ୾൸၍ਸ๔ă3=ৈݒၠ–ړዷዡ࿋ዃٗۨ໮ዡዷࡗحၠݛڦݒ࿋ዃ้Ljཫ୾൸၍ਸ๔ă4=ມၠ–ړዷዡ࿋ዃٗඪᅃۨ໮ዡዷࡗحၠݛ࿋ዃ้Ljཫ୾൸၍ਸ๔ăዷዡ໮ڦዡዷ้ዡዷۨ໮ዡٗईन૬REALۨਨܔ࿋ዃՔധ࿋ዃăසࡕኴႜऺࣄኵዐ჋ስକࠬഐLjሶዷዡ໮ۨ࿋ዃԥࢮ୼ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ131\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ፕຕૌ႙߭๕௮ຎཫ୾໮ڦ၍൸୾ཫକۨඓኄईन૬REALۨਸ๔࿋࿋ዃՔധዃăዷዡ੊UINT32૬नॽዷዡ࿋ዃ੊ยዃྺంସ࿋ዃईํा࿋ዃăසࡕኴႜऺࣄኵዐ჋ስକࠬഐLjሶዷዡ੊࿋ዃԥࢮ୼ă0=ํा–ٗዡሏۯॽӀቷഄՊஓഗईഄ໱ݒઍยԢڦଉڦዷዡڦړമ࿋ዃઠิׯă1=ంସ–ٗዡሏۯॽٗ໯Ⴔᄲڦईంఁڦዷዡ࿋ዃઠิׯăዷዡٗׯิۨඓ၍൸୾ཫቷӀኄन૬32TNIUၠݛዡሏۯڦዷዡڦݛၠă჋ၜසူǖ0=ມၠ–ٗዡ੗ሞඪᅃݛၠ߶ጷዷዡă1=ৈኟၠ–ٗዡሞዷዡኟڦݛၠ߶ጷዷዡă2=ৈݒၠ–ٗዡሞዷዡݒڦݛၠ߶ጷዷዡă঳ࠓ࿔ԨMAPC(SlaveAxis,MasterAxis,ፕຕᇑीۉഗ༱ႚ཮梯形图MAPCኸସڦፕຕ၎ཞăܔᇀຕፇፕຕLjMotionControl,Direction,CamProfile,SlaveScaling,౞փႴᄲԈࡤຕፇ໭ᆅăසࡕ౞փԈࡤຕፇ໭ᆅLjሶኸସٗຕፇ([0])MasterScaling,ExecutionMode,ዐڦڼᅃ߲ᇮ໎ਸ๔ăExecutionSchedule,MasterLockPosition,CamLockPosition,MasterReference,MasterDirection);132؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴExecutionModeᅃْ0૶Ⴤ1׼Ⴤ2ExecutionSchedule૬न0pending1forwardonly2reverseonly3bidirectional4MasterReferenceํा0ంସ1MasterDirectionbidirectional0forwardonly1reverseonly2MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡ࿋ዃཫ୾ׯࠀ݀ഐ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋26ኄ߲࿋ሞኟڦ༱पገ้࣑ยዃLjሞԥଷᅃཉሏۯዡ࿋ዃཫ୾ంସ໯ൽپLjईኁԥཕኹంସĂࢇժĂ࠲Կईົޜࠤቱዕኹ้أă.PC(ࡗײྜׯ)࿋27ࡗײྜኝ࿋ሞኟڦ༱पࡗ܉้ԥأLjሞĐᅃْđኴႜఇ๕ူړዷዡ࿋ዃ૗ਸᆯړമऄሂڦཫ୾൸၍໯ۨᅭڦዷዡ࿋ዃݔྷ้Ljኄ߲࿋ԥยዃă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ133\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ຫ௽ǖሏۯዡ࿋ዃཫ୾(MAPC)ኸସኴႜᆯമᅃ߲ऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସLjईኁᆯRSLogix5000ཫ୾൸၍Պडഗ໯ॺ૬ڦ࿋ዃཫ୾൸၍ăํाฉLj࿋ዃཫ୾༵ࠃକᅃዖሞଇ߲ዡኮक़ํ၄ݥ၍ႠڦĐۉጱ؃୾đڦࠀీăփ๑ᆩፌٷ໏܈Ăे໏܈ई३໏܈၌዆ăٗዡڥዐ՗୾ཫڦ࠲၎ٗतᅜۯሏڦዡዷᆯඇྜ܈໏३ࢅ܈໏ेĂ܈໏ڦڟڦኸۨཫ୾൸၍ઠඓۨă注意ATTENTIONሞዡದዃࡗײዐ໯ॺ૬ڦፌٷ໏܈Ăे໏܈ई३໏܈၌዆փᆌᆩᇀۉጱཫ୾ăཫ୾ݛၠཫ୾੗ᅜದዃྺၠٗዡڦంସ࿋ዃे३ഄሺଉׯăܔኄዖႜྺڦ੦዆๟ཚࡗݛၠຕઠํ၄ڦăཞݛၠཫ୾ڦ؜໙ऺዐ၍൸୾ཫٗLj้ཞ၎෇๼ईስ჋ၠݛڦସኸMAPCྺړٗዡ࿋ዃኵॽཁेڟٗዡڦంସ࿋ዃዐăኄ๟ፌ׉ᆩڦፕLjᅺྺ൸၍࿋ዃኵڦ๑ᆩ৽ၟሞᇱ๔ཫ୾՗ా๼෇ᅃᄣăᄺ৽๟ຫLj૶Ⴤሺे൸၍ኵࣷڞዂዡሞኟڦݛၠฉሏۯLjݒኮᅨ඗ăݒݛၠཫ୾ڦ؜໙ऺዐ၍൸୾ཫٗLj้ݒ၎෇๼ईስ჋ၠݛڦସኸMAPCྺړٗዡ࿋ዃኵॽٗٗዡڦంସ࿋ዃዐ३ඁăᅺُLjዡڦሏۯᇑᇱ๔ཫ୾՗ాᆆࡤݛڦ޶ሞዡዂڞࣷኵ၍൸ेሺჄ૶Ljຫ๟৽ᄺăݒ၎ၠݛڦၠฉሏۯLjݒኮᅨ඗ăԍାړമཫ୾ݛၠړାԍڍLj߀߸ᅜ੗ຕ୾ཫዃ࿋໱ഄLj้Վփ෇๼ईስ჋ၠݛྺړമईᅜമڦཫ୾ݛၠDŽ၎ཞई၎ݒDžăසࡕړമݛၠ࿄ኪईኁժփዘᄲLjኄࣷݥ׉ᆶᆩă჋ስփՎࢫሞڼᅃْཫ୾ኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ཞăݒገړമཫ୾ݛၠසࡕ჋ስݒገ้Lj࿋ዃཫ୾ڦړമईᅜമڦݛၠٗ၎ཞ߸߀ྺ၎ݒLjईኁْᅃڼሞࢫገݒስ჋ăཞ၎ྺ߀߸ݒ၎ٗཫ୾ኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ݒă134؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ኸۨཫ୾൸၍ᄲኴႜMAPCኸସLjՂႷኸۨᅃ߲ऺ໙ڦཫ୾൸၍ຕፇՔധăཫ୾൸၍ຕፇՔധ੗ᅜཚࡗRSLogix5000ՔധՊडഗઠظॺLjईኁཚࡗMAPCኸସ๑ᆩాዃڦཫ୾൸၍ՊडഗઠظॺLjईኁཚࡗሞ၄ᆶڦཫ୾ຕፇฉኴႜऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସઠظॺăཫ୾൸၍ຕፇాևڦຕ਍੗ሞՊᅳ้๑ᆩཫ୾൸၍Պडഗ৊ႜႪ߀Ljईኁሞሏႜ้๑ᆩऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସ৊ႜႪ߀ăሞሏۯ้߸߀้LjՂႷظॺᅃ߲ཫ୾ຕፇ֍ీ๑ᆩ，MCCPኸସă൩ለMCCPኸସरຍኸՔLjକ঴ᆶ࠲ገ࣑ཫ୾ຕፇڦ߸ܠ႑တă指令指导规范ኄ߲ཫ୾൸၍ຕፇ঳ࠓᇮ໎أକጒༀᇮ໎ᅜྔۼԥĐᆆđܸ࿮݆ٗRSLogix5000ՔധՊडഗ৊ႜՊडăኄၵᇮ໎ܔᇀᆩࢽுᆶ๊஺ᆩ཰ăጒༀׯᇵᆩᇀኸ๖၎ᆌڦཫ୾൸၍ຕፇᇮ໎ᅙঢ়ऺ໙؜ઠăසࡕཫ୾ኸସڦኴႜ׈๬๑ᆩཫ୾൸၍ዐඪࢆ࿄ऺ໙ڦᇮ໎Ljሶኸସ৽ࣷ؜ٱăૌ႙ຕਦۨକሞኄ߲ཫ୾ຕፇᇮ໎ᇑူᅃ߲ཫ୾ᇮ໎ኮक़ᆌᆩڦాૌ႙DŽ૩ස၍ႠईෙْݛDžăཫ୾൸၍ຕፇॠཫ୾൸၍ຕፇዐڼᅃ߲ᇮ໎ڦጒༀׯᇵԲড༬Ljᆩᇀຕ਍ྜኝႠॠăᅺُLjMAPCኸۨཫ୾൸၍้ՂႷ๑ᆩॽਸ๔໭ᆅยዃྺ0ăኄڼᅃ߲ཫ୾൸၍ᇮ໎ጒༀׯᇵ੗ᅜൽᅜူኵăጒༀኵ௮ຎ0ཫ୾൸၍ᇮ໎ช࿄ऺ໙؜ઠ1ཫ୾൸၍ᇮ໎ኟሞ৊ႜऺ໙2ཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠnཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠLjణമኟԥ(n-2)ཉMAPCईMATCኸସ๑ᆩăሞኸۨڦዡฉਸ๔ཫ୾ኮമLjMAPCኸସ๯ံཚࡗॠཫ୾൸၍ᇮ໎ڦጒༀׯᇵڦኵLjॠཫ୾൸၍ຕፇ๟ޏᅙঢ়ऺ໙؜ઠăසࡕጒༀྺ0ई1Ljሶཫ୾൸၍ช࿄ऺ໙ٱ؜ସኸMAPCLjઠ؜ăසࡕཫ୾൸၍ຕፇᅙঢ়ྜඇऺ໙؜ઠ(ጒༀ>1)LjሶኸସڿሺጒༀຕጴLj՗๖ᅙঢ়ԥኄ߲ዡ๑ᆩăړཫ୾ྜׯईዕኹࢫLjڼᅃ߲ཫ୾൸၍ຕፇᇮ໎ڿ३Ljᅜԍ׼߶ጷᆶၳ๑ᆩ၎࠲ཫ୾൸၍ڦཫ୾߲ຕă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ135\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)၍Ⴀࢅෙْݛా࿋ዃཫ୾๟ྜඇཚࡗాڦമړࡕසጣ࿆ᅪኄăڦ؜ڥዷዡ࿋ዃժփጚඓںܔᆌᇀᇑཫ୾൸၍၎࠲ڦཫ୾՗ాڦۅLjॽሞ၎ତڦۅኮक़๑ᆩ၍Ⴀࢅෙْݛాઠඓۨٗዡڦ࿋ዃăኄᄣLjन༵ࠃፌٷ੗ీڦೝࣂٗዡሏۯăᆩᇀิׯཫ୾൸၍ڦཫ୾ຕፇాڦ௅ᅃ߲ۅۼ੗ᅜದዃᆩᇀ၍Ⴀईෙْݛాăۉጱཫ୾ሞཚࡗٗዡࢫჄڦۅۯኴႜई࿋ᅎࡗײࢫධԍ׼ऄሂăኄᄣሎႹۉጱཫ୾ԥۅۯई࿋ᅎఇ๕໯۠ेLjܸٗ੗ظॺްሗڦሏۯࢅཞօă࿋ዃཫ୾Բ૩位置凸轮标定ሞኴႜ้Lj࿋ዃཫ୾൸၍੗ᅜሞዷዡྼ܈ࢅٗዡྼ܈ฉยዃԲ૩ăኄ标定ዖԲ૩ࠀీ੗ᆩᇀ๑ᆩ٪ئڦཫ୾൸၍ᆩઠඓۨሏۯఇ๕ڦᅃӯ标定ႚ๕ă඗ࢫ๑ᆩԲ૩ຕઠۨᅭᄲኴႜ޿ఇ๕ڦጺڦዷዡईٗዡႜײLj标定සူ཮໯๖ăኄᄣLjᅃ߲Քጚڦཫ୾൸၍੗ᆩᇀิׯᅃဣଚ༬ۨڦཫ୾൸၍ăړཫ୾൸၍ຕፇԥMAPCኸସኸ้ۨLj޿ཫ୾൸၍ຕፇ໯ۨᅭڦዷዡࢅٗዡڦኵॽᆩዷዡࢅٗዡڦ࿋ዃڇ࿋ă၎ܔܸჾLjዷዡࢅڦ၍൸୾ཫፕᆩ๟ኻLjڦ࿋ڇ࿮๟ຕ૩ԲዡٗԠຕă标定๑ᆩዷዡࢅڦݣ໫૩Բዡٗ൸၍标定缩放的曲线๑ᆩڦݣ໫૩Բዡٗ൸၍标定缩放的曲线๑ᆩዷዡԲ૩໫ڦݣ൸၍标定缩放的曲线ዷዡ࿋ዃཫ୾൸၍ຕፇాڦئ٪൸၍136؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ཫ୾൸၍ຕፇఐණ൧઄ူLjዷዡԲ૩ࢅٗዡԲ૩ຕۼԥยྺ标定标定1ăᄲ໫ݣగ߲࿋ዃཫ୾൸၍Lj൩๼෇أକ1ᅜྔڦዷዡԲ૩ईٗዡԲ૩ኵă标定标定ጀᅪLjሺेཫ୾൸၍ڦ၍൸޿گই定标ॽኵ૩Բዡዷڦ໏܈ࢅे໏܈Ljܸሺेཫ୾൸၍ڦ၍൸޿ेሺ定标ॽኵ૩Բዡٗڦ໏܈ࢅे໏܈ăᄲԍ׼Բ标定૩൸၍ٗࢅ૩ԲዡዷLjኵᆌ၎ڦ၍൸૩Բ࿮ᇀڪዂٷ܈໏ेࢅ܈໏ڦ标定标定ዡԲ૩ڦኵᆌ޿၎ڪă૩සLjසࡕగ߲൸၍ڦٗዡԲ૩ྺ标定标定2LjዷዡԲ标定૩ኵᄺᆌ޿ྺ2Lj֍ీሞኴႜԲ૩࿋ዃཫ୾้ԍ׼ڦڪ၎ዂٷ໏܈ࢅ标定े໏܈ă注ATTENTION意ܔᇀ࿋ዃཫ୾ઠຫLjইگዷዡԲ૩ኵईሺेٗዡԲ标定标定૩ዡࣷሺे൸၍גࡕසă܈໏३ࢅ܈໏Ⴔ໯ڦࡗൻۯဣཥڦඹଉLjኄ੗ీࣷሰׯሏۯࠤቱăཫ୾൸၍ኴႜఇ๕੗჋ስኴႜఇ๕ྺᅃْई૶ჄLjઠඓۨړዷዡ࿋ዃᅎۯגࡗᇱ๔ཫ୾՗໯ۨᅭڦ൸၍ڦਸ๔ۅࢅ঳ຐۅݔྷ้Ljཫ୾ሏۯॽසࢆႜྺăසࡕ჋ስᅃْDŽఐණኵDžLjఫ஺ৈሞዷዡᅎۯڟᆯཫ୾൸၍ਸ๔ۅࢅ঳ຐۅۨᅭڦݔྷా้Ljٗዡڦཫ୾ሏۯ֍ࣷਸ๔ăړዷዡᅎۯג؜൸၍ݔྷ้LjٗዡฉڦሏۯཕኹLjMAPCኸସฉڦࡗײྜׯ࿋ԥยዃăጀᅪLjᇑړമڦSૌڦፔ݆၎ݒLjړዷዡዘႎ࣮ڟᆯਸ๔ۅࢅ঳ຐۅۨᅭڦ൸၍ݔྷ้Ljٗዡሏۯփփࣷ࣬ްăں၌࿮ॽ৽๔ਸڋᅃ၍൸୾ཫڦۨኸLj้๕ఇჄ૶ስ჋ړኴႜူඁăሞ૶ჄፕዐLjړዷዡ࿋ዃᅎۯגࡗ൸၍ݔྷ้Lj൸၍ڦዷዡࢅٗዡ࿋ዃփࣷĐཽජđLjܸٗႚׯཫ୾൸၍ڦዘްăሞႴᄲ࿋ዃཫ୾ᅜ჉ገईྫްݛ๕૶Ⴤሏۯڦ჉ገᆌᆩዐLjኄዖࠀీᆮഄ׉ᆩăڍ๟Ljᄲ๑ᆩኄዖۅ୾ཫڦ՗୾ཫऺยሞLjۯሏჄ૶ڦࣂೝิ݆ݛ้ᄲၭ႐Ljᅜԍኤሞऺ໙ۅຐ঳ࢅۅ๔ਸڦ၍൸୾ཫڦ؜ኮक़ுᆶ࿋ዃĂ໏܈ईे໏܈ڦփ૶ჄăኴႜऺࣄܔMAPCኸସኴႜڦ੦዆๟ཚࡗኴႜऺࣄຕઠํ၄ڦă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ137\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)૬नኴႜఐණ൧઄ူLjMAPCኸସԥऺࣄྺ૬नኴႜăሞኄዖ൧઄ူLjሞ๑ీ࿋ዃཫ୾ࡗײ้ுᆶჽ׿Ljዷዡ໮ۨ༬ٗăᆩፕഐփຕዃ࿋ۨཫ୾൸၍ڟۨ໮न૬ዡٗLj๔ਸዃ࿋ۨ໮୾ཫڦዷዡăසူ཮໯๖LjړMAPCኸସԥኴႜ้Ljཫ୾ࡗײनሞኸۨڦٗዡฉ݀ഐLjٗዡڦሏۯጒༀጴాڦ࿋ዃཫ୾ጒༀԥยዃăසࡕኴႜऺࣄຕยዃྺ૬नLjሶٗዡӀቷኸۨڦཫ୾൸၍૬न໮ۨڟዷዡăኸۨڦٗዡฉڦ࿋ዃཫ୾໮ۨጒༀ࿋ᄺԥยዃLjኸ๖ኄዖ໮ۨጒༀă૬नኴႜ߸߀ཫ୾໮ۨ࿋ዃMAPCኸସڟۨ໮ዡٗړକۨඓຕዃ࿋ۨ໮୾ཫڦዷዡ้ཫ୾൸၍ዐت๔ਸڦ၍൸୾ཫྺዃยዃ࿋ۨ໮୾ཫLj׉ཚăዃ࿋๔ਸڦLjසฉ཮໯๖ăᆯᇀۨ໮୾ཫLj0๟ۼۅഐڦ՗୾ཫຕܠٷ࿋ዃཚ׉ยዃྺ0ăཞ้Ljཫ୾໮ڦాྷݔዡዷ၍൸୾ཫྺዃยᅜ੗ዃ࿋ۨඪࢆ࿋ዃăසࡕ໯ኸٱ؜ସኸMAPCሶLjྷݔ؜גዃ࿋ۨ໮୾ཫڦۨă138؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ူ཮၂๖କॽཫ୾໮ۅ໱ഄڦྔᅜۅഐأዐ՗୾ཫྺۨኸኵዃ࿋้ۨڦၳࡕDŽኄ૛Ljኸۨକཫ୾൸၍Ԩวాڦగ߲࿋ዃDžăසࡕዷዡኟሞᅎڦ܈໏ेई܈໏ׯሰዡٗܔᄲփLj႐ၭᄲ้ۅഐ୾ཫᅭۨሞLjዐۯփ૶Ⴤă߸߀ཫ୾໮ۨ࿋ዃৈኟၠĂৈݒၠईມၠኴႜړኸସڦኴႜऺࣄຕยዃྺৈኟၠईມၠ้Ljٗዡᄲڪڟዷዡ஢ፁኸۨڦཉॲࢫ֍ࣷ໮ۨڦዷዡăሞኄዖ൧઄ူLjዷዡ๴ڟཫ୾ࡗײڦ॔๫Ljઠඓۨ໮ዡዷڦۨኸࡗཚၠݛڦۨኸᅜ้ࢆዡዷۨ࿋ዃăሞ჉ገዡದዃዐLjኄዖ໮ۨՔጚධ඗ᆶၳLjᇑገຕ࿮࠲ă重要提示IMPORTANTසࡕሞMAPCኸସኴႜࢫڍ஢ፁ໮ۨཉॲኮമLjዷዡڦ࿋ዃ੊ԥዘႎۨᅭDŽ૩සMRPኸସ)Ljሶཫ୾൸၍ิׯഗӀቷዘႎۨᅭ࿋ዃፕኮമᆶၳڦਨܔ࿋ዃ੊ဣཥઠ॔๫ዷዡă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ139\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ৈኟၠĂৈݒၠईມၠኴႜړዷዡڦਨܔ࿋ዃӀኸۨڦݛၠ(ူ཮ዐ࿄Ďৈኟၠďݛၠ)ཚࡗኸڦጴༀጒۯሏڦዡٗڦۨኸሶLjዃ࿋ۨ໮ዡዷڦۨ࿋ዃཫ୾ጒༀ࿋ԥยዃă඗ࢫॽӀቷኸۨ໮୾ཫڦۨኸዐ၍൸୾ཫሞLj၍൸୾ཫڦۨ࿋ዃ݀ഐٗዡሏۯăٗኄ߲ۅਸ๔Ljኻ๑ᆩዷዡ࿋ዃฉڦሺଉՎࣅઠٗ໯ۨᅭڦཫ୾൸၍ዐඓۨ၎ᆌڦٗዡ࿋ዃăܔᇀዷዡྺ჉ገዡڦᆌᆩઠຫLjኄ๟ڦײࡗජཽዃ࿋๴փࢫᅜ୾ཫዃ࿋ྺᅺLjڦᄲዘ׉ݥᆖၚăْᅃྺዃದԥ๕ఇႜኴย्(้ྷݔڦᅭۨ໯၍൸୾ཫᆯ؜ᅎዡዷړ)Ljሏۯሏዖኄăأԥۼ࿋ༀጒ୾ཫዃ࿋ࢅ࿋ۨ໮୾ཫዃ࿋ڦጴༀጒۯጒༀ࿋ཉॲ՗๖ཫ୾ࡗײᅙঢ়ྜׯă໯࠲૴࿋ڦସኸMAPCڦኧႜྺLjनPC࿋ԥยዃĂIP࿋ԥأLjᄺݒᆙକኄᅃۅăۨ໮ዡዷڦۨኸࡗཚၠݛၠݒৈईၠኟৈᅜዡዷړ࿋ዃ้Ljሞ࿋ዃཫ୾ሏۯਸ๔ᅜࢫLjዷዡ੗ᅜ߀ՎݛၠLjٗዡॽ၎ᆌںݒገăසࡕMAPCኸସኴႜ໯ሞڦٗዡᅙঢ়ሞፔᆶၳڦ࿋ዃཫ୾ሏۯLjሶิׯړ๟ྔ૩ڦᅃྸዐഄă)23ஓپဃٱ(ဃٱڦ߸Վຕༀۯ݆ݥኴႜऺࣄԥኸۨྺĐࠬഐđڦ൧઄ă140؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ࠬഐཫ୾ኴႜፕྺᅃዖ჋ስLjMAPCኸସڦႜኴሞኟമړ๟ᅜ੗ႜኴڦ࿋ዃཫ୾ྜׯڦჽ׿ࠬഐăᅺُ჋ስኴႜऺࣄྺࠬഐ੗ᆩᇀሞཕኹሏۯڦ൧઄ူLj࿮ފںंࢇଇ߲࿋ዃཫ୾൸၍ăࠬഐኴႜࠀీᆮഄ๢ᆩᇀૌຼᇀߛ໏ԈጎኮૌڦᆌᆩዐLjഄዐٗዡՂႷ໮ړă܈໏ڦ๢ࢇڟ໏े๕ఇڦۨ༬ᆩ๑൐ժዡዷڦႜሏሞኟڟۨኄዖे໏ఇ๕ྜׯࢫLj໲ՂႷೝࣂڟࢇंں߾ፕఇ๕ዐLjཚ׉ྺ૶ჄኴႜăᄲཕኹٗዡLj߾ፕఇ๕ೝࣂںंࢇڟ३໏ఇ๕ዐLjܸٗ๑ዡཕኹሞᅙኪڦ࿋ዃฉLjසူ໯๖ăे໏ఇ๕߾ፕఇ๕३໏ఇ๕ٗዡ࿋ዃዷዡఇ๕ࠬഐཫ୾ኴႜሞړമڦ൸၍ධሞኴႜ้LjཚࡗӀࠬഐڦཫ୾൸၍ઠኴႜ࿋ዃཫ୾൸၍Lj੗༵മยዃࢇ๢ڦཫ୾൸၍ຕăኄ੗ඟ౞ٗړമ൸၍ڟࠬഐ൸၍ኮक़ڦࡗ܉ׯྺ࿮ފڦࡗ܉Ljዷዡᇑٗዡኮक़ڦཞօڥڟԍ׼ăڍ๟Ljྺԍኤࡗ܉ዐሏڦ၍൸മړ๑ႷՂऺยڦ၍൸Ljࣂೝڦۯ঳ຐᇑႎ൸၍ڦ܈໏ेई܈໏Ăዃ࿋ሞ٪փक़ኮ๔ਸڦփ૶Ⴤăኄ๟ཚࡗRSLogix5000ཫ୾൸၍Պडഗઠྜׯڦăࠬഐڦ࿋ዃཫ୾ኸସᅃڋԥኴႜLjړዷዡཚࡗړമ൸၍ڦਸ๔ۅईኁ঳ຐۅ้Ljႎڦཫ୾൸၍ጲۯิၳDŽժՎׯړമ൸၍Džăසࡕړമཫ୾ԥದዃྺኴႜᅃْLjႎڦ൸၍ॽሞཚࡗړമཫ୾൸၍ྜׯ้ԥ݀ഐLjړമऄሂMAPCኸସڦPC࿋ԥยዃăසࡕړമཫ୾ԥದዃྺ૶ჄኴႜLjႎڦ൸၍ॽሞཚࡗړമཫ୾൸၍ྜׯ้ԥ݀ഐLjړമऄሂMAPCኸସڦIP࿋ԥأăሏۯ੦዆ഗߵ਍ዷዡࢅٗዡ၎ܔᇀՎࣅ้ڦक़ኮ၍൸׼ԍઠတ႑߲ኄᆩ๑ժLjዃ࿋ڦ၍൸߲ᅃڼཞօă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ141\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)සࡕMAPCኸସڦኴႜऺࣄԥยዃྺ૬नLjܸ൐࿋ዃཫ୾൸၍ణമኟሞ৊ႜLjሶMAPCኸସڟۨ໮ځڪሞኟዡ๑नăٱ؜ዷዡ้Ljᄺࣷ݀ิኄዖ൧઄ăසࡕኴႜऺࣄԥ჋ስྺࠬഐLjڦႜ৊ሞኟڦᆌ၎ᆶுڍ࿋ዃཫ୾LjMAPCኸସࣷኴႜLjڍ኱ڟଷᅃ߲ኴႜऺࣄྺݥࠬഐڦMAPCኸସԥ݀ഐ้֍ࣷ݀ิཫ୾ሏڦ؛ፌႜኴሞႹሎ੗ᄣኄăۯཫ୾ኮമᇨံेሜࠬഐڦཫ୾൸၍ăኄዖݛ݆঴ਦକᅜူ൧઄ǖሞࠬഐڦཫ୾ԥ੗੍ںेሜኮമ૬नཫ୾੗ీᅙঢ়঳ຐăሞࠬഐڦ࿋ዃཫ୾ԥದዃᅜࢫLjኸۨڦٗዡڦሏۯጒༀጴڦ࿋ዃཫ୾ࠬഐጒༀ࿋ԥยዃྺ1DŽኈDžăړׯՎժഐ݀ԥ၍൸DžڦႎDŽഐࠬړമ൸၍้Lj࿋ዃཫ୾ࠬഐጒༀ࿋ԥ૬नأLjසူ໯๖ăࠬഐ࿋ዃཫ୾ዷዡ੊ዷዡ੊ຕඓۨକᄲ૾থڟཫ୾ิׯഗڦዷዡ࿋ዃᇸăኄ߲ᇸ੗ᅜ๟ዷዡڦํा࿋ዃईኁంସ࿋ዃăٗంସ࿋ዃ੗ᅜڥڟ߸ೝࣂڦሏۯLjڍሞᆶၵ൧઄ူLj૩සړ࿿૙ዡփԥControlLogixሏۯఇ੷੦዆้Ljํा࿋ዃॽ๟ྸᅃ੗ႜڦ჋ၜă142؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ۯٗ዁ํा࿋ዃړํा࿋ዃԥ๼෇ई჋ስྺዷዡ੊ᇸ้Ljٗዡሏۯ๟ٗዷዡڦํा࿋ዃิׯڦLjසူ໯๖ăٗዡ࿋ዃཫ୾൸၍ంସ࿋ዃዷዡํा࿋ዃዷዡ࿋ዃۯٗ዁ํा࿋ዃํा࿋ዃྺӀቷഄՊஓഗईഄ໱ݒઍยԢڦଉڦዷዡڦړമ࿋ዃăኄ๟ఐණ჋ስLjړዷዡૌ႙ԥದዃྺৈݒઍ้ኄᄺ๟ྸᅃڦ჋ስLjᅺྺཚ׉Ⴔᄲཞօଇ߲ዡڦํा࿋ዃăۯٗ዁ంସ࿋ዃڦዡዷٗ๟ۯሏዡٗLj้ᇸ੊ዡዷྺስ჋ई෇๼ԥዃ࿋ସంړంସ࿋ዃิׯڦLjසူ໯๖ă࿋ዃ໮ۨཫ୾ٗዡంସ࿋ዃዷዡంସ࿋ዃዷዡ࿋ዃۯٗ዁ంସ࿋ዃంସ࿋ዃDŽৈړዷዡڦዡૌ႙ԥದዃྺົޜईႵెዡ้֍੗ᆩDž๟ዷ虚轴ዡړമ೺ྭڦईంସڦ࿋ዃăᆯᇀంସ࿋ዃփԈࡤඪࢆ၎࠲ۯඡዃ࿋ևྔईဃٱໜ߶ڦLj໲ܔᇀཫ୾ઠຫ๟߸ेጚඓࢅ࿘ۨڦ੊ăړཫ୾૶থ዁ዷዡڦంସ࿋ዃ้LjዷዡՂႷԥంସ࿋ᅎLjܸٗሞٗዡฉิඪࢆሏۯă൩ለሏۯዡܔၡरຍຕLjକ঴ᆶ࠲ంସ࿋ዃࢅํा࿋ዃዡ੊ڦ߸ܠ႑တăዷዡݛၠኟ׉൧઄ူLjዷዡݛၠຕԥยዃྺມၠDŽఐණDžăڍ๟Ljړྺዷዡݛၠ჋ስྺৈኟၠ้Ljٗዡሞዷዡኟڦݛၠ߶ጷዷዡăړ჋ስৈݒၠ้Ljٗዡሞዷዡݒݛၠ߶ጷዷዡăසࡕዷዡ߸߀ݛၠLjٗዡփࣷݒገݛၠLjڍࣷཕାሞዷዡݒၠڦ࿋ዃăኄዖ࿋ዃཫ୾ڦڇၠࠀీᆩᇀ༵ࠃᅃዖۯሏ୾ཫ้ၠݛገݒዡዷړ௨ՆLjഗࢇ૗ۯࣂጱۉิׯഗཚࡗཫ୾൸၍ၠࢫᅎۯă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ143\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ڦႴ໯ӀዡٗLj้ዃ࿋ڦၠݒ؛ፌഄڟٳዡዷړLj้ၠݒْምዡዷړݛၠ࣬ްሏۯܸԥዘႎĐ่ഐđăኄᄣLjٗዡԍ׼ᇑዷዡڦཞօLjཞ้ᆼ্ኹକٱဃݛၠڦሏۯăړగ߲ݛၠڦሏۯ੗ీሰׯܔยԢई೗ڦ࿿૙໦้࣋Ljኄዖࠀీ৽༬ᆶᆩăཫ୾ग़࿋ᅎሞཫ୾دۯڦཞ้੗ᅜኴႜሏۯዡ࿋ᅎLjܸٗሞٗዡኟሞሏႜ้༵ࠃߛपڦ၎࿋ࢅೋኴ੦዆ăሺଉ࿋ᅎٗሞᆩ੗ସኸ)MAM(ᅎ࿋ዡଉሺLj้ႜሏሞኟ୾ཫዃ࿋ړዡฉDŽईኁዷዡฉLjසࡕዷዡԥದዃྺົޜፕDžăኄ༬੗ᆩᇀํ၄၎࿋༵മ/׿ჽ੦዆ăሺଉ࿋ᅎਐ૗੗ᆩᇀၩတዷዡᇑٗዡኮक़ڦඪࢆ၎࿋ဃLjईኁᆩᇀظॺጚඓڦ၎࿋࠲ဣăዷዡೋᅎ࿋ᅎٗLjସኸMAMᆩ๑ᅜ੗ᄺዐႜሏሞኟ୾ཫዃ࿋ړܸሞࡗײዐ߀Վཫ୾ڦዷዡ੊࿋ዃăܸሞٗዡฉ৊ႜڦሺଉ࿋ᅎփཞLjሞٗዡฉ৊ႜڦዷዡೋᅎ࿋ᅎ๟၎ܔᇀዷዡઠ߀Վཫ୾൸၍Ljසူ໯๖ăٗዡڦሺଉ࿋ᅎࢫڦ൸၍ٗዡڦዷዡೋᅎ࿋ᅎࢫڦ൸၍ٗዡ࿋ዃዷዡ࿋ዃ؛๔ཫ୾൸၍ዷዡೋᅎ࿋ᅎ144؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ڦᆌ၎Ljࢫഐ݀ԥDžྔᅜഐࠬأDŽସኸMAPCړऄሂዷዡೋᅎ࿋ᅎԥ্ኹLj၎ᆌڦዷዡೋᅎĂጃಆೋᅎࢅਸ๔ዷዡೋᅎԥް࿋ྺଭăྺํ၄ዷዡ੊࿋ዃՎࣅLjMAMኸସՂႷሞMAPCԥ݀ഐࢫም݀ഐă൩ለዡ࿋ᅎ(MAM)ኸସLjକ঴ᆶ࠲ዷዡೋᅎ࿋ᅎڦ߸ܠ႑တăཕኹཫ୾ᇑഄ໱ሏۯิׯഗDŽۅۯĂ࿋ᅎĂ؃୾DžᅃᄣLjऄሂڦཫ୾ՂႷཚࡗ߳ዖཕኹኸସĂMASईMGSઠཕኹăتControlLogixړ૙ഗ߀ՎOSఇ๕้ᄺՂႷཕኹཫ୾ሏۯă༬๟LjMASኸସՂႷీࠕጆோཕኹཫ୾ࡗײăኄዖႜྺᆌᇑጆோᆩᇀཕኹ؃୾ࡗײڦMASࠀీ၎ཞăཫ୾ࢇժᇑഄ໱ሏۯิׯഗDŽۅۯĂ࿋ᅎĂ؃୾DžᅃᄣLjऄሂڦཫ୾ᄺՂႷᇑሏۯࢇժࠀీग़ඹăᆮഄ๟࿋ᅎࢅۅۯLjՂႷీࠕᇑऄሂڦཫ୾ሏۯࢇժăኄዖႜྺᆌᇑᆌᆩڟ؃୾ࡗײڦࢇժࠀీ၎ཞăࠤቱ࣬ްᆶ้ࢪႴᄲၚᆌዡڦࠤቱཉॲLjܸփ۪฿ᅜཫ୾࠲ဣ໮ۨڦዷዡᇑٗዡኮक़ڦཞօăܔᇀऄሂڦཫ୾Ljᆶᅃၵ཰০ઠت૙ዡࠤቱăظॺᅃ߲Ⴕెዡժॽཫ୾ڦᅃൎۼ૶থڟ໲ฉLjժߵ਍Ⴔᄲॽኄ߲Ⴕ虚轴ెዡ؃୾૶থڟऐഗฉڦํाዷዡฉăॽ໯ᆶዡڦ߳ዖࠤቱፕۼย轴ዃྺጒༀྸᅃă؜ړ၄ዡࠤቱ้DŽ૩සՎೕഗࠤቱDžLj॔๫ዡࠤቱጒༀڦᆌᆩײႾॠڟࠤቱLjཚࡗཕኹႵెዷዡܔ໯ᆶऄሂڦዡኴႜᅃْཕኹ੦዆ăሞဆഗपLj໯ᆶևۼධ඗ྜඇཞօă๑ᆩࠤቱዡฉڦᅜူٱဃઠඓۨ૗ਸ࿋ዃᆶܠᇺăް࿋ࠤቱዡฉڦࠤቱLj๑ᆩMAMኸସᅜतऺ໙ڦ߶ໜဃᅜ੦዆໏܈࣮ࡃ࿋ዃăፌࢫLjਸ๔ሏۯႵెዷዡăᇑฉ௬ڦದዃ၎ཞLjڍሞኄዖ൧઄ူLjړٗዡࠤቱ้Ljዡڦࠤቱፕ্ኹՎೕഗăኄړ඗ࣷዕኹٗዡฉڦऄሂཫ୾ࡗײăሞኄ߲ۅLjᆌᆩײႾᆌཚࡗႵెዡཕኹ໯ᆶഄ໱ڦዡăথူઠLjཚࡗඓۨዷዡڦ࿋ዃ虚轴ઠዘႎۨ࿋ࠤቱዡLj඗ࢫऺ໙සࡕ࿄݀ิࠤቱఫ஺ٗዡᆌ޿ሞڦ࿋؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ145\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ዃăፌࢫLj৊ႜᅃۨ໮୾ཫڦኵ໙ऺྺዃยᇑMAPCۨ໮न૬ْ࿋ዃዘႎཞօă重要提示IMPORTANTMAPCኸସኴႜሞᅃْ෢௮ዐྜׯLjᅺُྜׯ(.DN)࿋ࢅኟሞ৊ႜDŽ.IPDž࿋ԥ૬नยዃăኟሞ৊ႜ(.IP)࿋ԍ׼ยዃጒༀLj኱ڟ݀ഐڦPCAMࡗײྜׯĂԥଷᅃཉMAPCኸସൽپLjईኁԥሏۯዡཕኹంସĂࢇժፕईົޜࠤቱፕዕኹྺኹăړMAPCኴႜ้Ljࡗײྜׯ࿋ԥ૬नأLjړཫ୾ࡗײྜׯDŽದዃྺĐᅃْđኴႜఇ๕้Dž้ԥยዃă这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că࿋ዃཫ୾้क़՗໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžă146؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3કቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăዡ࿄ದዃ(11)ٱဃپஓڦકቛٱဃپஓසူǖ•કቛٱဃپஓ1՗๖ٗዡ࿄ದዃă•કቛٱဃپஓ2՗๖ዷዡ࿄ದዃăຕڦኸࡽՊڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜ג๟ፕຕُᅺăଭྺऺԥຕፕ߲ᅃڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦܔᇀMAPCኸସLjકቛٱဃپஓ5ኸڦ๟ٗዡԲ૩ፕຕڦኵă඗ࢫ标定ՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăܔᇀٱဃپஓ54–ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăڟገăటೡႠຌዡ࿚ݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵăጒༀ࿋ǖMAPCܔጒༀ࿋ڦ߸߀සࡕኴႜऺࣄԥยዃྺ૬नLjሶMAPCኸସኴႜৈৈॽ࿋ዃཫ୾ጒༀࢅ࿋ዃཫ୾໮ۨጒༀ࿋ཞ้ยዃྺኈă࿋ఁ׬ጒༀࡤᅭ࿋ዃཫ୾ጒༀኈ࿋ዃཫ୾ԥ๑ీ࿋ዃཫ୾໮ڟۨ໮၍൸୾ཫቷӀዡٗኈۨዷዡăጒༀ࿋ዃཫ୾ࠬഐ्࿮ࠬഐ࿋ዃཫ୾ጒༀ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ147\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)සࡕኴႜऺࣄԥยዃྺኟၠईݒၠLjሶMAPCኸସኴႜਸ๔ॽ࿋ዃཫ୾ጒༀยዃྺኈLjॽ࿋ዃཫ୾໮ۨጒༀ࿋ยዃྺ्ăړኴႜऺࣄཉॲ஢ፁࢫLj࿋ዃཫ୾໮ۨጒༀ࿋ࡗ܉ྺኈă࿋ఁ׬ጒༀࡤᅭ࿋ዃཫ୾ጒༀኈ࿋ዃཫ୾ԥ๑ీ࿋ዃཫ୾໮ٗڦዃ࿋ۨ໮ٳڟዡዷځڪኟ्ۨዡăጒༀ࿋ዃཫ୾ࠬഐ्࿮ࠬഐ࿋ዃཫ୾ጒༀසࡕኴႜऺࣄԥยዃྺࠬഐLjሶMAPCኸସኴႜփࣷᆖၚ࿋ዃཫ୾ጒༀࢅ࿋ዃཫ୾໮ۨጒༀ࿋ڦړമጒༀă࿋ዃཫ୾ࠬഐጒༀ࿋ԥ૬नยዃྺኈLjړࠬഐཫ୾Վׯऄሂཫ୾ࢫࡗ܉ྺ्ă࿋ఁ׬ጒༀࡤᅭ࿋ዃཫ୾ጒༀփ๢ᆩ࿋ዃཫ୾ԥ๑ీ࿋ዃཫ୾໮ٗڦዃ࿋ۨ໮ٳڟዡዷځڪኟᆩ๢փۨዡăጒༀ࿋ዃཫ୾ࠬഐኈࠬഐ࿋ዃཫ୾ጒༀ๖૩ǖ梯ीۉഗ༱ႚ཮形图MAPC༱ႚ཮๖૩148؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3঳ࠓ࿔ԨMAPC(Axis0,Axis1,MAPC_1,1,Cam_pro1[0],1.0,1.0,Once,immediate,Mlckpos,Clckpos,Actual,Forwardonly);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ149\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሏۯዡ้क़ཫ୾ሏۯዡ้क़ཫ୾(MATC)ኸସӀቷኸۨڦཫ୾൸၍ྺዡ༵ࠃፕྺ้क़(MATC)ࡧຕڦۉጱཫ୾ă้क़ཫ୾ሎႹኴႜأକాዃڦ༱ႚईS൸၍࿋ᅎఇ๕ᅜྔڦްሗሏۯఇ๕ăړኴႜ้Ljኸۨڦዡ๑ᆩᆯRSLogix5000ཫ୾൸၍Պडഗईኁཚࡗᅜമኴႜڦऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସ໯ॺ૬ڦ้क़ཫ୾൸၍ઠᇑ้क़ཞօăዡሏۯ၎ܔᇀཫ୾൸၍ڦݛၠ๟ᆯᅃ߲ݥ׉ଳऄڦݛၠ๼෇ຕઠۨᅭڦăཫ୾ݛၠ੗ᅜ၂Ⴀںยዃྺ၎ཞई၎ݒLjईኁ၎ܔᇀړമཫ୾ݛၠยዃྺ၎ݒईփՎăཫ୾൸၍੗ᅜཚࡗኴႜऺࣄຕ৊ႜದዃLjᅜ૬नईࠬഐኴႜړമኟሞኴႜڦ้क़ཫ୾൸၍ڦྜׯăཫ୾൸၍ᄺ੗ᅜኴႜᅃْĂ૶Ⴤኴႜईཚࡗኸۨ໯Ⴔڦኴႜఇ๕ઠኴႜăਐ૗ࢅ้क़Բ૩ࠀీ੗ᆩᇀӀቷՔጚ标定ཫ୾൸၍ઠยۨዡሏۯڦԲ૩Ljܸփᆩምظॺႎڦཫ୾՗ࢅऺ໙ႎڦ标定ཫ୾൸၍ăATTENTION注意ኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖ梯ीۉഗ༱ႚ཮形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACՔധᆌᆩཫ୾൸၍ڦዡڦఁ׬ăูK୼ࡽॽഔۯዡຌႠܔࣆ઀ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚੷ጒༀຕڦ঳ࠓăኸସ150؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ፕຕૌ႙߭๕௮ຎݛၠUINT32૬नईՔٗዡ၎ܔᇀዷዡڦݛၠǖധ•၎ཞ–ཫ୾൸၍ዐڦዡ࿋ዃኵॽेڟዡڦంସ࿋ዃዐă•၎ڦዐ၍൸୾ཫ–ݒዡ࿋ዃኵॽٗዡڦంସ࿋ዃዐ३ඁLjิׯᇑᇱ๔ཫ୾՗Ӂኸݛၠ၎ݒڦݛၠڦዡሏۯăईኁ၎ܔᇀړമईᅜമڦཫ୾ݛၠǖ•ݒገ–࿋ዃཫ୾ڦړമईᅜമڦݛၠٗ၎ཞ߸߀ྺ၎ݒLjݒኮᅨ඗ă჋ስݒገࢫሞڼᅃْኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ݒă•փՎ–ሎႹഄ໱ཫ୾ຕԥ߸߀Ljܸփ߀Վړമईᅜമڦཫ୾ݛၠă჋ስփՎࢫሞڼᅃْኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ཞăཫ୾൸၍CAM_PROFILEຕፇऺ໙؜ڦཫ୾൸၍ຕፇڦՔധఁ׬ăܔᇀཫ୾൸၍ຕፇLjৈሎႹଭຕፇᇮ໎([0])ăู୼ࡽ੗ഔۯཫ୾൸၍Պडഗăਐ૗Բ૩标定REAL૬नईՔยۨዡཚࡗཫ୾൸၍໯ޮ߃ڦധጺਐ૗ڦԲ૩ă标定。้क़Բ૩标定REAL૬नईՔยዃཫ୾൸၍ޮ߃ڦ้क़क़ധ߰ă的标定。؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ151\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ፕຕૌ႙߭๕௮ຎኴႜఇ๕UINT32૬नඓۨړ้क़ᅎۯגࡗཫ୾൸၍঳ຐۅ้ཫ୾ሏۯڦႜྺݛ๕ă჋ၜසူǖ0=ᅃْ–ړ้क़ཫ୾ڦኴႜ้क़גࡗཫ୾൸၍ాڦ้क़ݔྷ้LjMATCኸସྜׯLjዡሏۯཕኹLj้क़ཫ୾ጒༀ࿋ԥأă1=૶Ⴤ–ཫ୾൸၍ሏۯ࿮၌ںኴႜူඁăኴႜऺࣄUINT32૬न჋ስኴႜཫ୾൸၍้໯ᆩڦݛ݆ă჋ၜසူǖ0=૬न–ኸସԥऺࣄྺ૬नኴႜLjܔ๑ీ้क़ཫ୾ࡗײுᆶჽ׿ă1=ࠬഐ–ჽ׿้क़ཫ୾ڦኴႜLj኱ڟړമईူᅃ߲૬नኴႜڦ้क़ཫ୾ྜׯྺኹăኄ੗ᆩᇀॽႎڦ้क़ཫ୾൸၍ᇑኟሞ৊ႜڦࡗײ৊ႜंࢇLjᅜํ၄࿮ފࡗ܉ă঳ࠓ࿔ԨMATC(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MATCኸସڦፕຕ၎ཞăܔᇀຕፇፕຕLjDirection,CamProfile,DistanceScaling,TimeScaling,౞փႴᄲԈࡤຕፇ໭ᆅăසࡕ౞փԈࡤຕፇ໭ᆅLjሶኸସٗຕፇ([0])ExecutionMode,ዐڦڼᅃ߲ᇮ໎ਸ๔ăExecutionSchedule);ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴExecutionModeᅃْ0૶Ⴤ1ExecutionSchedule૬न0pending1152؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڟ኱Ljዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړ༱पՎׯ्ኮമॽԍ׼ยዃጒༀă.DNDŽྜׯDž࿋29ړዡڦ้क़ཫ୾ኸସԥׯࠀ݀ഐࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ٱဃ࿋ኸ๖ኸସॠڟٱဃLj૩සዡ๟ޏ࿄ԥದዃă.IP(ኟሞ৊ႜ)࿋26ኟሞ৊ႜ࿋ሞኟڦ༱पገ้࣑ยዃLjሞԥཕኹంସĂࢇժĂ࠲Կईົޜࠤቱዕኹ้أă.PC(ࡗײྜׯ)࿋27ࡗײྜኝ࿋ሞኟڦ༱पࡗ܉้ԥأLjሞĐᅃْđኴႜఇ๕ူړ้क़૗ਸᆯړമऄሂڦཫ୾൸၍໯ۨᅭڦ้क़ݔྷ้Ljኄ߲࿋ԥยዃăຫ௽ǖሏۯዡ้क़ཫ୾(MATC)ኸସኴႜᆯമᅃ߲ऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସLjईኁᆯRSLogix5000ཫ୾൸၍Պडഗ໯ॺ૬ڦ้क़ཫ୾൸၍ă้क़ཫ୾༵ࠃํ၄أକాዃڦ༱ႚईS൸၍࿋ᅎఇ๕ᅜྔڦްሗሏۯఇ๕ڦీ૰ăኄ߲ኸସዐփ๑ᆩፌٷ໏܈Ăे໏܈ई३໏܈၌዆ăٗዡڦ໏܈Ăे໏܈ࢅ३໏܈ྜඇᆯٗ၎࠲ڦཫ୾՗ዐڥڟڦኸۨཫ୾൸၍ઠඓۨă注意ATTENTIONሞዡದዃࡗײዐ໯ॺ૬ڦፌٷ໏܈Ăे໏܈ई३໏܈၌዆փᆌᆩᇀۉጱཫ୾ăཫ୾ݛၠཫ୾੗ᅜದዃྺၠዡڦంସ࿋ዃे३ഄሺଉׯăܔኄዖႜྺڦ੦዆๟ཚࡗݛၠຕઠํ၄ڦăཞݛၠཫ୾ڦ؜໙ऺዐ၍൸୾ཫٗLj้ཞ၎෇๼ईስ჋ၠݛڦସኸMATCྺړዡ࿋ዃኵॽཁेڟዡڦంସ࿋ዃዐăኄ๟ፌ׉ᆩڦፕLjᅺྺ൸၍࿋ዃኵڦ๑ᆩ৽ၟሞᇱ๔ཫ୾՗ా๼෇ᅃᄣăᄺ৽๟ຫLj૶Ⴤሺे൸၍ኵࣷڞዂዡሞኟڦݛၠฉሏۯLjݒኮᅨ඗ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ153\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ݒݛၠཫ୾ڦ؜໙ऺዐ၍൸୾ཫٗLj้ݒ၎෇๼ईስ჋ၠݛڦସኸMAPCྺړዡ࿋ዃኵॽٗዡڦంସ࿋ዃዐ३ඁăᅺُLjዡڦሏۯᇑᇱ๔ཫ୾՗ాᆆࡤڦݛၠ၎ݒăᄺ৽๟ຫLj૶Ⴤሺे൸၍ኵࣷڞዂዡሞ޶ڦݛၠฉሏۯLjݒኮᅨ඗ă߸߀ཫ୾൸၍ړାԍڍLj߀߸ᅜ੗ຕ୾ཫक़้໱ഄLj้Վփ෇๼ईስ჋ၠݛྺړമईᅜമڦཫ୾ݛၠDŽ၎ཞई၎ݒDžăසࡕړമݛၠ࿄ኪईኁժփዘᄲLjኄࣷݥ׉ᆶᆩă჋ስփՎࢫሞڼᅃْཫ୾ኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ཞă߸߀ཫ୾ݛၠසࡕ჋ስݒገ้Lj้क़ཫ୾ڦړമईᅜമڦݛၠٗ၎ཞ߸߀ྺ၎ݒLjईኁْᅃڼሞࢫገݒስ჋ăཞ၎ྺ߀߸ݒ၎ٗཫ୾ኴႜ้Lj੦዆ഗॽݛၠఐණྺ၎ݒăኸۨཫ୾൸၍ᄲኴႜMATCኸସLjՂႷኸۨᅃ߲ऺ໙ڦཫ୾൸၍ຕፇՔധăཫ୾൸၍ຕፇՔധ੗ᅜཚࡗRSLogix5000ՔധՊडഗઠظॺLjईኁཚࡗMATCኸସ๑ᆩాዃڦཫ୾൸၍ՊडഗઠظॺLjईኁཚࡗሞ၄ᆶڦཫ୾ຕፇฉኴႜऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସઠظॺă९ူ཮ǖMATCࡗײ154؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ཫ୾൸၍ຕፇాևڦຕ਍੗ሞՊᅳ้๑ᆩཫ୾൸၍Պडഗ৊ႜႪ߀Ljईኁሞሏႜ้๑ᆩऺ໙ཫ୾ሏۯ൸၍(MCCP)ኸସ৊ႜႪ߀ăሞሏۯ้߸߀้LjՂႷظॺᅃ߲ཫ୾ຕፇ֍ీ๑ᆩMCCPኸସă൩ለMCCPኸସरຍኸՔLjକ঴ᆶ࠲ገ࣑ཫ୾ຕፇڦ߸ܠ႑တă指令指导规范ኄ߲ཫ୾൸၍ຕፇᇮ໎঳ࠓأକጒༀࢅૌ႙ᇮ໎ᅜྔۼԥĐᆆđܸ࿮݆ٗRSLogix5000ՔധՊडഗ৊ႜՊडăኄၵᆆᇮ໎ுᆶ๊஺ᆩ཰ăጒༀຕᆩᇀኸ๖ཫ୾൸၍ຕፇᇮ໎ᅙঢ়ऺ໙؜ઠăසࡕཫ୾ኸସڦኴႜ׈๬๑ᆩཫ୾൸၍ዐඪࢆ࿄ऺ໙ڦᇮ໎Ljሶኸସ৽ࣷ؜ٱăૌ႙ຕਦۨକሞኄ߲ཫ୾ຕፇᇮ໎ᇑူᅃ߲ཫ୾ᇮ໎ኮक़ᆌᆩڦాૌ႙ăཫ୾൸၍ຕፇॠཫ୾൸၍ຕፇዐڼᅃ߲ᇮ໎ڦጒༀׯᇵԲড༬Ljᆩᇀຕ਍ྜኝႠॠăᅺُLjMATCኸۨཫ୾൸၍้ՂႷ๔ዕॽਸ๔໭ᆅยዃྺ0ăኄڼᅃ߲ཫ୾൸၍ᇮ໎ጒༀׯᇵ੗ᅜൽᅜူኵǖጒༀኵ௮ຎ0ཫ୾൸၍ᇮ໎ช࿄ऺ໙؜ઠ1ཫ୾൸၍ᇮ໎ኟሞ৊ႜऺ໙2ཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠnཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠLjణമኟԥ(n-2)ཉMAPCईMATCኸସ๑ᆩăሞኸۨڦዡฉਸ๔ཫ୾ኮമLjMATCኸସ๯ံཚࡗॠཫ୾൸၍ᇮ໎ڦጒༀׯᇵڦኵLjॠཫ୾൸၍ຕፇ๟ޏᅙঢ়ऺ໙؜ઠăසࡕጒༀྺ0ई1Ljሶཫ୾൸၍ช࿄ऺ໙ٱ؜ସኸMATCLjઠ؜ăසࡕཫ୾൸၍ຕፇᅙঢ়ྜඇऺ໙؜ઠ(ጒༀ>1)LjሶኸସڿሺጒༀຕጴLj՗๖ᅙঢ়ԥኄ߲ዡ๑ᆩăړཫ୾ྜׯईዕኹࢫLjڼᅃ߲ཫ୾൸၍ຕፇᇮ໎ڿ३Ljᅜԍ׼߶ጷᆶၳ๑ᆩ၎࠲ཫ୾൸၍ڦཫ୾߲ຕă၍Ⴀࢅෙْݛా้क़ཫ୾๟ྜඇཚࡗాڦമړࡕසጣ࿆ᅪኄăڦ؜ڥዷዡ้क़ኵժփጚඓںܔᆌᇀᇑཫ୾൸၍၎࠲ڦཫ୾՗ాڦۅLjॽሞ၎ତڦۅኮक़๑ᆩ၍Ⴀࢅෙْݛాઠඓۨٗዡڦ࿋ዃăኄᄣLjन༵ࠃፌٷ੗ీڦೝࣂٗዡሏۯă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ155\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ᆩᇀิׯཫ୾൸၍ڦཫ୾ຕፇాڦ௅ᅃ߲ۅۼ੗ᅜದዃᆩᇀ၍Ⴀईෙْݛాăۉጱཫ୾ሞཚࡗٗዡࢫჄڦۅۯኴႜई࿋ᅎࡗײࢫධԍ׼ऄሂăኄᄣሎႹۉጱཫ୾ԥۅۯई࿋ᅎఇ๕໯۠ेLjܸٗ੗ظॺްሗڦሏۯࢅཞօă้क़ཫ୾Բ૩时间凸轮标定ሞኴႜ้Lj้क़ཫ୾൸၍੗ᅜሞ้क़ࢅਐ૗ฉยዃԲ૩ăཚࡗኄዖԲ标定标定૩ࠀీ੗ॽۨઠ૩Բᆩ๑ܸLj๕ႚڦۯሏፕᆩৈ၍൸ڦئ٪ᅭ൸၍ԥ标定ኴႜڦ้क़ईਐ૗Ljසူ໯๖ă๑ᆩਐ૗Բ૩标定๑ᆩ้क़ࢅਐ૗Բ૩标定໫ڦݣ໫၍൸ڦݣ൸၍ٗዡ࿋ዃ๑ᆩ้क़Բ૩໫标定缩ڦݣ൸၍ዷዡ้क़ཫ୾൸၍ຕፇాڦئ٪൸၍้时间凸轮क़ཫ୾Բ标૩定ړཫ୾൸၍ຕፇԥMATCኸସኸ้ۨLj޿ཫ୾൸၍ຕፇ໯ۨᅭڦዷၹۙኵ੗ᆩ้क़ڇ࿋DŽ௱DžLjٗኵᆩٗዡڦڇ࿋ă၎ܔܸჾLj้क़ࢅਐ૗Բ૩ຕ๟Đ࿮ڦ၍൸୾ཫፕᆩ๟ኻLjኵڦđ࿋ڇԠຕă标定ఐණ൧઄ူLj้क़ࢅਐ૗Բ૩ຕۼԥยྺ标定1ăᄲ໫ݣగ้߲क़ཫ୾൸၍Lj൩๼෇أକ1ᅜྔڦ้क़Բ૩ईਐ૗ٗዡԲ૩ኵă标定标定156؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ሺेཫ୾൸၍ڦ၍൸޿گই定标ॽኵ૩Բक़้ڦ໏܈ࢅे໏܈Ljܸሺेཫ୾൸၍ڦ၍൸޿ेሺ定标ॽኵ૩Բ૗ਐڦ໏܈ࢅे໏܈ăᄲԍ׼Բ૩൸၍标定ڦ၍൸૩Բ࿮ᇀڪዂٷ܈໏ेࢅ܈໏ڦ၎ᆌኵLj้क़Բ૩ࢅਐ૗Բ૩标定标定标定ڦኵᆌ޿၎ڪă૩සLjසࡕగ߲൸၍ڦਐ૗Բ૩ྺ标定2Lj้क़Բ૩ኵᄺ标定ᆌ޿ྺ2Lj֍ీሞኴႜԲ૩้क़ཫ୾้ԍ׼ڦڪ၎ዂٷ໏܈ࢅे໏标定܈ăATTENTION注意ܔᇀ้क़ཫ୾ઠຫLjইگ้क़Բ૩ኵईሺेਐ૗Բ标定标定૩ዡࣷሺे൸၍גࡕසă܈໏३ࢅ܈໏Ⴔ໯ڦࡗൻۯဣཥڦඹଉLjኄ੗ీࣷሰׯሏۯࠤቱăཫ୾൸၍ኴႜఇ๕੗჋ስኴႜఇ๕ྺᅃْई૶ჄLjઠඓۨړ้क़ᅎۯגࡗᇱ๔ཫ୾՗໯ۯሏ୾ཫLj้ྷݔۅຐ঳ڦ၍൸ڦᅭۨॽසࢆႜྺăසࡕ჋ስᅃْDŽఐණኵDžLjఫ஺ዡڦཫ୾൸၍ሏۯॽ૬नਸ๔ăړ้क़ཫ୾ڦኴႜ้क़גࡗཫ୾൸၍ాڦ้क़ݔྷ้LjMATCኸସྜׯLjዡሏۯཕኹLjٗዡሏۯጒༀጴాڦ้क़ཫ୾ጒༀ࿋ԥأăں၌࿮ॽժLj๔ਸन૬၍൸୾ཫڦۨኸLj้๕ఇჄ૶ስ჋ړኴႜူඁăܔᇀ૶ჄፕLjڦ၍൸୾ཫࡗגۯᅎक़้ړ঳ຐ้Lj้क़ॽĐཽජđڟཫ୾൸၍ڦਸ๔تLjܸٗ๑ཫ୾൸၍࿮၌ںዘްăሞႴᄲ้क़ཫ୾ᅜ჉ገईྫްݛ๕૶Ⴤሏۯڦ჉ገᆌᆩዐLjኄዖࠀీᆮഄ׉ᆩăۅ୾ཫڦ՗୾ཫऺยሞLjۯሏჄ૶ڦࣂೝิ݆ݛዖኄᆩ๑ᄲLj๟ڍ้ᄲၭ႐Ljᅜԍኤሞऺ໙ۅຐ঳ࢅۅ๔ਸڦ၍൸୾ཫڦ؜ኮक़ுᆶ࿋ዃĂ໏܈ईे໏܈ڦփ૶ჄăኴႜऺࣄܔMATCኸସኴႜऺࣄڦ੦዆๟ཚࡗኴႜऺࣄຕઠํ၄ڦă૬नኴႜఐණ൧઄ူLjMATCኸସԥऺࣄྺ૬नኴႜLjഄᆫۅ๟ኴႜऺࣄຕڦఐණยዃ๟૬नăሞኄዖ൧઄ူLjሞ๑ీ้क़ཫ୾ࡗײ้ுᆶჽ׿ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ157\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)සူ཮໯๖LjړMATCኸସԥኴႜ้Ljཫ୾ࡗײनሞኸۨڦዡฉ݀ഐLjዡڦሏۯጒༀጴాڦ้क़ཫ୾ጒༀ࿋ԥยዃăසࡕኴႜऺࣄຕยዃྺ૬नLjሶዡӀቷኸۨڦཫ୾൸၍૬न໮ۨڟ้क़ዷፖՔă૬नኴႜසࡕMATCኸସኴႜ໯ሞڦዡᅙঢ়ሞፔᆶၳڦ้क़ཫ୾ሏۯLjሶิׯݥ݆ۯༀຕՎ߸ڦٱဃ(ٱဃپஓ23)ăഄዐྸᅃڦ૩ྔ๟ړኴႜऺࣄԥኸۨྺĐࠬഐđڦ൧઄ăࠬഐཫ୾ኴႜፕྺᅃዖ჋ስLjMATCኸସڦኴႜ๚ํฉ੗ᅜ๟ړമኟሞኴႜڦ้क़ཫ୾ྜׯڦჽ׿ࠬഐăᅺُ჋ስኴႜऺࣄྺࠬഐ੗ᆩᇀሞཕኹሏۯڦ൧઄ူLj࿮ފںंࢇଇ้߲क़ཫ୾൸၍ăࠬഐኴႜࠀీᆮഄ๢ᆩᇀڟ໏ेᄲႷՂܸ๕ఇ܈໏ۨ༬ᆩ๑ዡړగ߲໏܈ڦ้ࢪăړኄዖे໏ఇ๕ྜׯࢫLj໲ՂႷೝࣂںंࢇڟཫ୾൸၍ዐLjཚ׉ྺ૶ჄኴႜăᄲཕኹዡLj߾ፕఇ๕੗ᅜೝࣂںंࢇڟ३໏ఇ๕ዐLjܸٗ๑ዡཕኹሞᅙኪڦ࿋ዃฉLjසူ໯๖ăे໏ఇ๕߾ፕఇ๕३໏ఇ๕ዡ࿋ዃ้क़ࠬഐཫ୾ኴႜሞړമڦ൸၍ධሞኴႜ้LjཚࡗӀࠬഐڦཫ୾൸၍ઠኴႜ้क़ཫ୾൸၍Lj੗༵മยዃࢇ๢ڦཫ୾൸၍ຕăኄ੗ඟ౞ٗړമ൸၍ڟࠬഐ൸၍ኮक़ڦࡗ܉ׯྺ࿮ފڦࡗ܉Lj้क़ዷዡᇑ࿋ዃٗዡኮक़ڦཞօڥڟԍ׼ăڍ๟Ljྺԍኤࡗ܉ዐሏۯڦೝࣂLj൸၍ڦยऺՂႷ๑ړമ൸၍158؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ڦ܈໏ेई܈໏Ăዃ࿋ሞ٪փक़ኮ๔ਸڦ၍൸ႎᇑຐ঳ڦփ૶Ⴤăኄ๟ཚࡗRSLogix5000ཫ୾൸၍Պडഗઠྜׯڦăࠬഐۅຐ঳ڦ၍൸മړࡗཚक़้୾ཫړLjႜኴԥڋᅃସኸ୾ཫक़้ڦ้Ljႎڦཫ୾൸၍ጲۯิၳDŽժՎׯړമ൸၍Džăසࡕړമཫ୾ԥದዃྺኴႜᅃْLjႎڦ൸၍ॽሞཚࡗړമཫ୾൸၍ྜׯ้ԥ݀ഐLjړമऄሂMATCኸସڦPC࿋ԥยዃăසࡕړമཫ୾ԥದዃྺ૶ჄኴႜLjႎڦ൸၍ॽሞཚࡗړമཫ୾൸၍ྜׯ้ԥ݀ഐLjړമऄሂMATCኸସڼ้ࣅՎᇀܔ၎ዡࢅक़้਍ߵഗ዆੦ۯሏăأԥ࿋IPڦᅃ߲൸၍ڦक़ኮ၍൸׼ԍઠတ႑߲ኄᆩ๑ժLjዃ࿋ڦཞօăසࡕMATCኸସڦኴႜऺࣄԥยዃྺ૬नLjܸ൐้क़ཫ୾൸၍ణമኟሞ৊ႜLjሶMATCኸସิݥ݆ۯༀ߸߀ٱဃăසࡕኴႜऺࣄԥ჋ስྺࠬഐLjڍுᆶ၎ᆌڦኟሞ৊ႜڦ้क़ཫ୾LjMATCኸସࣷኴႜLjڍ኱ڟଷᅃ߲ኴႜऺࣄྺݥࠬഐڦMATCኸସԥ݀ഐ้֍ࣷ݀ิཫ୾ሏڦ؛ፌႜኴሞႹሎ੗ᄣኄăۯཫ୾ኮമᇨံेሜࠬഐڦཫ୾൸၍ăኄዖݛ݆঴ਦକᅜူ൧઄ǖሞࠬഐڦཫ୾ԥ੗੍ںेሜኮമ૬नཫ୾੗ీᅙঢ়঳ຐă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ159\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሞࠬഐڦ้क़ཫ୾ԥದዃᅜࢫLjኸۨڦዡڦሏۯጒༀጴڦ้क़ཫ୾ࠬഐጒༀ࿋ԥยዃྺ1DŽኈDžăړࠬഐDŽႎڦDž൸၍ԥ݀ഐժՎׯړമ൸၍้Lj้क़ཫ୾ࠬഐጒༀ࿋ԥ૬नأLjසူ໯๖ă้क़ཫ୾ࠬഐཕኹཫ୾ᇑഄ໱ሏۯิׯഗDŽۅۯĂ࿋ᅎĂ؃୾DžᅃᄣLjऄሂڦཫ୾ՂႷཚࡗ߳ዖཕኹኸସĂMASईMGSઠཕኹăتControlLogixړ૙ഗ߀ՎOSఇ๕้ᄺՂႷཕኹཫ୾ሏۯă༬๟LjMASኸସՂႷీࠕጆோཕኹཫ୾ࡗײăኄዖႜྺᆌᇑጆோᆩᇀཕኹ؃୾ࡗײڦMASࠀీ၎ཞăཫ୾ࢇժᇑഄ໱ሏۯิׯഗDŽۅۯĂ࿋ᅎĂ؃୾DžᅃᄣLjऄሂڦཫ୾ᄺՂႷᇑሏۯࢇժࠀీग़ඹăᆮഄ๟࿋ᅎࢅۅۯLjՂႷీࠕᇑऄሂڦཫ୾ሏۯࢇժăኄዖႜྺᆌᇑᆌᆩڟ؃୾ࡗײڦࢇժࠀీ၎ཞă重要提示IMPORTANTMATCኸସኴႜሞᅃْ෢௮ዐྜׯLjᅺُྜׯ(.DN)࿋ࢅኟሞ৊ႜDŽ.IPDž࿋ԥ૬नยዃăኟሞ৊ႜ(.IP)࿋ԍ׼ยዃጒༀLj኱ڟ݀ഐڦ้क़ཫ୾ࡗײԥଷᅃཉMATCኸସൽپLjईኁԥሏۯዡཕኹంସĂࢇժፕईົޜࠤቱፕዕኹྺኹăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗأൎ࣑ڟยዃă160؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3••在结构文本中，限制ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩指令只对转换执行。请参阅附录C。ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜גຕăတ႑ڦՊࡽኸڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦຕፕ๟ڦᅃ߲ፕຕԥऺྺଭăᅺُܔᇀMATCኸସLjકቛٱဃپஓ5ኸڦ๟้क़Բ૩ፕຕ标定ڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăܔᇀٱဃپஓ54–ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇ࿚ዡຌႠೡటăገڟۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵăMATCܔጒༀ࿋ڦ߸߀ǖጒༀ࿋සࡕኴႜऺࣄԥยዃྺ૬नLjሶMATCኸସኴႜৈৈॽ้क़ཫ୾ጒༀ࿋ยዃྺኈă࿋ఁ׬ጒༀࡤᅭTimeCamStatusኈ้क़ཫ୾ԥ๑ీTimeCamPendingStatus्࿮ࠬഐ้क़ཫ୾සࡕኴႜऺࣄԥยዃྺࠬഐLjሶMATCኸସኴႜփࣷᆖၚ้क़ཫ୾ጒༀ࿋ڦړമጒༀă้क़ཫ୾ࠬഐጒༀ࿋ԥ૬नยዃྺኈLjړࠬഐཫ୾Վׯऄሂཫ୾ࢫࡗ܉ྺ्ă࿋ఁ׬ጒༀࡤᅭTimeCamStatusփ๢ᆩ้क़ཫ୾ԥ๑ీTimeCamPendingStatusኈࠬഐ้क़ཫ୾؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ161\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)๖૩ǖीۉഗ༱ႚ཮梯形图MATC༱ႚ཮๖૩঳ࠓ࿔ԨMATC(Axis0,MATC_1,1,Cam_pro3[2],35,2,Continuous,Pending);162؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ቤব3ऺ໙ٗዡሏۯኵ๑ᆩऺ໙ٗዡሏۯኵ(MCSV)ኸସ੗ྺߴۨڦཫ୾൸၍ࢅዷዡኵઠऺ(MCSV)໙ٗዡኵĂၽ୲ኵࢅၽ୲ڦڞຕă注意ATTENTIONኻీ๑ᆩᅃْሏۯ੦዆Քധăփᄲሞഄ໱ኸସዐዘް๑ᆩ໲ăޏሶLj౞੗ీڞዂᅪྔڦยԢሏۯLjሰׯටᇵฅ࡞ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎሏۯ੦዆MOTION_INSTRUՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳CTIONࠓăཫ୾൸၍CAM_PROFILEຕፇՔຕፇ໭ᆅԥยዃྺ0ڦᇮ໎ധຕፇă໲ۨᅭକሞऺ໙ٗዡኵዐ๑ᆩڦཫ୾൸၍ăዷዡኵSINTĂINTĂDINT૬नईሞऺ໙ٗዡኵዐ๑ᆩڦཫ୾ईREALՔധ൸၍ฉዷዡฉڦጚඓኵăٗዡኵREALՔധړዷዡሞኸۨڦዷዡኵฉ้Ljཫ୾൸၍ฉٗዡڦኵăၽ୲ኵREALՔധړዷዡሞኸۨڦዷዡኵฉ้Ljཫ୾൸၍ฉٗዡڦኵڦᅃ঩ڞຕăၽ୲ڞຕREALՔധړዷዡሞኸۨڦዷዡኵฉ้Ljཫ୾൸၍ฉٗዡڦኵڦܾ঩ڞຕă঳ࠓ࿔ԨMCSV(MotionControl,CamProfile,ፕຕᇑीۉഗ༱ႚ཮梯形图MCSVኸସڦፕຕ၎ཞăMasterValue,SlaveValue,SlopeValue,SlopeDerivative)ຫ௽ǖऺ໙ٗዡሏۯኵ(MCSV)ኸସ੗ྺߴۨڦཫ୾൸၍ࢅዷዡኵઠඓۨٗዡኵĂၽ୲ኵࢅၽ୲ڦڞຕăፕྺܔ࿋ዃࢅ้क़ཫ୾ࠀీڦકቛLj໲ྺཫ୾ፕࡗײዐٗࠤቱዐ࣬ް༵ࠃՂႴڦኵă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ163\nቤব3ሏۯ࿋ᅎኸସ(MASĂMAHĂMAJĂMAMĂMAGĂMCDĂMRPĂMCCPĂMAPCĂMATCĂMCSV)ሏۯ੦዆ᅜူ੦዆࿋ॽ๴ڦସኸMCSVڟᆖၚăऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ړăዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړ༱पٗኈࡗ܉ڟ्้Ljഔᆩ࿋ԥް࿋ă.DNDŽྜׯDž࿋29ړٗዡኵڦऺ໙ׯࠀྜׯࢫLjྜׯ࿋ԥยዃăړ༱प्ٗࡗ܉ڟኈ้Ljྜׯ࿋ԥް࿋ă.ERDŽٱဃDž࿋28ړٗዡኵڦऺ໙ช࿄ׯࠀྜׯࢫLjٱဃ࿋ԥยዃăڟ܉ࡗ्ٗप༱ړኈ้Ljྜׯ࿋ԥް࿋ă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜גຕăတ႑ڦՊࡽኸڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦຕፕ๟ڦᅃ߲ፕຕԥऺྺଭăᅺُܔᇀMCSVኸସLjકቛٱဃپஓ2ኸڦ๟ዷዡኵፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăMCSVܔጒༀ࿋ڦ߸߀ǖ࿮164؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă०঻ፇ੦዆ኸସԈઔ໯ᆶሞኸۨፇా໯ᆶዡฉፕڦሏۯ੦዆ኸସă੗ᆌᆩڟፇฉڦኸସԈઔ࿋ዃጃಆĂ࠲Կ੦዆ࢅཕኹኸସăጀᅪLjణമ௅߲Logix੦዆ഗৈኧ׼ᅃ߲ፇăሏۯፇኸସኸସྺǖසࡕ౞Ⴔᄲ๑ᆩኄ߲ኸସ༵在以下语言中可用ࠃڦᇕჾ݀ഐሞዡፇฉڦሏۯཕኹăMGS梯形图ीۉഗ༱ႚ཮঳ࠓ࿔Ԩഽ዆ፇా໯ᆶዡ৊෇࠲ԿፕጒༀăMGSDीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩॽዡፇٗ࠲Կፕጒༀࡗ܉ڟዡ৽ჃMGSRीۉഗ༱ႚ཮梯形图ፕጒༀă঳ࠓ࿔Ԩ໮٪ړമంସࢅፇా໯ᆶዡڦํा࿋MGSPीۉഗ༱ႚ཮梯形图ዃă঳ࠓ࿔Ԩ165؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ165\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ሏۯፇཕኹ(MGS)MGSኸସ݀ഐཕኹኸۨፇా໯ᆶዡฉ໯ᆶኟሞ৊ႜڦሏۯLj໯ᆩڦݛ݆๟ཚࡗMGSኸସڦཕኹఇ๕ྺ௅߲ፇڇ܀ದዃईӀፇದዃăසࡕMGSཕኹఇ๕ԥኸۨྺՊײLjሶፇాڦ௅߲ዡߵ਍໯ದዃڦՊײཕኹఇ๕ዡຌႠܸԥཕኹăኄᇑLogixፕဣཥሞLogix੦዆ഗጒༀՎࣅ้໯ᆩڦཕኹऐ዆๟၎ཞڦăኄዖՊײཕኹఇ๕ຌႠణമ༵༵ࠃ࿵ዖཕኹዡڦݛ݆ǖ੺໏ཕኹĂ੺໏্ኹĂᆘ্ኹĂ੺໏࠲Կࢅᆘ࠲ԿăईኁLj੗ཚࡗ๑ᆩMGSኸସ჋ስᅃ߲၂Ⴀڦཕኹఇ๕ăසࡕ჋ስڦཕኹఇ๕ྺ੺໏্ኹLjሶፇా໯ᆶዡۼཚࡗ੺໏্ኹႜྺઠཕኹăړፇా໯ᆶዡڦሏۯۼ৊෇ཕኹࢫLjሞ੦዆঳ࠓ༹ాڦࡗײྜׯ(PC)࿋ԥยዃăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎፇMOTION_ՔധᄲሞഄฉኴႜፕڦዡፇڦఁGROUP׬ăሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăኸସཕኹఇ๕UDINT૬न੦዆ፇాڦዡසࢆԥཕኹă჋ስ(Stopူ௬ᅃዖݛ݆ǖMode)0=Պײ–௅߲ዡڦཕኹۼӀቷ߲߳ዡڦದዃઠྜׯă1=੺໏ཕኹ–ፇా௅߲ዡۼӀፌٷ३໏܈৊ႜ३໏Ljཕኹࢫڦዡԍ׼ሞົޜऄሂఇ๕ă2=੺໏্ኹ–ፇా௅߲ዡۼӀፌٷ३໏܈৊ႜ३໏Ljཕኹࢫڦዡԥዃᇀዡ৽Ⴣఇ๕ă঳ࠓ࿔ԨMGS(Group,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MGSኸସڦፕຕ၎ཞăStopMode);166؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ቤব4ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴStopModeprogrammed0faststop1fastdisable2MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړፇՊײཕኹᅙঢ়ܔፇా໯ᆶዡ݀ഐࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦፇă.IP(ኟሞ৊ႜ)࿋26ሞኟڦ༱पࡗ܉้ԥยዃLjړሏۯፇՊײཕኹྜׯࢫԥأă.PC(ࡗײྜׯ)࿋27ړፇా໯ᆶዡۼӀቷ௅߲ዡڦՊײཕኹఇ๕ದዃᅙঢ়৊෇ׯࠀཕኹ้Ljࡗײྜׯ࿋ԥยዃăຫ௽ǖړཕኹఇ๕ຕԥยዃྺՊײ้Ljሏۯፇཕኹ(MGS)ኸସॽኸۨፇా໯ᆶዡڦሏۯӀቷྺ௅߲ዡ໯ದዃڦՊײཕኹఇ๕৊෇ཕኹጒༀăසࡕዡཞ้ᆶڇዡሏۯࢅၹۙሏۯLjሶMGS๑ᆩዡڦፌٷ३໏܈ཕኹڇዡሏۯLj๑ᆩፖՔဣڦፌٷ३໏܈ཕኹၹۙዡሏۯăܔᇀኄዖ३໏๔ዕ๑ᆩ༱ႚఇ๕Ljփ࠶Պײڦఇ๕ૌ႙සࢆăMGSኸସ݀ഐ၎ཞڦՊײཕኹፕLjሞت૙ഗڦፕဣཥՎࣅፕఇ๕้DŽ૩සڦ዆ۨऺยሞኄăᆩᆌۯጲDž๕ఇႾײྺՎ๕ఇႜሏٗሏۯࠤቱت૙ײႾ้ᆮഄᆶᆩăසࡕMGSཕኹఇ๕ԥኸۨྺ੺໏ཕኹLjሶፇాڦ௅߲ዡۼԥഽ዆ኴႜ੺໏ཕኹࡗײLjփ࠶໯ದዃڦՊײཕኹఇ๕සࢆăፇా௅߲ዡۼӀፌٷ३໏܈৊ႜ३໏Ljܸ൐ᅃڋཕኹࢫLjዡԍ׼ሞົޜऄሂఇ๕ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ167\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)සࡕMGSཕኹఇ๕ԥኸۨྺ੺໏্ኹLjሶፇాڦ௅߲ዡۼԥഽ዆ኴႜ੺໏্ኹࡗײLjփ࠶໯ದዃڦՊײཕኹఇ๕සࢆăፇా௅߲ዡۼӀፌٷ३໏܈৊ႜ३໏Ljܸ൐ᅃڋཕኹࢫLjዡԥዃᇀዡ৽ჃጒༀDŽົޜփऄሂLjՎೕഗԥ্ኹDžăణമMGSኸସኧ׼࿵ዖՊײཕኹఇ๕ǖ੺໏ཕኹĂ੺໏্ኹĂᆘ্ኹĂ੺໏࠲Կࢅᆘ࠲Կă௅߲ዡۼ੗ᅜದዃྺ๑ᆩኄ࿵ዖཕኹఇ๕ዐڦᅃዖăူ௬঻ถ࿵ዖཕኹఇ๕ዐڦ௅ᅃዖᆌᆩڟኸۨፇڦڇ߲ዡฉ้ࣷᆶ๊஺ၳࡕă੺໏ཕכ快速停止ܔᇀದዃྺ੺໏ཕኹڦዡLjMGSኸସ݀ഐཕኹ੦዆Ljݥ׉ૌຼᇀMASኸସ݀ഐڦཕኹăሞኄዖ൧઄ူLjሏۯፇՊײཕኹ(MGS)ኸସॽዡሏڦ዆੦ޜົ׼ԍྭထړă࣍ޜົዡኹ্փܸLj዆੦ኹཕ෇৊ۯ൧઄ူႴᄲፌ੺ڦ३໏ཕኹ้Lj੗๑ᆩኄዖݛ݆ăMGSኸସॽሞኄዖཕኹఇ๕ူྺዡದዃڦፌٷ३໏܈ፕྺᆌᆩڟዡฉڦ३໏ၽڦएإă੺໏্ኹܔᇀದዃྺ੺໏্ኹڦዡLjMGSኸସ݀ഐཕኹ੦዆Ljݥ׉ૌຼᇀMASኸସ݀ഐڦཕኹLj൶๟ړዡ৊෇ཕኹጒༀࢫՎೕഗԥ্ኹăړሞՎೕഗԥ্ኹኮമႴᄲፌ੺ڦ३໏ཕኹ้Lj੗๑ᆩMGSăMGSኸସॽሞኄዖཕኹఇ๕ူྺዡದዃڦፌٷ३໏܈ፕྺᆌᆩڟዡฉڦ३໏ၽڦएإăᆘ্ኹܔᇀದዃྺᆘ্ኹڦዡLjMGSኸସ݀ഐڪၳᇀMSFኸସܔዡڦፕăኄ߲ፕ૬नॽ၎ᆌڦՎೕഗ๼؜࠲ԿLjժ্ኹົޜ࣍ăߵ਍ՎೕഗದዃLjኄ੗ీࣷሰׯዡ࠹ႠཕኹLjڍඐᅜፌ੺໏܈ਸՎೕഗ๼؜ۉᇸă੺໏࠲Կܔᇀದዃྺ੺໏࠲ԿڦዡLjMGSኸସ݀ഐ੺໏ཕኹLj඗ࢫॽڪၳᇀ࠲Կሏۯዡ(MASD)ኸସڦፕᆌᆩڟዡฉăኄ߲ፕॽ၎ᆌڦዡൻۅةOKڦ੷ఇ዆੦ۯሏ࠲၎ࢆඪਸٶLj࣍ޜົኹ্LjԿ࠲؜๼ۯLj඗ࢫॽዡዃᇀ࠲Կጒༀă168؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ቤব4ᆘ࠲Կܔᇀದዃྺᆘ࠲ԿڦዡLjMGSኸସ݀ഐڪၳᇀ࠲Կሏۯዡ(MASD)ኸସܔዡڦፕăኄ߲ፕॽ၎ᆌڦዡՎೕഗ๼؜࠲ԿLj্ኹົޜ࣍LjۅةOKڦ੷ఇ዆੦ۯሏ࠲၎ࢆඪਸٶLj඗ࢫॽዡዃᇀ࠲Կጒༀăߵ਍ՎೕഗದዃLjኄ੗ీࣷሰׯዡ࠹ႠཕኹLjۅةOKࡗཚඐڍᅜፌ੺໏܈ਸՎೕഗۉᇸăᄲׯࠀኴႜMGSኸସLjՂႷದዃణՔፇă重要提示IMPORTANTMGSኸସڦኴႜ੗ీႴᄲܠْ෢௮֍ీྜׯLjᅺྺၩတ੗ీႴᄲፇాᅃ߲ईܠ߲ዡሏۯ੦዆ఇ੷ăᅺُྜׯDŽDNDž࿋੗ీփ૬नԥยዃăڍ๟Ljኟሞ৊ႜ(.IP)࿋ԥ૬नยዃLjࡗײྜׯ(.PC)࿋ԥ૬नأăኟሞ৊ႜ(.IP)࿋ԍ׼ยዃጒༀLj኱ڟፇా໯ᆶዡڦՊײཕኹࡗײྜׯLjईኁཕኹኸସԥଷᅃཉMGSኸସൽپLjईኁԥົޜࠤቱፕዕኹྺኹăኻᆶሞඪࢆഄ໱ฉຎዕኹཕኹࡗײᅜतأኟሞ৊ႜDŽ.IPDž࿋ڦഐ݀໯ዡ߲௅ాፇLjമኮิ݀ॲ๚ڦ३໏ఇ๕ᅙঢ়ྜׯLjࡗײྜׯDŽ.PCDž࿋֍ࣷԥยዃă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ169\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ጒༀ࿋MGSܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀۨᅭStoppingStatuኈዡኟሞཕኹ(ൽਦᇀዡڦՊײཕኹఇ๕)ăsJogStatus्ዡփምۅۯăMoveStatus्ዡփምሏۯăGearingStatus्ዡփምدۯăHomingStatus्ዡփምࡃଭă๖૩ǖۯሏڦฉዡᆶ໯ڦా1ፇኹཕഗ዆੦Lj้ኈྺॲཉ෇๼ړăሞ੦዆ഗཕኹ໯ᆶሏۯᅜࢫLjዡԥ্ኹăीۉഗ༱ႚ཮梯形图MGS༱ႚ཮๖૩঳ࠓ࿔ԨMGS(Motion,MSG_1,Programmed);170؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ቤব4࠲Կሏۯፇ(MGSD)๑ᆩMGSDኸସ੗ഽ዆ኸۨፇాڦ໯ᆶዡ৊෇࠲Կጒༀăዡڦ࠲Կጒༀྺົޜ࠲ԿLj๼ةഗۉीༀࠦOKڦ੷ఇ዆੦ۯሏLjऄघඁԥ؜ڟ኱LjༀጒԿ࠲׼ԍፇዡăਸٶԥDžᆩ๢ࡕසDŽۅፇ࠲Կް࿋ԥኴႜLjईኁ௅߲ዡཚࡗ࠲Կሏۯዡ(MASD)ኸସԥڇ܀ް࿋ྺኹăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎፇMOTION_ՔധᄲሞഄฉኴႜፕڦዡፇڦఁGROUP׬ăሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăኸସ঳ࠓ࿔ԨMGSD(Group,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MGSDኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ഔᆩ࿋ኸ๖ኸସԥഔᆩă໲ԍ׼ྺยዃጒༀLj኱዁31ົޜၩတྜׯܸ൐༱प๼෇ཉॲՎྺ्ྺኹă.DNDŽྜׯDž࿋ྜׯ࿋՗๖ኸସࢆ้ॽዡፇዃᇀ࠲Կፕጒༀă29.ERDŽڦ੷ఇޜົྫ݀ස૩Ljဃٱڟॠସኸ๖ኸ࿋ဃٱ࿋Džဃٱ28ၩတ฿Өăຫ௽ǖ࠲Կሏۯፇ(MGSD)ኸସॽՎೕഗ๼؜࠲ԿLj্ኹኸۨፇా໯ᆶዡڦົޜ࣍Ljྺፇా໯ᆶ๢ᆩሏۅةOKڦ૴࠲၎ࢆඪਸٶ੷ఇ዆੦ۯăኄ߲ፕॽፇڦ໯ᆶዡዃᇀ࠲ԿጒༀăMGSDኸସৈټᅃ߲ຕǗኻႴ჋ስई๼෇ᄲ࠲Կڦፇन੗ăMGSDኸସ݀ഐڦଷᅃ߲ፕ๟أ໯ᆶኟሞ৊ႜڦሏۯࡗײժأ໯ᆶሏۯጒༀ࿋ăᇑُፕ၎࠲Ljంସ࣏ࣷأړമ੗ీྺፇా௅߲ዡยዃڦ໯ᆶሏۯኸସڦ轴设置的所有运动控制指令的.IP࿋ă.IP位。MGSDኸସഽ዆ణՔዡፇ৊෇࠲Կጒༀă࠲Կጒༀڦ܀༬༬ۅኮᅃ৽๟Lj໯ᆶፇሏٶۅةഗۉीༀࠦOKڦ੷ఇ዆੦ۯਸăኄዖࠀీ੗ᆩᇀٶਸ੦዆߳ዖՎೕഗဣཥዷۉᇸڦथཕ࣍ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ171\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)࠲ऐጒༀۼସኸڦۯሏڦዡాፇഐ݀ࢆඪLj๟ۅ༬߲ᅃଷڦԥፆኹኴႜă׈๬ኄᄣፔࣷڞዂኴႜٱဃăኻᆶཚࡗኴႜഄዐᅃ߲࠲Կް࿋ኸସLj֍ీׯࠀں݀ഐሏۯăᄲׯࠀኴႜMGSDኸସLjՂႷظॺࢅದዃణՔፇă重要提示IMPORTANTMGSDኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠᅃ߲ईܠ߲ሏد੷ఇ዆੦ۯ๼ᅃཉၩတăᅺُLjྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫă这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăጒༀ࿋ǖMGSDܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀۨᅭServoActionStatus्ዡኟتᇀዡ৽ჃጒༀLjܸ൐ົޜ࣍փऄሂăDriveEnableStatus्ዡՎೕഗ๑ీ๼؜փऄሂăShutdownStatusኈዡتᇀ࠲ԿጒༀăAccelStatus्ዡுᆶሞे໏ăDecelStatus्ዡுᆶሞ३໏ăGearingLockStatus्ዡுᆶԥ໮ۨăJogStatus्ዡுᆶሞۅۯăMoveStatus्ዡுᆶሞೝᅎăGearingStatus्ዡுᆶሞ؃୾ሏۯዐăHomingStatus्ዡுᆶሞࡃଭă๖૩ǖڦా1ፇ዆ഽഗ዆੦Lj้ኈྺॲཉ෇๼ړ໯ᆶዡ৊෇࠲Կፕጒༀă172؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ቤব4梯ीۉഗ༱ႚ཮形图MGSD༱ႚ཮๖૩঳ࠓ࿔ԨMGSD(Motion,MGSD_2);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ173\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ሏۯፇ࠲Կް࿋๑ᆩMGSRኸସ੗ॽዡፇٗ࠲Կፕጒༀࡗ܉ڟዡ৽Ⴣፕጒༀă(MGSR)ኄ߲ంସڦ঳ࡕ๟Lj໯ᆶᇑፇాڦኄ߲ዡ၎࠲ڦࠤቱॽԥأLjᇑኸۅةഗۉीOKڦ੷ఇ዆੦ۯሏڦ࠲၎ፇڦۨԥ࠲Կăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎፇMOTION_ՔധᄲሞഄฉኴႜፕڦዡፇڦఁGROUP׬ăሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăኸସ঳ࠓ࿔Ԩፕຕᇑीۉഗ༱ႚ཮梯形图MGSRኸସڦፕຕ၎ཞăMGSR(Group,MotionControl);MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ഔᆩ࿋ኸ๖ኸସԥഔᆩă໲ԍ׼ྺยዃጒༀLj኱዁31ົޜၩတྜׯܸ൐༱प๼෇ཉॲՎྺ्ྺኹă.DNDŽྜׯDž࿋ྜׯ࿋՗๖ኸସࢆ้ॽዡፇٗ࠲Կፕጒༀዐް29࿋ă.ERDŽڦ੷ఇޜົྫ݀ස૩Ljဃٱڟॠସኸ๖ኸ࿋ဃٱ࿋Džဃٱ28ၩတ฿Өăຫ௽ǖሏۯፇ࠲Կް࿋(MGSR)ኸସཚࡗأ໯ᆶዡࠤቱLj࠲Կፇాሏۯ੦዆ఇ੷ڦඪࢆ၎࠲OKࠦༀीۉഗةۅLjॽኸۨፇాڦ໯ᆶፇྃ૗࠲Կጒༀăኄ߲ፕॽሏۯፇాڦ໯ᆶዡዃᇀዡ৽Ⴣጒༀă৽ၟMGSDኸସᅃᄣLjഽ዆ణՔፇాڦ໯ᆶዡ৊෇࠲ԿጒༀăMGSRኸସॽኸۨፇాڦ໯ᆶዡ૗ਸ࠲ԿጒༀLj৊෇ዡ৽Ⴣጒༀă࠲Կጒༀڦ੷ఇ዆੦ۯሏፇ߲௅ሶLj׼ኧࡕසLj๟৽ᅃኮۅ༬༬܀ڦOKࠦༀीۉഗةۅٶਸăᅺُLjᆌᆩڟሏۯ੦዆ఇ੷ፇڦMGSRኸସۅةഗۉीOKڦ੷ఇ዆੦ۯሏᆶ໯Lj๟ࡕ঳ڦ࠲Կăኄዖࠀీ੗ᆩᇀ࠲Կ੦዆߳ዖՎೕഗဣཥዷۉᇸڦथཕ࣍LjժሎႹਜ਼ࢽၠՎೕഗዘႎแेۉᇸăᄲׯࠀኴႜMGSRኸସLjՂႷದዃణՔፇăIMPORTANT重要提示MGSRኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠᅃ߲ईܠ߲ሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫă174؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ቤব4这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăጒༀ࿋ǖMGSRܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀۨᅭServoActionStatus्ዡኟتᇀዡ৽ჃጒༀLjܸ൐ົޜ࣍փऄሂăDriveEnableStatu्ዡՎೕഗ๑ీ๼؜փऄሂăsShutdownStatus्ዡփሞ࠲Կጒༀă๖૩ǖڟ܉ࡗༀጒፕԿ࠲ٗዡᆶ໯ڦా1ፇॽഗ዆੦Lj้ኈྺॲཉ෇๼ړዡ৽Ⴣፕጒༀăीۉഗ༱ႚ཮梯形图MGSR༱ႚ཮๖૩঳ࠓ࿔ԨMGSR(Motion,MGSR_3);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ175\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ጃಆሏۯፇ࿋ዃ๑ᆩMGSPኸସ੗ሞڇ้߲क़ۅ໮٪ኸۨፇా໯ᆶዡڦړമంସ࿋(MGSP)ዃࢅํा࿋ዃă໮ڦዐၡܔዡۯሏሞॽዃ࿋ڦ٪StrobeActualPositionࢅStrobeCommandPositionຕా༵ࠃߴፇాದዃڦ௅ᅃ߲ዡăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎፇMOTION_ՔധᄲሞഄฉኴႜፕڦዡፇڦఁGROUP׬ăሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăኸସ঳ࠓ࿔Ԩፕຕᇑीۉഗ༱ႚ཮梯形图MGSPኸସڦፕຕ၎ཞăMGSP(Group,MotionControl);MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLj31ժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋ړዡፇԥׯࠀዃᇀ࠲Կጒༀ้Ljྜׯ࿋ԥยዃă29.ERDŽٱဃDž࿋ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକ28ᅃ߲࿄ದዃڦፇăຫ௽ǖጃಆሏۯፇ࿋ዃ(MGSP)ኸସሞኴႜ้ᅜཞօݛ๕໮٪ኸۨፇా໯ᆶዡڦ໯ᆶంସ࿋ዃࢅํा࿋ዃኵăMGSPኸସৈټᅃ߲ຕǗኻႴ჋ስई๼෇ᄲጃಆڦዡन੗ăසࡕణՔፇுᆶ؜၄ሞ੗ᆩፇଚ՗ዐLjሶ޿ፇช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦፇăMGSPኸସ੗ໜ้ᆩઠվጛኸۨፇా໯ᆶዡڦంସ࿋ዃࢅํा࿋ዃ႑တăཚ׉ሞภतڟፇాփཞዡڦ࿋ዃኵڦऺ໙ኮമࣷႴᄲኄ߲ፕă176؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)ቤব4ᄲׯࠀኴႜMGSPኸସLjՂႷದዃణՔፇă重要IMPORTANT提示MGSPኸସኴႜሞᅃْ෢௮ዐྜׯLjᅺُྜׯ(.DN)࿋ԥ૬नยዃă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăጒༀ࿋ǖMGSPܔጒༀ࿋ڦ߸߀࿮๖૩ǖړڦዡᆶ໯ڦా1ፇ٪໮ഗ዆੦Lj้ኈྺॲཉ෇๼ړമంସ࿋ዃࢅํा࿋ዃăीۉഗ༱ႚ཮梯形图MGSP༱ႚ཮๖૩঳ࠓ࿔ԨMGSP(Motion,MGSP_2);؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ177\nቤব4ሏۯፇኸସ(MGSĂMGSDĂMGSRĂMGSP)提ጀᅪ示：ǖ178؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă०঻ሏۯ๚ॲኸସ੦዆ጣ༬๺๚ॲॠࠀీڦጚԢࢅ্ኹLj૩සऻ୤ࢅ࿋ዃ॔๫ăሏۯ๚ॲኸସኸସྺǖසࡕ౞Ⴔᄲ๑ᆩኄ߲ኸସ༵在以下语言中可用ࠃڦᇕჾጚԢగ߲ዡڦ࿋ዃ॔๫๚ॲॠăMAWीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ্ኹగ߲ዡڦ࿋ዃ॔๫๚ॲॠăMDWीۉഗ༱ႚ཮梯形图঳ࠓ࿔ԨጚԢగ߲ዡڦົޜఇ੷ऻ୤๚ॲॠăMARीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ্ኹగ߲ዡڦົޜఇ੷ऻ୤๚ॲॠăMDRीۉഗ༱ႚ཮梯形图঳ࠓ࿔ԨጚԢཫ୾๼؜MAOCीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ্ኹཫ୾๼؜MDOCीۉഗ༱ႚ཮梯形图঳ࠓ࿔Ԩ179؜Ӳࡽ1756-RM007J-EN-P-20081756-RM007J-EN-P౎7ሆ179\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ਸഔሏۯ॔๫(MAW)๑ᆩMAWኸସઠጚԢሏۯ੦዆ఇ੷ྺኸۨڦዡ৊ႜ࿋ዃ॔๫๚ॲॠăړኄཉኸସԥۙᆩ้Ljॽ๑ᆩዡڦ॔๫࿋ዃᅜतኸۨڦኟၠईݒၠ๚ॲཉॲ๑ీᅃ߲࿋ዃ॔๫๚ॲăጚԢྜׯࢫLjړ஢ፁኸۨڦ॔๫๚ॲཉॲĂ๚ॲ(PC)࿋ԥยዃᅜतዡຕ਍঳ࠓዐڦ॔๫๚ॲጒༀ࿋ԥยዃ้Ljዡڦํा࿋ዃॽӀቷ॔๫࿋ዃܸԥ॔๫ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓă዆ኸସة݀ཉքܻ႙૬न჋ॲ॔๫๚ॲة݀ཉॲǖॲ0=ኟၠ–ົޜఇ੷ლቴํा࿋ዃٗၭᇀ॔๫࿋ዃ߀Վྺٷᇀ॔๫࿋ዃă1=ݒၠ–ົޜఇ੷ლቴํा࿋ዃٗٷᇀ॔๫࿋ዃ߀Վྺၭᇀ॔๫࿋ዃă࿋ዃREAL૬नई࿋ዃ॔๫ڦႎኵăՔധ঳ࠓ࿔ԨMAW(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MAWኸସڦፕຕ၎ཞăTriggerCondition,Position);ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴTriggerConditionኟၠ0ݒၠ1180؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLj31ժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋ړዡ॔๫๚ॲॲᅙঢ়ׯࠀጚԢࢫLjྜׯ࿋ԥย29ዃă.ERDŽٱဃDž࿋ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକ28ᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋ሞኟڦ༱पࡗ܉้ԥยዃLjሞ॔๫๚ॲ݀ิࢫLjई26ኁԥഄ໱࠲Կሏۯ॔๫໯ൽپईኁԥሏۯ্ኹ॔๫ంସ໯ዕኹ้ԥأă.PC(ࡗײྜׯ)࿋ړ॔๫๚ॲ݀ิ้ԥยዃă27ຫ௽ǖਸഔሏۯ॔๫(MAW)ኸସยዃሞኸۨڦ࿿૙ዡڟٳኸۨڦยዃۅ࿋ዃ้݀ิ࿋ዃ॔๫๚ॲLjසူ໯๖ăยዃۅ࿋ዃ࿋ዃ॔๫๚ॲ๢ᆩᇀړዡኟሞሏႜ้ॽగ߲ፕᇑኸۨڦዡ࿋ዃཞօLj૩සሞగ߲ዡ࿋ዃघऄగ߲ۉى݅ઠॽኽၒླྀ෇دໃټă჋ስई๼෇໯Ⴔڦ࿿૙ዡĂ໯Ⴔڦة݀ཉॲLjժྺ໯Ⴔڦ॔๫࿋ዃ๼෇ᅃ߲ኵईՔധՎଉăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ181\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ړጚԢ࿋ዃ॔๫ኸସԥኴႜ้LjWatchEventStatus࿋ԥยዃྺ0(्)Lj࿿૙ዡڟٳ໲዁኱LjDž୲໏ႎຘڦ࣍ޜົቷӀDŽ๫॔ԥዃ࿋ाํڦኸۨڦ॔๫࿋ዃăړ࿋ዃ॔๫๚ॲ݀ิࢫLj޿ዡڦWatchEventStatus࿋ԥยዃྺ1(ኈ)ăܠ߲࿋ዃ॔๫๚ॲሞగ߲ߴۨڦ้क़੗ీघऄLjڍ๟ܔᇀඪࢆߴۨڦ࿿૙ዡᅃْኻీᆶᅃ߲घऄă௅߲๚ॲԥ܀૬॔๫Lj੗ీࣷ๑ᆩ၎ᆌڦWatchEventStatus࿋৊ႜॠă重要提示IMPORTANTሞٷڦI/O૶থዐLj૰ڦኵ੗ీࣷ३஥੦዆ഗت૙ዘް࿋ዃ॔๫ڦ໏܈ăᄲׯࠀኴႜMAWኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ăIMPORTANT重要提示MAWኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMAWኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAI࿮ጨᇸ(2)ுᆶፁࠕڦా٪ጨᇸઠLURE(12)ྜׯ൩൱ă(SERCOS)182؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ጒༀ࿋ǖMAWܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀࡤᅭWatchEventArmedStatኈዡኟሞლቴ࿋ዃ॔๫๚ॲăusWatchEventStatus्ฉᅃ߲॔๫๚ॲԥأă๖૩ǖڦฉ1ዡԢጚഗ዆੦Lj้ኈྺॲཉ෇๼ړ࿋ዃ॔๫๚ॲॠăीۉഗ༱ႚ཮梯形图MAW༱ႚ཮๖૩঳ࠓ࿔ԨMAW(Axis1,MAW_1,Forward,fwdmvpos_1);؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ183\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)࠲Կሏۯ॔๫(MDW)๑ᆩMDWኸସઠ্ኹగ߲ዡڦ࿋ዃ॔๫๚ॲॠăኄ߲ኸସڦၳࡕ๟ཞ้أዡຕ਍঳ࠓዐڦ๚ॲ॔๫ጒༀࢅ॔๫ጚԢጒༀ࿋ăኴႜኄཉኸସ࣏ࣷأᇑਸഔሏۯ॔๫(MAW)ኸସ၎࠲ڦኟሞ৊ႜ࿋ăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACՔധᄲሞഄฉኴႜፕڦዡڦఁK׬ăAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMDW(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MDWኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡ॔๫๚ॲॠᅙঢ়ׯࠀ্ኹࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖ࠲Կሏۯ॔๫(MDW)ኸସൽၩᆯฉᅃ߲MAWኸସ໯ॺ૬ڦ࿋ዃ॔๫๚ॲॠă࠲Կሏۯ࿋ዃ॔๫ኸସփႴᄲຕǗኻႴ๼෇ई჋ስ໯Ⴔڦ࿿૙ዡन੗ăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡă184؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ᄲׯࠀኴႜMDWኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ă重要提示IMPORTANTMDWኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăጒༀ࿋ǖMDWܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀࡤᅭWatchEventArmedStat्ዡுᆶኟሞლቴ࿋ዃ॔๫๚ॲăusWatchEventStatus्ฉᅃ߲॔๫๚ॲԥأă๖૩ǖڦฉ1ዡኹ্ഗ዆੦Lj้ኈྺॲཉ෇๼ړ࿋ዃ॔๫๚ॲॠăीۉഗ༱ႚ཮梯形图MDW༱ႚ཮๖૩঳ࠓ࿔ԨMDW(Aaxis1,MDW_1);؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ185\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ਸഔዡ࿋ዃጃಆ๑ᆩMARኸସઠጚԢົޜఇ੷ྺኸۨڦዡ৊ႜऻ୤๚ॲॠăړኄ(MAR)ཉኸସԥةڦۨኸࢅ෇๼୤ऻڦۨ჋ᇀएॽLj้ᆩۙ݀ཉॲઠጚԢᅃ߲ऻ୤๚ॲăړኸۨڦऻ୤๼෇ࡗ܉஢ፁة݀ཉॲ้Ljሏۯ੦዆ఇ੷ሞ๚ॲ݀ิ้ߵ਍ᆘॲ໮ئ٪ഄॽժLjዃ࿋ዡ໙ऺઠຕऺഗஓՊڦ٪ሞዡڦຕ਍঳ࠓాڦ၎ᆌڦऻ୤࿋ዃՎଉዐăཞ้Ljኸସڦ๚ॲ(PC)࿋ԥཞ้ยዃLjᅜतዡຕ਍঳ࠓዐڦऻ୤๚ॲጒༀ࿋ă჋ስ჋ስକٷፌᇀ࿋ዃ࿋୤ऻڦ؜໙ऺၵఫ๴থৈሶLj୤ک੨شࢅፌၭ࿋ዃش੨ాڦऻ୤๚ॲăසࡕऻ୤࿋ዃ࿋ᇀُش੨ᅜྔLjሶጲۯዘლጚԢऻ୤๚ॲॠăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓăة݀ཉॲքܻ႙૬नۨᅭᆩઠۨᅭऻ୤๚ॲڦऻ୤๼෇ࡗ܉ă჋ስඪᅃǖ0=ሞኟՉᄂة݀1=ሞ޶Չᄂة݀ش੨ک୤քܻ႙૬नසࡕऻ୤๟ش੨႙ڦLjनऺ໙ڦ؜ऻ୤࿋ዃ࿋ᇀᄲথ๴ྺᆶၳऻ୤๚ॲڦኸۨፌٷࢅፌၭ࿋ዃ၌዆ᅜాLjሶยዃ(1)ă჋ስඪᅃǖ0=ᅙ্ኹ1=ᅙ๑ీ186؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ፕຕૌ႙߭๕௮ຎፌၭ࿋ዃREAL૬नईՔړ๑ీش੨ک୤้๑ᆩăऻധ୤࿋ዃՂႷٷᇀፌၭ࿋ዃ၌዆Lj֍ࣷথ๴ऻ୤๚ॲăፌٷ࿋ዃREAL૬नईՔړ๑ీش੨ک୤้๑ᆩăऻധ୤࿋ዃՂႷၭᇀፌٷ࿋ዃ၌዆Lj֍ࣷথ๴ऻ୤๚ॲă๼෇ՊࡽUINT321ई2ኸۨᄲ჋ስڦऻ୤๼෇ă1=ऻ୤1࿋ዃ2=ऻ୤2࿋ዃ঳ࠓ࿔ԨMAR(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MARኸସڦፕຕ၎ཞăTriggerCondition,WindowedRegistration,MinimumPosition,ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞MaximumPosition,ڦ჋ስǖInputNumber);ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴǖTriggerConditionpositive_edge0negative_edge1WindowedRegistrationᅙ্ኹ0ᅙ๑ీ1MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڟ኱ༀጒዃย׼ԍժLjዃยԥ࿋߲ኄ้࣑ገڦኈڟ्ْٗᅃႜ৊प༱ړົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡऻ୤๚ॲॲᅙঢ়ׯࠀጚԢࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋26ሞኟڦ༱पࡗ܉้ԥยዃLjሞऻ୤๚ॲ݀ิࢫLjईኁԥഄ໱ሏۯऻ୤ጚԢ໯ൽپईኁԥሏۯ্ኹऻ୤ంସ໯ዕኹ้ԥأă.PC(ࡗײྜׯ)࿋27ړऻ୤๚ॲ݀ิ้ԥยዃă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ187\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ຫ௽ǖਸഔዡ࿋ዃጃಆ(MAR)ኸସॺ૬ᅃ߲ऻ୤๚ॲLjሞྺ޿ዡ჋ስڦኸڦዡ૙࿿ۨኸئ٪ฉᄂՉۨኸڦ෇๼୤ऻ໏ߛۨํा࿋ዃăۨኸྺLj)्(0ྺዃย࿋sutatStnevEgeRLj้ႜኴԥସኸMARړዡ჋ስڦ႙ૌۨ჋ิ݀ڟ኱Lj๫॔ڦ੷ఇ዆੦ۯሏڟ๴෇๼୤ऻڦऻ୤๼෇ࡗ܉(ऻ୤๚ॲ)ྺኹăړऻ୤๚ॲ݀ิࢫLjዡڦRegEventStatus࿋ԥยዃྺ1(ኈ)Ljዡئ٪ԥዃ࿋ाํڦሞᇑऻ୤๼෇၎ܔᆌڦऻ୤࿋ዃՎଉዐDŽ૩සLjऻ୤1࿋ዃ1ईऻ୤2࿋ዃDžăऻ୤ܔᇀగ߲ߴۨڦዡ੗ໜ้घऄܠ߲ऻ୤๚ॲLjڍ௅߲ऻ୤๼෇ኻీᆶᅃ߲๚ॲ๟घऄڦă௅߲๚ॲԥ܀૬॔๫Lj੗ీࣷ๑ᆩ၎ᆌڦRegEventStatus࿋৊ႜॠăش੨ک୤ۨ໯ዃ࿋ٷፌࢅၭፌᇀ࿋ዡړᆶኻLj้ዐ჋ԥ઀჋ްđ୤ऻ੨شĐړᅭڞ้ิ݀ሞࣷ֍ༀጒײႜڦۨ჋Lj้ాᅜ੨شڦዂऻ୤๚ॲLjසူ໯๖ăش੨ک୤ྺ໯Ⴔڦਨܔኵ࿋ዃ๼෇ኵईՔധՎଉLjᆩኄၵ࿋ዃઠۨᅭऻ୤๼෇ک੨شă੨شዃ࿋ڦၳᆶྺༀጒײႜۨ჋ڦ୤๢ᆩᇀ༵ࠃᅃዖࢮ୼ऻ୤دߌഗڦሗհईໜऐࡗ܉ڦऐ዆Ljܸ༵ٗߛߛ໏ऻ୤๼෇ڦሯำੇඡႠă188؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ܔᇀ၍ႠዡLjኄၵኵ੗ᅜྺኟĂྺ޶ईኁኟ޶ຕፇࢇăڍ๟Ljፌၭ࿋ዃኵՂႷၭᇀፌٷ࿋ዃኵLj֍ࣷ݀ิऻ୤๚ॲăܔᇀ჉ገዡLjଇ߲ኵۼՂႷၭᇀሞሏۯ੦዆ഗڦऐഗยዃڇዐ໯ยۨڦཽජኵăፌၭ࿋ዃኵ੗ᅜٷᇀፌٷ࿋ዃኵLj๢ᆩᇀحࡗዡڦཽජۅڦऻ୤ش੨Ljසူ໯๖ă჉ገዡڦ࿋ዃش੨؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ189\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ዘႎጚԢMARኸସසࡕ౞ڦᆌᆩႴᄲ੺໏૶Ⴤں༑ऻ୤دߌഗLj࿢்ॺᅱ౞๑ᆩᅜူஇडǖ૶Ⴤऻ୤༑ڦ༱ႚ཮இडᄲዘႎጚԢMARኸସLj༱पՂႷ्ٗՎྺኈăኄ߲இड߾ፕڦ໏܈ൽਦᇀᅜူݛ௬ǖ•ײႾ෢௮้क़程序扫描周期•ሏۯඪခࡗײڦຘႎ໏୲重要提示IMPORTANTሞٷڦI/O૶থዐLj૰ڦኵ੗ీࣷ३஥੦዆ഗت૙ዘްሏڦ୤ऻۯ໏܈ăᄲׯࠀኴႜMARኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ă重要提示IMPORTANTMARኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫă190؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMARኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAI࿮ጨᇸ(2)ுᆶፁࠕڦా٪ጨᇸઠLURE(12)ྜׯ൩൱ă(SERCOS)SERVO_MESSAGE_FAI࿮ၳኵ(3)༵ࠃ؜ג෇๼୤ऻڦକLURE(12)ݔྷăSERVO_MESSAGE_FAIยԢتᇀٱဃጒༀዘႎۨᅭ࿋ዃĂࡃଭࢅLURE(12)(16)ăऻ୤2๟၎ࢻಇڦă(SERCOS)ຕۅᆶ๕ݛፕ߾ஓپဃٱቛકڦဃٱ)13(ྷݔ؜גփཞăփ๟ᆩՔጚڦ஼ਉLjકቛٱဃپஓ໯၂๖ڦՊࡽኸڦ๟ፕຕڦՊࡽLjሞ௬ӱዐُᅺăଭྺऺԥຕፕ߲ᅃڼLj؜ଚူڟฉٗܔᇀMARኸସLjકቛٱဃپஓ4ኸڦ๟ፌၭ࿋ዃኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăጒༀ࿋ǖMARܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀࡤᅭRegEventArmedStኈዡኟሞლቴऻ୤๚ॲăatusRegEventStatus्ฉᅃ߲ऻ୤๚ॲԥأă๖૩ǖڦฉ0_sixaԢጚഗ዆੦Lj้ኈྺॲཉ෇๼ړົޜఇ੷ऻ୤๚ॲॠă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ191\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ीۉഗ༱ႚ཮梯形图MAR༱ႚ཮๖૩঳ࠓ࿔ԨMAR(Axis2,MAR_2,positive_edge,enabled,minmarpos_1,maxmarpos_1,1;192؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5࠲Կዡ࿋ዃጃಆ๑ᆩMDRኸସઠ্ኹኸڦႜ৊ዡڦۨኸྺ੷ఇ዆੦ۯሏڦۨऻ୤๼(MDR)෇๚ॲॠăኄཉኸସڦ঳ࡕ๟ཞ้أRegEventStatusࢅRegArmedEventStatus࿋ă੦዆ਸഔዡ࿋ዃጃಆኸସڦኟሞ৊ႜ࿋DŽසࡕᆶڦࣆDžLjॽሞኴႜMDRኸସࢫԥأăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACKՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă๼෇ՊࡽUINT321ई2ኸۨᄲ჋ስڦऻ୤๼෇ă1=ऻ୤1࿋ዃ2=ऻ୤2࿋ዃ঳ࠓ࿔ԨMDR(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MDRኸସڦፕຕ၎ཞăInputNumber);MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړዡ॔๫๚ॲॠᅙঢ়ׯࠀ্ኹࢫLjྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖ࠲Կዡ࿋ዃጃಆ(MDR)ኸସൽၩᆯฉᅃཉਸഔዡ࿋ዃጃಆኸସ໯ॺ૬ڦ࠲၎෇๼୤ऻڦۨኸᇑᆶኻăॠॲ๚୤ऻڦऻ୤ॠࣷԥ্ኹăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ193\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ᄲׯࠀኴႜMDRኸସLjణՔዡՂႷದዃྺົޜईኁݒઍྸᅃዡăޏሶLj޿ኸସٱ؜ă重要提示IMPORTANTMDRኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMDRኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAI࿮ၳኵ(3)༵ࠃ؜ג෇๼୤ऻڦକLURE(12)ݔྷăຕۅᆶ๕ݛፕ߾ஓپဃٱቛકڦဃٱ)13(ྷݔ؜גփཞăփ๟ᆩՔጚڦ஼ਉLjકቛٱဃپஓ໯၂๖ڦՊࡽኸڦ๟ፕຕڦՊࡽLjሞ௬ӱዐُᅺăଭྺऺԥຕፕ߲ᅃڼLj؜ଚူڟฉٗܔᇀMDRኸସLjકቛٱဃپஓ2ኸڦ๟๼෇Պࡽፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲă194؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ጒༀ࿋ǖMDRܔጒༀ࿋ڦ߸߀࿋ఁ׬ጒༀࡤᅭRegEventArmedSt्ዡுᆶኟሞლቴऻ୤๚ॲăatusRegEventStatus्ฉᅃ߲ऻ୤๚ॲԥأă๖૩ǖڦฉ0_sixaኹ্ഗ዆੦Lj้ኈྺॲཉ෇๼ړऻ୤๚ॲॠăीۉഗ༱ႚ཮梯形图MDR༱ႚ཮๖૩঳ࠓ࿔ԨMRD(Axis2,MDR_1,2);؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ195\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ਸഔሏۯཫ୾๼؜ሏۯࡆगࡀࣄཫ୾๼؜ࠀీ༵ࠃକӀዡ࿋ዃܔ๼؜࿋৊ႜยዃࢅް࿋ڦࠀీă(MAOC)ሏۯࡆगࡀࣄࠀీሞాևLjཫ୾๼؜ܔၡت૙ሏۯࡆगࡀࣄཫ୾๼؜ࠀీă௅߲ཫ୾๼ۼ࿋؜๼߲ᅃ௅ă࿋؜๼߲32ࡤԈዐഄLj؜๼߲ᅃሴ޶ၡܔ؜੗ᅜ๑ᆩཫ୾๼ڇႜ৊၍൸؜܀ՊײLj੗ܔ࿋ዃೋᅎࢅ้क़ჽ׿৊ႜց׋ăਸഔሏۯཫ୾๼؜(MAOC)ኸସሞኸۨڦዡࢅ๼؜ኮक़݀ഐ༬ۨཫ୾๼؜ڦጚԢăړኴႜ้Lj๑ᆩᆯRSLogix5000ཫ୾๼؜Պडഗॺ૬ڦཫ୾๼؜൸၍ॽኸۨڦཫ୾๼؜࿋ᇑኸۨڦዡཞօăኄ߲࠲ဣ੗ੂፔዷ/ُᅺă෥ঙٗ՗پ࿋؜๼Lj෥ঙዷ՗پዡዐഄLjဣ࠲ٗLjཫ୾๼؜ࠀీᇑ࿋ዃཫ୾ࠀీ၎࠲Lj޿ࠀీ༵ࠃዷዡᇑٗዡኮक़ڦగዖ࠲ဣăᄲጚඓںॽཫ୾๼؜ᇑኸۨڦዡཞօLjኸۨକᅃ߲ኴႜऺࣄᅜत၎࠲ڦዡࢅཫ୾ጚԢ࿋ዃăړዡӀቷᆯኴႜऺࣄຕኸۨڦݛၠႜ৊ཚࡗዡጚԢ࿋ዃ้Ljཫ୾࿋ዃन໮ۨዡ࿋ዃLjٗኸۨڦཫ୾ጚԢ࿋ዃຕਸ๔ăኄ้Ljཫ୾๼؜ԥጚԢLjཫ୾๼؜ጚԢጒༀԥยዃăཫ୾๼؜࣏੗ᅜཚࡗኴႜऺࣄຕ৊ႜದዃLjᅜ૬नईࠬഐኴႜړമኟሞኴႜڦཫ୾๼؜ڦྜׯăཫ୾๼؜ᄺ੗ᅜኴႜᅃْĂ૶Ⴤኴႜई׼ჄኴႜLjཚࡗኸۨ໯Ⴔڦኴႜఇ๕ઠยዃă׼Ⴤႜྺ੗ඟཫ୾๼؜ሞړཫ୾࿋ዃגࡗཫ୾๼؜ݔྷ้ԥ্ኹLjړཫ୾ݓ࣮ݔྷኮా้ዘႎጚԢăཫ୾๼؜ݔྷڦۨᅭ๟ཚࡗ๼෇ຕCamStartPositionࢅCamEndPositionઠํ၄ڦăዷ੊჋ስ੗ඟዡ๼෇ٗኸۨዡڦํाईంସ࿋ዃዐڥڟă注意ATTENTIONཫ୾๼ڦ୲໏ႎຘٷࡗגକेሺ؜੗ీႠăසࡕሏۯඪခኴႜ้क़גࡗ໯ದዃڦፇڦٷຘႎዜ೺Ljኄ近似刷新周期，੗ీࣷڞዂٱဃႜྺăܔኄዖ൧઄৊ႜॠڦྸᅃݛ๕๟ٗሏۯ੦዆ፇຌႠᄻ௬ฉ॔๫ፌٷኴႜ้क़ă196؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ፕຕǖ梯ीۉഗ༱ႚ཮形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBACՔധॽ࿋ዃ๼෇༵ࠃߴཫ୾๼K؜ڦዡڦఁ׬ăู୼ࡽॽഔۯዡຌႠܔࣆ઀ăAXIS_CONSUMEDAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEኴႜణՔUINT32૬नईՔኴႜణՔۨᅭକ૶থڟంധఁዡڦणዐڦ༬ۨཫ୾๼؜ăႜྺ๟ᆯᅜူݛ௬ඓۨڦǖ²0...8ñሞLogix੦዆ഗዐኴႜڦཫ୾๼؜ă²9...31ñᇨାྺॽઠ๑ᆩăሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦኸସ঳ࠓă๼؜DINTՔധ32߲๼؜࿋ڦणࢇLjߵ਍ኸۨڦཫ୾๼؜ܸԥް࿋ईยዃă໲੗ᅜ๟ᅃ߲ా٪࿋ዃईኁ࿿૙๼؜ăසࡕኴႜऺࣄዐ჋ስକࠬഐLjሶ๼؜ԥࢮ୼ă๼෇DINTՔധ32߲๼؜࿋ڦणࢇLj੗ߵ਍ኸۨڦཫ୾๼؜ԥᆩፕഔᆩ࿋ă໲੗ᅜ๟ᅃ߲ా٪࿋ዃईኁ࿿૙๼෇ăසࡕኴႜऺࣄዐ჋ስକࠬഐLjሶ๼෇ԥࢮ୼ăཫ୾๼؜OUTPUT_CAMຕፇՔധOUTPUT_CAMᇮ໎ຕፇăᇮ໎փႴᄲ৊ႜಇႾLjຕፇٷၭ๟ᆯኸۨڦཫ୾ᇮ໎߲ຕඓۨڦăຕፇڟ๴ၭٷLogix੦዆ഗڦ٪ాᆩ੗ڦ၌዆ă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ197\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ፕຕૌ႙߭๕௮ຎཫ୾ഐ๔࿋ዃSINTĂINTĂ૬नईՔཫ୾ഐ๔࿋ዃᇑཫ୾ዕኹDINTईREALധ࿋ዃᅃഐۨᅭକཫ୾๼؜ݔྷڦፑᆸՉহăཫ୾ዕኹ࿋ዃSINTĂINTĂ૬नईՔཫ୾ዕኹ࿋ዃᇑཫ୾ഐ๔DINTईREALധ࿋ዃᅃഐۨᅭକཫ୾๼؜ݔྷڦፑᆸՉহă๼ڟ1ധՔፇຕ_TUPTUO׋ց؜32߲COMPENSATIONOUTPUT_COMPENSATIONᇮ໎ڦຕፇă޿ຕፇ໭ᆅܔᆌᇀ๼؜࿋Պࡽăຕፇڦፌၭڦ׋ցᆯ๟ၭٷፌߛ๼؜࿋ਦۨڦăኴႜఇ๕UINT32૬नࠌᆶෙዖ(3)੗ీڦኴႜఇ๕ăႜྺ๟ᆯ໯჋ስڦఇ๕ਦۨڦă჋ၜසူǖ0=ᅃْ–ړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ԥ্ኹLjሏۯኸସڦࡗײྜ禁止，运动指控制令的过程ׯ࿋ԥยዃă完成位被设置。1=૶Ⴤ–ړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ሞཫ୾๼؜ݔྷڦ၎ܔᅃीჄă2=׼Ⴤ–ړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ԥ্ኹăړཫ୾࿋ዃዘႎ࣮ݔ୾ཫ෇๼ڟྷా้Ljཫ୾๼؜ԥዘႎጚԢă198؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ፕຕૌ႙߭๕௮ຎኴႜऺࣄUINT32૬न჋ስࢆ้ጚԢཫ୾๼؜ă჋ၜසူǖ0=૬न–ཫ୾๼؜૬नԥጚԢă1=ࠬഐ–ړኟሞኴႜڦཫ୾๼؜ڦཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ԥጚԢăړ჋ስࠬഐ้Ljᅜူຕॽԥࢮ୼ǖ๼؜Ă๼෇ĂዡጚԢ࿋ዃࢅ੊ă2=ৈኟၠ–ړዡٗኟڦݛၠথৎईحࡗኸۨڦዡጚԢ࿋ዃ้Ljཫ୾๼؜ԥጚԢă3=ৈݒၠ–ړዡٗݒڦݛၠথৎईحࡗኸۨڦዡጚԢ࿋ዃ้Ljཫ୾๼؜ԥጚԢă4=ມၠ–ړዡٗඪᅃݛၠথৎईحࡗኸۨڦዡጚԢ࿋ዃ้Ljཫ୾๼؜ԥጚԢă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ199\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ፕຕૌ႙߭๕௮ຎዡጚԢ࿋ዃSINTĂINTĂ૬नईՔړኴႜऺࣄԥยዃྺৈኟDINTईREALധၠĂৈݒၠईມၠܸ൐ዡӀቷኸۨڦݛၠሏۯ้Lj໲ۨᅭକཫ୾๼؜ԥጚԢتڦዡ࿋ዃăසࡕኴႜऺࣄዐ჋ስକࠬഐLjሶዡጚԢ࿋ዃԥࢮ୼ăཫ୾ጚԢ࿋ዃSINTĂINTĂ૬नईՔ໲ۨᅭକړཫ୾๼؜ԥጚDINTईREALധԢ้ᇑዡጚԢ࿋ዃ၎࠲ڦཫ୾࿋ዃă੊UINT32૬न໲ยዃକཫ୾๼؜๟૶থڟዡڦంସ࿋ዃ࣏๟૶থڟዡڦํा࿋ዃăසࡕኴႜऺࣄዐ჋ስକࠬഐLjሶ੊ԥࢮ୼ă0=ํा–ӀቷഄՊஓഗईഄ໱ݒઍยԢڦଉڦዡڦړമ࿋ዃă1=ంସ–໯Ⴔᄲڦईంఁڦዷዡ࿋ዃă঳ࠓ࿔ԨMAOC(Axis,ExecutionTarget,ፕຕᇑीۉഗ༱ႚ཮梯形图MAOCኸସڦፕຕ၎ཞăܔᇀຕፇፕຕLjMotionControl,Output,Input,OutputCam,CamStartPosition,౞փႴᄲԈࡤຕፇ໭ᆅăසࡕ౞փԈࡤຕፇ໭ᆅLjሶኸସٗຕፇ([0])CamEndPosition,ዐڦڼᅃ߲ᇮ໎ਸ๔ăOutputCompensation,ExecutionMode,ExecutionSchedule,AxisArmPosition,CamArmPosition,Reference);200؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴExecutionModeᅃْ0૶Ⴤ1׼Ⴤ2ExecutionSchedule૬न0pending1forwardonly2reverseonly3bidirectional4੊ํा0ంସ1MAOCኸସᆶၳڦཫ୾ጚԢ࿋ዃ੗ᅜ๟ሞཫ୾ഐ๔࿋ዃᇑཫ୾ዕኹ࿋ዃኮक़DŽԈࡤDžڦඪࢆ࿋ዃăසࡕཫ୾ጚԢ࿋ዃԥยዃྺڪᇀDŽईݥ׉থৎᇀDžཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃڦኵLjց׋੗ీࣷॽཫ୾࿋ዃגࡗཫ୾超出ഐ๔࿋ዃᇑཫ୾ዕኹ࿋ዃኮक़ڦݔྷăց׋๴ڟྺ࿋ዃೋᅎĂ໮٪ჽ׿ࢅ঴໮٪ჽ׿ኸۨڦ๼؜ց׋ኵڦᆖၚLj࣏Ԉઔߵ਍MAOCኸସڦ੊ࢅ๼؜ຕ໯ᆌᆩڦాևց׋ኵăසࡕMAOCኸସದዃକኴႜఇ๕Đ૶ჄđईĐ׼ჄđLjփࣷิ๊஺޶௬ፕᆩLjܸ൐ڦഐࠬሞ٪ࣷփLj้ۯሏዡतᅜԢጚԥ؜๼୾ཫړMAOCኸସăසࡕMAOCኸସದዃକኴႜఇ๕ĐৈᅃْđLjሶࣷิᅜူ޶௬ፕᆩLjܸ൐ڦഐࠬሞ٪ࣷLj้ۯሏዡतᅜԢጚԥ؜๼୾ཫړMAOCኸସă•ᅃ߲ईܠ߲๼؜੗ీᆦᇺփࣷ߀Վጒༀă•MAOCኸସ੗ీ૬नྜׯăڦସኸMAOCڦഐࠬሞ٪้ۯሏዡतᅜԢጚԥ؜๼୾ཫړ੗ీ޶௬ፕᆩ๟Ljᅃ߲ईܠ߲๼؜੗ీࣷߵ਍ࠬഐڦMAOCኸସڦದዃܸਸ๔ኴႜă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ201\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړཫ୾๼؜ׯࠀ݀ഐ้Ljྜׯ࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋26ړཫ୾๼؜ԥׯࠀ݀ഐ้Ljኄ߲࿋ԥยዃǗසࡕԥଷᅃ߲ਸഔሏۯཫ୾๼؜ంସ໯ൽپĂԥ࠲Կሏۯཫ୾๼؜ంସ໯ዕኹLjईኁړኴႜఇ๕ԥยዃྺĐᅃݔ؜๼୾ཫڦᅭۨ؜גۯᅎዃ࿋୾ཫ้đْྷLjሶኄ߲࿋ԥأă.PC(ࡗײྜׯ)࿋ኄ߲࿋ሞኟڦ༱पࡗ܉้ԥأLjሞĐᅃْđኴႜ27ఇ๕ူݔ؜๼୾ཫڦᅭۨ؜גۯᅎዃ࿋୾ཫړྷ้Ljኄ߲࿋ԥยዃă.SEGMENT໲ԥยዃڟᇑٱဃ36(ݥ݆ཫ୾๼؜)ईٱဃ37(ݥ݆๼؜ց׋)၎࠲૴ڦຕፇ໭ᆅăܠ߲ٱဃዐኻᆶڼᅃ߲ԥئ٪ăຫ௽ǖਸഔሏۯཫ୾๼؜(MAOC)ኸସኴႜཚࡗට߾ยዃĂײႾײႾईཚࡗRSLogix5000ཫ୾๼؜Պडഗ໯ॺ૬ڦཫ୾๼؜൸၍ăሞాևLjཫ୾๼؜ܔၡت૙ሏۯࡆगࡀࣄཫ୾ࠀీă௅߲ཫ୾๼؜ܔၡ޶ሴᅃ߲๼ڇᅜ੗ۼ࿋؜๼߲ᅃ௅ă࿋؜๼߲32ࡤԈዐഄLj؜܀৊ႜՊײăణമLjཫ୾๼؜ࠀీሞLogix੦዆ഗాྺ௅߲ࡗײຘႎዜ೺ኴႜᅃْDŽణമ੗ሞ1ڟ32ࡹ௱ኮक़ದዃDžăዡ޿ዡॽ࿋ዃ๼෇༵ࠃߴཫ୾๼؜ăኄ߲ዡ੗ᅜ๟ႵెڦĂํाڦईᆩࡗڦăኴႜణՔኴႜణՔۨᅭକ૶থڟኸۨዡڦणዐڦ༬ۨཫ୾๼؜ăణമLjኻీኸۨӗ߲ཫ୾๼؜ă202؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ኸۨཫ୾๼؜൸၍ᄲኴႜMAOCኸସLjՂႷኸۨᅃ߲ऺ໙ڦཫ୾๼؜ຕ਍ຕፇՔധăཫ୾๼؜ຕፇՔധ੗ᅜཚࡗRSLogix5000ՔധՊडഗઠظॺLjईኁཚࡗMAOCኸସ๑ᆩాዃڦཫ୾๼؜Պडഗઠظॺă޿ຕ਍ۨᅭକ௅߲ཫ୾๼٪ాᆩ੗ڟ๴ຕ߲ڦ໎ᇮ؜๼୾ཫăຕ༹ਏڦ໎ᇮ؜ຕଉڦ၌዆ăܔᇀ௅߲๼؜࿋੗ۨᅭଭ߲ईܠ߲ཫ୾ăܔᇀኄၵᇮ໎ሞཫ୾๼؜ຕፇాසࢆಇଚժ࿮၌዆ă൩ለOUTPUT_CAM঳ࠓڦ௮ຎLjକ঴ᆶ࠲ຕ਍ૌ႙ࢅՊײڇ࿋ڦ႑တă重要提示IMPORTANTړཫ୾๼؜ٶਸش੨࿋ዃԥዘႎۨᅭܸԥཫ୾๼؜ᇮ໎੦዆؜ࣷLj้ۯऄሞኟ؜๼ڦ၄ᅴ׉ăሞగၵ൧઄ူLjሏۯࡆगࡀࣄ੗ీ༑փڟش੨ԥحሁLjԥཫ୾๼؜๼ڦ዆੦໎ᇮ؜ධԍ׼ਸഔጒༀăኄ߲࿚༶๢ᆩᇀ๴ۅ؜๼ࢆඪڦ዆੦ସኸMAOCڟईႵె๼؜ăူ཮၂๖କᆯཫ୾๼؜ᇮ໎ۨᅭڦዡĂ๼෇ࢅ๼؜ኮक़ڦ࠲ဣă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ203\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ཫ୾๼؜ᇮ໎࠲ဣ໮٪ૌ႙ߵ਍໯჋ስڦ໮٪ૌ႙Lj၎ᆌڦ๼؜࿋ॽӀቷူ՗৊ႜยዃă໮٪ૌ႙ႜྺ࿮ၳ๼؜࿋փԥ߸߀ă࿋ዃړዡ৊෇ԥց׋ڦཫ୾ݔྷ้Lj๼؜࿋ԥยዃă๑ీړഔᆩ࿋Վྺऄሂ้Lj๼؜࿋ԥยዃă࿋ዃࢅ๑ీړዡ৊෇ԥց׋ڦཫ୾ݔྷܸ൐ഔᆩ࿋Վྺऄሂ้Lj๼؜࿋ԥยዃăူ཮၂๖ܔᇀփཞۨ჋໯Ljຕࡧڦዃ࿋ྺፕࢇፇ࿋ᆩഔࢅ୾ཫ׋ցڦڦ࿋؜๼ܔ႙ૌ٪໮ڦᆖၚă204؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5໮٪࿋ዃ঴໮٪ૌ႙ߵ਍໯჋ስڦ঴໮٪ૌ႙Lj၎ᆌڦ๼؜࿋ॽӀቷူ՗৊ႜް࿋ă঴໮٪ૌ႙ႜྺ࿮ၳ๼؜࿋փԥ߸߀ă࿋ዃړዡ૗ਸԥց׋ڦཫ୾ݔྷ้Lj๼؜࿋ԥް࿋ă׼Ⴤ้क़؜๼Lj้ຐ঳क़้Ⴤ׼ړ࿋ԥް࿋ă๑ీړഔᆩ࿋Վྺփऄሂ้Lj๼؜࿋ԥް࿋ă࿋ዃࢅ๑ీړዡ૗ਸԥց׋ڦཫ୾ݔྷईኁഔᆩ࿋Վྺփऄሂ้Lj๼؜࿋ԥް࿋ă׼Ⴤ้क़ࢅ๑ీړ׼Ⴤ้क़঳ຐईኁഔᆩ࿋Վྺփऄሂ้Lj๼؜࿋ԥް࿋ăူ཮၂๖ܔᇀփཞۨ჋໯Ljຕࡧڦዃ࿋ྺፕࢇፇ࿋ᆩഔࢅ୾ཫ׋ցڦڦ࿋؜๼ܔ႙ૌ٪໮঴ڦᆖၚă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ205\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)঴໮٪ፕྺ࿋ዃڦࡧຕᅜत้क़ڦࡧຕă঴໮٪ፕྺ้क़ڦࡧຕፑᆸཫ୾࿋ዃፑᆸཫ୾࿋ዃۨᅭକཫ୾๼؜ᇮ໎ڦݔྷăසࡕ໮٪ई঴໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđܸ൐ഔᆩ࿋ྺऄሂጒༀLjሶፑᆸཫ୾࿋ዃኸ٪໮঴ई٪໮ڦ࿋؜๼କۨ࿋ዃă׼Ⴤ้क़සࡕ঴໮٪ૌ႙ԥยዃྺĐ׼Ⴤ้क़đईĐ׼Ⴤ้क़ࢅ๑ీđܸ൐ഔᆩ࿋ྺऄሂጒༀLjሶཫ୾׼Ⴤ้क़ኸ٪໮঴ࢅ٪໮ڦ࿋؜๼କۨኮक़ڦ้क़ă๑ీૌ႙ߵ਍໯჋ስڦ๑ీૌ႙Ljഔᆩ࿋๟๼෇Ăݒገ๼෇Ă๼؜ईݒገ๼؜ڦᅃ߲ᇮ໎ă206؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ཫ୾๼؜ຕፇॠසࡕ౞჋ስڦ๼؜࿋ၭᇀ0ईٷᇀ31Ljཫ୾๼؜ᇮ໎փԥ੊୯Ljժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦ໮٪ૌ႙ၭᇀ0ईٷᇀ3Ljሶ๑ᆩኵĐփऄሂđLjժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦ঴໮٪ૌ႙ၭᇀ0ईٷᇀ5Ljሶ๑ᆩኵĐփऄሂđLjժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦፑཫ୾࿋ዃٷᇀईڪᇀᆸཫ୾࿋ዃLjܸ൐໮٪ई঴໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđLjሶཫ୾๼؜ᇮ໎փԥ੊୯Ljժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦፑཫ୾࿋ዃၭᇀཫ୾ഐ๔࿋ዃLjܸ൐໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđLjሶ๑ᆩཫ୾ഐ๔࿋ዃLjժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦᆸཫ୾࿋ዃٷᇀཫ୾ዕኹ࿋ዃLjܸ൐঴໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđLjሶ๑ᆩཫ୾ዕኹ࿋ዃLjժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦ׼Ⴤ้क़ၭᇀईڪᇀ0Ljܸ൐঴໮٪ૌ႙ԥยዃྺĐ׼Ⴤ้क़đईĐ׼Ⴤ้क़ࢅ๑ీđLjሶཫ୾๼؜ᇮ໎փԥ੊୯Ljժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦ๑ీૌ႙ၭᇀ0ईٷᇀ3Ljܸ൐໮٪ई঴໮٪ૌ႙ԥยዃྺĐ๑ీđĂĐ࿋ዃࢅ๑ీđईĐ׼Ⴤ้क़ࢅ๑ీđLjሶཫ୾๼؜ᇮ໎փԥ੊୯Ljժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đăසࡕ౞჋ስڦഔᆩ࿋ၭᇀ0ईٷᇀ31Ljܸ൐໮٪ई঴໮٪ૌ႙ԥยዃྺĐ๑ీđĂĐ࿋ዃࢅ๑ీđईĐ׼Ⴤ้क़ࢅ๑ీđLjሶཫ୾๼؜ᇮ໎փԥ੊୯Ljժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆ཫ୾๼؜đă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ207\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ኸۨ๼؜ց׋๼؜ց׋ຕ਍ຕፇՔധ੗ᅜཚࡗRSLogix5000ՔധՊडഗઠኸۨăຕ਍ૌ႙ཚࡗኸۨ௅߲ኴႜऐࠓڦ༬ኙLjઠۨᅭ௅߲๼؜࿋ڦਏ༹ຕă޿ຕፇ໭ᆅܔᆌᇀ๼؜࿋Պࡽăԥց׋ڦፌߛ๼؜࿋ڦຕጴۨᅭڦ׋ց؜๼ܔăၭٷၭፌڦፇຕُ๟ڦ߸߀ॽ૬नิၳăူ཮၂๖କ๼؜ց׋ܔዡĂ๼෇ࢅ๼؜ኮक़࠲ဣڦᆖၚă๼؜ց׋൩ለOUTPUT_COMPENSATION঳ࠓڦ௮ຎLjକ঴ᆶ࠲ຕ਍ૌ႙ࢅՊײڇ࿋ڦ႑တăೋᅎࢅჽ׿ց׋ೋᅎ༵ࠃ࿋ዃց׋Ljܸ໮٪ࢅ঴໮٪ჽ׿ሶྺ໮٪ࢅ঴໮٪ፕ༵ࠃ้क़ჽ׿ց׋ăူ཮၂๖କց׋ኵܔཫ୾๼؜ᇮ໎ڦᆖၚăೋᅎࢅჽ׿ց׋208؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ཫ୾ݔྷ๟ᆯཫ୾๼؜ᇮ໎ڦፑᆸཫ୾࿋ዃۨᅭڦăց׋ཫ୾ݔྷ๟ᆯཫ୾ݔྷĂೋᅎࢅ໮٪त঴໮٪ೋᅎۨᅭڦă໮٪ࢅ঴໮٪ೋᅎ๟ᆯړമ໏܈v໯ۨᅭڦǖ໮٪ೋᅎ=v*໮٪ჽ׿঴໮٪ೋᅎ=v*঴໮٪ჽ׿໯ڥڟڦց׋ೋᅎ੗ీํाฉٷᇀཫ୾ഐ๔࿋ዃࢅཫ୾ዕኹ࿋ዃኮăူ௬ڦࠅ๕၂๖କց׋ኵܔཫ୾๼؜ᇮ໎׼Ⴤ้क़ڦᆖၚăց׋٪໮঴-׿ჽ٪໮+क़้Ⴤ׼=क़้Ⴤ׼ڦჽ׿ఇ๕ց׋ߵ਍໯჋ስ؜๼ڦ׋ցLj๕ఇڦ࿋ॽӀቷူ՗৊ႜยዃăఇ๕ႜྺኟ׉؜๼Lj้ሂऄڥՎ؜๼ڦፕ٪໮঴ࢅ٪໮ړ࿋ԥยዃăڥՎ؜๼ڦፕ٪໮঴ࢅ٪໮ړփऄሂ้Lj๼؜࿋ԥް࿋ăൽڥՎ؜๼ڦፕ٪໮঴ࢅ٪໮ړݒփऄሂ้Lj๼؜࿋ԥยዃă؜๼Lj้ሂऄڥՎ؜๼ڦፕ٪໮঴ࢅ٪໮ړ࿋ԥް࿋ăஞ؜๼Lj้ሂऄྺ؜๼ڦፕ٪໮঴ࢅ٪໮ړ዆ۙ؋࿋ԥஞڦ࿋؜๼ᇀᆌܔༀጒᆶ቞ڦ؋ஞă዆ۙ؋ऄሂጒༀăڥՎ؜๼ڦፕ٪໮঴ࢅ٪໮ړփऄሂ้Lj๼؜࿋ԥް࿋ăൽ؜๼Lj้ሂऄྺ؜๼ڦፕ٪໮঴ࢅ٪໮ړࢅݒ࿋ԥஞڦ࿋؜๼ᇀᆌܔༀጒᆶ቞ڦ؋ஞă዆ۙ؋ஞۙ؋዆փऄሂጒༀăڥՎ؜๼ڦፕ٪໮঴ࢅ٪໮ړփऄሂ้Lj๼؜࿋ԥยዃă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ209\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ူ཮၂๖କఇ๕Ăთ้࣍क़ࢅ቞੣Բܔ๼؜࿋ڦᆖၚăఇ๕ց׋๼؜ց׋ຕፇॠසࡕ౞჋ስڦ໮٪ࢅ঴໮٪ჽ׿ց׋ڞዂڦց׋ཫ୾ၭᇀፌၭ੻܈Ljሶց׋ཫ୾ڦ੻܈ԥยዃྺፌၭኵăසࡕ౞჋ስڦఇ๕ၭᇀ0ईٷᇀ3Ljሶ੊୯Đኟ׉đఇ๕Ljժয়ߢᆩࢽ؜၄ኸସٱဃĐݥ݆๼؜ց׋đăසࡕ౞჋ስۙ؋ஞĐྺዃยԥ๕ఇ൐ܸLj100ᇀٷई0ᇀၭԲ੣቞ڦ዆đईĐൽ؜ࢽᆩߢয়ժLjԲ੣቞100ई0୯੊ሶLjđ዆ۙ؋ஞࢅݒ၄ኸସٱဃĐݥ݆๼؜ց׋đăසࡕ౞჋ስۙ؋ஞĐྺዃยԥ๕ఇ൐ܸLj0ᇀڪईᇀၭक़้࣍თڦ዆đईĐൽ؜ࢽᆩߢয়ժLj዆ۙ؋ஞԥփ࿋؜๼ሶLjđ዆ۙ؋ஞࢅݒ၄ኸସٱဃĐݥ݆๼؜ց׋đă๼؜๼؜๟32߲๼؜࿋ڦणࢇLj੗ߵ਍ኸۨڦཫ୾๼؜ԥยዃࢅް࿋ă๼؜੗ᅜ๟ᅃ߲ా٪࿋ዃईኁ࿿૙๼؜DŽ૩සLocal.0.O.DataDžă210؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5๼෇๼෇๟32߲๼෇࿋ڦणࢇLj੗ߵ਍ኸۨڦཫ୾๼؜ԥᆩፕഔᆩ࿋ă๼෇੗ᅜ๟ᅃ߲ా٪࿋ዃईኁ࿿૙๼෇DŽ૩සLocal.0.I.DataDžăཫ୾ഐ๔࿋ዃࢅཫ୾ዕኹ࿋ዃཫ୾ഐ๔࿋ዃᇑཫ୾ዕኹ࿋ዃᅃഐۨᅭକཫ୾๼؜ݔྷڦፑᆸՉহăڦ؜๼୾ཫLj้ዃ࿋ኹዕ୾ཫईዃ࿋๔ഐ୾ཫࡗגۯᅎዃ࿋୾ཫړႜྺᆯኴႜఇ๕ࢅኴႜऺࣄઠۨᅭăܔཫ୾ഐ๔࿋ዃࢅཫ୾ዕኹ࿋ዃڦ߸߀኱ڟړമڦMAOCኸସྜׯᅜࢫ֍ࣷิၳăኴႜఇ๕ߵ਍໯჋ስڦኴႜఇ๕Ljړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼ڦ؜ႜྺ੗ీᆶ໯փཞăኴႜఇ๕ႜྺᅃْړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ԥ্ኹLjሏۯኸସڦࡗײྜ位置时，凸轮输出被禁止，运动控制指令的过ׯ࿋ԥยዃă程完成位被设置。׼Ⴤړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ԥ্ኹăڍ๟Ljړཫ୾࿋ዃዘႎ࣮ڟ๼෇ཫ୾ݔྷా้Ljཫ୾๼؜ԥዘႎጚԢă૶Ⴤړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ሞཫ୾๼؜ݔྷڦ၎ܔᅃीჄăኴႜऺࣄߵ਍໯჋ስڦኴႜऺࣄLjཫ୾๼؜Ӏቷူ՗໯๖ԥጚԢăኴႜऺࣄႜྺ૬नཫ୾๼؜ԥ૬नጚԢăࠬഐړᅙጚԢڦཫ୾๼؜ڦཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃ้Ljཫ୾๼؜ԥጚԢăৈኟၠړዡٗኟڦݛၠথৎईحࡗኸۨڦዡጚԢ࿋ዃ้Ljཫ୾๼؜ԥጚԢăৈݒၠړዡٗݒڦݛၠথৎईحࡗኸۨڦዡጚԢ࿋ዃ้Ljཫ୾๼؜ԥጚԢăມၠړዡٗኟڦईݒڦݛၠথৎईحࡗኸۨڦዡጚԢ࿋ዃ้Ljཫ୾๼؜ԥጚԢă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ211\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ዡጚԢࢅཫ୾ጚԢ࿋ዃړኴႜऺࣄԥยዃྺৈኟၠĂৈݒၠईມၠܸ൐ዡӀቷኸۨڦݛၠሏۯ้LjዡጚԢ࿋ዃۨᅭକཫ୾๼؜ԥጚԢتڦዡ࿋ዃăཫ୾ጚԢ࿋ዃۨᅭକړཫ୾๼؜ԥጚԢ้LjᇑዡጚԢ࿋ዃ၎࠲ڦཫ୾ጚԢ࿋ዃăܔዡጚԢ࿋ዃईཫ୾ጚԢ࿋ዃڦ߸߀኱ڟړമڦMAOCኸସኴႜᅜࢫ֍ࣷิၳăዡጚԢࢅཫ୾ጚԢ࿋ዃ੊ߵ਍໯჋ስڦ੊Ljཫ୾๼؜ԥ૶থڟዡํा࿋ዃईంସ࿋ዃă重要提示IMPORTANTMAOCኸସኴႜሞᅃْ෢௮ዐྜׯLjᅺُྜׯ(.DN)࿋ࢅኟሞ৊ႜDŽ.IPDž࿋ԥ૬नยዃăኟሞ৊ႜDŽ.IPDž࿋ॽԍ׼ยዃጒༀLj኱ڟཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃDŽሞĐᅃْđኴႜఇ๕ዐDžĂԥଷᅃཉMAOCኸସ໯ൽپईኁԥMDOCኸସ্ኹྺኹăړMAOCኴႜ้Ljࡗײྜׯ࿋ԥ૬नأLjړཫ୾࿋ዃᅎۯגࡗཫ୾ഐ๔࿋ዃईཫ୾ዕኹ࿋ዃDŽሞĐᅃْđኴႜఇ๕ዐDž้ԥยዃă212؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖMAOCٱဃپஓ(.ERR)ٱဃၩတپஓ௮ຎኴႜ؋཭3׈๬ᇑଷᅃ߲ړമኟሞ৊ႜڦཫ୾๼؜ᅃഐኴႜă࠲Կጒༀٱဃ7׈๬ኴႜتᇀ࠲Կጒༀڦዡăዡ࿄ದዃ11دڿڦዡኵᆅᆩᅃ߲࿄ದዃڦዡLjनዡช࿄ԥኸۨߴగ߲࿿૙ሏۯఇ੷ཚڢăኵڦྷݔ؜גᆩ๑๬׈13ྷݔ؜ג๼෇ຕઠኴႜă1.ཫ୾ഐ๔࿋ዃཫ୾ዕኹ࿋ዃă2.ཫ୾ጚԢ࿋ዃሞཫ୾๼؜ݔྷኮྔă९કቛٱဃևLjକ঴ᆶ࠲ٱဃᇱᅺڦ߸ܠ႑တăࡃଭࡗײዐٱဃ16׈๬๑ᆩᅃ߲ኟሞ৊ႜڦࡃଭࡗײઠኴႜăዡፇ࿄ཞօ19׈๬ኴႜڦዡ໯ሞڦዡፇాణമช࿄ཞօăዡྺࠤቱጒༀ20׈๬ኴႜتᇀࠤቱጒༀڦዡăፇྺࠤቱጒༀ21׈๬ኴႜڦዡ໯ሞڦగ߲ፇኟتᇀࠤቱጒༀăݥ݆ۯༀ߸߀23׈๬ܔۯༀຕ৊ႜݥ݆߸߀Lj૩සሞS൸၍ฉࢇժĂሞ৊ႜዐॽఇ๕ٗվޛ߸߀ྺS൸၍ĂॽS൸၍߸߀ྺݥଭ໏܈ईኁ߸߀S൸၍ڦे໏܈ăتഗ૙تړ24ፕ๕ఇഗ዆੦݆ݥᇀ๬ఇ๕้׈๬ኴႜݥ݆ኴႜణՔ35׈๬ኴႜڦኸۨཫ୾๼؜փԥLogix੦዆ഗኧ׼ă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ213\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ٱဃၩတپஓ௮ຎݔ؜גᇵׯ߲ᅃณ዁ࡤԈፇຕ؜๼୾ཫڦႜኴ๬׈36؜๼୾ཫ݆ݥྷǖ1.๼؜࿋ၭᇀ0ईኁٷᇀ31ă2.࿮ၳڦ໮٪ૌ႙ኵă3.࿮ၳڦ঴໮٪ૌ႙ኵă4.ፑíᆸLjړ໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđ้ă5.ፑ<ཫ୾ഐ๔࿋ዃLjړ໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđ้ă6.ᆸ>ཫ୾ዕኹ࿋ዃLjړ঴໮٪ૌ႙ԥยዃྺĐ࿋ዃđईĐ࿋ዃࢅ๑ీđ้ă7.׼Ⴤ้क़Ç0Ljړ঴໮٪ૌ႙ԥยዃྺĐ׼Ⴤ้क़đईĐ׼Ⴤ้क़ࢅ๑ీđ้ă8.๑ీૌ႙ኵ࿮ၳLjړ໮٪ૌ႙ई঴໮٪ૌ႙ԥยዃྺĐ๑ీđईĐ׼Ⴤ้क़ࢅ๑ీđ้ă9.ഔᆩ࿋ኵ࿮ၳLjړ໮٪ૌ႙ई঴໮٪ૌ႙ԥยዃྺĐ๑ీđĂĐ࿋ዃࢅ๑ీđईĐ׼Ⴤ้क़ࢅ๑ీđ้ăݔ؜גᇵׯ߲ᅃณ዁ࡤԈፇຕ؜๼୾ཫڦႜኴ๬׈37׋ց؜๼݆ݥྷǖ1.࿮ၳڦఇ๕ኵă2.თ้࣍क़Ç0Ljۙ؋ஞࢅݒൽĐईđ዆ۙ؋ஞĐྺዃยԥ๕ఇړ዆đ้ă3.቞੣Բၭᇀ0ईۙ؋ஞĐྺዃยԥ๕ఇړLj100ᇀٷ዆đईĐൽۙ؋ஞࢅݒ዆đ้ăMAOC࿮ၳ๼؜ፕຕ80ExErr#1ǖ࿮ၳڦຕ਍Քധᆅᆩ-๼؜ፕຕுᆶኸၠఇ੷๼؜ຕ਍ՔധڦO.Dataᇮ໎ăExErr#2ǖ࿮ၳڦOB16ISఇ੷ཚ႑߭๕通讯–OB16ISཚ႑߭๕ᅙٗఐ通讯ණڦĐӀۅऺࣄ๼؜ຕ਍đ߸߀ྺڦ߭๕ă214؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5કቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜גຕăတ႑ڦՊࡽኸڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦຕፕ๟ڦᅃ߲ፕຕԥऺྺଭăᅺُܔᇀMAOCኸସLjકቛٱဃپஓ4ኸڦ๟๼؜ፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲăጒༀ࿋ǖMAOCܔጒༀ࿋ڦᆖၚጒༀ࿋੗ᅜᆩᇀඓۨ๟ޏ੗ᅜ݀ഐMAOCኸସăMAOCኸସᆖၚڟሏۯዡ঳ࠓዐڦᅜူጒༀጴǖ•OutputCamStatus•OutputCamPendingStatus•OutputCamLockStatus•OutputCamTransitionStatusසࡕኴႜऺࣄԥยዃྺৈኟၠĂৈݒၠईኁມၠLjሶړᅜူඪࢆଇዖཉॲׯ૬้न੗݀ഐMAOCኸସǖ•OutputCamStatus࿋=FALSEई•OutputCamStatus࿋=TRUEOutputCamLockStatus࿋=FALSEOutputCamTransitionStatus࿋=FALSEසࡕኴႜऺࣄԥยዃྺࠬഐLjሶړᅜူඪࢆଇዖཉॲׯ૬้न੗݀ഐMAOCኸସǖ•OutputCamStatus࿋=FALSEई•OutputCamStatus࿋=TRUEOutputCamTransitionStatus࿋=FALSEዡࢅఇ੷ࠤቱཉॲ্ኹཫ୾๼؜ړ੦዆ഗ॔ڟူ௬ᅃዖࠤቱ้Ljॽ্ࣷኹཫ୾๼؜ǖ•ܔᇀAxis_ServoࢅAxis_Servo_Driveǖዡݒઍ۪฿ࠤቱ•ܔᇀAxis_ServoࢅAxis_Servo_Driveǖఇ੷ࠤቱ•ܔᇀAxis_Consumedǖ࿿૙ዡࠤቱ؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ215\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ኄၵࠤቱิփ੗੍ڦݒઍຕ਍ăཞ้Ljٱ؜ସኸሶLjቱࠤዡሞ٪ࡕස้ഐ݀ԥସኸMAOCړăࡀࣄ๼؜ఇ੷1756-OB16ISࡀࣄ๼؜ఇ੷ڦยऺᇑሏۯዡཫ୾๼؜(MAOC)ሏۯኸସᅃഐ๑ᆩLjઠ༵ࠃएᇀ࿋ዃڦ๼؜੦዆DŽᄺ׬ྺPLS)ăMAOCኸସጲวሎႹएᇀ࿋ዃڦ๼؜੦዆Lj๑ᆩControlLogixዐڦඪࢆሏۯዡፕྺ࿋ዃ੊ᅜतඪࢆ๼؜ईքܻኵፕྺ๼؜ăMAOCߵ਍ሏۯዡ࿋ዃӀቷሏۯፇٷڦຘႎ໏୲DŽཚ׉ྺ2ms-10msDžઠ߸ႎ๼؜ă໚඗ኄܔᇀևᆌᆩઠຫ๟ፁࠕକLjڍܔᇀཚ׉ሞገ࣑ࢅԈጎଶᇘా؜၄ڦ࢔ܠߛ໏ᆌᆩઠຫ๟໿஥କă1756-OB16ISఇ੷ኧ׼ܔഄ16࿋๼؜ዐڦ8߲๼؜ٶਸ/࠲Կ้क़DŽ๼؜0-7Dž৊ႜऺࣄDŽ๑ᆩ100msྺሺଉDžLjܸ༵ٗߛକႠీă๼؜ऺࣄڦݛ݆๟Ljॽຕ਍๼෇ᅃ߲ईܠ߲ᆯ๼؜૶থຕ਍٪ئഗ໯༵ࠃڦ16߲ऺࣄዐăፕُتۨᅭڦऺࣄ๼؜փᆌᇑডራڦऺࣄ๼؜ํ၄၎ंၫăᅜമڦํ၄ᅜఇ੷ྺڇ࿋ऺࣄ๼؜Lj໯ᆶ๼؜ۅۼᆯڇ้߲क़م৊ႜ੦዆ă၄ሞڦํ၄ᅜۅྺڇ࿋ऺࣄ๼؜Lj௅ᅃ߲๼؜ۅᆯഄጲमڦ้क़م৊ႜ੦዆ă߲߳ऺࣄሞ੦዆ഗా؜๼ڦ੷ఇ޿ሞئ٪Ljॺظᆙၟ՗ዐLjժཚࡗԝӱ݀ໃڦ૴࠲ࣄऺᇑĂຕऺଚႾ߲ᅃକۨኸࣄऺă੷ఇ؜๼ࣄࡀڟ๼؜ۅĂ๼؜ኵᆌ޿ᆌᆩڟ࿿૙๼؜ۅڦ้क़Ăᅜतሞऺࣄڦ้क़ᄲᆌᆩڟ๴مक़้CSTڦࣄऺ߲௅ăࣄऺئ٪ժ๭থ੷ఇO/Iăኵڦఇ੷؜๼ሶLjمक़้ڦࣄऺࢇޙक़้മړनLjࢫ೺ڟࣄऺ߲గړă๫॔ڦኵԥᆌᆩڟ၎ᆌڦ๼؜࿋ăASICዐڦ้ۨഗᆘॲᆩᇀᆫࣅऺࣄ໙݆ăኄ߲ᆘॲ࣏३ณକ้ჽࢅ۶ۯႠీă௅߲ऺࣄڦጒༀॽሞ๼؜࣮հ૶থዐԒߢLjڦ੷ఇሞᆙݒ๼෇ᆙၟዐăऺࣄ๼؜ࠀీᅈડᇀCST(ၹۙဣཥ้क़)้क़مăऐॐా዁ณᄲᆶᅃ߲੦዆ഗՂႷྺCST้क़ዷऐă࿄ᆩڦ๼؜੗ᆩፕኟ׉๼؜Ljॽ૬नᆌᆩܸփႴᄲڪځCST้क़م؜๼ၵన๖ኸઠᆩLj੷ఇڟໃ݀ԥஓԸೡ߲ᅃă೺ڟॽፕྺኟ׉๼؜ăࡀࣄ๼؜๼ࣄऺă؜๼ڦࣄऺႜ৊܀ڇᅜ੗߲ӗܠፌ׼ኧ੷ఇ؜ՂႷሞ๼ڟ0ۅ؜7ኮक़ă1756-OB16ISኧ׼ፌܠ16߲ऺࣄLjഄዐ௅߲๼؜ଇ߲ऺࣄă࿄Đऺࣄđڦ๼؜ॽᆩፕኟ׉๼؜ۅă๑ᆩೡԸஓઠኸ๖నၵۅ๟ऺࣄڦLjనၵۅ๟࿄ऺࣄڦă۶ۯࢅ้ჽႠీၭᇀ非计划100ྲ௱ă໯ᆶऺࣄದዃۼཚࡗMAOCኸସઠྜׯă216؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ሞړമऺࣄช࿄ࡗ೺ኮമLjසࡕI/Oఇ੷๭ڟᆯႾଚऺຕڦՎࣅ໯ኸ๖ڦగ߲ႎऺࣄLjሶړമऺࣄॽԥޮ߃ăኄዖऐ዆੗ᆩᇀൽၩኟሞऄሂڦऺࣄă๼؜࣮հ૶থዐݓ࣮ڦጒༀ࿋੗ᆩᇀඓۨ௅߲ऺࣄڦړമጒༀᅜतة݀၎ᆌڦ๚ॲඪခăසࡕ੦዆ഗ݀ໃᅃ߲ႎऺࣄܸCST้क़مᅙׯࡗඁLj๼؜ॽԥྼ׼Lj኱مक़้CSTڦ೺ࡗॠփ੷ఇăජ࣮ඇྜक़้CSTڟăසࡕଇ߲ऺࣄኮक़ڦ้क़ၭᇀፌၭऺࣄक़߰DŽ૩සWARNING警告100ms)Ljሶ؜၄۶ۯăኄᅪ࿆ጣन๑ଇ߲๼؜ሞփཞ้क़ऺࣄDŽ૩ස้क़90ࢅ้क़110DžLj໱்ॽࣷཞ้घऄDŽ૩ස้क़90Džă(ፌၭऺࣄक़߰ยዃփᆌ੺ᇀ100msăDžᇺײፕ๑ᆩ1756-OB16ISఇ੷ڦऺࣄ๼؜փ๢ᆩᇀᇺײऐၒă远程机架MAOCኸସڦᆩ݆ړ๑ᆩሏۯࢅMAOCኸସ้Lj๼؜ᆙၟዐڦኵԥ੦዆ഗాڦሏۯࡆगࡀࣄࠦॲ໯੦዆ăሏۯࡆगࡀࣄة݀ຕ਍݀ໃڟఇ੷ă඗ܸLjኟ׉ڦײႾ/ඪခ෢௮ᄺࣷة݀ຕ਍݀ໃڟఇ੷ăຕ਍ྜኝႠᆯࠦॲྼࢺLjࠦॲ๔ዕྺፌࢫᅃ߲ߴۨڦऺࣄยዃႾଚऺຕăཫ୾๼ٷ߲ᅃ੺؜๼ڦࣄऺ࿄ԲᄲLjॲ๚୾ཫڦ؜๼ࣄऺ૙تସኸ؜非计划؜๼ၠॽLj้ॲ๚Կ࠲ईਸٶײՊڟॠړă೺ዜႎຘڦఇ੷݀ໃᅃ߲ऺࣄLjᅜሞူᅃ߲ٷຘႎዜ೺ాڦࢇ๢้क़ٶਸ近似刷新周期/࠲Կ๼؜ăཫ୾๼೺ዜႎຘٷॽସኸ؜ׯๆୃ้߲ဤă近似刷新周期૩සLjසࡕٷຘႎዜ೺ྺ近似刷新周期2ࡹ௱Ljሶิๆୃ߲125ྲ௱ڦ้ဤăཫ୾ਸ/࠲๚ॲॽࣷӀቷ໲்ሞٷຘႎዜ೺ዐڦ࿋ዃԥದڟ้߲߳ဤ近似刷新周期ዐăසࡕగ߲ཫ୾ᇮ໎ڟದԥॲ๚٪໮঴ࢅ٪໮ڦཞᅃ้߲ဤLjሶࣷԵُڸၩăኄӁ๖ጣཫ୾ᇮ໎ڦፌၭஞ؋੻܈ٷᇀᅃ้߲ဤă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ217\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ᅃ߲ཫ୾ᇮ໎؋ஞၭፌSI16BOڦ௱ྲ100ᇀٷᆌ܈੻؋ஞၭፌڦ੻܈LjईኁٷডᅜLj16/1ڦ܈੻؋ஞၭፌႎ߸ٷኁྺጚă重要提示IMPORTANT1756-OB16ISࡀࣄ๼؜ఇ੷ኻీᇑᅃ߲(1)MAOCዡ/ኴႜణՔ࠲૴ăMAOC༑ᅃ߲ٷຘႎዜ೺മڦ໮٪ࢅ঴໮٪๚ॲLjժऺࣄ޿๚ॲሞ近似刷新周期ူᅃ߲٪໮؜๼ڦࣄऺ߲௅ၠ๟๕ݛ၄ํഄăิ݀ాႎ߸ڦٷࢅ঴໮٪࿋ዃᆌᆩᅃ߲ٷڦ߸ႎాևჽ׿ăړॠڟ໮٪ई঴໮٪๚ॲ้Ljॽऺ໙ٗٷ߸ႎਸ๔ڟ޿๚ॲڦ้क़ՎࣅLjժሞူᅃ߲ٷຘႎዜ೺໯近似刷新周期ܔᆌڦၹۙဣཥ้क़ऺࣄ๼؜ăྺݛՍኄᅃۅLjཫ୾๼؜ࠀీ੗ᅜݡ࿚ړ݀ิړമٷຘႎዜ೺้໯վइڟڦ近似刷新周期CSTăMAOీࠕت૙1756-OB16ISڦऺࣄࢅ࿄ऺࣄ๼؜࿋ă非计划MAOCದ໯ᆶӗ߲ऺࣄ๼؜ࠃሏۯࡆगࡀࣄཫ୾๼؜ྸᅃ๑ᆩăMAOCሞ௅߲ٷຘႎዜ೺ॽೡԸஓጴ܎ยዃྺ近似刷新周期0xffLjᅜݞᆩࢽ׈๬߸߀໲ăኄഄዐࡤᅭ๟Ljᆩࢽ࿮݆኱থᆖၚ๼؜࿋0-7Ljڍڦඓ੗ᅜႪ߀๼؜࿋8-15ă重要提示IMPORTANTཚࡗॽຕ਍࿋ഽ዆ยዃྺ0ई1ĂॽScheduleMaskዐڦ၎ᆌ࿋ഽ዆ยዃྺ0ઠഽ዆ยዃ๼؜0-7ăܔᇀ๼؜8-15LjኻႴᄲഽ዆ยዃຕ਍࿋न੗ăᆯᇀ1756-OB16ISৈኧ׼ๆୃ߲ऺࣄٷ߲௅ܔLj዆၌ڦຘႎዜ೺੗近似刷新周期ᅜڦ૙ت๚ॲ߲ຕᄺᆶ၌዆ă௅߲ٷຘႎዜ೺ాৈᆶӗ߲ऺࣄ੗ᆩăኄሎႹଇ߲૶Ⴤڦٷ߸ႎLjഄ近似刷新周期ዐ௅߲߸ႎԈࡤӗ߲๼ڦ૙تSI16BO-1756ԥኟമړăॲ๚؜ӗ߲ऺࣄፕྺᅃ߲ፇLjڼܾ߲ӗ߲ऺࣄፇ੗ཞ้ྺူᅃ߲ٷ߸ႎยዃă218؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ူ཮၂๖କٷຘႎዜ೺Ăཫ୾໮٪๚ॲࢅ้ဤኮक़ڦ࠲ဣă近似刷新周期近似刷新周ٷຘႎዜ期೺Ăཫ୾໮٪ࢅ้ဤኮक़ڦ၎ࢻ࠲ဣ௅้߲ဤئ٪ᅜူ႑တǖ໮٪๚ॲೡԸஓ–ړॠڟ໮٪๚ॲࢫLj໲໯ຌڦ้ဤԥऺ໙؜ઠLjᇑ໮٪๼؜࿋၎ܔᆌڦ໮٪๚ॲೡԸஓዐڦ࿋ԥยዃă঴໮٪๚ॲೡԸஓ–ړॠڟ঴໮٪๚ॲࢫLj໲໯ຌڦ้ဤԥऺ໙؜ઠLjᇑ঴໮٪๼؜࿋၎ܔᆌڦ঴໮٪๚ॲೡԸஓዐڦ࿋ԥยዃăक़߰–ٗ݀ิ໮٪ई঴໮٪๚ॲڦٷዜ೺ڦਸ๔ᅜઠڦ้क़Ljڇ࿋๟ྲ௱ăஞ؜໙ऺԥဤ้ڦሞ໯؋ஞॲ๚Lj؜๼዆ۙ؋ஞᇀܔ–ஓԸೡഔਸ؋ઠLjᇑஞڦዐஓԸೡഔਸ؋ஞڦᆌܔ၎࿋؜๼ڦॲ๚؋࿋ԥยዃăஞ؜໙ऺԥဤ้ڦሞ໯؋ஞॲ๚Lj؜๼዆ۙ؋ஞᇀܔ–ஓԸೡԿ࠲؋ઠLjᇑஞ؋๚ॲڦ๼؜࿋၎ܔᆌڦஞ؋࠲ԿೡԸஓዐڦ࿋ԥยዃă๼؜๼ڦक़้ഔਸ؋ஞई٪໮ᇑLj؜๼׉ኟᇀܔ–ஓԸೡഔਸ؜࿋၎ܔᆌڦ࿋ԥยዃLj՗๖๼؜ॽྺ޿๚ॲٶਸă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ219\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ܔᇀൽݒ๼؜Ljᇑ঴໮٪ईஞ؋࠲Կ้क़ڦ๼؜࿋၎ܔᆌڦ࿋ԥยዃLj՗๖๼؜ॽྺ޿๚ॲٶਸă๼؜๼ڦक़้ഔਸ؋ஞई٪໮ᇑLj؜๼׉ኟᇀܔ–ஓԸೡഔਸ؜࿋၎ܔᆌڦ࿋ԥยዃLj՗๖๼؜ॽྺ޿๚ॲٶਸăܔᇀൽڦᆌܔ၎࿋؜๼ڦक़้ഔਸ؋ஞई٪໮ᇑLj؜๼ݒ࿋ԥยዃLj՗๖๼؜ॽྺ޿๚ॲ࠲Կăူ௬๟සࢆ๑ᆩ้ဤڦ०ᄲຫ௽ă้ဤຕ਍๑ᆩ߁ຎ้ဤᄺᆩᇀت૙ዘ۠ڦཫ୾ᇮ໎ăॽྼࢺᅃ߲ഌᇕઠኸ๖௅߲๼؜࿋٪໮঴ࢅ٪໮ڦ໎ᇮ୾ཫײՊࡕසLjྔُăༀጒሂऄമړڦ๚ॲሞཞᅃ้ဤా݀ิLjሶԵُڸၩăI/Oጱဣཥᆩࢽ੗ॽMAOCኸସڦ੷ఇ؜๼ኁईധՔ٪ాྺۨኸຕ؜๼ڦຕ਍ՔധăՔധڦMAOCڟڿد้ཞăዐସኸMAOCڟڿدॽኍኸڦ࣏ᆶIO_MAPૌ႙ڦాևຕăසࡕ๼؜ຕᆅᆩ੦዆ഗా٪LjሶIO_MAPຕྺNULLăසࡕ๼؜ຕᆅᆩగ߲๼؜ఇ੷LjሶIO_MAPຕኸၠఇ੷ڦᆙพ঳ࠓă඗ࢫLjMAOCኸସཚࡗॠՎೕഗ՗߭ዐ٪ئڦఇ੷ૌ႙Lj੗ᅜඓۨ๼؜ຕ๟ޏ࠲૴గ߲1756-OB16ISఇ੷ă220؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5๼؜ຕ਍঳ࠓ൶ࡀ߭௮ຎኵ4ጴ非计࿄ऺࣄ๼؜࿋ڦຕ਍ኵă划ব0=࠲Կ1=ٶਸೡԸஓ4ጴ჋ስనၵ࿋ॽԥऺࣄăবኻᆶമӗ࿋(0-7)੗ᅜԥऺࣄă0=࿄ऺࣄ非计划1=ऺࣄ16߲ऺࣄ঳ࠓڦຕፇ൶ࡀ߭௮ຎऺࣄID1ጴᆶၳڦIDྺ1-16ăඪࢆഄ໱ኵॽ՗๖ऺࣄবփࣷԥ੊୯ăႾଚࡽ1ጴOB16ISॽྼࢺऺࣄڦޭԨăႾଚࡽ߸߀ॽবࣷߢ໕OB16ISઠت૙ኄ߲ऺࣄዐڦຕ਍ă؜๼ڦ૴࠲ࣄऺُᇑ๖՗ጴ1IDۅ࿋ă๼෇ྺኵব00-07ăڦ࿋؜๼ڦۨኸዐIDۅጴ1ኵۅူᅃ߲ጒༀăব0=࠲Կ1=ٶਸ้क़؜๼ۨኸ߀߸้ࢆ๖՗ă࿋32گڦCSTጴ4Time(م࿋Stamp)বڦጒༀăऺࣄ؜๼੷ఇڟۯᅎԥ࿋਍ຕڦࣄऺ࿄ᆶ໯Lj૙تԥ܎ጴஓԸೡࢅኵ૙تຕ਍非排定型数据٪ئഗాăړऺࣄԥت૙ᅜࢫLjኄ߲ຕ਍ԥႀ෇๼؜܋ጱă௅߲ऺࣄۼԥت૙ăሞူଚ൧઄ူऺࣄॽփԥ੊୯ǖ•ऺࣄIDփሞ1ñ16ݔྷኮా•ݔ7ñ0ሞփIDۅྷኮా•ႾଚࡽுᆶՎࣅසࡕऺࣄॽԥ੊୯LjॽࣷՔऻྺĐऄሂđă໯ᆶĐऄሂđڦऺࣄॽࣷ௅200ྲ௱ॠᅃْăऺࣄڦ้क़مᇑړമCST৊ႜԲডăසࡕړമCSTٷᇀईڪᇀऺࣄڦ้क़مLjऺࣄዐڦۅኵԥᅎۯڟఇ੷๼؜ຕ਍٪ئഗዐᆩᇀኸۨڦ๼؜࿋ă؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ221\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)M๖૩ǖीۉഗ༱ႚ཮梯形图MAOC༱ႚ཮๖૩঳ࠓ࿔ԨMAOC(Axis3,exec_trgt1,MAOC_3,output1,input1,outputcam1[1],cam_strt1,cam_end1,output_comp1[1],continuous,immediate,arm_pos1,cam_arm_pos1,actual);222؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5࠲Կሏۯཫ୾๼؜࠲Կሏۯཫ୾๼؜(MDOC)ኸସၠኸۨڦዡฉ૶থڦᅃ߲ईܠ߲ཫ୾(MDOC)๼؜݀ഐ্ኹăߵ਍্ኹૌ႙LjMDOCॽ্ኹ໯ᆶཫ୾๼؜ईኁৈగ߲༬ۨڦཫ୾๼؜ăሞ্ኹᅜࢫLj၎ᆌڦ๼؜ॽྼࢺፌࢫڦጒༀăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_FEEDBAՔധॽ࿋ዃ๼෇༵ࠃߴཫ୾๼ڦ؜CKዡڦఁ׬ăู୼ࡽॽഔۯዡຌႠܔࣆ઀ăAXIS_CONSUMEDAXIS_VIRTUALAXIS_GENERICAXIS_SERVOAXIS_SERVO_DRIVEኴႜణՔSINTĂINTई૬नईՔኴႜణՔۨᅭକ૶থڟంఁዡDINTധڦणዐڦ༬ۨཫ୾๼؜ăႜྺ๟ᆯᅜူݛ௬ඓۨڦǖ²0...8ñሞLogix੦዆ഗዐኴႜڦཫ୾๼؜ă²9...31ñᇨାྺॽઠ๑ᆩăሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă্ኹૌ႙UINT32૬नྺኸۨڦዡ჋ስᅃ߲ईඇևᄲ্ኹڦཫ୾๼؜ă჋ስඪᅃǖ0=ඇև–্ኹኸۨڦዡฉ૶থڦඇևཫ୾๼؜ă1=༬ڦۨኸኹ্–ۨዡฉ૶থڦᆯኴႜణՔ໯ۨᅭڦཫ୾๼؜ă঳ࠓ࿔ԨMDOC(Axis,ExecutionTarget,ፕຕᇑीۉഗ༱ႚ཮梯形图MDOCኸସڦፕຕ၎ཞăMotionControl,DisarmType);؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ223\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴ্ኹૌ႙all0ૌ႙ᆶ࠲1MOTION_INSTRUCTION঳ࠓऻᅬڇᇮǖຫ௽ǖ.ENDŽഔᆩDž࿋ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLj31ժԍ׼ยዃጒༀ኱ڟ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋ړཫ୾๼؜ׯࠀ্ኹ้Ljྜׯ࿋ԥยዃă29.ERDŽٱဃDž࿋ኄ߲࿋ԥยዃ้՗๖ኸସॠڟٱဃă28ຫ௽ǖ࠲Կሏۯཫ୾๼؜(MDOC)ኸସߵ਍໯჋ڦ্ኹૌ႙Lj্ኹኸۨڦዡฉగ߲༬ۨڦईඇևڦཫ୾๼؜ă޿ዡॽ࿋ዃ๼෇༵ࠃߴཫ୾๼؜ăኴႜణՔۨᅭକ૶থڟኸۨዡڦणዐڦ༬ۨཫ୾๼؜ăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ؜ଚஓپဃٱቛકڦஓپဃٱ)13(ྷݔ؜גຕăတ႑ڦՊࡽኸڼLj؜ଚူڟฉٗዐӱ௬ሞLjࡽՊڦຕፕ๟ڦᅃ߲ፕຕԥऺྺଭăᅺُܔᇀMDOCኸସLjકቛٱဃپஓ4ኸڦ๟্ኹૌ႙ፕຕڦኵă඗ࢫՂႷॽ౞ڦኵᇑኸସ੗ᅜথ๴ڦኵݔྷ৊ႜܔԲă224؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)ቤব5ጒༀ࿋ǖMDOCܔጒༀ࿋ڦ߸߀࿮๖૩ǖीۉഗ༱ႚ཮梯形图MDOC༱ႚ཮๖૩঳ࠓ࿔ԨMDOC(Axis3,exec_trgt2,MDOC_2,all);؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ225\nቤব5ሏۯ๚ॲኸସ(MAWĂMDWĂMARĂMDRĂMAOCĂMDOC)提示：ጀᅪǖ226؜Ӳࡽ1756-RM007J-EN-P-2008౎7ሆ\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă०঻ದዃኸସԈઔᆩᇀॺ૬ົޜದዃຕժᆌᆩڟዡฉڦ໯ᆶሏۯ੦዆ኸସăኄ߲ኸସፇԈઔ૶থ๬ኑኸସࢅኝۨኸସă๑ᆩሏۯದዃኸସ੗ᅜኝۨዡLjժ੗ᅜྺົޜဣཥሏႜኑ๬ăኄၵ๬Ԉઔǖ•ۉऐՊஓഗ૶থ๬ă•Պஓഗ૶থ๬ă•Քኾ๬ሏۯದዃኸସྺǖසࡕ౞Ⴔᄲ๑ᆩኄ߲ኸସ༵在以下语言中可用ࠃڦᇕჾߵ਍ᅜമኴႜۉीMAATົ໙ऺઠସኸMRATڦഗ༱ႚ཮梯形图ޜሺᅮࢅۯༀோ၌ڦྜኝणࢇă঳ࠓ࿔ԨMAATኸସ࣏๟ᆩႎڦሺᅮຕ߸ႎົޜఇ੷ăົޜఇ੷ሏႜగ߲ዡڦኝۨሏۯఇ๕ڦMRATीۉഗ༱ႚ཮梯形图ంସă঳ࠓ࿔ԨᆌᆩᅜമኴႜۉीMAHDăࡕ঳ڦସኸMRHDڦഗ༱ႚ཮梯形图MAHDߵ਍MRHDኸସࡗײዐ࠵ڟ঳ࠓ࿔ԨሏۯݛၠLjิׯᅃ༫ႎڦՊஓഗࢅົޜटႠăົޜఇ੷ሞగ߲ዡฉሏႜෙ߲ኑ๬MRHDीۉഗ༱ႚ཮梯形图ኮᅃڦంସă঳ࠓ࿔Ԩ227؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008227\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ᆌᆩዡኝۨຕᆌᆩዡኝۨຕ(MAAT)ኸସᆩᇀߵ਍ᅜമሏႜڦሏႜዡኝۨ(MAAT)(MRAT)ኸସڦ঳ࡕઠऺ໙ᅃ༫ົޜሺᅮࢅۯༀோ၌Ljժ๑ᆩႎڦሺᅮຕ߸ႎሏۯ੦዆ఇ੷ăړኄ߲ኸସփټ၂Ⴀຕ้Lj๼෇ᇸጲᇀዡኝۨದዃຕLjසሏۯዡܔၡरຍኸՔዐ໯ຎăሞኴႜ运动轴对象技术参数MAATኸସࢫLj၎ᆌڦዡᆌጚԢ৽Ⴣ੗ᅜ৊ႜົޜघऄăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_SERVOՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_SERVO_DRIVEሏۯ੦዆MOTION_ኸସՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓă঳ࠓ࿔ԨMAAT(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MAATኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ഔᆩ࿋ኸ๖ኸସԥഔᆩă໲ԍ׼ྺยዃጒༀLj኱዁ົޜၩတྜׯܸ൐༱प๼෇ཉॲՎྺ्ྺኹă.DNDŽྜׯDž࿋29ྜׯ࿋ኸ๖ኸସྜׯᅃ߲ᆌᆩዡኝۨࡗײă.ERDŽٱဃDž࿋28ٱဃ࿋ኸ๖ኸସॠڟٱဃLj૩සዡ๟ޏ࿄ԥದዃăຫ௽ǖᆌᆩዡኝۨຕ(MAAT)ኸସᆩᇀኴႜᅃဣଚऺ໙LjྺኸۨዡฉڦሺᅮࢅۯༀದዃຕิׯኵăፕྺMAAT໯ኴႜ߾ፕڦᅃևLjኄၵ঳ࡕದዃຕॽԥᆌᆩLjܸٗ๑ዡጚԢ৽Ⴣ੗ᅜ৊ႜྜኝڦົޜፕăኄ߲ኸସยऺᆩᇀ߶ໜMRATኸସڦኴႜLjࢫኁྺMAATኸସิׯዡ๼෇ದዃኵăᆶ࠲߸ܠ႑တLj൩९MRATኸସڦႼຎăMAATփႴᄲ၂Ⴀ๼෇ຕLjኻႴ๼෇ई჋ስ໯Ⴔڦ࿿૙ዡन੗ăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡă228؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6MAATኸସ๑ᆩዡದዃຕፕྺ๼෇ࢅ๼؜ăMRAT๑ᆩڦ๼෇ದዃຕසူ՗໯๖ă൩ለሏۯዡܔၡरຍຕLjକ঴ᆶ࠲ኄၵຕڦၘဦႼຎăMAATᆩፕ๼෇ڦዡದዃຕൽਦᇀྔևՎೕഗڦದዃăසࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺTRUELj՗๖থ੨዁ྔև໏܈ົޜՎೕഗLjሶႴᄲᅜူ๼෇ຕăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭኝۨ໏܈ํຕ႙࿋ዃڇ࿋/௱ኝۨఇ๕ڦፌߛ໏܈ăኝۨኝڦ؜໙ऺ௱/࿋ڇዃ࿋႙ຕํ໏ेۨఇ๕े໏้क़ă2ኝۨኝڦ؜໙ऺ௱/࿋ڇዃ࿋႙ຕํ໏३ۨఇ๕३໏้क़ă2ኝۨ໏܈Քۨํຕ႙mV/KCPSዡՎೕഗ/ۉऐ/Պஓഗဣཥଉڦ໏܈ՔۨဣຕăኝټڦഗೕՎޜົ܈໏ևྔጦࢍ႙ຕํ੻ټ܈໏ۨ੻සࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺFALSELj՗๖থ੨዁ྔևገਈົޜՎೕഗLjሶႴᄲᅜူ๼෇ຕăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭፆ౅ဣຕํຕ႙-ऺ໙ሺᅮ໯ᆩڦፆ౅ဣຕăኝۨ໏܈ํຕ႙࿋ዃڇ࿋/௱ኝۨఇ๕ڦፌߛ໏܈ăኝۨኝڦ؜໙ऺ௱/࿋ڇዃ࿋႙ຕํ໏ेۨఇ๕े໏้क़ă2ኝۨኝڦ؜໙ऺ௱/࿋ڇዃ࿋႙ຕํ໏३ۨఇ๕३໏้क़ă2ᆶၳ࠹ଉํຕ႙mV/KCPS2Վೕഗ/ڦ؜໙ऺཥဣऐۉᆶၳ࠹ଉă࿋ዃົޜټ੻ํຕ႙ࢍጦ࿋ዃົޜ࣍ڦፌٷټ੻ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008229\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)MAATፕྺ๼؜ิׯڦዡದዃຕൽਦᇀྔևՎೕഗڦದዃăසࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺTRUELj՗๖থ੨዁ྔև໏܈ົޜՎೕഗLjሶิׯᅜူ๼؜ຕăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭ࿋ዃԲ૩ሺᅮํຕ႙1/ࡹ௱࿋ዃົޜ࣍Բ૩ሺᅮ࿋ዃओሺᅮํຕ႙1/ࡹ௱2࿋ዃົޜ࣍ओሺᅮ–ยዃྺଭ໏܈മઍํຕ႙-࿋ዃົޜ࣍Բ૩ሺᅮे໏܈മઍํຕ႙-໏܈ంସമઍ–ยዃྺଭፌٷ໏܈ํຕ႙࿋ዃڇ࿋/௱ሏۯఇ๕ڦፌٷ໏܈–ยዃྺኝۨ໏܈ፌٷे໏܈ํຕ႙࿋ዃڇ࿋/௱2ሏۯఇ๕ڦፌٷे໏܈ፌٷ३໏܈ํຕ႙࿋ዃڇ࿋/௱2ሏۯఇ๕ڦፌٷे໏܈๼؜୳հഗټ੻ํຕ႙ࢍጦگཚົޜ๼؜୳հഗڦټ੻๼ڦDAC዁࣍ޜົዃ࿋ڟᆩᆌKCPS/mV႙ຕํۨՔ؜๼؜ڦԲ૩ဣຕă标定࿋ዃဃඹ၌ํຕ႙࿋ዃٷፌڦቱࠤ၄؜ࣷփܸႹሎ࿋ڇົޜ࣍࿋ዃဃăසࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺFALSELj՗๖থ੨዁ྔևገਈົޜՎೕഗLjሶิׯᅜူ๼؜ຕăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭ࿋ዃԲ૩ሺᅮํຕ႙1/ࡹ௱࿋ዃົޜ࣍Բ૩ሺᅮ࿋ዃओሺᅮํຕ႙1/ࡹ௱2࿋ዃົޜ࣍ओሺᅮ໏܈Բ૩ሺᅮํຕ႙1/ࡹ௱໏܈ົޜ࣍Բ૩ሺᅮ໏܈ओሺᅮํຕ႙1/ࡹ௱2໏܈ົޜ࣍ओሺᅮ໏܈മઍํຕ႙-࿋ዃົޜ࣍Բ૩ሺᅮे໏܈മઍํຕ႙-໏܈ంସമઍፌٷ໏܈ํຕ႙࿋ዃڇ࿋/௱ሏۯఇ๕ڦፌٷ໏܈–ยዃྺኝۨ໏܈230؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6ዡຕຕ਍ૌ႙ڇ࿋ࡤᅭፌٷे໏܈ํຕ႙࿋ዃڇ࿋/௱2ሏۯఇ๕ڦፌٷे໏܈ፌٷ३໏܈ํຕ႙࿋ዃڇ࿋/௱2ሏۯఇ๕ڦፌٷे໏܈๼؜୳հഗټ੻ํຕ႙ࢍጦگཚົޜ๼؜୳հഗڦټ੻๼؜Քۨํຕ႙mV/KCPS2ᆌᆩڟ໏܈ົޜ࣍዁DACڦ؜๼ڦԲ૩ဣຕă标定࿋ዃဃඹ၌ํຕ႙࿋ዃڦቱࠤ၄؜ࣷփܸႹሎ࿋ڇፌٷົޜ࣍࿋ዃဃăMAATኸସ໯ิׯڦฉຎ๼؜ຕॽ૬नᆌᆩڟኸۨڦዡฉLjܸٗ੗ᅜࢫჄڦሏۯăᆶ࠲ኝۨದዃຕڦ߸ܠ႑တLj൩ለሏۯዡܔၡरຍຕăᄲׯࠀኴႜMAATኸସLjణՔዡՂႷದዃྺົޜዡժ൐تᇀዡ৽ჃጒༀLjܸ൐ົޜٱ؜ସኸሶLjॲཉၵኄፁ஢փࡕසăԿ࠲ፕۯă重要提示IMPORTANTMAATኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008231\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)કቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMAATኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAI࿮ጨᇸ(2)ுᆶፁࠕڦా٪ጨᇸઠྜLURE(12)ׯ൩൱ă(SERCOS)SERVO_MESSAGE_FAIܔၡఇ๕؋཭(12)ዡتᇀ࠲ԿጒༀăLURE(12)SERVO_MESSAGE_FAI඄၌ԥ਌ਨ(15)๑ీ๼෇ਸ࠲ٱဃăLURE(12)(SERCOS)SERVO_MESSAGE_FAIยԢتᇀٱဃጒༀዘႎۨᅭ࿋ዃĂࡃଭࢅऻLURE(12)(16)୤2๟၎ࢻಇڦ(SERCOS)LjยԢጒༀփీᆩᇀۯፕă(SERCOS)ጒༀ࿋ǖMAAT߸߀዁ጒༀ࿋࿮๖૩ǖۨኝዡႜሏڦႜኴമᅜᇀएഗ዆੦Lj้ኈྺॲཉ෇๼ړ(MRAT)ኸସۯࢅᅮሺޜົ༫ኝᅃ໙ऺ1ዡྺLjࡕ঳ڦༀோ၌ăीۉഗ༱ႚ཮梯形图MAAT༱ႚ཮๖૩঳ࠓ࿔ԨMAAT(Axis1,MAAT_2);232؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6ሏႜዡኝۨ(MRAT)๑ᆩMRATઠంସሏۯ੦዆ఇ੷ྺኸۨڦዡሏႜᅃْኝۨሏۯఇ๕ăኝۨሏۯఇ੷Ԉઔᅃْईܠْे໏ࢅ३໏ၽLjཚࡗၠົޜڦՎೕഗ๼؜แेࠦۨۉუઠํ၄ăጀᅪLjኄ߲ኸସሞඪࢆ้ࢪۼփࣷ࠲Կົޜ࣍ăړኄ߲ኸସփټ၂Ⴀຕ้Lj໲փٗዡኝۨದዃຕዐइൽ๼෇ăኴႜMRATኸସ٪ئLj਍ຕଉ༫ᅃ๟ࡕ঳ڦሞዡܔၡాࠃࢫჄሞᆌᆩዡኝۨຕ(MAAT)ኸସዐ๑ᆩăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_SERVOՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓă঳ࠓ࿔ԨMRAT(Axis,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MRATኸସڦፕຕ၎ཞăMOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړኝۨࡗײׯࠀྜׯࢫኄ߲࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋26ኄ߲࿋ሞኟڦ༱पገ้࣑ยዃLjሞኝۨࡗײྜׯࢫईኁԥཕኹంସĂ࠲Կईົޜࠤቱأă.PC(ࡗײྜׯ)࿋27ړኝۨࡗײׯࠀྜׯࢫኄ߲࿋ԥยዃăຫ௽ǖሏႜዡኝۨ(MRAT)ኸସᆩᇀሞኸۨڦዡฉኴႜᅃْኝۨሏۯఇ๕ăሞኄ߲०܌ڦኝۨሏۯఇ๕ዐLjሏۯ੦዆ఇ੷৊ႜऺ้ࢅ໏܈ଉLjᆩፕࢫჄMAAT(ᆌᆩዡኝۨຕ)ኸସڦ๼෇ăMRATփႴᄲ၂Ⴀ๼෇ຕLjኻႴ๼෇ई჋ስ໯Ⴔڦ࿿૙ዡन੗ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008233\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)සࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăMRATኸସ๑ᆩዡದዃຕፕྺ๼෇ࢅ๼؜ăMRAT๑ᆩڦ๼෇ದዃຕසူ՗໯๖ăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭኝۨݛၠքܻ႙-ኝۨሏۯڦݛၠ(0-ኟၠĂ1-ݒၠ)ኝ؋ٷፌڦႹሎዡ࿋ڇዃ࿋႙ຕํ዆၌ײႜۨײኝۨ໏܈ํຕ႙࿋ዃڇ࿋/௱ኝۨఇ๕ڦፌߛ໏܈ăፆ౅ဣຕํຕ႙-ऺ໙ፌٷ࿋ዃົޜټ੻໯ᆩڦፆ౅ဣຕăߵ਍ฉຎದዃຕLjMRATኴႜॽิׯኸۨዡฉڦᅃ߲ሏۯ๚ॲLjԈઔڇ߲ෙঙႚ໏܈ఇ๕ईኁᅃဣଚෙ߲ኄዖఇ๕ăኝۨ໏܈ՂႷ࿋ᇀՎೕഗࢅۉऐڦፌٷ໏܈ඹଉݔྷᅜాăྺኝۨ໏܈໯ದዃڦኵᆌยዃྺ໯೺ྭڦዡڦፌٷሏႜገ໏Lj๑ิڦኝۨຕీࠕएᇀ޿໏܈ฉڦဣཥۯༀݔྷฉăසࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺTRUELj՗๖থ੨዁ྔև໏܈ົޜՎೕഗLjሶၠዡฉᆌᆩෙ߲ஞ؋ăኄዖ൧઄ڦኝۨ໏܈ఇ๕සူ཮໯๖ăړྺኈ้ڦኝۨ໏܈ఇ๕234؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6සࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺFALSELj՗๖থ੨዁ྔևገਈົޜՎೕഗLjሶၠዡฉৈᆌᆩᅃ߲ஞ؋ăူ௬၂๖କኝۨ໏܈ఇ๕ăړྺ्้ڦኝۨ໏܈ఇ๕MRATፕྺ๼؜ิׯڦዡದዃຕൽਦᇀྔևՎೕഗڦದዃăසࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺTRUELj՗๖থ੨዁ྔև໏܈ົޜՎೕഗLjሶิׯᅜူ๼؜ຕăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭኝۨጒༀํຕ႙-ኝۨࡗײڦጒༀԒߢኝۨኝڦ؜ଉ௱႙ຕํक़้໏ेۨఇ๕े໏้क़ăኝۨኝڦ؜ଉ௱႙ຕํक़้໏३ۨఇ๕३໏้क़ăኝۨኝڦ؜໙ऺ2௱/࿋ڇዃ࿋႙ຕํ໏ेۨఇ๕े໏้क़ăኝۨኝڦ؜໙ऺ2௱/࿋ڇዃ࿋႙ຕํ໏३ۨఇ๕३໏้क़ăኝۨ໏܈Քۨํຕ႙mV/KCPSዡՎೕഗ/ۉऐ/Պஓഗဣཥଉڦ໏܈Քۨဣຕăኝڦ๕ఇᆌၚሂ঩ۨኝڦ؜ଉKCPS/mV႙ຕํक़้ืฉۨฉื้क़ăኝڦ؜໙ऺጦࢍ႙ຕํ੻ټ܈໏ۨྔև໏܈ົޜՎೕഗټڦ੻؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008235\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)සࡕྔև໏܈ົޜՎೕഗದዃ࿋ຕྺFALSELj՗๖থ੨዁ྔևገਈົޜՎೕഗLjሶิׯᅜူ๼؜ຕăዡຕຕ਍ૌ႙ڇ࿋ࡤᅭኝۨጒༀํຕ႙-ኝۨࡗײڦጒༀԒߢኝۨኝڦ؜ଉ௱႙ຕํक़้໏ेۨఇ๕े໏้क़ăኝۨኝڦ؜ଉ௱႙ຕํक़้໏३ۨఇ๕३໏้क़ăኝۨኝڦ؜໙ऺ௱/࿋ڇዃ࿋႙ຕํ໏ेۨఇ๕े໏้क़ă2ኝۨኝڦ؜໙ऺ௱/࿋ڇዃ࿋႙ຕํ໏३ۨఇ๕३໏้क़ă2ᆶၳ࠹ଉํຕ႙mV/KCPS2Վೕഗ/ڦ؜໙ऺཥဣऐۉᆶၳ࠹ଉă࿋ዃົޜټٷፌڦ࣍ޜົዃ࿋ڦ؜໙ऺጦࢍ႙ຕํ੻ټ੻ăᆯMRATኸସิׯڦฉຎ๼؜ຕᆩፕࢫჄMAATኸସڦ๼෇Ljܸٗኴႜ৊ᅃօڦኝۨऺ໙ժॽ঳ࡕᆌᆩڟ߲߳ዡڦົޜࢅۯༀದዃຕዐăኝۨጒༀຕ੗ీ݀ิ൧઄๑੦዆ഗ࿮݆ኟඓኴႜኝۨፕăሞኄዖ൧઄ူLjኝۨࡗײጲ؜๼ༀጒۨኝሞ٪ئLjቱࠤۨኝ߲ᅃߢԒժLjኹዐۯຕ(GSVable)ాăᄺ੗ᅜ๑ᆩMASኸସ๮ۯዐኹኝۨࡗײLjܸٗิᆯኝۨጒༀຕ໯Ԓߢڦኝۨࠤቱăኝۨጒༀڦ੗ీኵසူ՗໯๖ăጒༀپஓپஓࡤᅭኝۨׯࠀ0ኝۨࡗײᅙঢ়ׯࠀăኝۨኟሞ৊ႜ1ኝۨኟሞ৊ႜኮዐăኝۨዐኹ2ኝۨࡗײԥᆩࢽዐኹăኝۨג้3ኝۨࡗײᅙঢ়ג้ăኝۨົޜࠤቱ4ኝۨࡗײ฿ӨLjᅺ؜၄ົޜࠤቱኝۨႜײࠤቱ5ዡٳڟኝۨڦႜײ၌዆ኝۨटႠࠤቱ6ዡሏۯוၠٱဃݛၠLjᅺྺۉऐ/ՊஓഗटႠದዃփኟඓăኝۨ໏܈ࠤቱ7ዡڦኝۨ໏܈໿گLjփీइڥፌگଉጚඓ܈ă236؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6重要IMPORTANT提示ኝۨጒༀຕփࣷԥMRATኸସڦ.STATUSጱՔധ౬ٱăᄲׯࠀሞగ߲ዡฉኴႜMRATኸସLjణՔዡՂႷದዃྺົޜዡૌ႙ժ൐ٱ؜ସኸሶLjॲཉࢆඪፁ஢փࡕසăༀጒჃ৽ዡᇀتăIMPORTANT重要提示ْ؛ସኸMRATړኴႜ้Ljኟሞ৊ႜ(.IP)࿋ԥยዃLjࡗײྜׯ(.PC)࿋ԥأăMRATኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏۯ੦዆ఇ੷د๼ܠཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄၵၩတԥׯࠀ݀ໃᅜࢫăሞྜׯ(.DN)࿋ԥยዃڦཞ้Ljኟሞ৊ႜ(.IP)࿋ԥأLjࡗײྜׯ(.PC)࿋ԥยዃă这是一条转换ኄ๟ᅃཉࡗ܉Ⴀኸସǖ指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008237\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)કቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMRATኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAIࡗײߵ਍൩൱ዕኹ߶ໜగ߲࠲Կ/্ኹՎLURE(12)(1)ೕഗڦኸସईኁሏۯཕኹኸସڦኝۨኴႜLjईኁت૙ഗՎ߸൩൱କᅃْኝۨൽၩăSERVO_MESSAGE_FAIܔၡఇ๕؋཭(12)ዡتᇀ࠲ԿጒༀăLURE(12)SERVO_MESSAGE_FAIยԢتᇀٱဃጒༀኝۨࡗײຩႾփኟඓăLURE(12)(16)(SERCOS)ጒༀ࿋ǖMRAT߸߀዁ጒༀ࿋࿋ఁ׬ǖጒༀǖࡤᅭǖDriveEnableStatusኈړኝۨఇ๕ኟሞሏႜ้LjዡتᇀՎೕഗ੦዆ጒༀLjՎೕഗ๑ీ๼؜घऄăTuneStatusኈዡኟሞሏႜᅃْኝۨࡗײă๖૩ǖۯሏۨኝْᅃႜሏ1ዡྺ੷ఇޜົସంഗ዆੦Lj้ኈྺॲཉ෇๼ړఇ๕ă梯ीۉഗ༱ႚ཮形图MRAT༱ႚ཮๖૩঳ࠓ࿔ԨMAR(Axis1,MRAT_1);238؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6ᆌᆩዡ૶থኑᆌᆩዡ૶থኑ(MAHD)ኸସᆩᇀᆌᆩᅜമሏႜڦሏႜዡ૶থኑ(MAHD)(MRHD)ኸସڦ঳ࡕLjᅜएᇀሞ๬ࡗײዐ࠵ڟڦሏۯݛၠิׯᅃ༫ႎڦՊஓഗࢅົޜटႠăፕྺᆌᆩࡗײڦᅃևLj޿ኸସ๑ᆩኄၵटႠยዃ߸ႎሏۯ੦዆ఇ੷ăሞኴႜMAHDኸସࢫLj्ยᅙঢ়ॺ૬ᅃ༫࿘ۨڦሺᅮLj၎ᆌڦዡᆌጚԢ৽Ⴣ੗ᅜ৊ႜົޜघऄăፕຕǖीۉഗ༱ႚ཮梯形图ፕຕૌ႙߭๕௮ຎዡAXIS_SERVOՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_SERVO_DRIVEሏۯ੦዆MOTION_ኸସՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăኑ๬UDINT૬न჋ስ༬ۨڦ๬ඟሏۯ੦዆ఇ੷ઠሏႜǖ0=ۉऐ/Պஓഗ૶থ๬1=Պஓഗ૶থ๬2=ՊஓഗՔኾ๬࠵ݛၠքܻ႙૬नยዃ๬ሏۯڦݛၠă჋ስඪᅃǖ0=ኟၠ1=ݒၠ঳ࠓ࿔ԨMAHD(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MAHDኸସڦፕຕ၎ཞăDiagnosticTest,ObservedDirection);ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩईኁ๼෇ྺຕጴDiagnosticTestmotor_encoder0Պஓഗ1Քऻ2ObservedDirectionኟၠ0ݒၠ1؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008239\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړ૶থ๬ࡗײׯࠀኴႜࢫኄ߲࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡăຫ௽ǖᆌᆩዡ૶থኑ(MAHD)ኸସᆩᇀኴႜᅃဣଚऺ໙LjྺኸۨዡฉڦՊஓഗटႠࢅົޜटႠದዃ࿋ຕิׯኵăፕྺMAHD໯ኴႜ߾ፕڦᅃևLjኄၵ঳ࡕದዃ࿋ຕॽԥᆌᆩڟሏۯ੦዆ఇ੷Ljܸٗ๑ዡጚԢ৽Ⴣ੗ᅜ৊ႜྜኝڦົޜፕăኄ߲ኸସยऺᆩᇀ߶ໜMRHDኸସڦኴႜLjࢫኁྺMAHDኸସิׯዡ๼෇ದዃኵăᆶ࠲߸ܠ႑တLj൩९MRHDኸସڦႼຎăMAHDႴᄲኸۨᄲᆌᆩڦኑ๬LjᅜतሞᅜമMRHD๬ࡗײዐ࠵ڟڦሏۯݛၠă൩๼෇ई჋ስኑ๬ࢅ࠵ݛၠᅜत໯Ⴔᄲڦ࿿૙ዡăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăMAHDኸସ๑ᆩዡದዃຕፕྺ๼෇ࢅ๼؜ăMAHD๑ᆩڦ๼෇ದዃຕසူ՗໯๖ă๬ݛၠኟၠ࿋ॽጲۯඓۨLjፕྺMRHDኸସڦຕ໱ഄतၵኄ࠲ᆶ঴କLjຕຍरၡܔዡۯሏለ൩ă؜๼ڦၘဦႼຎăዡຕຕ਍ૌ႙ۨ࿋ڇᅭ๬ݛၠമၠքܻ႙-ሞ૶থ๬ࡗײዐᆯሏۯ੦዆ఇ੷໯ੂڟڦዡڦሏႜݛၠăۉऐՊஓഗ૶থ๬සࡕ჋ስକۉऐՊஓഗ૶থ๬Lj੦዆ഗॽएᇀ࠵ݛၠኸସຕᅜतᆯMRHDኸସڦ๼؜໯ඓۨڦ๬ݛၠമၠ࿋ڦጒༀLjཞ้ྺՊஓഗटႠᅜतՎೕഗटႠऺ໙ኟඓยዃăՊஓഗटႠᅜतՎೕഗटႠᅃڦᆌ၎ڟᆩᆌኵၵኄॽDHAMLjઠ؜໙ऺڋዡದዃຕ࿋ฉLjසူ՗໯ຎǖዡຕຕ਍ૌ႙ۨ࿋ڇᅭՊஓഗटႠ޶քܻ႙-ݒገ৊෇ሏۯ੦዆ఇ੷ڦՊஓഗݒઍ๼෇ڦݛၠăՎೕഗटႠ޶քܻ႙-ݒገٗሏۯ੦዆ఇ੷؜ઠDACఇెଉ๼؜ڦݛၠă240؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6Պஓഗ૶থ๬සࡕ჋ስକՊஓഗ૶থ๬Lj੦዆ഗॽएᇀ࠵ݛၠኸସຕᅜतᆯMRHDኸସڦ๼؜໯ඓۨڦ๬ݛၠമၠ࿋ڦጒༀLjৈྺՊஓഗटႠऺ໙ኟඓยዃăՊஓഗटႠᅜतՎೕഗटႠᅃڋऺ໙؜ઠLjMAHDॽኄၵኵᆌᆩڟ၎ᆌڦዡದዃຕ࿋ฉLjසူ՗໯ຎǖዡຕຕ਍ૌ႙ۨ࿋ڇᅭՊஓഗटႠ޶քܻ႙-ݒገ৊෇ሏۯ੦዆ఇ੷ڦՊஓഗݒઍ๼෇ڦݛၠăᄲׯࠀኴႜMAHDኸସሏႜۉऐՊஓഗ๬LjణՔዡՂႷದዃྺົޜईኁٱ؜ସኸሶLjॲཉࢆඪፁ஢փࡕසă႙ૌዡᅃྸઍݒă重要提示IMPORTANTMAHDኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏد੷ఇ዆੦ۯ๼ᅃཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸኻ๟ሞኄཉၩတԥׯࠀ݀ໃᅜࢫăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008241\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)કቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMAHDኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAI࿮ጨᇸ(2)ுᆶፁࠕڦా٪ጨᇸઠྜLURE(12)ׯ൩൱ă(SERCOS)SERVO_MESSAGE_FAIܔၡఇ๕؋཭(12)ዡتᇀ࠲ԿጒༀăLURE(12)SERVO_MESSAGE_FAI඄၌ԥ਌ਨ(15)๑ీ๼෇ਸ࠲ٱဃăLURE(12)(SERCOS)SERVO_MESSAGE_FAIยԢتᇀٱဃጒༀዘႎۨᅭ࿋ዃĂࡃଭࢅऻLURE(12)(16)୤2๟၎ࢻಇڦ(SERCOS)LjยԢጒༀփీᆩᇀۯፕă(SERCOS)ጒༀ࿋ǖMAHD߸߀዁ጒༀ࿋࿮๖૩ǖڦႜኴമᅜॽഗ዆੦Lj้ኈྺॲཉ෇๼ړሏႜዡ૶থኑ(MRHD)ኸସڦ঳ࡕᆌᆩڟዡ1ă梯形图ीۉഗ༱ႚ཮MAHD༱ႚ཮๖૩঳ࠓ࿔ԨMAHD(axis1,axis1_MAHD,marker,forward);242؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6ሏႜዡ૶থኑ๑ᆩMRHDኸସ੗ంସሏۯ੦዆ఇ੷ઠሞኸۨڦዡฉሏႜෙዖփཞ(MRHD)ኑዐڦඪᅪᅃዖLjߵ਍๬ID৊ႜ჋ስăణമڦኑ੗ᆩᇀྺົޜዡĂৈՊஓഗ૶থᅜतՊஓഗՔኾ૶থઠ๬ۉऐ/Պஓഗ૶থăኻᆶۉࢽᆩ߲ᅃࡤԈፕۯ߲ኄăۯሏڦฉዡഐ݀ࣷኑഗஓՊ/ऐۉऐՊஓഗ๬ሺଉڦ܌ሡᅎۯăኄዖ࿋ᅎᆯົޜՎೕഗ๼؜ڦٷሀ௅௱1ޚ༬ڦၽۉೝ໯݀ഐăኴႜMRHDኸସڦ঳ࡕ๟ຕĂጒༀ࿋ࢅ๬ݛၠമၠۼॽԥ߸ႎă梯形图ፕຕǖीۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎዡAXIS_SERVOՔധᄲሞഄฉኴႜፕڦዡڦఁ׬ăAXIS_SERVO_DRIVEሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓăኑ๬DINT૬न჋ስ༬ۨڦ๬ඟሏۯ੦዆ఇ੷ઠሏႜǖ0=ۉऐ/Պஓഗ૶থ๬1=Պஓഗ૶থ๬2=ՊஓഗՔኾ૶থ๬3=ੂோࠑOK๬঳ࠓ࿔ԨMRHD(Axis,MotionControl,ፕຕᇑीۉഗ༱ႚ཮梯形图MRHDኸସڦፕຕ၎ཞăDiagnosticTest);ܔᇀႴᄲ౞ݛူᅜቷӀ൩Ljຕፕڦስ჋ႜ৊ዐၜ჋ᆩ੗ٗ๕๼෇౞ڦ჋ስǖُፕຕǖᆛᆶኄၵ჋ၜ੗ඟ౞...๼෇ྺ࿔Ԩǖईኁ๼෇ྺຕጴǖDiagnosticTestmotor_encoder0Պஓഗ(encoder)1Քऻ2؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008243\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)MOTION_INSTRUCTION঳ࠓऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ڦኈڟ्ْٗᅃႜ৊प༱ړገ้࣑ኄ߲࿋ԥยዃLjժԍ׼ยዃጒༀ኱ڟົޜၩတገ࣑ྜׯĂ༱पՎྺ्ྺኹă.DNDŽྜׯDž࿋29ړ૶থ๬ᆌᆩࡗײׯࠀኴႜࢫኄ߲࿋ԥยዃă.ERDŽٱဃDž࿋28ኄ߲࿋ԥยዃ՗๖ኸସॠڟٱဃLj૩ස౞ኸۨକᅃ߲࿄ದዃڦዡă.IP(ኟሞ৊ႜ)࿋26ኄ߲࿋ሞኟڦ༱पገ้࣑ยዃLjሞኑ๬ࡗײྜׯࢫईኁԥཕኹంସĂ࠲Կईົޜࠤቱأă.PC(ࡗײྜׯ)࿋27ړኑ๬ᆌᆩࡗײׯࠀྜׯࢫኄ߲࿋ԥยዃăຫ௽ǖሏႜዡ૶থኑ(MRHD)ኸସᆩᇀሞኸۨڦዡฉኴႜ߳ዖ๬ኑLjᅜ๬ྜኝႠᅜतሞగၵ൧઄ူڦົޜ၄૶থटႠăణമڦ๬ኑኧ׼Վೕഗ૶থĂՊஓഗ૶থĂՔኾ૶থࢅሏۅةOK੷ఇ዆੦ۯ૶থăሞևኄၵ๬ࡗײዐLjሏۯ੦዆ఇ੷ิׯڟྔևՎೕഗڦ๼؜Ljᅜิณଉڦሏۯăሞևኄၵ૶থኑ๬ዐ໯ፔڦଉԍ٪ྺ๼؜ದዃຕLjཞ้ፕྺࢫჄMAHD(ᆌᆩዡ૶থኑ)ኸସڦ๼෇ຕ਍ăMRHDৈႴᄲᅃ߲၂Ⴀ๼෇ຕLjनኑ๬ă൩๼෇ई჋ስᄲሏႜڦኑ๬ᅜतᄲ๬ڦዡăසࡕణՔዡுᆶ؜၄ሞ੗ᆩዡଚ՗ዐLjሶ޿ዡช࿄ದዃᆩᇀፕă൩๑ᆩՔധՊडഗઠظॺࢅದዃႎڦዡăMRHDኸସ๑ᆩዡದዃຕፕྺ๼෇ࢅ๼؜ăMRHD๑ᆩڦ๼෇ದዃຕසူ՗໯๖ăዡຕຕ਍ૌ႙ۨ࿋ڇᅭۉऐՊஓഗ๬ํຕ႙-ዡྺକ஢ፁ૶থኑ๬ܸՂሺଉႷႜ৊ڦਐ૗MRHDፕྺ๼؜ิׯڦዡದዃຕൽਦᇀኸۨ૶থኑڦದዃăۉऐՊஓഗ૶থ๬සࡕ჋ስକۉऐՊஓഗ๬Ljሏۯ੦዆ఇ੷๑ీྔևՎೕഗLjሞ॔๫ՊஓഗړăഗೕՎ዁ໃ݀ၽ؜๼ڦ༬ޚ1௱௅߲ᅃׯิ้ཞڦઍݒዡ࿋ᅎڦਐ૗ٷᇀईڪᇀ໯ದዃڦۉऐՊஓഗ๬ሺଉ้Lj๬ۉუ244؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6ԥዘႎยዃ࣮ݛ৊ႜߢԒࢫ඗੷ఇ዆੦ۯሏăኹ্ԥഗೕՎLjଭڟၠLj޿؜๼߲ᅃ௬ူሞ٪ئၠݛຕాăዡຕຕ਍ૌ႙ۨ࿋ڇᅭ๬ጒༀኝຕ႙-૶থኑ๬ࡗײڦጒༀԒߢ๬ݛၠമၠքܻ႙-ሞ૶থ๬ࡗײዐᆯሏۯ੦዆ఇ੷໯ੂڟڦዡڦሏႜݛၠăසࡕᅺྺ૶থփኟඓईኁဣཥڦഄ໱࿚༶Ljዡݒઍ࿄ీሞ2௱ዓాॠڟዡڟٳ໯ದዃڦۉऐՊஓഗ๬ሺଉLjሶົޜॽ๬ۉუዘႎยዃ࣮ڟଭLjժ্ኹՎೕഗă੦዆ഗཚࡗ๬ጒༀዡ๼؜ຕઠݒᆙኄ߲൧઄ăኄཚ׉՗๖Վೕഗڦ૶၍ईኁՊஓഗڦ૶၍փኟඓăሞ჋ስՊஓഗ૶থ๬ڦ൧઄ူሏႜMRHD๟ቴ؜๟Պஓഗ࿚༶࣏๟Վೕഗ࿚༶ڦᅃዖᆶၳݛ݆ăՊஓഗ૶থ๬සࡕ჋ስକՊஓഗ๬Ljሏۯ੦዆ఇ੷փิׯඪࢆዡሏۯLjܸኻ๟॔๫ዡՊஓഗڦݒઍă඗ࢫዡ੗ᆩ๮ᅎۯLjईኁᆩഄ໱గዖ܀૬ڦൻۯኴႜऐࠓઠิሏۯăړዡᅎۯڦਐ૗ٷᇀईڪᇀ໯ದዃڦۉऐՊஓഗ๬ሺଉ้LjԨ๬ྜׯăሏۯ੦዆ఇ੷඗ࢫԒߢႜ৊ݛၠLjፕྺူ௬ᅃ߲MRHD๼؜ຕăዡຕຕ਍ૌ႙ۨ࿋ڇᅭ๬ጒༀኝຕ႙-૶থኑ๬ࡗײڦጒༀԒߢ๬ݛၠമၠքܻ႙-ሞ૶থ๬ࡗײዐᆯሏۯ੦዆ఇ੷໯ੂڟڦዡڦሏႜݛၠăසࡕᅺྺ૶থփኟඓईኁဣཥڦഄ໱࿚༶Ljሞॽዡ዁ณᅎۯ޿ਐ૗ࢫዡݒઍ࿄ీॠڟዡڟٳ໯ದዃڦۉऐՊஓഗ๬ሺଉLj๑ᆩMASኸସዐኹ๬LjॠՊஓഗڦ૶၍ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008245\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)Քኾ૶থ๬සࡕ჋ስକՔኾ๬Ljሏۯ੦዆ఇ੷փิׯඪࢆዡሏۯLjܸኻ๟॔๫ዡՊஓഗڦݒઍă඗ࢫዡ੗ᆩ๮ᅎۯLjईኁᆩഄ໱గዖ܀૬ڦൻۯኴႜऐࠓஆઠิሏۯăړሏۯ੦዆ఇ੷ॠڟగ߲Քኾ(ཚڢZ)ஞ؋้Lj๬नྜׯăሏۯ੦዆ఇ੷඗ࢫཚࡗ๬ጒༀԒߢׯࠀዡຕຕ਍ૌ႙ۨ࿋ڇᅭ๬ጒༀኝຕ႙-૶থኑ๬ࡗײڦጒༀԒߢ๬ݛၠമၠքܻ႙-ሞ૶থ๬ࡗײዐᆯሏۯ੦዆ఇ੷໯ੂڟڦዡڦሏႜݛၠăසࡕᅺྺ૶থփኟඓईኁဣཥڦഄ໱࿚༶Ljሞॽዡ዁ณᅎۯ޿ਐ૗ࢫዡݒઍ࿄ీॠڟዡڟٳ໯ದዃڦۉऐՊஓഗ๬ሺଉLj๑ᆩMASኸସዐኹ๬LjॠՊஓഗڦ૶၍ăੂோࠑOK๬සࡕ჋ስକੂோࠑOK๬Ljሏۯ੦዆ఇ੷փิׯඪࢆዡሏۯLjܸኻ๟ఇెCPUੂோࠑ฿ၳLjनٶਸOKةۅăOKةۅᆌሞ2௱ዓࢫԍ׼࠲Կăኄ߲๬ᆩᇀॠ৊෇Վೕഗဣཥ৆थཕऐۅةOKڦز૶၍ăසࡕሏۯ੦዆ఇ੷DSP฿ၳLjኄዖऐࠓ੗ᆩᇀ࠲ԿཚྫՎೕഗڦۉᇸăړଇ௱ዓੂோࠑOK๬ྜׯࢫLjሏۯ੦዆ఇ੷ࣷཚࡗ๬ጒༀԒߢׯࠀLjසူ໯๖ǖዡຕຕ਍ૌ႙ۨ࿋ڇᅭ๬ጒༀኝຕ႙-૶থኑ๬ࡗײڦጒༀԒߢ๬ጒༀ੗ీ݀ิ൧઄๑੦዆ഗ࿮݆ኟඓኴႜ๬ፕăሞኄዖ൧઄ူLj๬ࡗײጲ؜๼ༀጒ๬ሞ٪ئLjቱࠤ๬߲ᅃߢԒժLjኹዐۯຕాăᄺ੗ᅜ๑ᆩMASኸସ๮ۯዐኹ๬ࡗײLjܸٗิᆯ๬ጒༀຕ໯Ԓߢڦ๬ࠤቱă๬ጒༀڦ੗ీኵසူ՗໯๖ǖٱဃၩတپஓۨᅭ๬ׯࠀ0๬ࡗײᅙঢ়ׯࠀă๬ኟሞ৊ႜ1๬ኟሞ৊ႜኮዐă๬ዐኹ2๬ࡗײԥᆩࢽዐኹă246؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)ቤব6ٱဃၩတپஓۨᅭ๬ג้3๬ࡗײᅙঢ়ג้(2௱ዓ)๬ົޜࠤቱ4๬ࡗײ฿ӨLjᅺ؜၄ົޜࠤቱ๬ሺଉࠤቱ5๬ࡗײ฿ӨLjᅺ๬ሺଉਐ૗փፁᅜ৊ႜ੗੍ڦଉăᄲׯࠀኴႜMRHDኸସઠሏႜۉऐՊஓഗ๬LjణՔዡՂႷದዃྺົޜዡૌ႙ժ൐تᇀዡ৽Ⴣጒༀăܔᇀഄ໱๬Ljኄཉኸସሞົޜईኁݒઍྸᅃዡૌ႙ฉ੗ኟඓኴႜăසࡕփ஢ፁඪࢆཉॲLjሶኸସ؜ٱă重要提示IMPORTANTْ؛ସኸMRHDړኴႜ้Ljኟሞ৊ႜ(.IP)࿋ԥยዃLjࡗײྜׯ(.PC)࿋ԥأăMRHDኸସኴႜ੗ీႴᄲܠْ෢௮ઠኴႜLjᅺྺ໲Ⴔᄲၠሏۯ੦዆ఇ੷د๼ܠཉၩတăྜׯ(.DN)࿋ժփ૬नยዃLjܸ๟ሞኄၵၩတԥׯࠀ݀ໃᅜࢫăሞྜׯ(.DN)࿋ԥยዃڦཞ้Ljኟሞ৊ႜ(.IP)࿋ԥأLjࡗײྜׯ(.PC)࿋ԥยዃăኄ๟ᅃཉࡗ܉Ⴀኸସǖ这是一条转换指令：•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置。•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008247\nቤব6ሏۯದዃኸସ(MAATĂMRATĂMAHDĂMRHD)કቛۨ༬ସኸڦܠ߸ࠃ༵ஓپဃٱڦᆩཚۼସኸܠ࢔ᇀܔྺஓپဃٱቛકǖஓپဃٱڦ႑တăړMRHDኸସ๭ڟົޜၩတ฿Ө(12)ٱဃၩတ้Ljူ௬ڦકቛٱဃپஓ੗ӻዺඓۨ࿚༶࿋ዃă၎࠲૴ڦٱဃپஓ(ๆ৊કቛٱဃپஓ(ๆࡤᅭ዆)৊዆)SERVO_MESSAGE_FAIࡗײߵ਍൩൱ዕኹ߶ໜగ߲࠲Կ/্ኹՎLURE(12)(1)ೕഗڦኸସईኁሏۯཕኹኸସڦ๬ኴႜLjईኁت૙ഗՎ߸൩൱କᅃْ๬ൽၩăSERVO_MESSAGE_FAIܔၡఇ๕؋཭(12)ዡتᇀ࠲ԿጒༀăLURE(12)SERVO_MESSAGE_FAIยԢتᇀٱဃጒༀኝۨࡗײຩႾփኟඓăLURE(12)(16)(SERCOS)ጒༀ࿋ǖMRHD߸߀዁ጒༀ࿋࿋ఁ׬ጒༀࡤᅭDriveEnableStatusኈ²ዡتᇀՎೕഗ੦዆ጒༀă²ړኝۨఇ๕ኟሞሏႜ้LjՎೕഗ๑ీ๼؜घऄăTestStatusኈዡኟሞሏႜᅃْ๬ࡗײă๖૩ǖړ๼෇ཉॲྺኈ้Lj੦዆ഗሞዡ1ฉሏႜՊஓഗኑ๬ăीۉഗ༱ႚ཮梯形图MRHD༱ႚ཮๖૩঳ࠓ࿔ԨMRHD(Axis1,MRHD_1,Marker);248؜Ӳࡽ1756-RM007J-EN-P-೿ሆ2008\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)०঻๑ᆩሏۯၹۙኸସ੗ᅎۯፖՔဣዐڦፌܠෙ߲ዡăټኟ঍ዡڦፖՔဣڳਸ਼ܻፖՔဣܾྼڳਸ਼ܻፖՔဣෙྼڳਸ਼ܻፖՔဣټݥኟ঍ዡڦፖՔဣ࠲বݥ܀૬ፖՔဣ࠲ব܀૬ፖՔဣSCARA܀૬ፖՔဣSCARAሺଉፖՔဣሺଉܾྼፖՔဣሺଉෙྼፖՔဣ249؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ249\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)๑ᆩኄ߲՗߭ઠ჋ስሏۯၹۙኸସă჋ስሏۯၹۙኸସසࡕ౞Ⴔᄲ๑ᆩኄ߲ኸସ༵在以下语言中可用ࠃڦᇕჾሞڳਸ਼ܻፖՔဣాڦኸۨዡฉ݀ഐᅃྼईܠሏۯ኱၍ց(MCLM)•ीۉഗ༱ႚ཮梯形图ྼ၍Ⴀၹۙሏۯă•঳ࠓ࿔Ԩሞڳਸ਼ܻፖՔဣాڦኸۨዡฉ݀ഐܾྼईෙሏۯᇶࢷց(MCCM)•ीۉഗ༱ႚ཮梯形图ྼთ࣍ၹۙሏۯă•঳ࠓ࿔ԨܔኸۨڦፖՔဣాڦᆶၳڦၹۙሏۯ݀ഐୟሏۯցۯༀۙኝ(MCCD)•ीۉഗ༱ႚ཮梯形图০ۯༀຕՎ߸ă•঳ࠓ࿔ԨཕኹፖՔဣڦዡLjईኁൽၩገ࣑ăሏۯցཕኹ(MCS)•ीۉഗ༱ႚ཮梯形图•঳ࠓ࿔ԨܔኸۨፖՔဣዐڦ໯ᆶዡ݀ഐ๴੦ཕऐăሏۯց࠲Կ(MCSD)•ीۉഗ༱ႚ཮梯形图•঳ࠓ࿔Ԩഔۯᅃ߲ॽଇ߲ፖՔဣ૶ഐઠڦፖՔገ࣑ăሏۯցፖՔገ࣑(MCT)(1)•ीۉഗ༱ႚ཮梯形图•঳ࠓ࿔Ԩऺ໙ᅃ߲ፖՔဣ၎ܔᇀଷᅃ߲ፖՔဣڦ࿋ዃăऺ໙ፖՔገ࣑࿋ዃ(MCTP)(1)•ीۉഗ༱ႚ཮梯形图•঳ࠓ࿔Ԩ݀ഐኸۨڦፖՔဣฉ໯ᆶዡٗ࠲Կጒༀڟዡሏۯց࠲Կް࿋(MCSR)•ीۉഗ༱ႚ཮梯形图৽Ⴣጒༀڦް࿋Ljժأዡࠤቱă•঳ࠓ࿔Ԩ(1)౞ኻీሞ1756-L6x੦዆ഗฉ๑ᆩኄཉኸସă250؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሞंࢇኸସ้๑ᆩփཞᄲंࢇଇ߲MCLMईMCCMኸସLj൩ഔۯڼᅃ߲Ljಇܓڼܾ߲ăፖՔဣڦՔധྺ౞༵ࠃଇ߲࿋ᆩᇀಇܓኸସăڦዕኹૌ႙•MovePendingStatus•MovePendingQueueFullStatus૩සLjူ௬ڟࢇं1evoMॽઠ1scဣՔፖᆩ๑཮ႚ༱ڦMove2ዐă๖૩ंࢇኸସ༱ႚ཮සࡕօႾ=1ሶMove1ഔۯLjॽዡᅎڟ࿋ዃ5,0ܸ൐ᅃڋMove1ኟሞ৊ႜܸ൐ᆶ੣ಇܓଷᅃ߲ሏۯօႾ=2ူᄻځჄ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ251\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)සࡕօႾ=2ሶMove1ᅙঢ়݀ิăMove2৊෇ܓଚLjڪځMove1ྜׯăڟᅎዡॽ2evoMLjࢫׯྜ1evoMړ࿋ዃ10,5ăܸ൐ᅃڋMove2ኟሞ৊ႜLj൐ܓଚాᆶ੣LjօႾ=3ړᅃཉኸସྜׯࢫLj໲ॽٗܓଚዐ෸أLj༮؜੣ઠྺଷᅃཉኸସ৊෇ܓଚăଇ߲࿋ڦኵ๔ዕۼ၎ཞLjᅺྺ౞ᅃْኻీಇܓᅃཉࠬഐڦኸସăසࡕᆌᆩႴᄲबཉኸସཞ้ӀْႾኴႜLjሶኄၵ࿋๑ᆩኄၵຕ৊ႜยዃă࿋ຕࢇఫ஺ᅃཉኸସኟሞ߾ፕLjڼ•MovePendingStatus࿋=1ܾཉኸସሞܓଚాࠬഐ•MovePendingQueueFullStatus࿋=1•౞փీಇܓଷᅃཉኸସᅃཉኟሞ߾ፕڦኸସྜ•MovePendingStatus࿋=0ׯժ૗ਸܓଚ•MovePendingQueueFullStatus࿋=0•౞੗ᅜಇܓଷᅃཉኸସ252؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCLMईMCCMኸସڦዕኹૌ႙ፕຕࡀۨକړമኟሞኴႜڦሏۯසࢆዕኹăူ཮၂๖ሞ߲߳ገথڦၚᆖڟ๴ت)TP(ۅኸସ࿋ࢅፖՔဣ࿋ڦጒༀă๑ᆩํाඹई࿮Ҿಇڦंࢇሏۯገথۅتڦ࿋ጒༀ၍Ⴀ?၍Ⴀሏۯူ՗၂๖ฉ཮ዐዕኹૌ႙ྺํाඹई࿮Ҿಇ้߲߳ገথۅتڦ࿋ጒༀăํाඹई࿮Ҿಇዕኹૌ႙้ገথۅتڦ࿋ጒༀ࿋TP1TP2TP3Move1.DNTTTMove1.IPTFFMove1.ACTFFMove1.PCFTTMove2.DNTTTMove2.IPTTFMove2.ACFTFMove2.PCFFTcs1.MoveTransitionStatusFFFcs1.MovePendingStatusTFFcs1.MovePendingQueueFullStatusTFF؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ253\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)๑ᆩ࿮३໏ڦंࢇሏۯገথۅتڦ࿋ጒༀ၍Ⴀg၍Ⴀሏۯူ՗၂๖ฉ཮ዐዕኹૌ႙ྺ࿮३໏้߲߳ገথۅتڦ࿋ጒༀăܔᇀ࿮३໏ዕኹૌ႙Ljገথڦସኸ1evoMᇀڪଉۯᅎᇆ฻ڦ2PTۅ३໏ਐ૗ăසࡕMove1ࢅMove2ਏᆶࠌ၍ႠLjሶMove1.PCॽሞTP3DŽڼᅃ߲ሏۯڦՊײዕۅDžتྺኈă๑ᆩ࿮३໏ዕኹૌ႙ڦ࿋ጒༀ࿋TP1TP2TP3TP4Move1.DNTTTTMove1.IPTFFFMove1.ACTFFFMove1.PCFTTTMove2.DNTTTTMove2.IPTTTFMove2.ACFTTFMove2.PCFFFTcs1.MoveTransitionStatusFTFFcs1.MovePendingStatusTFFFcs1.MovePendingQueueFullStatusTFFF254؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7๑ᆩంସඹڦंࢇሏۯገথۅتڦ࿋ጒༀ၍Ⴀg၍Ⴀሏۯူ՗၂๖ฉ཮ዐዕኹૌ႙ྺంସඹ้߲߳ገথۅتڦ࿋ጒༀăܔᇀంସඹዕኹૌ႙Ljገথڦ1scဣՔፖᇀڪଉۯᅎᇆ฻ڦ2PTۅంସඹă๑ᆩంସඹዕኹૌ႙ڦ࿋ጒༀ࿋TP1TP2TP3TP4Move1.DNTTTTMove1.IPTFFFMove1.ACTFFFMove1.PCFTTTMove2.DNTTTTMove2.IPTTTFMove2.ACFTTFMove2.PCFFFTcs1.MoveTransitionStatusFTFFcs1.MovePendingStatusTFFFcs1.MovePendingQueueFullStatusTFFF؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ255\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)๑ᆩ୾ખ߶ጷ໏܈၌዆ई࿮၌዆ڦंࢇሏۯገথۅتڦ࿋ጒༀ၍ႠgᇶႚሏۯTP3ዡYTP1TP2Xዡူ՗၂๖ገথۅتڦ࿋ጒༀăᆩ୾ખ߶ጷ໏܈၌዆ई࿮၌዆ዕኹૌ႙ڦ࿋ጒༀ࿋TP1TP2TP3Move1.DNTTTMove1.IPTFFMove1.ACTFFMove1.PCFTTMove2.DNTTTMove2.IPTTFMove2.ACFTFMove2.PCFFTcs1.MoveTransitionStatusFFFcs1.MovePendingStatusTFFcs1.MovePendingQueueFullStatusTFF256؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7჋ስዕኹૌ႙ዕኹૌ႙ਦۨକኸସྜׯڦ้ऐă໲ཞ้ਦۨକኸସසࢆॽഄୟ০ंࢇڟಇܓڦMCLMईMCCMኸସDŽසࡕᆶDžዐă1.჋ስዕኹૌ႙ăසࡕ౞Ⴔᄲዡ౞ထྭኸସྜׯڦ้ऐ๟ሶ๑ᆩኄዖዕኹૌ႙(๐ଉ໏܈)ሞሏۯኮक़ཕኹܾኁཞ้݀ิǖ0-ํाඹ•ంସ࿋ዃڪᇀణՔ࿋ዃă•ణՔࢅํा࿋ዃኮक़ڦ๐ଉਐ૗ၭᇀई12VڪᇀፖՔဣڦํा࿋ዃඹăంସ࿋ዃڪᇀణՔ࿋ዃă1-࿮Ҿಇtԍ׼໏܈࢛ۨLjأأݥሞሏۯኮक़ంସ࿋ዃ৊෇ፖՔဣڦంସ࿋ዃඹᅜాă2-ంସඹዡڟٳକ໲ՂႷᅜ३໏܈৊ႜ३໏ڦఫ߲3-࿮३໏ۅă12Vtࡗ܉৊෇ई૗ਸగ߲ᇶܸփཕኹ4-୾ખ߶ጷ໏܈၌዆12Vtሞܠ߲ሏۯኮक़े໏ई३໏5-୾ખ߶ጷ໏܈࿮၌዆1234Vt؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ257\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)2.ඓۨኄ๟ܔ౞ኟඓڦ჋ስăዕኹૌ႙๖૩ୟ০௮ຎ0-ํाඹኸସԍ׼ऄሂ኱዁ܾኁཞ้݀ิǖMove1•ంସ࿋ዃڪᇀణՔ࿋ዃăMove2•ణՔࢅํा࿋ዃኮक़ڦ๐ଉਐ૗ၭᇀईڪᇀፖՔဣڦํा࿋ዃඹăሞ޿ۅتኸସྜׯLjಇܓڦMCLMईMCCMኸସ੗ᅜਸ๔ăዘᄲ๚ၜǖඓۨᄲॽํाඹยዃྺ౞ڦዡ੗ᅜڟٳڦኵăޏሶ޿ኸସॽᅃ኱ཕାሞኟሞ৊ႜጒༀă1-࿮Ҿಇኸସॽԍ׼ऄሂጒༀLj኱ڪዃ࿋ସంڟᇀణՔ࿋ዃăሞMove1޿ۅتኸସྜׯLjಇܓڦMCLMईMCCMኸସ੗ᅜMove2ਸ๔ă2-ంସඹኸସॽԍ׼ऄሂጒༀLj኱ڦဣՔፖ෇৊ዃ࿋ସంڟంସMove1Move2ඹᅜాăሞ޿ۅتኸସྜׯLjಇܓڦMCLMईMCCMኸସ੗ᅜਸ๔ăසࡕுᆶಇܓڦMCLMईMCCMኸସLjዡॽሞణՔ࿋ዃཕኹăRSLogix5000෉ॲԲডٳڟ๑ᆩᆩᇀ100๑ᆩంସඹዕኹૌ႙ڦڼᅃྺፖՔဣದዃڦంସଇ߲׊܈ڦড܌ᆩᇀڼڼᅃཉኸସڦంସඹཉኸସڦದዃ׊܈%ඹኁ100๑ᆩంସඹዕኹૌ႙ڦፌࢫྺፖՔဣದዃڦంସଇ߲׊܈ڦড܌ᆩᇀڞڞຕڼܾཉኸସڦంସඹᅃཉኸସڦದዃ׊܈%ඹኁ50所有其他运动控制指令的各长໯ᆶഄ໱ሏۯኸସڦ߳׊܈%ྺፖՔဣದዃڦంସଇ߲׊܈ڦড܌ᆩᇀ௅௅ᅃཉኸସڦంସඹ度%ඹኁ258؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ዕኹૌ႙๖૩ୟ০௮ຎ3-࿮३໏ኸସॽԍ׼ऄሂጒༀLj኱ڟዡڟٳ३໏ۅăሞ޿ۅتኸMove1Move2ସྜׯLjಇܓڦMCLMईMCCMኸସ੗ᅜਸ๔ă•३໏ۅൽਦᇀ౞๑ᆩڦ๟༱ႚ࣏๟S൸၍ఇ๕ă•සࡕுᆶಇܓڦMCLMईMCCMኸସLjዡॽሞణՔ࿋ዃཕኹă4-୾ખ߶ጷ໏܈၌Move1Move2ኸସॽԍ׼ऄሂጒༀLj኱تۅ޿ሞăዃ࿋Քణٳڟዡڟ዆ኸସྜׯLjಇܓڦMCLMईMCCMኸସ੗ᅜਸ๔ă•ኄዖዐኹૌ႙ፌ๢ࢇᇀൎ၍ࡗ܉ă૩සLj੗ᆩ໲ઠڟᇶٗኁई၍኱ڟᇶٗĂᇶڟ၍኱ٗᇶăMove3•ዡ߶ໜ޿ୟ০ă•ሏۯڦ׊܈ਦۨକዡڦፌٷ໏܈ăසࡕሏۯፁࠕ׊Ljዡॽሞሏۯኮक़փࣷ३໏ăසࡕሏۯ໿܌Ljዡॽሞሏۯኮक़३໏ă5-୾ખ߶ጷ໏܈࿮Move1Move2ኄዖዕኹૌ႙ૌຼᇀ୾ખ໏܈၌዆ăഄփཞۅሞᇀǖ၌዆•๑ᆩኄዖዕኹૌ႙ઠइڥब߲ሏۯኮक़ڦൎ၍໏܈ఇ๕ăኄᄣ३ณሂ܈ă•ྺՆ௨ሞፌࢫᅃْሏۯ঳ຐ้࿋ዃࡗ؋Lj౞ՂႷऺMove3໙ሞఇ๕३໏ᅃӷࡗײዐ௅߲ገথۅتڦ३໏໏܈ă•౞࣏ՂႷऺ໙ఇ๕३໏ᅃӷዐ௅߲ሏۯڦਸ๔໏܈ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ259\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ࠌ၍ሏۯڦ໏܈ఇ๕ࠌ၍ሏۯ๟ሞ੣क़ాཞᅃཉ኱၍ฉڦሏۯă໲்ڦݛၠ੗ᅜ၎ཞᄺ੗ᅜ၎ݒăࠌ၍ሏۯڦ໏܈ఇ๕੗ీๆްሗăԨևྺ౞঻ถब߲૩ጱࢅ཮Ljӻዺ౞૙঴๑ᆩMCLMኸସՊײڦࠌ၍ሏۯڦ໏܈ఇ๕ăᆩዕኹૌ႙2ڦࠌ၍ሏۯ໏܈ఇ๕ူ཮၂๖କ๑ᆩంସඹ(2)ዕኹૌ႙ڦଇ߲ࠌ၍ሏۯڦ໏܈ఇ๕ăڼܾཉMCLMኸସᄲԲڼᅃཉMCLMኸସڦ໏܈஥஥ăړڼᅃཉMCLMኸସڟٳഄంସඹۅ้Ljሏۯ঳ຐLj.PC࿋ԥยዃăڼܾ߲ሏۯԲڼᅃ߲ሏۯ໏܈஥ܸ൐ᆩዕኹૌ႙2้ڦଇ߲ࠌ၍ሏۯڦ໏܈ఇ๕.PC࿋ԥยዃLjMCLM1঳ຐంସඹۅMCLM1MCLM2MCLM1ኸସڦՊײዕۅ࿋ዃူ཮၂๖କ๑ᆩంସඹ(2)ዕኹૌ႙ڦଇ߲ࠌ၍ሏۯڦ໏܈ఇ๕ăڼܾཉMCLMኸସᄲԲڼᅃཉMCLMኸସڦ໏܈੺੺ăړڼᅃཉMCLMኸସڟٳഄంସඹۅ้Ljሏۯ঳ຐLj.PC࿋ԥยዃăڼܾ߲ሏۯԲڼᅃ߲ሏۯ໏܈੺ܸ൐ᆩዕኹૌ႙2้ڦଇ߲ࠌ၍ሏۯڦ໏܈ఇ๕MCLM2.PC࿋ԥยዃLjMCLM1঳MCLM1MCLM1ኸସڦՊײዕۅ࿋ዃ260؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ᆩዕኹૌ႙3Ă4ई5ڦࠌ၍ሏۯ໏܈ఇ๕ڼԲᄲସኸMCLMཉܾڼă๕ఇ܈໏ڦۯሏ၍ࠌ߲ଇ၂๖཮ُᅃཉMCLMኸସڦ໏܈஥஥Lj๑ᆩူ௬ᅃዖዕኹૌ႙ǖ•࿮३໏(3)•୾ખ߶ጷ໏܈၌዆(4)•୾ખ߶ጷ໏܈࿮၌዆(5)ړڼᅃཉMCLMኸସڟٳ३໏ۅ้Lj໲३໏዁ڼܾ߲ሏۯڦՊײ໏܈ăڼᅃ߲ሏۯ঳ຐLj.PC࿋ԥยዃăڼܾ߲ሏۯԲڼᅃ߲ሏۯ໏܈஥ܸ൐ᆩዕኹૌ႙3Ă4ई5้ڦଇ߲ࠌ၍ሏۯڦ໏܈ఇ๕३໏ۅMCLM1.PC࿋ԥยዃLjMCLM1঳ຐMCLM2࿋ዃMCLM1ኸସڦՊײዕۅ३໏ۅڼԲᄲସኸMCLMཉܾڼă๕ఇ܈໏ڦۯሏ၍ࠌ߲ଇ၂๖཮ُᅃཉMCLMኸସڦ໏܈੺੺Lj๑ᆩူ௬ᅃዖዕኹૌ႙ǖ•࿮३໏(3)•୾ખ߶ጷ໏܈၌዆(4)•୾ખ߶ጷ໏܈࿮၌዆(5)ړڼᅃ߲ሏۯڟٳഄՊײዕۅ้Lj.PC࿋ԥยዃăڼܾ߲ሏۯԲڼᅃ߲ሏۯ໏܈੺ܸ൐ᆩዕኹૌ႙3Ă4ई5้ڦଇ߲ࠌ၍ሏۯڦ໏܈ఇ๕MCLM2MCLM1.PC࿋ԥยዃLjMCLM1ኸସڦՊײዕۅ࿋ዃ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ261\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ܔ׬ఇ๕ఇ๕ୟ০ܔᇀ໯ᆶሏۯఇ๕ۼ๟ܔ׬ڦăሞኟၠࢅݒၠݛၠฉᅜܔ׬ڦݛ๕Պײ໏܈Ăे໏܈ࢅ३໏܈ኵLj੗ሞኟၠڦཞ၎ิAۅڟCۅฉၠݛၠݒᇑCۅڟAۅၠݛୟ০ă໚඗ኄ߲߁౒੗ཚࡗଇ߲ኸସႾଚፌ०ڍLjઠ؜၂๖ںڇኻᄲᅜܔ׬ݛ๕৊ႜՊײLj੗ᆌᆩڟඪࢆ׊܈ڦኸସႾଚฉă൩ለܔ׬ఇ๕๖૩କ঴߸ܠ႑တăܔ׬ఇ๕๖૩•MCLM1(ۅڟBۅ(2MCLM߶ࢫ)BBۅڟAۅC)ă•MCLM3(ۅڟBۅ(4MCLM߶ࢫ)BۅڟCۅA)ă•MCLM1ڦे໏܈ՂႷڪᇀMCLM4ڦ३໏܈ă•MCLM1ڦ३໏܈ՂႷڪᇀMCLM4ڦे໏܈ă•MCLM2ڦे໏܈ՂႷڪᇀMCLM3ڦ३໏܈ă•MCLM2ڦ३໏܈ՂႷڪᇀMCLM3ڦे໏܈ăMCLM1(Pos=[2,0],Accel=1,Decel=2)MCLM2(Pos=[2,1],Accel=3,Decel=4)MCLM3(Pos=[2,0],Accel=4,Decel=3)MCLM4(Pos=[0,0],Accel=2,Decel=1)ंࢇࢫڦࡆगڟBٗࢫ඗LjBڟAٗCMCLM2,MCLM3MCLM1,MCLM4262؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7重要IMPORTANT提示࿢்ॺᅱ౞ཚࡗዕኹૌ႙0ई1DŽनTT0ईTT1DžઠዕኹඪࢆሏۯႾଚăྺԍኤ౞ڦࡆग๟ܔ׬ڦLj౞ՂႷཚࡗዕኹૌ႙0ई1ઠዕኹඪࢆሏۯႾଚăཞ้ሞጲमཽ࣮ሏۯڦఇ๕ฉڦገၠۅᄺᆌ๑ᆩዕኹૌ႙0ई1ăኄ߲ሏۯՂႷྺTT0ईኄ߲ሏۯՂႷྺTT0ईTT1ăTT1ăገၠۅ๑ᆩTT2ĂTT3ĂTT4ईTT5ፕྺఇ๕DŽईገၠۅDžڦፌࢫᅃ߲ሏٗᇑዕ๔ۨᅃփժगࡆڦBڟAٗڦิ໯Lj๟ڍăڦඇҾ๟ۯBڦଚႾۯሏăཞ၎गࡆڦAڟ၂Ⴀዕኹ੗ӻዺ੦዆ഗᆫࣅ໏܈ఇ๕LjইگCPU޶ࢁLjժԍኤఇ๕ڦܔ׬Ⴀă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ263\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)සࢆڥڟൎ၍໏܈ఇ๕සࡕ౞ၙᄲཚࡗ຺߲ሏۯՊႀᅃ่߲ൽࢅݣዃፕLjॽሂ܈ই዁ፌگLj๑ᆩൎ၍໏܈ఇ๕ă඗ࢫLj๑ᆩዕኹૌ႙5ăഄ໱ڦႴ໯ڟڥ౞ඟ݆࿮ీ੗႙ૌኹዕڦ໏܈ăዕኹૌ႙2Ă3ई4ዕኹૌ႙5௅߲ሏۯڦ׊܈ਦۨକഄፌٷ໏܈ăᅺُLjዡփࣷٳڟዡ३໏዁౞໯Ⴔᄲڦ໏܈ă౞ՂႷऺ໙ఇ๕३໏ᅃӷዐࣷሰׯ໱்३໏้ሞణՔ࿋ዃࡗ؋ڦఫ߲໏܈ă௅߲ሏۯڦਸ๔໏܈ă264؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ᅜփཞ໏܈ंࢇሏۯ౞੗ᅜंࢇMCLMࢅMCCMኸସLjഄዐڼܾཉኸସڦ๐ଉ໏܈փཞᇀڼᅃཉኸସڦ๐ଉ໏܈ăසࡕူᅃ߲ሏۯܸ൐ڼᅃ߲ሏۯڦዕኹૌ႙ྺఫ஺߸஥2-ంସඹ3-࿮३໏4-୾ખ໏܈၌዆5-୾ખ໏܈࿮၌዆߸੺2-ంସඹ3-࿮३໏4-୾ખ໏܈၌዆5-୾ખ໏܈࿮၌዆؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ265\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯ኱၍ց(MCLM)๑ᆩMCLMኸସ੗ሞڳਸ਼ܻፖՔဣాڦኸۨዡฉ݀ഐᅃྼईܠྼ၍Ⴀၹۙሏۯă౞੗ᅜॽႎ࿋ዃۨᅭྺਨܔ࿋ዃईኁሺଉ࿋ዃăATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă注意ATTENTION໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦኸସLjᄲၭ႐໏܈ࢅ/ईዕڦ؋ࡗዃ࿋ۅޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌٷे໏܈ሂ܈ইگܸዡኟሞे໏ăڍ๟൩઺ऻLjසࡕᆩ้क़%ۨኸ࿋ڇڦLjሂ܈੗ీࣷक़থԥ߀Վăሏۯ኱၍ց(MCLM)ኸସ๑ᆩڳਸ਼ܻፖՔဣዐፌܠෙ߲(3)ৢༀ᳘ࢇྺዷዡڦዡኴႜ၍Ⴀሏۯă౞੗ᅜኸۨ๑ᆩਨܔణՔ࿋ዃईኁሺଉణՔ࿋ዃĂ೺ྭڦ໏܈Ăፌٷे໏܈Ăፌٷ३໏܈Ăे໏܈ሂ܈Ă३໏܈ሂ܈ᅜत߳ጲڇDŽ࿋ڇײՊ܈໏๟܈໏ڦाํă࿋ڇڦ࿋௅௱Ljईኁፌڦࢇፇዡዷڦସంۯሏ๴থतᅜDžዃದڦဣՔፖ਍ߵLj%ڦኵٷࡧຕă௅߲ዡথ๴ంସᅜగ߲໏܈ሏۯLjඟ໯ᆶዡཞ้ڟٳՊײዕۅDŽణՔ࿋ዃDžă266؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ፕຕ-ी梯形图ۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎፖՔဣCOORDINATE_SYՔധዡڦၹۙፇăSTEMሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦ঳ኸସࠓăሏۯૌ႙SINTĂINTई૬नईՔ჋ስሏۯૌ႙ǖDINTധ0=ਨܔኵ1=ሺଉ࿋ዃREALຕፇՔധ[ၹۙڇ࿋][]໏܈SINTĂINTĂDINT૬नईՔ[ၹۙڇ࿋]ईREALധ໏܈ڇ=0न૬ईINTĂINTS࿋ڇ࿋௅௱DINT1=ፌٷኵ%े໏܈SINTĂINTĂDINT૬नईՔ[ၹۙڇ࿋]ईREALധे໏܈ڇ=0न૬ईINTĂINTSڇ࿋௅௱2࿋DINT1=ፌٷኵ%३໏܈SINTĂINTĂDINT૬नईՔ[ၹۙڇ࿋]ईREALധ३໏܈ڇ=0न૬ईINTĂINTSڇ࿋௅௱2࿋DINT1=ፌٷኵ%ఇ๕SINTĂINTई૬न0=༱ႚDINT1=S൸၍؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ267\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ፕຕ-ी梯ۉ形图ഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎे໏ሂ܈SINTĂINTĂDINT૬नईՔ౞ՂՂႷ๔ዕྺे໏܈ࢅ३໏ईREALധ܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ፕຕದዃྺS൸၍Lj३໏ሂ܈SINTĂINTĂDINT૬नईՔኄ߲ኸସৈ๑ᆩ޿ኵăईREALധᆩᅜူሂ܈ڇ࿋๼෇ሂ܈ሂ܈ڇ࿋SINTĂINTई૬नईՔኵăDINTധ30=ڇ࿋௅௱1=ፌٷኵ%2=้क़%๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100(้क़%)•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ዕኹૌ႙SINTĂINTई૬नईՔ0=ํाඹDINTധ1=࿮Ҿಇ2=ంସඹ3=࿮३໏4=୾ખ߶ጷ໏܈၌዆5=୾ખ߶ጷ໏܈࿮၌዆९჋ስዕኹૌ႙DŽሞᄻஓ257ฉDžăࢇժSINTĂINTई૬न0=ᅙ্ኹDINT1=ၹۙሏۯ2=ඇևሏۯࢇժ໏܈SINTĂINTई૬न0=ՊײኵDINT1=ړമኵ268؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7঳ࠓ࿔ԨMCLM(CoordinateSystem,MotionControl,MoveType,঳ࠓ࿔Ԩڦፕຕᇑीۉഗ༱ႚ཮梯形图MCLMኸସڦፕຕ၎ཞăPosition,Speed,Speedunits,Accelrate,Accelunits,ڦਉ஼ጴ߲ܠLj้ኵຕፕڦዐԨ࿔ࠓ঳ྺፕਉ஼෇๼౞ړ๼෇ՂՂႷDecelrate,Decelunits,Profile,ுᆶ੣߭ăਉ૩සူ:ڇ܈໏३෇๼ړ࿋้Ljኵᆌ޿๼෇ྺAcceljerk,Deceljerk,Jerkunits,unitspersec2ܸփ๟༱ႚ཮இडዐ၂๖ڦUnitsperSec2ăTerminationType,Merge,Mergespeed);ሞ๼෇঳ࠓ࿔Ԩፕຕ้Lj൩ॽኄ߲՗߭ዐڦ๼෇ፕྺኸళă঳ࠓ࿔Ԩፕຕڦ๼෇ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔ԨईኁྺፖՔဣ࿮஼ਉՔധሏۯ੦዆࿮஼ਉՔധሏۯૌ႙࿮஼ਉ0(ਨܔኵ)1(ሺଉ)࿋ዃ࿮஼ਉຕፇՔധ໏܈࿮஼ਉ૬नईՔധ໏܈ڇ࿋ڇ࿋௅௱0ፌٷኵ%1े໏܈࿮஼ਉ૬नईՔധे໏܈ڇ࿋ڇ࿋௅௱20ፌٷኵ%1३໏܈࿮஼ਉ૬नईՔധ३໏܈ڇ࿋ڇ࿋௅௱20ፌٷኵ%1ఇ๕༱ႚ0S൸၍1؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ269\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)঳ࠓ࿔Ԩፕຕڦ๼෇ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔Ԩईኁྺे໏ሂ܈࿮஼ਉ૬नईՔധ३໏ሂ܈࿮஼ਉ౞ՂՂႷ๔ዕྺे໏܈ࢅ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100(้क़%)•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ሂ܈ڇ࿋Unitspersec30%ofmaximum1%oftime2(๑ᆩኄ߲ኵഐօ)ዕኹૌ႙࿮஼ਉ0=ํाඹ1=࿮Ҿಇ2=ంସඹ3=࿮३໏4=୾ખ߶ጷ໏܈၌዆5=୾ખ߶ጷ໏܈࿮၌዆९჋ስዕኹૌ႙DŽሞᄻஓ257ฉDžăࢇժ্ኹ0Coordinatedmo1tion2Allmotionࢇժ໏܈Պײኵ0ړമኵ1ፖՔဣፖՔဣፕຕኸۨକۨᅭڳਸ਼ܻፖՔဣྼ܈ڦሏۯዡဣăܔᇀኄ߲ӲԨLjፖՔဣኧ׼ፌٷෙ߲(3)ዷዡăኻᆶದዃྺዷዡڦఫၵዡॽԈࡤሞၹۙ໏܈ڦऺ໙ዐă270؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯ੦዆ᅜူ੦዆࿋ॽ๴ڦସኸMCLMڟᆖၚă๴ڦၚᆖସኸMCLMڟ੦዆࿋ऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ړLjዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړ༱पٗኈࡗ܉ڟ्้Ljഔᆩ࿋ԥް࿋ă.DNDŽྜׯDž࿋29ړၹۙኸସԥׯࠀᄓኤժಇܓࢫLjྜׯ࿋ԥยዃăᆯᇀ໲๟ሞಇܓࢫԥยዃLjᅺُሞ໲૗ਸܓଚࢫၯܔፕ้Lj੗ీࣷᅺྺሏႜ้क़ٱဃܸ၂๖ྺԥยዃăړ༱प्ٗࡗ܉ڟኈ้Ljྜׯ࿋ԥް࿋ă.ERDŽۙၹړă࿋ްԥ࿋ဃٱLj้ኈڟ܉ࡗ्ٗप༱ړ28࿋Džဃٱሏۯ࿄ׯࠀ݀ഐ้Ljٱဃ࿋ԥยዃăړಇܓڦኸସᇜڟሏႜ้क़ٱဃ้Ljٱဃ࿋ᄺ੗ీᇑྜׯ࿋ᅃഐԥยዃă.IP(ኟሞ৊ႜ)࿋26ړၹۙሏۯԥׯࠀ݀ഐࢫLjኟሞ৊ႜ࿋ԥยዃăٳڟۯሏۙၹ൐ܸۯሏჄࢫᆶுړႎ࿋ዃLjईኁᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳዕኹૌ႙ڦኸۨLjईኁၹۙሏۯԥഄ໱ࢇժૌ႙ྺၹۙሏۯڦMCLMईMCCMኸସ໯ൽپLjईኁԥMCSኸସዕኹ้Ljኟሞ৊ႜ࿋ॽԥް࿋ă.AC(ऄۯऄLj้ܓಇঢ়ᅙସኸۯሏۙၹڦ౞ړ23࿋)ۯ࿋੗ඟ౞କ঴న߲ኸସሞ੦዆ሏۯăړၹۙሏۯՎྺऄሂ้Ljऄۯ࿋ԥยዃăړࡗײྜׯ࿋ԥยዃLjईኁړኸସԥཕኹ้Ljऄۯ࿋ԥް࿋ă.PC(ࡗײྜׯ)࿋27ړă࿋ްԥ࿋ׯྜײࡗLj้ኈڟ܉ࡗ्ٗप༱ړுᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳႎ࿋ዃLjईኁᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳዕኹૌ႙ڦኸ้ۨLjࡗײྜׯ࿋ॽԥް࿋ă.ACCEL(े໏)࿋01ړၹۙሏۯتᇀे໏঩܎้Ljे໏࿋ԥยዃăړၹۙၹኁईLj܎঩໏३ई܈໏࢛ۨᇀتۯሏۙሏۯ঳ຐ้Ljे໏࿋ԥް࿋ă.DECEL(३໏)࿋02ړၹۙሏۯتᇀ३໏঩܎้Lj३໏࿋ԥยዃăړၹۙၹኁईLj܎঩໏ेई܈໏࢛ۨᇀتۯሏۙሏۯ঳ຐ้Lj३໏࿋ԥް࿋ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ271\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯૌ႙ሏۯૌ႙ፕຕኸۨକᆩᇀኸ๖ၹۙሏۯୟ০ڦݛ݆ăሏۯૌ႙੗ᅜྺਨܔኵईኁሺଉă•ਨܔኵ-ዡཚࡗᅃཉ኱၍ୟ০Ӏቷᆯፕຕኸۨڦ໏܈Ăे໏܈ࢅ३໏܈ሏۯڟᆯ࿋ዃຕፇۨᅭڦ࿋ዃăړዡԥದዃྺ჉ገ߾ፕ้Ljਨܔኵሏۯૌ႙ڦႜྺఇ๕ᇑ၍Ⴀዡ၎ཞăړዡ࿋ዃגࡗཽජຕ้Lj໲ॽཽජăኄᄣLjዡڦ࿋ዃᆦᇺփࣷٷᇀཽජኵLjᄺփࣷၭᇀଭăኸڦ޶ă޶ྺኁईኟྺᅜ੗Lj๥঴ഗాᆯࡽޙڦዃ࿋ۨ࿋ዃኵॽኸ๑ాഗၠ޶ݛၠሏۯ჉ገዡᅜइڥ໯೺ྭڦਨܔ࿋ዃLjܸኟኵሶ՗๖ႴᄲኟၠሏۯઠٳڟణՔ࿋ዃăړ࿋ዃኵٷᇀཽජኵ้Ljॽิٱဃăዡᆦᇺփࣷحࡗᅃ߲ᅜฉཽජთ࣍Ljܸࣷཕኹሞᅃ߲ਨܔ࿋ዃتă•ሺଉ-ፖՔဣᄂ኱၍ୟ০ᅜኸۨڦ໏܈Lj๑ᆩᆯ߳ጲፕຕඓۨڦे໏܈ࢅ३໏܈Ljᅎۯᆯ࿋ዃຕፇ໯ۨᅭڦਐ૗ăኸڦ޶ă޶ྺኁईኟྺᅜ੗Lj๥঴ഗాᆯ૗ਐڦۨ࿋ዃኵॽኸ๑ాഗၠ޶ݛၠሏۯዡLjܸኟኵሶ՗๖ႴᄲኟၠሏۯઠٳڟణՔ࿋ዃăሞሺଉఇ๕ူLjሎႹגࡗᅃཽ߲ජთ࣍ڦሏۯăMCLMሏۯૌ႙๖૩ူ௬ڦ๖૩঻ถ๑ᆩMCLMᅜतਨܔኵDŽڼᅃ߲૩ጱDžࢅሺଉDŽڼܾ߲૩ጱDžሏۯૌ႙ઠٳڟ၎ཞڦ঳ࡕăएԨ्ยසူǖ•ଇ߲ዡAxis0ࢅAxis1LjۼຌᇀፖՔဣcoordinate_sysă•Axis0ࢅAxis1Եُኟ঍ă•Coordinated_sysፌڇ)5,5(ᇀ࿋؛࿋ă272؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7Coordinated_sys኱၍ሏڇ0.10ྺ܈໏ଉ๐Lj࿋ڇ)10-,10(ڟۯ࿋௅௱Ljे໏܈ࢅ३໏܈ኵྺ5.0ڇ࿋௅௱2ăူ཮๟ฉ௬ڦ्ย໯ิׯڦୟ০ăୟ০ڦ঳ࡕ཮ᄂጣ๐ଉୟ০ႜ৊ڦጺਐ૗ྺǖDAxis0=10-5=5DAxis1=-10-5=-15჋ۨዡڦ๐ଉ໏܈ڪᇀኸۨڦ໏܈Ljڇ࿋๟࿋ዃڇ࿋௅௱ă௅߲ዡڦ໏܈ᇑ޿ዡႜ৊ݛೝڦࢅኮݛೝ૗ਐۯሏዡᆶ໯ᅜأ૗ਐڦߵׯኟԲăAxis0ڦํा໏܈ྺሏۯ๐ଉ໏܈ڦᅜူӥԲă%Axis0໏܈=|Axis0ਐ૗/ጺਐ૗|=|5/15.811388|=.3162=31.62%%Axis1໏܈=|Axis1ਐ૗/ጺਐ૗|=|-15/15.811388|=.9487=94.87%؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ273\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ܔᇀԨ૩LjAxis0໏܈=.3162*10.0=3.162ڇ࿋/௱Axis1໏܈=.9487*10.0=9.487ڇ࿋/௱௅߲ዡڦे໏܈ࢅ३໏܈ᇑ໏܈ڦӥԲ၎ཞăᅜူ༱ႚ཮ኸସ၂๖๑ᆩሏۯૌ႙=ਨܔኵࢅሏۯૌ႙=ሺଉڦ൧઄ူLjᄲํ၄ኄ߲ୟ০໯Ⴔڦ༱ႚ཮இडăሏۯૌ႙ྺਨܔኵ้ڦMCLM༱ႚ཮ኸସሏۯૌ႙ྺਨܔኵ࿋ዃᆩਨܔኵڇ࿋ۨᅭă274؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯૌ႙ྺሺଉ้ڦMCLM༱ႚ཮ኸସሏۯૌ႙ྺሺଉ࿋ዃۨᅭྺٗഐۅ(5,5)ਸ๔ڦሺଉਐ૗ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ275\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCLMኸସᇑ჉ገዡ๖૩ူ௬ڦ૩ጱ঻ถܔۨᅭྺ჉ገዡڦMCLMኸସڦୟ০཮ă๑ᆩᅃ߲჉ገዡࢅਨܔኵሏۯૌ႙ڦMCLMڼᅃ߲૩ጱ๑ᆩڇዡፖՔဣࢅਨܔኵሏۯૌ႙ăୟ০཮एᇀᅜူ्ยǖ•ڇዡፖՔဣLjఁྺcoord_syst1•Axis0ྺ჉ገዡLjཽජྺ5ገă•ਸ๔࿋ዃྺ4ă•঳ຐ࿋ዃྺ-2ăሏۯૌ႙ྺਨܔኵ้ڦMCLM༱ႚ཮ኸସሏۯૌ႙ྺਨܔኵăዕۅۨᅭྺ޶ኵăᄲऻዿܔᇀਨܔኵሏۯૌ႙(0)Lj޶ࡽڦۯሏ՗پݛၠăሞኄ߲૩ጱዐLjዡၠ޶ݛၠሏۯڟਨܔኵ࿋ዃ+2.0ăᄲၠ޶ݛၠᅎۯڟ࿋ዃ0.0Lj౞ՂႷՊႀྺ-360.0Ljᅺྺ-0.0ሞాևئ٪ྺ0.0ăሏۯୟ০ڦ঳ࡕ཮සူ཮໯๖ă276؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7๑ᆩᅃ߲჉ገዡࢅਨܔኵሏۯૌ႙ڦMCLMୟ০཮ዕۅྺ޶ኵLjᅺُዡӀ޶ݛၠٗ4ሏۯڟ2Ljփཚࡗཽජݛ๕ႜ৊ăܔᇀኄ߲ሏۯLjዕۅᄲޙࢇᆯዡڦ჉ገཽජ໯ۨᅭڦਨܔኵ࿋ዃᅜాăᅺُLjཽජኵ6ई-6ॽ๟࿮ၳڦă๑ᆩଇ߲჉ገዡࢅሺଉሏۯૌ႙ڦMCLMۯሏଉሺࢅዡገ჉߲ଇᆩྺ๖૩ዡገ჉ڦMCLM߲ܾڼૌ႙ăୟ০཮ڦ्ยසူǖ•ܾዡፖՔဣLjఁྺcoordinate_sys•Axis0ྺ჉ገዡLjཽජྺ1ገă•Axis1ྺ჉ገዡLjཽජྺ2ገă•ਸ๔࿋ዃྺ0,0ă•ڦዃ࿋ຐ঳ڟሺଉྺ-5,5ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ277\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯૌ႙ྺሺଉ้ڦMCLM༱ႚ཮ኸସሏۯૌ႙ྺሺଉăኄཉMCLMኸସॽิူ௬ڦሏۯୟ০཮ă๑ᆩଇ߲჉ገዡࢅሺଉሏۯૌ႙ڦMCLMୟ০཮278؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሞฉ཮ዐLjዡᄂጣڛĐzđጴႚሏۯକଇංӷLjཕኹڦํा࿋ዃྺ0,1ăኄۯሏ߲ኄăජཽ/ገ5.2ڦ1sixAࢅජཽ/ገ5ڦ0sixAᇀڪڟۯሏ0ٗ0sixAዐഄLjۯሏၠݛኟӀዡُᅺLjኵኟྺଉሺዃ࿋ڦ1LjAxis1ڦዡᆯࢇޙᄲႴۅዕLjዐጱ૩߲ኄሞă2ڟۯሏ0ٗ჉ገཽජ໯ۨᅭڦਨܔ࿋ዃᅜాăၹۙሏۯڦୟ০๟ሞ኱၍੣क़ాඓۨڦLjڍዡڦ࿋ዃሶᆯ჉ገದዃ໯၌዆ڦă࿋ዃᅃྼຕፇLjഄྼ܈ۨᅭྺ዁ณڪᇀፖՔဣాኸۨڦዡ߲ຕă࿋ዃຕፇۨᅭକႎڦਨܔኵईኁሺଉ࿋ዃă໏܈໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷ๐ଉ໏܈ă໏܈ڇ࿋໏܈ڇڦฉຕፕ܈໏ڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲăे໏܈े໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷे໏܈ăे໏܈ڇ࿋े໏܈ڇڦฉຕፕ܈໏ेڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲă३໏܈३໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷ३໏܈ă३໏܈ڇ࿋३໏܈ڇڦฉຕፕ܈໏३ڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ279\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ఇ๕ఇ๕ፕຕඓۨକၹۙሏۯ๟๑ᆩ༱ႚ࣏๟S൸၍໏܈ఇ๕ăControlLogixሏۯ੦዆ഗ༵ࠃକ༱ႚDŽ၍Ⴀे໏ࢅ३໏DžᅜतS൸၍DŽ੦዆ሂ܈Dž໏܈ఇ๕ăူ௬ߴڦ൱ᄲᆩᆌዖ߳ܔ๕ఇۯሏၵኄକ؜ၳࡕኸళă໏܈ఇ๕ၳࡕఇ๕े໏/३໏ۉऐ੦዆ڦᆫံपૌ႙้क़უ૰ፌߛڟፌگ༱ႚፌ੺ፌे໏/३໏໏܈࿋ዃS൸၍2Xฎ஥ፌॅሂ܈े໏/३໏໏܈࿋ዃ•༱ႚ༱ႚ໏܈ఇ๕๟ፌ׉ᆩڦఇ๕Ljᅺྺ໲ܔᇀՊײࢫჄሏۯ༵ࠃፌٷڦଳऄ܈Ljժ༵ࠃፌ੺ڦे໏ࢅ३໏้क़ă໏܈ڦፌٷՎࣅ๟ᆯे໏܈ࢅ३໏܈໯ኸۨڦăᆯᇀሂ܈փ๟༱ႚఇ๕ዐڦᅃዖᅺ໎Ljᅺُԥੂፔ๟࿮၌ٷLjሞူ཮ዐ၂๖ྺᅃဣଚڦ኱၍ă༱ႚे໏/३໏้क़•S൸၍280؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ړႴᄲॽܔऐႁဣཥڦუ૰ࢅ޶ࢁই዁ፌگ้LjS൸၍໏܈ఇ๕ፌྺ׉ᆩăڍ๟ᇑ༱ႚఇ๕၎ԲLjS൸၍ఇ๕ဎึକे໏ࢅ३໏้क़ă໏܈੗ᅜे੺ई३஥ڦ܈ሂڟ๴օᅃ৊࣏୲໏ٷፌڦ၌዆ăၹۙሏۯڦे໏ࢅ३໏ሂ܈ኵऺ໙ॽሞኄၵኸସਸ๔้৊ႜă•MAJ•MCS•MAM•MCCD•MAS•MCCM•MCD•MCLMऺ໙ڦ؜ሂ܈ኵิׯෙঙႚे໏ࢅ३໏ఇ๕Ljසူ཮໯๖ăS൸၍े໏/३໏้क़ܔᇀS൸၍ሏۯLjሂ܈ኵ๟एᇀՊײ໏܈Ăे໏܈ࢅ३໏܈ኵ໯ඓۨڦLjܸܸփ๟ሏۯڦ׊܈ăړंࢇਏᆶ၎ཞे໏܈ࢅ३໏܈ኵڦሏۯ้Ljन๑ሏۯ੗ీփፁࠕ׊ڟీٳڟՊײ໏܈DŽ໏܈၌዆ሏۯDžLjRSLogix5000෉ॲᄺ׈๬ԍ׼࿘ۨڦሂ܈ኵăසࡕS൸၍ሏۯԥದዃྺሶሺे໏܈ڦۯሏ܌໫዆၌܈໏ݥኴႜ้क़໏܈၌዆ჽ׊ሏۯڦኴႜ้क़؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ281\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ܔᇀᆩଭ໏܈ՊײڦS൸၍ሏۯLjሂ܈ኵ๟ᆯᅜമᆩݥଭ໏܈ڦኸସ໯Պײڦ໏܈ኵ໯ਦۨڦă൩ለMCCDኸସLjକ঴࠲ᇀMCCDኸସ໯ፔ߸߀ڦᆖၚăे໏ሂ܈े໏ሂ܈ڦ܈ሂ໏े໙ऺ࠲ᆶă܈ሂ໏ेٷፌڦۯሏײՊକᅭۨ߸ܠ႑တLj൩ለԨቤևđ࿋ڇ܈ሂĐڦă३໏ሂ܈३໏ሂ܈ڦ܈ሂ໏໙३ऺ࠲ᆶă܈ሂ໏३ٷፌڦۯሏײՊକᅭۨ߸ܠ႑တLj൩ለԨቤևđ࿋ڇ܈ሂĐڦăሂ܈ڇ࿋ሂ܈ڇڦᆩᆌฉኵڦ෇๼໯ຕፕ܈ሂ໏३ࢅ܈ሂ໏ेၠକᅭۨ࿋ڇ࿋ă໯๼෇ڦኵ኱থᅜኸۨፖՔဣڦ࿋ዃڇ࿋ྺڇ࿋LjईኁྺӥԲăړದዃ๑ᆩፌٷኵ%้Ljሂ܈ԥᆌᆩྺፖՔဣຌႠዐኸۨڦፌٷे໏ሂ܈ࢅፌٷ३໏ሂ܈ፕຕڦӥԲăړದዃྺ๑ᆩ้क़%้Lj޿ኵྺएᇀኸସዐኸۨڦ໏܈Ăे໏܈ࢅ३໏܈ڦᅃ߲ӥԲăසࡕᄲॽ߾ײڇ࿋࣑໙ׯ้क़%ईኁॽ้क़%࣑໙ׯ߾ײڇ࿋Lj൩๑ᆩᄻஓ28ਸཀྵت঻ถڦࠅ๕ăዕኹૌ႙ᆶ࠲჋ስዕኹૌ႙ڦ႑တLj൩ለᄻஓ257ă282؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ࢇժࢇժፕຕඓۨକ๟ޏᄲॽ໯ᆶኸۨዡڦሏۯՎׯڇكڦၹۙሏۯăࢇժ჋ၜԈઔǖ্ኹࢇժĂၹۙሏۯईඇևሏۯă•্ኹࢇժඪࢆړമኟሞኴႜڦڇዡሏۯኸସසࡕภतڟኸۨፖՔဣዐۨᅭڦඪࢆዡLjሶփ๴ُኸସघऄڦᆖၚLjժ൐ሞ๴ڟᆖၚڦዡฉิ۠ेሏۯăཞ้Ljཞᅃ߲ኸۨፖՔဣዐภतڦඪࢆၹۙሏۯኸସۼएᇀഄዕኹૌ႙ሏႜ዁ྜׯă•ၹۙሏۯཞᅃ߲ኸۨڦፖՔဣዐภतڟڦඪࢆړമኟሞኴႜڦၹۙሏۯኸସۼԥዕኹăघऄڦሏۯंࢇ৊෇ړമڦሏۯLjժ൐Ӏቷࢇժ໏܈ຕዐۨᅭڦ໏܈ăඪࢆࠬഐڦၹۙሏۯኸସۼԥൽၩăඪࢆړമኟሞኴႜڦဣཥڇዡሏۯኸସසࡕภतڟኸۨፖՔဣዐۨᅭڦඪࢆዡLjሶփ๴ُኸସघऄڦᆖၚLjժ൐ሞ๴ڟᆖၚڦዡฉิ۠ेሏۯă•ඇևሏۯඪࢆภतڟኸۨፖՔဣዐۨᅭڦඪࢆዡڦړമኟሞኴႜڦڇዡሏۯኸସLjᅜतඪࢆړമኟሞኴႜڦၹۙሏۯኸସLjۼॽԥዕኹăമ௬ڦሏۯंࢇ৊෇ړമڦሏۯLjժ൐Ӏቷࢇժ໏܈ຕዐۨᅭڦ໏܈ăඪࢆࠬഐڦၹۙሏۯኸସۼԥൽၩăࢇժ໏܈ࢇժ໏܈ፕຕۨᅭକړࢇժԥ্ኹ้Ljሞၹۙሏۯڦୟ০ฉ๟ॽړ使能മ໏܈࣏๟ॽՊײ໏܈ᆩፕፌٷ໏܈ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ283\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ࢇժ๖૩MCLM༱ႚ཮๑ᆩፖՔဣcs2ॽᅃཉᆩణՔਨܔኵ࿋ዃ(5,0)ڦmclm10ኸସࢇժڦ)5,10(ྺዃ࿋Քణཉᅃڟmclm11ኸସă၂๖ࢇժڦ༱ႚ཮ܔᇀԥࢇժڦኸସLjࢇժยዃྺၹۙሏۯࢇժ໏܈ྺՊײ໏܈සࡕዡԵُሶLj࿋ڇ)0,0(ᇀ࿋؛ፌ2scဣՔፖ൐ܸLj঍ኟُ཮໯ิڦሏۯॽൽਦᇀڼܾཉኸସኴႜ໯Ⴔڦ้क़ăڼܾ߲ሏۯᅃڋਸ๔৽ࣷ૬न৊ႜंࢇLjܸ൐ڼᅃ߲ሏۯ૬नዕኹăሞُ૩ڦ༱ႚ཮ዐLjړ้ۨഗTdelay೺஢ࢫ৽ਸ๔ࡗ܉ă284؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7၂๖ࢇժ঳ࡕڦ཮ႚࢇժሏۯ߲߳ገথۅتڦ࿋ጒༀ࿋TP1TP2TP3TP4Move1.DNTTTTMove1.IPTFFFMove1.ACTFFFmcclm10.PCFTTTMove2.DNTTTTMove2.IPTTTFMove2.ACFTTFMove2.PCFFFTcs2.MoveTransitionStatusFTFFcs2.MovePendingStatusTFFFcs2.MovePendingQueueFullStatusTFFFణമLjၹۙሏۯৈኧ׼ᅃ߲ၹۙሏۯኸସڦಇܓăᅺُLjMovePendingStatus࿋ࢅMovePendingQueueFullStatus࿋๔ዕ๟၎ཞڦă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ285\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ᆶ࠲ࢇժኸସڦ޹े႑တۅᇀ࿋ዡړă๖໯཮ူසLjഐ݀ԥۯሏڦBۅڟAۅٗC้Lj݀ഐၠۅDڦሺଉࢇժă঳ࡕLjړമኸସሞۅCتԥዕኹă੦዆ഗऺ໙ᄂጣ๐ଉABٗړമ໏܈ڟଭ໏܈ሞۅCتႴᄲڦ३໏ਐ૗ăኄ߲ਐ૗၂๖ྺ๐ଉCFă඗ࢫLjཚࡗॽ๐ଉCFेۅၙ्؜໙ऺฉCۅڟFă໯ิٗ၍൸ڦᄂ໯ۯሏă๖໯཮ူ໯ۯሏժࢇڦDڟCٗڦCਸ๔Lj඗ࢫे෇ۅă၍኱ڦDڟFٗD๟๑ᆩࢇժኸସዐሺଉຕ਍ۅٗۯሏײՊ๔ᇱᇀཞڪ০ୟ߲ኄăڦઠ؜໙ऺDžCۅDŽۅഐժࢇٗAڦ໏३࿮ᆩ൐ժLjDڟFٗࢫ඗LjFڟዕኹૌ႙ăࢇժ๖૩Ԩ๖૩ᆌᆩᇀ኱၍ࢇժă׈๬ࢇժᅃ߲࣍ႚሏۯසࡕ঳ࡕୟ০ժփۨᅭᅃ߲ᇶLjሶ੗ీڞዂՊײڍăڦઠ؜໙ऺDžۅժࢇDŽCۅٗ๟႐ᇶڦዐ๕ఇଉሺăဃٱ๟Lj٪ႷՂۅዕڦۯሏժࢇڟDžۅዕ໏३ڦ؜໙ऺDŽFۅٗሞᅃ߲ᇶăMCLMణՔ࿋ዃ๼෇ܔࣆ઀MCLMኸସڦణՔ࿋ዃ๼෇ܔࣆ઀༵ࠃᅃዖ०ڇڦՊड࿋ዃڦ߭๕ăᄲݡ࿚ణՔ࿋ዃ๼෇ܔࣆ઀Lj౞ՂႷᅙঢ়ॽፖՔဣڦఁ׬෇ኸସLjՂႷሞ࿋ዃጴ܎ዐ๼෇ᆶၳڦՔധఁ׬ܸ൐ᆶፁࠕڦᇮ໎ઠت૙ዡڦ߲ຕLjܸ൐ᄲ჋ስᆶၳڦሏۯૌ႙ă286؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ᄲݡ࿚MCLMኸସڦణՔ࿋ዃ๼෇ܔࣆ઀Lj൩ሞኸସ௬ӱฉӀူ࿋ዃႜࢫ௬ڦู୼ࡽăᆶၳڦፖՔဣᆶၳڦሏۯૌ႙ᆶၳڦ࿋ዃຕፇӀူู୼ࡽन੗ݡ࿚MCLMణՔ࿋ዃ๼෇઀ᆩᇀڦ઀෇๼ዃ࿋Քణ࿚ݡMCLM༱ႚ཮ᆶၳኵӀူ༱ႚ཮ኸସ௬ӱ࿋ዃႜฉڦู୼ࡽӀ౧Ljॽۙᆩူ௬ڦణՔ࿋ዃ๼෇઀LjᆩᇀՊड࿋ዃኵăMCLMኸସణՔ࿋ዃ๼෇ܔࣆ઀-࿋ዃ჋ၜਸ਼؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ287\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ܔࣆ઀Ք༶၂๖ኸସڦፖՔဣࢅՔധఁ׬ăణՔ࿋ዃ๼෇ܔࣆ઀ጴ܎ຫ௽ࠀీ௮ຎዡఁ׬DŽAxisNameDžኄၵጴ܎ଚ؜ፖՔဣዐ໯Ԉࡤڦ߲߳ዡڦఁ׬ăሞኄ߲ܔࣆ઀ዐ౞փీ߸߀ዡڦఁ׬ăణՔ࿋ዃ/ణՔሺଉኄ߲ጴ܎Ԉࡤሞኸସ௬ӱዐኸସڦၹۙሏۯڦDŽTargetዕۅईሺଉă޿ጴ܎ྺຕጴăPosition/TargetIncrementDžํा࿋ዃDŽActualኄၵ๟ፖՔဣዐڦዡڦړമํा࿋ዃăړ૴ऐPositionDžࢅፖՔဣጲۯՔധ߸ႎԥ๑ీࢫLjኄၵ࿋ዃॽۯༀ߸ႎăยዃణՔ=ํाኵኄ߲Ӏ౧ጲۯॽํा࿋ዃኵް዆ڟణՔ࿋ዃଚDŽSetTargets=ాăActualsDžӀ౧໯჋ስڦሏۯૌ႙੦዆ጣĐยዃణՔ=ํाኵđӀ౧ڦྔ࠵ᅜत๟ޏ੗ᆩăړሏۯૌ႙ྺਨܔኵ้LjణՔଚڦఁ׬ྺĐణՔ࿋ዃđLjړሏۯૌ႙ྺሺଉ้LjణՔଚڦఁ׬ྺĐణՔሺଉđLjܸ൐ĐยዃణՔ=ํाኵđӀ౧ԥ্ኹDŽࣨۖDžăMCLM๟ᅃཉࡗ܉Ⴀኸସǖ转换指令•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ梯形图أൎ࣑ڟยዃă•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩限制指令只对转换执行。ለ޹୤Că໙ຍጒༀՔऻփ๴ᆖၚࠤቱཉॲ࿮288؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛٱဃپஓકቛٱဃپஓ੗ӻዺ৊ᅃօۨᅭྺኄཉ༬๺ኸସ໯༵ࠃڦٱဃၩတăഄႜྺൽਦᇀ໲்࠲૴๊஺ٱဃپஓăົޜ࠲Կጒༀ(5)Ă࠲Կጒༀ(7)Ăዡૌ႙ݥົޜ(8)Ăዡ࿄ದዃ(11)Ăࡃଭኟሞ৊ႜٱဃ(16)ᅜतݥ݆ዡຕ਍ૌ႙(38)ٱဃڦકቛٱဃپஓࠀీڦn...0၂๖ॽஓپဃٱቛકᇀܔăڦຼૌ׉ݥ๟ۼຕጴăኄ߲ຕጴ๟ፖՔဣڦ໭ᆅLj՗๖ኟتᇀٱဃጒ઄ዐڦዡăܔᇀٱဃپஓዡ࿄ದዃ(11)Lj࣏ࣷᆶᅃ߲޹ेڦኵ-1Lj՗๖ፖՔဣ࿮݆ྺၹۙሏۯยዃ޿ዡăܔᇀMCLMኸସLjݓॽဃٱቛકLjྷݔ؜גຕ-13ஓپဃٱ࣮ᅃ߲ຕጴLj՗๖ᆶ࿚༶ڦຕՊࡽLjኄၵຕሞ௬ӱฉᅜຕጴຩႾٗฉٱᆶኵຕڦ႙ૌۯሏ๖՗2Ljස૩ă؜ଚDž๔ਸଭᅜDŽူڟဃăᆅᆩڦٱဃپஓࢅՊࡽકቛٱဃຕጴኸସຕ௮ຎኸ๖ޙຕٷኁई0ᇀၭྺ႙ૌۯሏ႙ૌۯሏ2)13(ྷݔ؜גᇀ1ăຕڦፇຕዃ࿋ዃ࿋3)13(ྷݔ؜ג׊܈փፁᅜྺፖՔဣዐڦ໯ᆶዡ༵ࠃ࿋ዃăຕݔ؜גྷ(13)4໏܈໏܈ၭᇀ0ăຕڪईᇀၭ܈໏े܈໏े6)13(ྷݔ؜גᇀ0ăຕڪईᇀၭ܈໏३܈໏३8)13(ྷݔ؜גᇀ0ăຕٷኁई0ᇀၭྺ႙ૌኹዕ႙ૌኹዕ11)13(ྷݔ؜גᇀ3ăܔᇀٱဃپஓ54-ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăڟገăటೡႠຌዡ࿚ݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ289\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCLMܔጒༀ࿋ڦ߸߀ጒༀ࿋༵ࠃᅃዖ॔๫ሏڦ႙ૌዖෙᆶă০཰ڦ܈৊ସኸۯጒༀ࿋༵ࠃ状态位提供一种监视运动控制指令进度的途径。有三种类型的状态位ᆶ࠲႑တă提供有关信息。•ዡጒༀ࿋•ፖՔဣጒༀ࿋•ၹۙሏۯጒༀ࿋ړMCLMኸସ݀ഐࢫLjጒༀ࿋ॽঢ়૦ᅜူՎࣅăዡጒༀ࿋࿋ఁ׬ࡤᅭCoordinatedMotionStatusړኸସਸ๔้ยዃăړኸସ঳ຐ้أăፖՔဣጒༀ࿋࿋ఁ׬ࡤᅭMotionStatusڟথ૶ဣՔፖ൐ܸፕ߾ሞኟସኸMCLMړഄ࠲૴ڦዡ้ยዃă关联轴ၹۙሏۯጒༀ࿋࿋ఁ׬ࡤᅭAccelStatusړ๐ଉኟሞे໏้ยዃăړंࢇኟሞ৊ႜईኁ๐ଉሏۯኟሞ३໏้أăDecelStatusړ๐ଉኟሞ३໏้ยዃăړंࢇኟሞ৊ႜईኁ๐ଉሏۯኟሞे໏้أăActualPosToleranceStatusৈྺํाඹዕኹૌ႙ยዃăړ஢ፁᅜူଇ߲ཉॲ้Ljኄ߲࿋ԥยዃă1)ాᅙঢ়ྜׯă2)ڟՊײዕۅڦํाਐ૗ၭᇀ໯ದዃڦፖՔဣํाඹኵăړኸସྜׯࢫLjኄ߲࿋ԍ׼ยዃጒༀăړႎڦኸସਸ๔ࢫLjኄ߲࿋ԥް࿋ăCommandPosToleranceSt௅ړڟՊײዕۅڦํाਐ૗ၭᇀ໯ದዃڦፖatusՔဣంସඹኵ้Ljܔᇀ໯ᆶዕኹૌ႙ኄ߲࿋ۼࣷԥยዃăړኸସྜׯࢫLjኄ߲࿋ԍ׼ยዃጒༀăړႎڦኸସਸ๔ࢫLjኄ߲࿋ԥް࿋ăStoppingStatusأԥ࿋ༀጒኹཕLj้ഐ݀ସኸMCLMړăMoveStatusړăዃย้ۯሏዡ๔ਸMCLMړፌࢫᅃ߲ሏۯኸସڦ运动控制指令的.PC࿋ยዃ้ईኁగ߲ሏۯኸସ.PC位设置时或者某个运动ኴႜڞዂཕኹ้أă控制指令执行导致停止时清除。290؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ၹۙሏۯጒༀ࿋࿋ఁ׬ࡤᅭMoveTransitionStatusړ஢ፁ࿮३໏ईంସඹዕኹૌ႙้ยዃăړंࢇࠌ၍ሏۯ้ኄ߲࿋փԥยዃLjᅺྺऐഗ๔ዕሞୟ০ฉăړंࢇྜׯ้Ăగ߲ࠬഐኸସڦሏۯਸ๔้ईኁగ߲ሏۯኸସڦኴႜ指令的运动开始时或者某个运动控制指令的ڞዂཕኹ้ԥأă՗๖փሞୟ০ฉă执行导致停止时被清除。表示不在路径上。MovePendingStatusړᅃ߲ࠬഐၹۙሏۯኸସتᇀኸସܓଚ้ยዃăړኸସܓଚྺ੣้أăMovePendingQueueFullStړኸସܓଚ஢้ยዃăړܓଚዐᆶ੣ඹభႎatusڦၹۙሏۯኸସ้أăణമLjၹۙሏۯৈኧ׼ᅃ߲ၹۙሏۯኸସڦಇܓăᅺُLjMovePendingStatus࿋ࢅMovePendingQueueFullStatus࿋๔ዕ๟၎ཞڦăఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ291\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯᇶࢷց(MCCM)๑ᆩMCCMኸସ੗ሞڳਸ਼ܻፖՔဣాڦኸۨዡฉ݀ഐܾྼईෙྼᇶႚၹۙሏۯăႎڦ࿋ዃۨᅭྺਨܔኵईኁሺଉ࿋ዃLjժ൐๑ᆩ೺ྭڦ໏܈ăMCCMڦํा໏܈๟ሏۯఇ๕ڦࡧຕDŽߴۨ໏܈ईፌٷ໏܈ڦӥԲDžăሏۯڦ໏܈๟ߵ਍๑ᆩՊײዡྜׯᇶႚሏۯ໯Ⴔڦ้क़ă௅߲ዡথ๴ంସᅜగ߲໏܈ሏۯLjඟ໯ᆶዡཞ้ڟٳዕۅDŽణՔ࿋ዃDžăᇶႚڦྼ܈๟ᆯፖՔဣዐԈࡤڦዡຕۨᅭڦă૩සLjසࡕ౞ڦፖՔဣዐԈࡤෙ߲ዡLjܸగ߲MCCMኸସڦሏۯৈ๟ܾྼڦLjሶิڦሏۯධԥੂፔ๟ᅃ߲ෙྼࢷႚईᇶႚă注ATTENTION意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă注意ATTENTION໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦኸସLjᄲၭ႐໏܈ࢅ/ईዕڦ؋ࡗዃ࿋ۅޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌٷे໏܈ሂ܈ইگܸዡኟሞे໏ăڍ๟൩઺ऻLjසࡕᆩ้क़%ۨኸ࿋ڇڦLjሂ܈੗ీࣷक़থԥ߀Վă292؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCCMኸସፕຕ-ी梯形图ۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎፖՔဣCOORDINATE_ՔധዡڦၹۙፇăSYSTEMሏۯ੦዆MOTION_ኸସՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳ࠓăሏۯૌ႙SINTĂINTई૬नईՔധ0=ਨܔኵDINT1=ሺଉ࿋ዃREALຕፇՔധ[][ၹۙڇ࿋]ᇶႚૌ႙SINTĂINTई૬नईՔധ0=ঢ়ᆯDINT1=ዐ႐2=ӷ০3=ዐ႐ሺଉঢ়ᆯ/ዐREALຕፇՔധ[][ၹۙڇ࿋]႐/ӷ০(ঢ়ᆯ/ዐ႐)૬नईՔധDŽӷ০DžݛၠSINTĂINTई૬नईՔധ2D3DDINT0=CWፌ܌1=CCWፌ׊2=CWྜኝፌ܌ྜኝ3=CCWྜኝፌ׊ྜኝ໏܈SINTĂINTĂ૬नईՔധ[ၹۙڇ࿋]DINTईREAL໏܈ڇ=0न૬ईINTĂINTS࿋ڇ࿋௅௱DINT1=ፌٷኵ%े໏܈SINTĂINTĂ૬नईՔധ[ၹۙڇ࿋]DINTईREALे໏܈ڇ=0न૬ईINTĂINTSڇ࿋௅௱2࿋DINT1=ፌٷኵ%३໏܈SINTĂINTĂ૬नईՔധ[ၹۙڇ࿋]DINTईREAL؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ293\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCCMኸସፕຕ-ी梯形图ۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎ३໏܈ڇ=0न૬ईINTĂINTSڇ࿋௅௱2࿋DINT1=ፌٷኵ%ఇ๕SINTĂINTई૬न0=༱ႚDINT1=S൸၍े໏ሂ܈SINTĂINTĂ૬नईՔധ౞ՂՂႷ๔ዕྺे໏܈ࢅ३໏DINTईREAL܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸ३໏ሂ܈SINTĂINTĂ૬नईՔധସৈ๑ᆩ޿ኵăDINTईREAL•े໏ሂ܈๟ፖՔဣڦे໏ሂ܈ڇ࿋SINTĂINTई૬नईՔധሂ܈ኵăDINT•३໏ሂ܈๟ፖՔဣڦ३໏ሂ܈ኵăᆩᅜူሂ܈ڇ࿋๼෇ሂ܈ኵă0=ڇ࿋௅௱31=ፌٷኵ%2=้क़%๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100(้क़%)•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ዕኹૌ႙SINTĂINTई૬नईՔധ0=ํाඹDINT1=࿮Ҿಇ2=ంସඹ3=࿮३໏4=୾ખ߶ጷ໏܈၌዆5=୾ખ߶ጷ໏܈࿮၌዆९჋ስዕኹૌ႙DŽሞᄻஓ257ฉDžăࢇժSINTĂINTई૬न0=ᅙ্ኹDINT1=ၹۙሏۯ2=ඇևሏۯࢇժ໏܈SINTĂINTई૬न0=ՊײኵDINT1=ړമኵ294؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7঳ࠓ࿔ԨMCCM(CoordinateSystem,঳ࠓ࿔Ԩፕຕᇑीۉഗ༱ႚ཮梯形图MCCMኸସڦፕຕ၎ཞăMotionControl,MoveType,Position,CircleType,Via/Center/Radius,Direction,Speed,ڦਉ஼ጴ߲ܠLj้ኵຕፕڦዐԨ࿔ࠓ঳ྺፕਉ஼෇๼ړ๼෇ՂႷுSpeedunits,Accelrate,Accelunits,ᆶ੣߭ăਉ૩සူ:ڇ܈໏३෇๼ړ࿋้Ljኵᆌ޿๼෇ྺDecelrate,Decelunits,Profile,Accel22unitspersecܸփ๟༱ႚ཮இडዐ၂๖ڦUnitsperSecăJerk,Deceljerk,Jerkunits,Terminationtype,Merge,Mergespeed);ሞ๼෇঳ࠓ࿔Ԩፕຕ้Lj൩ॽኄ߲՗߭ዐڦ๼෇ፕྺኸళă঳ࠓ࿔Ԩፕຕڦ๼෇ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔ԨईኁྺፖՔဣ࿮஼ਉՔധሏۯ੦዆࿮஼ਉՔധሏۯૌ႙࿮஼ਉՔധ0=ਨܔኵ1=ሺଉ࿋ዃ࿮஼ਉຕፇՔധᇶႚૌ႙࿮஼ਉՔധ0=ঢ়ᆯ1=ዐ႐2=ӷ০3=ዐ႐ሺଉঢ়ᆯ/ዐ႐/ӷ০࿮஼ਉຕፇՔധ(ঢ়ᆯ/ዐ႐)૬नईՔധDŽӷ০Džݛၠ࿮஼ਉ2D3D0ຩ้ኍፌ܌1ొ้ኍፌ׊2ຩ้ኍྜኝፌ܌ྜኝ3ొ้ኍྜኝፌ׊ྜኝ໏܈࿮஼ਉ૬नईՔധ໏܈ڇ࿋Unitspersec0%ofmaximum1े໏܈࿮஼ਉ૬नईՔധ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ295\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)঳ࠓ࿔Ԩፕຕڦ๼෇ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔Ԩईኁྺे໏܈ڇ࿋Unitspersec20%ofmaximum1३໏܈࿮஼ਉ૬नईՔധ३໏܈ڇ࿋Unitspersec20%ofmaximum1ఇ๕༱ႚ0S൸၍1े໏ሂ܈࿮஼ਉ૬नईՔധ३໏ሂ܈࿮஼ਉ౞ՂՂႷ๔ዕྺे໏܈ࢅ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄၵኵഐօă•े໏܈ሂ܈=100(้क़%)•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ሂ܈ڇ࿋Unitspersec30%ofmaximum1%oftime2(๑ᆩኄ߲ኵഐօ)296؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7঳ࠓ࿔Ԩፕຕڦ๼෇ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔Ԩईኁྺዕኹૌ႙࿮஼ਉ0=ํाඹ1=࿮Ҿಇ2=ంସඹ3=࿮३໏4=୾ખ߶ጷ໏܈၌዆5=୾ખ߶ጷ໏܈࿮၌዆९჋ስዕኹૌ႙DŽሞᄻஓ257ฉDžăࢇժ্ኹ0Coordinatedmo1tion2Allmotionࢇժ໏܈Պײኵ0ړമኵ1ፖՔဣፖՔဣፕຕኸۨକۨᅭڳਸ਼ܻፖՔဣྼ܈ڦሏۯዡဣཥăܔᇀኄ߲ӲԨLjፖՔဣኧ׼ፌٷෙ߲(3)ዷዡăኻᆶದዃྺዷዡDŽፌܠෙ߲DžڦఫၵዡॽԈࡤሞ໏܈ڦऺ໙ዐăኻᆶዷዡॽᇑํाڦᇶႚሏۯă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ297\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯ੦዆ᅜူ੦዆࿋ॽ๴ڦସኸMCCMڟᆖၚă๴ڦၚᆖସኸMCCMڟ੦዆࿋ऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ٗप༱ړăዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړ31ኈࡗ܉ڟ्้Ljഔᆩ࿋ԥް࿋ă.DNDŽྜׯDž࿋ړၹۙኸସԥׯࠀᄓኤժಇܓࢫLjྜׯ࿋ԥยዃă29ᆯᇀ໲๟ሞಇܓࢫԥยዃLjᅺُሞ໲૗ਸܓଚࢫၯܔፕ้Lj੗ీࣷᅺྺሏႜ้क़ٱဃܸ၂๖ྺԥยዃăړ༱प्ٗࡗ܉ڟኈ้Ljྜׯ࿋ԥް࿋ă.ERDŽۙၹړă࿋ްԥ࿋ဃٱLj้ኈڟ܉ࡗ्ٗप༱ړ࿋Džဃٱሏ28ڦܓಇړăዃยԥ࿋ဃٱLj้ഐ݀ࠀׯీ࿄ۯኸସᇜڟሏႜ้क़ٱဃ้Ljٱဃ࿋ᄺ੗ీᇑྜׯ࿋ᅃഐԥยዃă.IP(ኟሞ৊ႜ)࿋ړၹۙሏۯԥׯࠀ݀ഐࢫLjኟሞ৊ႜ࿋ԥยዃăړ26ுᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳႎ࿋ዃLjईኁᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳዕኹૌ႙ڦኸۨLjईኁၹۙሏۯԥഄ໱ࢇժૌ႙ྺၹۙሏۯڦMCCMईMCLMኸସ໯ൽپLjईኁԥMCSईMCSDኸସዕኹ้Ljኟሞ৊ႜ࿋ॽԥް࿋ă.AC(ऄۯऄLj้ܓಇঢ়ᅙସኸۯሏۙၹڦ౞ړ23࿋)ۯ࿋੗ඟ౞କ঴న߲ኸସሞ੦዆ሏۯăړၹۙሏۯՎྺऄሂ้Ljऄۯ࿋ԥยዃăړࡗײྜׯ࿋ԥยዃLjईኁړኸସԥཕኹ้Ljऄۯ࿋ԥް࿋ă.PC(ࡗײྜׯ)࿋ړă࿋ްԥ࿋ׯྜײࡗLj้ኈڟ܉ࡗ्ٗप༱ړு27ᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳႎ࿋ዃLjईኁᆶࢫჄሏۯܸ൐ၹۙሏۯڟٳኸۨڦዕኹૌ႙้Ljࡗײྜׯ࿋ॽԥް࿋ă.ACCEL(े໏)࿋ړၹۙሏۯتᇀे໏঩܎้Ljे໏࿋ԥยዃăړၹ01ۯሏۙၹኁईLj܎঩໏३ई܈໏࢛ۨᇀتۯሏۙ঳ຐ้Ljे໏࿋ԥް࿋ă.DECEL(३໏)࿋ړၹۙሏۯتᇀ३໏঩܎้Lj३໏࿋ԥยዃăړၹ02ۯሏۙၹኁईLj܎঩໏ेई܈໏࢛ۨᇀتۯሏۙ঳ຐ้Lj३໏࿋ԥް࿋ă298؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯૌ႙ሏۯૌ႙ፕຕඓۨକ࿋ዃຕፇᆩઠ՗๖ၹۙሏۯୟ০ڦݛ݆Ljᅜतঢ়ᆯ/ዐ႐/ӷ০ຕᆩઠ՗๖ঢ়ᆯࢅዐ႐ᇶ࿋ዃڦݛ݆ă჋ၜසူǖਨܔኵईሺଉă•ਨܔኵ-ፖՔဣӀۨᅭڦ໏܈Lj๑ᆩᆯ߳ጲፕຕኸۨڦे໏܈ࢅ३໏܈Ljᄂጣᇶႚୟ০ሏۯڟኸۨڦ࿋ዃăړዡԥದዃྺ჉ገ߾ፕ้Ljਨܔኵሏۯᇑ኱၍ዡڦت૙ݛ๕၎ཞăړዡ࿋ዃגࡗཽජຕ้Ljॽิׯᅃ߲ٱဃăኸڦ޶ăၠݛڦۯሏྺ๥঴ഗ዆੦ᆯࡽޙڦፇຕዃ࿋ۨ࿋ዃኵॽኸ๑ాഗၠ޶ݛၠሏۯ჉ገዡᅜइڥ໯೺ྭڦਨܔ࿋ዃăኟኵሶ՗๖ႴᄲኟၠሏۯઠٳڟణՔ࿋ዃăᄲၠ޶ݛၠᅎۯڟཽජ࿋ዃLjՂႷ๑ᆩ޶ت0ྺፕۼ0ࢅ0-ྺᅺLjኵዃ࿋ජཽڦ૙ăړ࿋ዃٷᇀཽජኵ้Ljॽิٱဃăዡ੗ᅜحࡗཽජ࿋ዃLjڍᆦᇺփࣷᅜሺଉݛ๕גࡗᅃཽ߲ජኵă•ሺଉ-ፖՔဣᄂᇶႚୟ০ᅜኸۨڦ໏܈Lj๑ᆩᆯ߳ጲፕຕඓۨڦे໏܈ࢅ३໏܈Ljᅎۯᆯ࿋ዃຕፇ໯ۨᅭڦਐ૗ăኸڦ޶ă޶ྺኁईኟྺᅜ੗Lj๥঴ഗాᆯ૗ਐڦۨ࿋ዃኵॽኸ๑ాഗၠ޶ݛၠሏۯ჉ገዡLjܸኟኵሶ՗๖ႴᄲኟၠሏۯઠٳڟణՔ࿋ዃă࿋ዃ࿋ዃፕຕ๟ᅃྼຕፇLjഄྼ܈዁ณڪᇀፖՔဣాኸۨڦዡ߲ຕă๟ᆯ࿋ዃຕፇઠۨᅭႎڦਨܔኵईኁሺଉ࿋ዃă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ299\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ᇶႚૌ႙ᇶႚૌ႙ፕຕኸۨକՔऻྺঢ়ᆯ/ዐ႐/ӷ০ڦຕፇසࢆԥ঴๥ă჋ၜසူǖঢ়ᆯĂᇶႚĂӷ০Ăዐ႐ሺଉă•ঢ়ᆯ՗๖ঢ়ᆯ/ዐ႐/ӷ০ڦຕፇׯᇵኸۨକഐۅࢅዕۅኮक़ڦঢ়ᆯۅă•ዐ႐՗๖ঢ়ᆯ/ዐ႐/ӷ০ڦຕፇׯᇵԈࡤᇶ႐ă•ӷ০՗๖ঢ়ᆯ/ዐ႐/ӷ০ڦຕፇׯᇵԈࡤӷ০ăഄ໱ׯᇵԥࢮ୼ăӷ০ৈሞܾྼፖՔဣዐᆶၳă•ዐ႐ሺଉ՗๖ঢ়ᆯ/ዐ႐/ӷ০ڦຕፇׯᇵۨᅭڦ࿋ዃ๔ዕᅜሺଉݛ๕ۨᅭᇶႚڦዐ႐Ljܸփ࠶ሏۯૌ႙ፕຕසࢆăሺଉኵڦޙࡽྺٗഐۅڟዐ႐৊ႜଉăܾྼࢷႚ๖૩ူ௬ڦ૩ጱ঻ถሞ߳ዖᇶႚૌ႙ዐසࢆ๑ᆩਨܔኵࢅሺଉሏۯૌ႙ăMCCM๑ᆩዐ႐ᇶႚૌ႙ူ௬ڦ๖૩঻ถ๑ᆩMCCMኸସᇶႚૌ႙ྺዐ႐ᅜतਨܔኵDŽڼᅃ߲૩ጱDžࢅሺଉDŽڼܾ߲૩ጱDžሏۯૌ႙ઠٳڟ၎ཞڦ঳ࡕăएԨ्ยසူǖ•ଇ߲ዡAxis0ࢅAxis1LjۼຌᇀፖՔဣCoordinated_sysă•Axis0ࢅAxis1Եُኟ঍ă•Coordinated_sysፌڇ)3.1-,4.10-(ᇀ࿋؛࿋ăCoordinated_sysᄂࢷႚሏڇ)4.6-,7.3(ྺ႐ዐLj࿋ڇ)6.6,2.11(ڟۯ࿋Lj๐ଉ໏܈ྺ10.0ڇ0.5ྺኵ܈໏३ࢅ܈໏ेLj௱௅࿋ڇ࿋௅௱2ăူ཮๟ฉ௬ڦ႑တ໯ิׯڦୟ০300؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ᇶႚૌ႙ྺዐ႐้ڦMCCMኸସ཮჋ٷፌഗՍፗኁई௱௅࿋ڇ๟࿋ڇLj܈໏ڦۨኸᇀڪ܈໏ଉ๐ڦዡۨ坐标系໏܈ڦӥԲăཞᄣLj๐ଉे໏܈ࢅ३໏܈ڪᇀኸۨڦे໏܈/३໏܈Ljڇ࿋ᆩڇ࿋௅௱2ईኁፗՍഗፌٷे໏܈ڦӥԲă坐标系ཚࡗ๑ᆩMCCMኸସժ჋ስຩ้ኍݛၠĂሏۯૌ႙=ਨܔኵईኁሏړă০ୟ߲ኄ၄ํ੗नLjଉሺ=႙ૌۯ჋ስᇶႚૌ႙ྺዐ႐้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚڦᇶ႐ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ301\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯૌ႙ྺਨܔኵ้ڦMCCM༱ႚ཮ኸସሏۯૌ႙ྺਨܔኵă࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺዐ႐ăዐ႐࿋ዃᆩਨܔኵۨ࿋ڇᅭྺ(3.7,-6.4)ăݛၠ๟ຩ้ኍă302؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯૌ႙ྺሺଉ้ڦMCCM༱ႚ཮ኸସሏۯૌ႙ྺሺଉă࿋ዃۨᅭྺٗഐۅ(-10.4,-1.3)ਸ๔ڦሺଉਐ૗ăᇶႚૌ႙ྺዐ႐ăዐ႐ԥۨᅭྺٗഐۅ(-10.4,-1.3)ਸ๔ڦሺଉਐ૗(14.1,-5.1)ăݛၠ๟ຩ้ኍăසࡕ჋ስొ้ኍݛၠ(ݛၠ=1)Ljሶዡᄂጣူ཮໯๖ڦ൸၍ሏۯăݛၠྺొ้ኍ้ڦୟ০཮؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ303\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCCMኸସ๑ᆩঢ়ᆯᇶႚૌ႙ူ௬ڦ๖૩঻ถ๑ᆩMCCMኸସᇶႚૌ႙ྺঢ়ᆯᅜतਨܔኵDŽڼᅃ߲૩ጱDžࢅሺଉDŽڼܾ߲૩ጱDžሏۯૌ႙ઠٳڟ၎ཞڦ঳ࡕăएԨ्ยසူǖ•ଇ߲ዡAxis0ࢅAxis1LjۼຌᇀፖՔဣcoordinate_sysă•Axis0ࢅAxis1Եُኟ঍ă•Coordinated_sysፌڇ)3.1-,4.10-(ᇀ࿋؛࿋ăCoordinated_sysᄂࢷႚሏڇ)6.8,7.3(ۅࡗཚLj࿋ڇ)6.6,2.11(ڟۯ࿋Lj๐ଉ໏܈ྺ10.0ڇ࿋௅௱Ljे໏܈ࢅ३໏܈ኵྺ5.0ڇ࿋௅௱2ăူ཮๟ฉ௬ڦ႑တ໯ิׯڦୟ০ăMCCMኸସᆩፕຕঢ়ᆯࢅਨܔኵ้ڦୟ০཮჋ٷፌഗՍፗኁई௱௅࿋ڇ๟࿋ڇLj܈໏ڦۨኸᇀڪ܈໏ଉ๐ڦዡۨ坐标系໏܈ڦӥԲăཞᄣLj๐ଉे໏܈ࢅ३໏܈ڪᇀኸۨڦे໏܈/३໏܈Ljڇ࿋ᆩڇ࿋௅௱2ईኁፗՍഗፌٷे໏܈ڦӥԲă坐标系ཚࡗ๑ᆩMCCMኸସժ჋ስຩ้ኍݛၠĂሏۯૌ႙=ਨܔኵईኁሏړă০ୟ߲ኄ၄ํ੗नLjଉሺ=႙ૌۯ჋ስᇶႚૌ႙ྺঢ়ᆯ้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚՂႷཚࡗڦۅă304؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ፕຕኵྺঢ়ᆯࢅਨܔኵ้ڦMCCM༱ႚ཮ኸସሏۯૌ႙ྺਨܔኵă࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺঢ়ᆯăঢ়ᆯ࿋ዃᆩਨܔኵۨ࿋ڇᅭྺ(3.7,8.6)ăݛၠ๟ຩ้ኍăፕຕኵྺঢ়ᆯࢅሺଉ้ڦMCCM༱ႚ཮ኸସሏۯૌ႙ྺሺଉă࿋ዃۨᅭྺٗഐۅ(-10.4,-1.3)ਸ๔ڦሺଉਐ૗ăᇶႚૌ႙ྺঢ়ᆯăঢ়ᆯ࿋ዃԥۨᅭྺٗഐڦ๔ਸ)3.1-,4.10-(ۅሺଉਐ૗(14.1,9.9)ăݛၠ๟ຩ้ኍă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ305\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ᆯᇀᆶෙ߲ۅDŽዡڦړമ࿋ዃĂኸۨڦዕۅĂኸۨڦঢ়ᆯۅDžLjᅺُ࢔వՊײᅃ߲ڦࢷႚă໚඗ධ੗ᅜՊײᅃ߲ࢷႚڍժݥၙᄲڦࢷႚLjසࡕෙ߲ۅࠌ၍DŽෙ߲ۅۼሞᅃཉ኱၍ฉDžईኁփྸᅃDŽଇ߲ईܠ߲ۅ๟ཞᅃ߲ۅDžLjሶࣷ݀ิᇶႚՊײٱဃڦሏႜ้क़ࠤቱăُྔLjঢ়ᆯۅӁ๖ጣࢷႚڦݛၠLjᅺُփႴᄲምኸۨݛၠDŽॽԥࢮ୼DžăMCCMኸସ๑ᆩӷ০ᇶႚૌ႙ူ௬ڦ๖૩঻ถ๑ᆩMCCMኸସᇶႚૌ႙ྺӷ০ᅜतਨܔኵDŽڼᅃ߲૩ጱDžࢅሺଉDŽڼܾ߲૩ጱDžሏۯૌ႙ઠٳڟ၎ཞڦ঳ࡕăएԨ्ยසူǖ•ଇ߲ዡAxis0ࢅAxis1LjۼຌᇀፖՔဣcoordinate_sysă•ፖՔဣڦྼ܈ኵ೅ದྺ2ăኻᆶړྺፖՔဣದዃܾྼ้Lj֍ీದዃӷ০ᇶႚૌ႙ă•Axis0ࢅAxis1Եُኟ঍ă•coordinate_sysፌڇ)3.1-,4.10-(ᇀ࿋؛࿋ăCoordinated_sysᄂࢷႚሏڇ15ྺ০ӷLj࿋ڇ)6.6,2.11(ڟۯ࿋Lj๐ଉ໏܈ྺ10.0ڇ0.5ྺኵ܈໏३ࢅ܈໏ेLj௱௅࿋ڇ࿋௅௱2ăူ཮၂๖କཚࡗฉຎ႑တ๑ᆩӷ০ኵྺ15ڦׯิ໯้࿋ڇ15-ई࿋ڇୟ০ăᇶႚૌ႙ྺӷ০้ڦୟ০཮ཚࡗ๑ᆩMCCMኸସժ჋ስຩ้ኍݛၠĂሏۯૌ႙=ਨܔኵईኁሏړă০ୟ߲ኄ၄ํ੗नLjଉሺ=႙ૌۯ჋ስᇶႚૌ႙ྺӷ০้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚڦӷ০ă306؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCCMኸସሏۯૌ႙ྺਨܔኵǗᇶႚૌ႙ྺӷ০ሏۯૌ႙ྺਨܔኵ࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺӷ০ӷ০ԥڇ15ྺᅭۨ࿋Ljժ൐٪ئሞӷ০[2]Քധాăݛၠ๟ຩ้ኍă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ307\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCCMኸସሏۯૌ႙ྺሺଉǗᇶႚૌ႙ྺӷ০ሏۯૌ႙ྺሺଉ࿋ዃۨᅭྺٗഐۅ(-10.4,-1.3)ਸ๔ڦሺଉਐ૗ăᇶႚૌ႙ྺӷ০ăӷ০ԥۨᅭྺ15ڇ࿋Ljժ൐٪ئሞӷ০[1]Քധాăݛၠ๟ຩ้ኍăሏۯૌ႙ܔӷ০ኵڦኸۨுᆶᆖၚăኟڦӷ০๔ዕࣷิ߸܌(<180Ć)ڦ)†Ä180<(׊߸ิ০ӷڦ޶LjႚࢷڦࢷႚDŽ९ୟ০཮Džăසࡕ๟180ĆLjሶӷ০ڦޙࡽփ၎߅ăᇶႚૌ႙ྺӷ০ৈሞܾྼፖՔဣዐ๟ᆶၳڦăMCCM๑ᆩዐ႐ሺଉᇶႚૌ႙ူ௬ڦ๖૩঻ถ๑ᆩMCCMኸସᇶႚૌ႙ྺዐ႐ሺଉᅜतਨܔኵDŽڼᅃ߲૩ጱDžࢅሺଉDŽڼܾ߲૩ጱDžሏۯૌ႙ઠٳڟ၎ཞڦ঳ࡕăएԨ्ยසူǖ•ଇ߲ዡAxis0ࢅAxis1LjۼຌᇀፖՔဣcoordinate_sysă•Axis0ࢅAxis1Եُኟ঍ă•coordinate_sysፌڇ)3.1-,4.10-(ᇀ࿋؛࿋ăcoordinate_sysᄂࢷႚሏڦ๔ਸۅഐٗྺ႐ዐLj࿋ڇ)6.6,2.11(ڟۯሺଉ(14.1,-5.1)ڇ0.10ྺ܈໏ଉ๐Lj࿋ڇ࿋௅௱Ljे໏܈ࢅ३໏܈ኵྺ5.0ڦׯิ໯တ႑ڦ௬ฉ๟཮ူă2௱௅࿋ڇୟ০ă308؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ᇶႚૌ႙ྺዐ႐ሺଉ้ڦୟ০཮ཚࡗ๑ᆩMCCMኸସժ჋ስຩ้ኍݛၠĂሏۯૌ႙=ਨܔኵईኁሏړă০ୟ߲ኄ၄ํ੗नLjଉሺ=႙ૌۯ჋ስᇶႚૌ႙ྺዐ႐ሺଉ้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚڦᇶ႐ăMCCMኸସሏۯૌ႙ྺਨܔኵǗᇶႚૌ႙ྺዐ႐ሺଉሏۯૌ႙ྺਨܔኵ࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺዐ႐ሺଉăዐ႐ԥۨᅭྺٗഐۅ(-10.4,-1.3)ਸ๔ڦሺଉਐ૗(14.1,-5.1)ăݛၠ๟ຩ้ኍă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ309\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCCMኸସᆩሏۯૌ႙ྺሺଉᅜतዐ႐ૌ႙ྺዐ႐ሺଉ้Ljᇑᆩሏۯૌ႙ྺሺଉᅜतᇶႚૌ႙ྺዐ႐้ڦMCCMኸସ๟၎ཞڦăܾྼኝᇶ๖૩ظॺᅃ߲ྜኝڦᇶႚ๟ᇶࢷڦᅃ߲༬૩ăူ཮๟ܾྼኝᇶڦᅃ߲૩ጱăMCCMኝᇶူ௬ڦ๖૩঻ถ๑ᆩMCCMኸସᇶႚૌ႙ྺዐ႐ᅜतਨܔኵDŽڼᅃ߲૩ጱDžࢅሺଉDŽڼܾ߲૩ጱDžሏۯૌ႙ઠظॺᅃ߲ྜኝڦᇶăएԨ्ยසူǖ•ଇ߲ዡAxis0ࢅAxis1LjۼຌᇀፖՔဣCoordinated_sysă•Axis0ࢅAxis1Եُኟ঍ă•Coordinated_sysፌڇ)3.1-,4.10-(ᇀ࿋؛࿋ăCoordinated_sysᄂࢷႚሏڦۅഐ૗ਐྺ႐ዐLj࿋ڇ)3.1-,4.10-(ڟۯ(3.7,-6.4)ڇ0.10ྺ܈໏ଉ๐Lj࿋ڇ࿋௅௱Ljे໏܈ࢅ३໏܈ኵྺ5.0ڦׯิ໯တ႑ڦ௬ฉ๟཮ူă2௱௅࿋ڇᇶႚăMCCMኸସኝᇶୟ০཮ཚࡗ๑ᆩMCCMኸସժ჋ስຩ้ኍݛၠĂሏۯૌ႙=ਨܔኵईኁሏړă০ୟ߲ኄ၄ํ੗नLjଉሺ=႙ૌۯ჋ስᇶႚૌ႙ྺዐ႐้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚڦᇶ႐ă310؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCCMኸସሏۯૌ႙ྺਨܔኵǗᇶႚૌ႙ྺዐ႐ሏۯૌ႙ྺਨܔኵ࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺዐ႐ăዐ႐࿋ዃᆩਨܔኵۨ࿋ڇᅭྺ(3.7,-6.4)ăݛၠ๟ຩ้ኍྜኝăMCCMᆩሏۯૌ႙ྺሺଉLjዐ႐ૌ႙ྺዐ႐ăሏۯૌ႙ྺሺଉăᇶႚૌ႙ྺዐ႐ăዐ႐ԥۨᅭྺٗഐۅ(-10.4,-1.3)ਸ๔ڦሺଉਐ૗(14.1,-5.1)ăݛၠ๟ຩ้ኍྜኝă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ311\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ᄲ๑ᆩӷ০ፕྺᇶႚૌ႙ઠࣼ዆ྜኝڦᇶႚǖ•ഐۅփీڪᇀዕۅă•ݛၠՂႷྺຩ้ኍྜኝईొ้ኍྜኝă•ӷ০ڦޙࡽփ၎߅ăMCCM჉ገዡ๖૩ူ௬ڦ๖૩঻ถ๑ᆩMCCMኸସժᆩ჉ገዡᅜतሏۯૌ႙ྺਨܔኵࢅሺଉă๑ᆩෙ߲ዡĂᅃ߲჉ገዡᅜतਨܔኵሏۯૌ႙ڦMCCMኸସڼᅃ߲૩ጱ๑ᆩෙ߲ዡतᅃ߲჉ገዡڦፖՔဣࢅਨܔኵሏۯૌ႙ăୟ০཮एᇀᅜူ्ยǖ•ෙዡፖՔဣఁྺcoordinate_sys(Axis2नZዡLjሞ཮ዐԥࢮ୼ᅜ३ณंၫLj߸ࡻںᄇ๖჉ገዡ(Axis0)ڦۯፕDžă•Axis0ྺ჉ገዡLjཽජྺ5ገă•ਸ๔࿋ዃྺ0,0,0ă•঳ຐ࿋ዃྺ5,5,5ă•ঢ়ᆯ࿋ዃྺ5,3.5,3.5312؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯૌ႙ྺਨܔኵ้ڦMCCM༱ႚ཮ኸସሏۯૌ႙ྺਨܔኵăᇶႚૌ႙ྺঢ়ݛၠྺፌ܌ăฉ௬ڦMCCMኸସิူ௬ڦ཮ႚă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ313\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)๑ᆩෙ߲ዡĂᅃ߲჉ገዡࢅਨܔኵሏۯૌ႙ڦMCCMୟ০཮ዡํाฉᄂጣᅃ߲ࢷႚӀొ้ኍڟ)0,0,0(ٗLj৊ႜၠݛ(5,5,5)ժঢ়ᆯ(5,3.5,3.5)࿋ዃăݛၠԥኸۨྺຩ้ኍLjڍᆯᇀྺᇶႚૌ႙ኸۨକঢ়ᆯLjᅺۯሏLj้ႚࢷڦ܈90߲ᅃׯิሞă୼ࢮԥຕፕၠݛُཕኹăܔᇀAxis0ઠຫLjन๑ഄሏۯૌ႙ྺਨܔኵLjධᆶᅃْႜ৊ཚࡗཽජăᆌጀᅪLjၹۙሏۯڦୟ০๟ሞ኱၍੣क़ాඓۨڦLjڍዡڦ࿋ዃሶᆯ჉ገದዃ໯၌዆ڦ0sixAᆯࢇޙᄲۅᆯঢ়ࢅۅዕăڦ჉ገཽජ໯ۨᅭڦਨܔኵ࿋ዃᅜాăڍ๟Ljٗኄၵ჋ስዐ໯ิڦሏۯ੗ీࣷحࡗ჉ገዡڦཽජă๑ᆩଇ߲჉ገዡࢅሺଉሏۯૌ႙ڦMCCMኸସኄ߲૩ጱ๑ᆩଇ߲჉ገዡڦፖՔဣࢅሺଉሏۯૌ႙ăୟ০཮एᇀᅜူ्ยă•ܾዡፖՔဣLjఁྺcoordinate_sysă•Axis0ྺ჉ገዡLjཽජྺ1ገă•Axis1ྺ჉ገዡLjཽජྺ2ገă•ਸ๔࿋ዃྺ0,0ă•ڦዃ࿋ຐ঳ڟሺଉྺ0.5,-0.5ă•ڟዐ႐࿋ዃڦሺଉྺ0.5,0ă314؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯૌ႙ྺਨܔኵ้ڦMCCM༱ႚ཮ኸସሏۯૌ႙ྺሺଉăᇶႚૌ႙ྺዐ႐ăݛၠ๟ຩ้ኍăฉ௬ڦMCCMኸସิူ௬ڦ཮ႚă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ315\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)๑ᆩଇ߲჉ገዡࢅሺଉሏۯૌ႙ڦMCCMୟ০཮ዡӀቷຩ้ኍڟ)0,0(ٗLj৊ႜాᇶ߲ᅃሞၠݛ(0.5,1.5)ăሞิׯᅃ߲270܈ح৊ႜْᅃᆶLjຫઠ1sixAᇀܔăኹཕۯሏLj้ႚࢷڦࡗཽජăᆌጀᅪLjၹۙሏۯڦୟ০๟ሞ኱၍੣क़ాඓۨڦLjڍዡڦ࿋ዃሶᆯ჉ገದዃ໯၌዆ڦăܔᇀᇶႚऺ໙ઠຫLjዕۅ๟(0.5,-0.5)Ljڍሏۯڦํाዕۅ๟(0.5,1.5)ăኸସԥኸۨࢫLjन๑ᅃ߲ዡᆩ޶ڦሺଉణՔ࿋ዃLj࿢்ڥڟڦධ඗๟ຩ้ኍݛၠڦሏۯăዕۅփႴᄲޙࢇᆯዡڦ჉ገཽජ໯ۨᅭڦਨܔኵ࿋ዃᅜాă316؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ෙྼࢷႚܔᇀᆶෙ߲ዷዡᇑഄ࠲૴ڦፖՔဣLj੗ᅜظॺᅃ߲ෙྼࢷႚă๑ᆩMCCMᅜतᇶႚૌ႙ྺঢ়ᆯڦෙྼࢷႚူ௬ڦ๖૩঻ถ๑ᆩMCCMᅜतᇶႚૌ႙ྺঢ়ᆯᅜतሏۯૌ႙ྺਨܔኵઠظॺᅃ߲ෙྼࢷႚăएԨ्ยසူǖ•ෙ߲ዡAxis0ĂAxis1ࢅAxis2LjۼຌᇀፖՔဣcoordinate_sysă•coordinate_sys๟ᅃ߲ෙྼፖՔဣă•Axis0ĂAxis1ࢅAxis2Եُኟ঍ă•coordinate_sysፌڇ)0.0,0.0,0.0(ᇀ࿋؛࿋ăCoordinated_sys1ᄂࢷႚሏڇ)0.0,0.2,0.2(ڟۯ࿋Ljཚࡗ(1.0,1.0,1.414)ڇ0.10ྺ܈໏ଉ๐Lj࿋ڇ࿋௅௱Ljे໏܈ࢅ३໏܈ኵྺ5.0ڦׯิ໯တ႑ڦ௬ฉ๟཮ူă2௱௅࿋ڇෙྼࢷႚă๑ᆩᇶႚૌ႙ྺঢ়ᆯڦෙྼࢷႚཚࡗ๑ᆩMCCMኸସժ჋ስሏۯૌ႙ྺਨܔኵĂᇶႚૌ႙ྺঢ়ᆯLjन੗ํ၄ኄ߲ୟ০ăړ჋ስঢ়ᆯ้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚՂႷཚࡗڦۅă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ317\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ᇶႚૌ႙ྺঢ়ᆯ้ෙྼࢷႚڦMCCM༱ႚ཮ኸସෙྼፖՔဣă࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺঢ়ᆯăঢ়ᆯ࿋ዃۨᅭྺਨܔኵڇ࿋(1.0,1.0,1.414)ăܔᇀঢ়ᆯᇶႚૌ႙Ljݛၠԥࢮ୼ă๑ᆩMCCMᅜतᇶႚૌ႙ྺዐ႐ڦෙྼࢷႚူ௬ڦ๖૩঻ถ๑ᆩMCCMᅜतᇶႚૌ႙ྺዐ႐ᅜतሏۯૌ႙ྺਨܔኵઠظॺᅃ߲ෙྼࢷႚăएԨ्ยසူǖ•ෙ߲ዡAxis0ĂAxis1ࢅAxis2LjۼຌᇀፖՔဣcoordinate_sysă•coordinate_sys๟ᅃ߲ෙྼፖՔဣă•Axis0ĂAxis1ࢅAxis2Եُኟ঍ă•coordinate_sysፌڇ)0.0,0.0,0.0(ᇀۨย؛࿋ăCoordinated_sys1ᄂࢷႚሏڇ414.1,0.1,0.1(ڟۯ࿋Ljዐ႐࿋ᇀ(1.0,1.0,1.0)ڇ0.10ྺ܈໏ଉ๐Lj࿋ڇ࿋௅௱Ljे໏܈ࢅ३໏܈ኵྺ5.0ڦׯิ໯တ႑ڦ௬ฉ๟཮ူă2௱௅࿋ڇෙྼࢷႚă318؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7๑ᆩፌ܌ྜኝፕྺݛၠፕຕ้ڦෙྼୟ০ཚࡗ๑ᆩMCCMኸସժ჋ስሏۯૌ႙ྺਨܔኵĂᇶႚૌ႙ྺዐ႐Ljन੗ํ၄ኄ߲ୟ০ăړ჋ስঢ়ᆯ้Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃۨᅭڦ๟ࢷႚՂႷཚࡗڦۅăᇶႚૌ႙ྺዐ႐้ෙྼࢷႚڦMCCM༱ႚ཮ኸସෙྼፖՔဣă࿋ዃᆩਨܔኵڇ࿋ۨᅭăᇶႚૌ႙ྺዐ႐ăዐ႐࿋ዃۨᅭྺਨܔኵڇ࿋(1.0,1.0,0.0)ăݛၠ๟ፌ܌ྜኝă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ319\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ܔᇀྜኝᇶႚLjॽྺኮፕຕยዃྺأକഐۅኮྔڦඪࢆۅLjժ๑ᆩഄዐᅃዖྜኝݛၠૌ႙ăዕۅԥණྺ๟ഐۅăኄ๟ᅺྺሞෙྼ੣क़૛Lj౞Ⴔᄲෙ߲ۅઠྺᅃ߲ᇶኸۨೝ௬ăཚࡗሞฉ௬ڦMCCMኸସዐॽݛၠፕຕ߸߀ྺፌ܌Ljन੗ิׯᅜူୟ০ăݛၠፕຕڦፌ܌჋ၜॽٗഐۅൽፌ܌ୟ০ڟٳᆯMCCMኸସڦ࿋ዃፕຕ໯ۨᅭڦۅă๑ᆩፌ܌ፕྺݛၠፕຕ้ڦෙྼୟ০ሞฉ௬ڦMCCMኸସዐॽݛၠፕຕ߸߀ྺፌ׊Ljሶ໯ᄂڦୟ০ྺڦ׊ፌक़ኮۅڦᅭۨ໯ຕፕዃ࿋ڦସኸMCCMᆯٳڟ๔ਸۅഐٗୟ০ă९ူ཮ੂᅃ߲ፌ׊ୟ০ڦ๖૩ă320؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7๑ᆩፌ׊ፕྺݛၠፕຕ้ڦෙྼୟ০ঢ়ᆯ/ዐ႐/ӷ০ߵ਍໯჋ڦሏۯૌ႙ࢅᇶႚૌ႙Ljঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕۨᅭକᄂጣᇶႚڦ০ӷႚᇶኁई႐ዐڦႚᇶĂዃ࿋ڦਨܔኵईሺଉኵLjසူ՗ዐۨᅭăසࡕᇶႚૌ႙ྺঢ়ᆯईዐ႐Ljሶঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕ๟ᅃྼຕፇLjഄྼ܈ۨᅭྺ዁ณڪᇀፖՔဣాኸۨڦዡ߲ຕăසࡕᇶႚૌ႙๟ӷ০Ljሶঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕ๟ڇ߲ኵăሏۯૌ႙ᇶႚૌ႙ႜྺਨܔኵঢ়ᆯঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕፇۨᅭକᅃ߲ᄂጣᇶႚڦႚᇶኝྜݥᇀܔăዃ࿋ڦ൧઄Lj࿋ዃຕຕፇۨᅭକࢷႚڦዕۅăܔᇀྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇۨᅭକᄂጣᇶႚأକዕۅኮྔڦඪᅪڼܾ߲ۅăሺଉঢ়ᆯঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕፇᇑ৹࿋ዃኮࢅۨᅭକᄂጣᇶႚڦႚᇶኝྜݥᇀܔăዃ࿋ڦ൧઄Lj࿋ዃຕຕፇᇑ৹࿋ዃኮࢅۨᅭକࢷႚڦዕۅăܔᇀྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇᇑ৹࿋ዃኮࢅۨᅭକᄂጣᇶႚأକዕۅኮྔڦඪᅪڼܾ߲ۅăਨܔኵዐ႐ঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕፇۨᅭକᇶႚڦዐ႐ăܔᇀݥྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇۨᅭକࢷႚڦዕۅăܔᇀྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇۨᅭକᄂጣᇶႚأକዕۅኮྔڦඪᅪڼܾ߲ۅă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ321\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯૌ႙ᇶႚૌ႙ႜྺሺଉዐ႐ঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕፇᇑ৹࿋ዃኮࢅۨᅭକᇶႚڦዐ႐ăܔᇀݥྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇᇑ৹࿋ዃኮࢅۨᅭକࢷႚڦዕۅăܔᇀྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇᇑ৹࿋ዃኮࢅۨᅭକᄂጣᇶႚأକዕۅኮྔڦඪᅪڼܾ߲ۅăਨܔኵईሺଉӷ০ঢ়ᆯ/ዐ႐/ӷ০࿋ዃڇኵۨᅭକࢷႚڦӷ০ăኄ߲ኵ؜ీ੗൶ᅜۅ႐ዐۨඓᇀᆩࡽޙڦ၄ڦଇ߲ࢷႚăኟኵ՗๖ิׯၭᇀ180ࢷႚڦዐ႐ۅă޶ኵ՗๖ิׯٷᇀ180ࢷႚڦዐ႐ۅăኄዖᇶႚૌ႙ৈܔᇀܾྼᇶႚ๟ᆶၳڦă࿋ዃຕຕፇӀቷሏۯૌ႙ઠۨᅭࢷႚڦዕۅăਨܔኵዐ႐ሺଉঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕፇᇑ৹࿋ዃኮࢅۨᅭକᇶႚڦዐ႐࿋ዃăܔᇀݥྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇۨᅭକࢷႚڦዕۅăܔᇀྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇۨᅭକᄂጣᇶႚأକዕۅኮྔڦඪᅪڼܾ߲ۅăሺଉዐ႐ሺଉঢ়ᆯ/ዐ႐/ӷ০࿋ዃຕፇᇑ৹࿋ዃኮࢅۨᅭକᇶႚڦዐ႐࿋ዃăܔᇀݥྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇᇑ৹࿋ዃኮࢅۨᅭକࢷႚڦዕۅăܔᇀྜኝᇶႚڦ൧઄Lj࿋ዃຕຕፇᇑ৹࿋ዃኮࢅۨᅭକᄂጣᇶႚأକዕۅኮྔڦඪᅪڼܾ߲ۅăݛၠݛၠፕຕӀቷᆸ๮அ჉݆ሶۨᅭକܾྼᇶႚሏۯڦ჉ገݛၠྺຩ้ኍईొ้ኍăܔᇀෙྼᇶႚሏۯLjݛၠྺፌ܌ईፌ׊ăሞܾྼࢅෙྼዐLj໲ۯሏႚᇶ๖ኸᅜ੗ۼ๟ޏᄲׯྺྜኝᇶႚă໏܈໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷ๐ଉ໏܈ă໏܈ڇ࿋໏܈ڇڦฉຕፕ܈໏ڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩၹӥڦኵٷፌڦᅭۨዐဣՔፖྺፕኁईLj࿋ڇۙԲăे໏܈े໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷे໏܈ăे໏܈ڇ࿋े໏܈ڇڦฉຕፕ܈໏ेڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲă322؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7३໏܈३໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷ३໏܈ă३໏܈ڇ࿋३໏܈ڇڦฉຕፕ܈໏३ڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲăఇ๕ఇ๕ፕຕඓۨକၹۙሏۯ๟๑ᆩ༱ႚ࣏๟S൸၍໏܈ఇ๕ă൩ለᄻஓ280ฉMCLMኸସڦఇ๕ևLjၘဦକ঴࠲ᇀ༱ႚࢅS൸၍ఇ๕ڦ႑တăे໏ሂ܈े໏ሂ܈ڦ܈ሂ໏े໙ऺ࠲ᆶă܈ሂ໏ेٷፌڦۯሏײՊକᅭۨ߸ܠ႑တLj൩ለԨቤևđ࿋ڇ܈ሂĐڦă३໏ሂ܈३໏ሂ܈ڦ܈ሂ໏໙३ऺ࠲ᆶă܈ሂ໏३ٷፌڦۯሏײՊକᅭۨ߸ܠ႑တLj൩ለԨቤևđ࿋ڇ܈ሂĐڦăሂ܈ڇ࿋ሂ܈ڇڦᆩᆌฉኵڦ෇๼໯ຕፕ܈ሂ໏३ࢅ܈ሂ໏ेၠକᅭۨ࿋ڇ࿋ă໯๼෇ڦኵ኱থᅜኸۨፖՔဣڦ࿋ዃڇ࿋ྺڇ࿋LjईኁྺӥԲăړದዃ๑ᆩፌٷኵ%้Ljሂ܈ԥᆌᆩྺፖՔဣຌႠዐኸۨڦፌٷे໏ሂ܈ࢅፌٷ३໏ሂ܈ፕຕڦӥԲăړದዃྺ๑ᆩ้क़%้Lj޿ኵྺएᇀኸସዐኸۨڦ໏܈Ăे໏܈ࢅ३໏܈ڦᅃ߲ӥԲă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ323\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)සࡕ౞ᄲॽ߾ײڇ࿋࣑໙ׯ%้क़Lj൩๑ᆩᅜူࠅ๕ăܔᇀे໏ሂ܈ǖܔᇀ३໏ሂ܈ǖ»Á¼°ƒŽ“™¾´%þ±º‰ªªÀ„Š…¼§ŠÃμ•Œª£¨«Îþ¼”Г‘œ¬¼´þ¾°£ܔᇀे໏ሂ܈ǖܔᇀ३໏ሂ܈ǖዕኹૌ႙ᆶ࠲჋ስዕኹૌ႙ڦ႑တLj൩ለԨ๮ዐڦᄻஓ257ăࢇժࢇժۨᅭକ๟ޏᄲॽ໯ᆶኸۨዡڦሏۯՎׯڇكڦၹۙሏۯă჋ၜසူǖ্ኹࢇժĂၹۙሏۯईඇևሏۯă324؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7•্ኹࢇժ-ඪࢆړമኟሞኴႜڦڇዡሏۯኸସසࡕภतڟኸۨፖՔဣዐۨᅭڦඪࢆዡLjሶփ๴ُኸସघऄڦᆖၚLjժ൐ሞ๴ڟᆖၚڦዡฉิ۠ेሏۯăසࡕሞཞᅃ߲ፖՔဣዐईኁሞԈࡤᇑړമऄۯፖՔဣࠌᆩڦඪࢆዡڦഄ໱ፖՔဣዐ݀ഐକڼܾཉኸସLjሶࣷՔऻᅃ߲ٱဃă•ၹۙሏۯ-ඪࢆภतڟኸۨፖՔဣڦړമኟሞኴႜڦၹۙሏۯኸସۼॽԥዕኹLjऄሂڦሏۯԥंࢇڟړമሏۯዐLjժӀቷࢇժ໏܈ຕዐۨᅭڦ໏܈ăኸۨፖՔဣዐඪࢆࠬഐڦၹۙሏۯኸସۼԥൽၩăඪࢆړമኟሞኴႜڦဣཥڇዡሏۯኸସසࡕภतڟኸۨፖՔဣዐۨᅭڦඪࢆዡLjሶփ๴ُኸସघऄڦᆖၚLjժ൐ሞ๴ڟᆖၚڦዡฉิ۠ेሏۯă•ඇևሏۯ-ඪࢆภतڟኸۨፖՔဣዐۨᅭڦඪࢆዡڦړമኟሞኴႜڦڇዡሏۯኸସLjᅜतඪࢆړമኟሞኴႜڦၹۙሏۯኸସLjۼॽԥዕኹăമ௬ڦሏۯंࢇ৊෇ړമڦሏۯLjժ൐Ӏቷࢇժ໏܈ຕዐۨᅭڦ໏܈ăඪࢆࠬഐڦၹۙሏۯኸସۼԥൽၩăࢇժ໏܈ࢇժ໏܈ፕຕۨᅭକړࢇժԥ্ኹ้Ljሞၹۙሏۯڦୟ০ฉ๟ॽړ使能മ໏܈࣏๟ॽՊײ໏܈ᆩፕፌٷ໏܈ăړമ໏܈๟ړമፖՔဣዐۨᅭڦDžۯሏۯد୾؃ࢅMAMĂۯۅස૩DŽۯሏևඇڦዡᆶ໯ڦ๐ଉࢅăMCCMణՔ࿋ዃ๼෇ܔࣆ઀MCCMణՔ࿋ዃ๼෇ܔࣆ઀ڇLj๟݆ݛ࿚ݡڦऍ༱ႚ཮ኸସ௬ӱ࿋ዃፕຕᆸՉڦู୼ࡽӀ౧ăኻᆶړኸସڦፖՔဣᅙঢ়ంఁĂܔ࿋ዃፕຕ༵ࠃڦᆶၳՔധఁ׬Ԉࡤፁࠕڦᇮ໎ઠඹభዡڦ߲ຕLjܸ൐჋ስକᆶၳڦሏۯૌ႙ࢅᆶၳںᇶႚૌ႙้Lj֍੗ᅜݡ࿚ణՔ࿋ዃ๼෇ܔࣆ઀ăසࡕኄၵՔጚுᆶ஢ፁLjሶጒༀཉฉࣷ၂๖ٱဃၩတ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ325\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ᆩᇀڦ઀෇๼ዃ࿋Քణ࿚ݡMCCM༱ႚ཮ᆶၳኵᆶၳڦፖՔဣăᆶၳڦሏۯૌ႙ăᆶၳڦ࿋ዃຕፇӀူู୼ࡽӀ౧न੗ݡ࿚MCCMణՔ࿋ዃ๼෇઀ăᆶၳڦᇶႚૌ႙Ӏู୼ࡽӀ౧Ljሶ၂๖ူ௬ڦܔࣆ઀ăMCCMኸସణՔ࿋ዃ๼෇ܔࣆ઀-࿋ዃ჋ၜਸ਼326؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ణՔ࿋ዃ๼෇ܔࣆ઀ጴ܎ࠀీ௮ຎዡఁ׬DŽAxisNameDžኄ߲ଚాྺሞ༱ႚ௬ӱዐంఁڦፖՔဣዐ߲߳ዡڦఁ׬ăኄၵఁ׬փ੗ՊडăణՔ࿋ዃ/ణՔሺଉኄ߲ଚాڦኵۼ๟ຕጴă໲்၂๖ሏۯڦዕۅDŽTargetईኁሺଉਐ૗Ljൽਦᇀᆶၳڦሏۯૌ႙ăଚڦPosition/TargetՔ༶՗๖၂๖ڦ๟న߲ሏۯૌ႙ăIncrementDžํा࿋ዃDŽActualኄ߲ଚԈࡤፖՔဣዐڦዡڦړമํा࿋ዃăړPositionDž૴ऐࢅፖՔဣጲۯՔധ߸ႎԥ๑ీࢫLjኄၵ࿋ዃॽۯༀ߸ႎăঢ়ᆯ࿋ዃ/ঢ়ᆯሺଉዐߵ਍໯჋ڦᇶႚૌ႙Ljኄ߲ଚԈࡤঢ়ᆯۅ࿋ዃ႐࿋ዃ/ዐ႐ሺଉӷ০ईሺଉĂዐ႐࿋ዃईሺଉăยዃణՔ=ํाኵړሏۯૌ႙ྺਨܔኵ้ኄ߲Ӏ౧ԥ๑ీLjᆩᇀDŽSetTargets=ॽํा࿋ዃጴ܎ాڦኵް዆ڟణՔ࿋ዃጴ܎ዐăActualsDžยዃঢ়ᆯ=ํाኵኻᆶړሏۯૌ႙ྺਨܔኵ้Ljኄ߲Ӏ౧֍ࣷ๑DŽSetVias=ActualsDžీă໲ᆩᇀॽํा࿋ዃጴ܎ዐڦኵް዆ڟঢ়ᆯጴ܎ዐă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ327\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)໯჋ስڦሏۯૌ႙ࢅᇶႚૌ႙ਦۨጣኄ߲ܔࣆ઀ڦྔ࠵ăူ՗ᄇ๖໯჋ስڦሏۯૌ႙ࢅᇶႚૌ႙ፇࢇසࢆᆖၚڟኄ߲ೡటăణՔ࿋ዃ๼෇ܔࣆ઀Վ߸ሏۯૌ႙ᇶႚૌ႙ႜྺਨܔኵঢ়ᆯణՔଚڦՔ༶ྺణՔ࿋ዃăঢ়ᆯଚڦՔ༶ྺঢ়ᆯ࿋ዃăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧ԥघऄăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧ԥघऄăሺଉঢ়ᆯణՔଚڦՔ༶ྺణՔሺଉăঢ়ᆯଚڦՔ༶ྺঢ়ᆯሺଉăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧࿄घऄDŽࣨۖDžăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧࿄घऄDŽࣨۖDžăਨܔኵዐ႐ణՔଚڦՔ༶ྺణՔ࿋ዃăዐ႐ଚڦՔ༶ྺዐ႐࿋ዃăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧ԥघऄăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧ԥघऄăሺଉዐ႐ణՔଚڦՔ༶ྺణՔሺଉăዐ႐ଚڦՔ༶ྺዐ႐ሺଉăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧࿄घऄDŽࣨۖDžăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧࿄घऄDŽࣨۖDžăਨܔኵӷ০ణՔଚڦՔ༶ྺణՔ࿋ዃăӷ০ଚՔ༶ྺӷ০ăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧ԥघऄăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧࿄घऄDŽࣨۖDžă328؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ణՔ࿋ዃ๼෇ܔࣆ઀Վ߸ሏۯૌ႙ᇶႚૌ႙ႜྺሺଉӷ০ణՔଚڦՔ༶ྺణՔሺଉăӷ০ଚՔ༶ྺӷ০ăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧࿄घऄDŽࣨۖDžăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧࿄घऄDŽࣨۖDžăਨܔኵዐ႐ሺଉణՔଚڦՔ༶ྺణՔ࿋ዃăዐ႐ሺଉଚڦՔ༶ྺዐ႐ሺଉăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧ԥघऄăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧࿄घऄDŽࣨۖDžăሺଉዐ႐ሺଉణՔଚڦՔ༶ྺణՔሺଉăዐ႐ሺଉଚڦՔ༶ྺዐ႐ሺଉăยዃణՔ=ํाኵDŽSetTargets=ActualsDžӀ౧࿄घऄDŽࣨۖDžăยዃঢ়ᆯ=ํाኵDŽSetVias=ActualsDžӀ౧࿄घऄDŽࣨۖDžăMCCM๟ᅃཉࡗ܉Ⴀኸସǖ转换指令•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ梯形图أൎ࣑ڟยዃă•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩限制指令只对转换执行。ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ329\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛٱဃپஓǖકቛٱဃپஓ੗ӻዺ৊ᅃօۨᅭྺኄཉ༬๺ኸସ໯༵ࠃڦٱဃၩတăഄႜྺൽਦᇀ໲்࠲૴๊஺ٱဃپஓăົޜ࠲Կጒༀ(5)Ă࠲Կጒༀ(7)Ăዡૌ႙ݥົޜ(8)Ăዡ࿄ದዃ(11)Ăࡃଭኟሞ৊ႜٱဃ(16)ᅜतݥ݆ዡຕ਍ૌ႙(38)ٱဃڦકቛٱဃپஓࠀీڦn...0၂๖ॽஓپဃٱቛકᇀܔăڦຼૌ׉ݥ๟ۼຕጴăኄ߲ຕጴ๟ፖՔဣڦ໭ᆅLj՗๖ኟتᇀٱဃጒ઄ዐڦዡăܔᇀٱဃپஓዡ࿄ದዃ(11)Lj࣏ࣷᆶᅃ߲޹ेڦኵ-1Lj՗๖ፖՔဣ࿮݆ྺၹۙሏۯยዃ޿ዡăܔᇀMCCMኸସLjݓॽဃٱቛકLjྷݔ؜גຕ-13ஓپဃٱ࣮ᅃ߲ຕጴLj՗๖ᆶ࿚༶ڦຕՊࡽLjኄၵຕሞ௬ӱฉᅜຕጴຩႾٗฉٱᆶኵຕڦ႙ૌۯሏ๖՗2Ljස૩ă؜ଚDž๔ਸଭᅜDŽူڟဃăٱဃپஓࢅDŽՊࡽDžકቛٱဃຕጴኸସຕ௮ຎኸ๖ޙຕڪփຕ߲ڦዡዷဣՔፖ0)13(ྷݔ؜גᇀ2ई3ăຕٷኁई0ᇀၭྺ႙ૌۯሏ႙ૌۯሏ2)13(ྷݔ؜גᇀ1ăຕڦፇຕዃ࿋ዃ࿋3)13(ྷݔ؜ג׊܈փፁᅜྺፖՔဣዐڦ໯ᆶዡ༵ࠃ࿋ዃăຕٷኁई0ᇀၭྺ႙ૌႚᇶ႙ૌႚᇶ4)13(ྷݔ؜גᇀ4ăຕڦፇຕ০ӷ/႐ዐ/ᆯঢ়০ӷ/႐ዐ/ᆯঢ়5)13(ྷݔ؜ג׊܈փፁᅜྺۨᅭঢ়ᆯ/ዐ႐ۅዐڦ໯ᆶዡ༵ࠃ࿋ዃăຕٷኁई0ᇀၭྺၠݛၠݛ6)13(ྷݔ؜גᇀ3ăຕݔ؜גྷ(13)7໏܈໏܈ၭᇀ0ăຕڪईᇀၭ܈໏े܈໏े9)13(ྷݔ؜גᇀ0ăຕڪईᇀၭ܈໏३܈໏३11)13(ྷݔ؜גᇀ0ăຕٷኁई0ᇀၭྺ႙ૌኹዕ႙ૌኹዕ14)13(ྷݔ؜גᇀ3ăܔᇀٱဃپஓ54-ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜ330؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăڟገăటೡႠຌዡ࿚ݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵăᇶႚٱဃ๖૩ᆯᇀMCCMኸସڦްሗႠᅜत໲੗ᅜิڦٱဃپஓLj༵ࠃူ௬०ڇ๖૩ઠӻዺ౞କ঴MCCMኸସăCIRCULAR_COLLINEARITY_ERROR(44)๖૩ူ௬ᆩᇀٱဃ#44ڦ૩ጱॽ঻ถᅃዖഐۅĂঢ়ᆯۅࢅዕۅۼ࿋ᇀᅃཉ኱၍ฉڟ)ዃ࿋മړ(0,0ٗ๬׈Ⴞײă઄൧ڦ20,0ঢ়ᆯ࿋ዃ10,0ิׯᅃཉܾྼࢷႚăᆯᇀኄၵ؜໙ऺ݆࿮ُᅺLjฉ၍኱ཉᅃཞᇀ࿋ۅᇶڦዐ႐ۅăසࡕײႾᆩᇀᅃ߲ෙྼዐ႐ૌ႙ڦᇶႚܸ๑ᆩڦഐۅĂዐ႐ۅࢅዕۅ࿋ᇀཞᅃཉ኱၍ฉLjሶࣷิኄ߲ٱဃăሞኄ૛Ljሞ࿮၌ܠ߲ೝ௬ాڦՊײۅ੗ᆶ࿮၌ܠ߲ᇶă༱ႚ཮ײႾࢅణՔ๼෇ೡటิׯٱဃ#44°£؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ331\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)CIRCULAR_START_END_ERROR(45)๖૩ူ௬ᆩᇀٱဃ#45ڦ૩ጱॽ঻ถᅃዖഐۅࢅঢ়ᆯۅ๟ཞᅃ߲ۅڦ൧઄ăײႾ׈๬ڟ࣮)ዃ࿋മړ(0,0ٗ0,0ժཚࡗ࿋ዃ10,10ઠิׯᅃ߲ܾྼڦኝᇶăᆯᇀഐۅࢅঢ়ᆯۅ๟ཞᅃ߲ۅLjᅺُ࿮݆ቴڟᇶڦዐ႐ۅă༱ႚ཮ײႾࢅణՔ๼෇ೡటิׯٱဃ#45CIRCULAR_R1_R2_MISMATCH_ERROR(46)๖૩ူ௬ᆩᇀٱဃ#45ڦ૩ጱ঻ถڦ൧઄๟Ljӷ০ڦਸ๔/঳ຐ׊܈גࡗӷ০ਸ๔׊܈ڟ)ዃ࿋മړ(0,0ٗ๬׈Ⴞײă%15ڦ21.51,0ժ๑ᆩዐ႐ۅ10,10ิׯᅃཉܾྼࢷႚăӷ০ڦਸ๔/঳ຐ׊܈DŽ21.51-10=1.51Džגࡗӷ০ਸ๔׊܈DŽ.15*10=1.5Džڦ15%ăසࡕዕۅྺ21.5Ljሶኄ߲૩ጱඟీࠕ߾ፕLjዐ႐ۅॽዘႎऺ໙ᅜጚඓڦۅዕࢅۅഐሞ஌ںዐक़ă332؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7༱ႚ཮ײႾࢅణՔ๼෇ೡటิׯٱဃ#46CIRCULAR_SMALL_R_ERROR(49)๖૩ڼᅃ߲࠲ᇀٱဃ#49ڦ૩ጱ঻ถڦ൧઄๟Ljӷ০ૌ႙ڦᇶ๑ᆩڦӷ০໿܌Lj࿮݆ࡗഐړ(0,0ٗ๬׈Ⴞײă૗ਐڦक़ኮۅዕڟۅമ࿋ዃ)ڦ႙ૌ০ӷڦײՊ๬׈ࢽᆩLj๟ڍăႚࢷྼܾཉᅃׯิ0,20ڟᇶ໯๑ᆩڦӷ০໿܌Lj࿮݆ࡗഐۅڟዕۅኮक़ڦਐ૗ă༱ႚ཮ײႾࢅణՔ๼෇ೡటิׯٱဃ#49؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ333\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)CIRCULAR_SMALL_R_ERROR(49)๖૩ڼܾ߲࠲ᇀٱဃ#49ڦ૩ጱ঻ถڦ൧઄๟Ljӷ০ૌ႙ڦᇶ๑ᆩڦӷ০ޗኵၭᇀ0.001ăײႾ׈๬ڟ)ዃ࿋മړ(0,0ٗ0.00099,0.00099ิׯᅃ߲ܾྼࢷႚăኄ߲ٱဃ݀ิڦᇱᅺ๟Ljᆩࢽ׈๬Պײڦӷ০ૌ႙ڇ001.0ᇀၭኵޗ০ӷڦᆩ๑໯ᇶڦ࿋ă༱ႚ཮ײႾࢅణՔ๼෇ೡటิׯٱဃ#49MCCMܔጒༀ࿋ڦ߸߀ǖጒༀ࿋༵ࠃᅃዖ॔๫ሏڦ႙ૌዖෙᆶă০཰ڦ܈৊ସኸۯጒༀ࿋༵ࠃ状态位提供一种监视运动控制指令进度的途径。有三种类型的状态位ᆶ࠲႑တă提供有关信息。•ዡ•ፖՔဣ•ၹۙሏۯړMCCMኸସ݀ഐࢫLjጒༀ࿋ॽঢ়૦ᅜူՎࣅă334؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ዡጒༀ࿋࿋ఁ׬ࡤᅭCoordinatedMotionStatusړLjዃย้ႜኴସኸMCCMړኸସྜׯ้أăፖՔဣጒༀ࿋࿋ఁ׬ࡤᅭMotionStatusڟথ૶ဣՔፖ൐ܸፕ߾ሞኟସኸMCCMړഄ࠲૴ڦዡ้ยዃă关联轴ၹۙሏۯጒༀ࿋࿋ఁ׬ࡤᅭAccelStatusړ๐ଉኟሞे໏้ยዃăړंࢇኟሞ৊ႜईኁ๐ଉሏۯኟሞ࢛໏ई३໏้أăDecelStatusړ๐ଉኟሞ३໏้ยዃăړंࢇኟሞ৊ႜईኁ๐ଉሏۯኟሞे໏ईኁሏۯྜׯ้أăActualPosToleranceStatusৈྺํाඹዕኹૌ႙ยዃăړ஢ፁᅜူଇ߲ཉॲ้ኄ߲࿋ԥยዃă1)ాᅙঢ়ྜׯă2)ڟՊײዕۅڦํाਐ૗ၭᇀ໯ದዃڦፖՔဣํाඹኵăړኸସྜׯࢫLjኄ߲࿋ԍ׼ยዃጒༀăړႎڦኸସਸ๔ࢫLjኄ߲࿋ԥް࿋ăCommandPosToleranceSt௅ړڟՊײዕۅڦํाਐ૗ၭᇀ໯ದዃڦፖatusՔဣంସඹኵ้Ljܔᇀ໯ᆶዕኹૌ႙ኄ߲࿋ۼࣷԥยዃLjժॽሞኸସྜׯࢫԍ׼ยዃጒༀăړႎڦኸସਸ๔ࢫLjኄ߲࿋ԥް࿋ăStoppingStatusړMCCMኸସኴႜ้Ljཕኹጒༀ࿋ԥأăMoveStatusړ当MCCMMCCM开ਸ๔ዡሏۯ้ยዃăړፌࢫᅃ߲始轴运动时设置。当最后一个ሏۯኸସڦ运动控制指令的.PC.PC࿋ยዃ้ईኁగ߲ሏۯኸସ位设置时或者某个运动ኴႜڞዂཕኹ้أă控制指令执行导致停止时清除。MoveTransitionStatusړ஢ፁ࿮३໏ईంସඹዕኹૌ႙้ยዃăړंࢇࠌ၍ሏۯ้ኄ߲࿋փԥยዃLjᅺྺऐഗ๔ዕሞୟ০ฉăړंࢇྜׯ้Ăగ߲ࠬഐኸସڦሏۯਸ๔้ईኁగ߲ሏۯኸସڦኴႜ指令的运动开始时或者某个运动控制指令的执ڞዂཕኹ้ԥأă՗๖փሞୟ০ฉă行导致停止时被清除。表示不在路径上。؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ335\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ၹۙሏۯጒༀ࿋࿋ఁ׬ࡤᅭMovePendingStatusړᅃ߲ࠬഐၹۙሏۯኸସتᇀኸସܓଚ้ยዃăړኸସܓଚྺ੣้أăMovePendingQueueFullStړኸସܓଚ஢้ยዃăړܓଚዐᆶ੣ඹభႎatusڦၹۙሏۯኸସ้أăణമLjၹۙሏۯৈኧ׼ᅃ߲ၹۙሏۯኸସڦಇܓăᅺُLjMovePendingStatus࿋ࢅMovePendingQueueFullStatus࿋๔ዕ๟၎ཞڦă336؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ᇶႚՊײ੊ኸళᇶႚૌ႙ᆩᇀܾྼ/ᄓኤٱဃݛၠ-ܾྼݛၠ-ෙྼጀ๥ෙྼ/ଇኁӷ০2Dٱဃ25Ǘ࿮ၳĎ+ď኱ᇀᇶփ๢ᆩĎ+đڦӷ০ഽ዆ࢷ׊ྺ<=ኸସႚೝ௬࠵ੂྺຩ180Ć(ፌ܌ࢷႚ)ă้ኍ/ొ้ኍٱဃ45Ǘዕۅ=Đ-đڦӷ০ഽ዆ࢷ׊ྺ>=ഐۅ180Ć(ፌ׊ࢷႚ)ăٱဃ49ǗR໿੗ᅜՊײྜኝᇶႚăၭ(|R|<.001)ईኁRڦ׊܈փీܔᇀྜኝᇶႚǖॽ࿋ዃยዃྺࡗՊײڦۅăأକഐۅᅜྔᇶฉڦඪᅪۅLjժ๑ᆩྜኝݛၠૌ႙ኮᅃăዐ႐ۅଇኁٱဃ44Ǘࠌ၍Ď+ď኱ᇀᇶႚፌ܌/ፌ׊ࢷ1.੗ᅜՊײྜኝᇶႚăႠ(ৈෙྼ)ೝ௬࠵ੂྺຩ้ႚăሞྜኝᇶႚኍ/ొ้ኍዐLjዕۅڦ࿋ዃ2.ৈሞܾྼዐLjዕۅ=ഐۅ๟ٱဃ45Ǘዕۅ=ۨᅭକᆯݛၠᆶၳڦăᅺُLj੗ᅜิׯྜഐۅ(ৈෙྼ)ຕ໯ኸڦፌ܌/ኝᇶႚǖፌ׊ୟ০ăٱဃ46Ǘਸ๔/a.ཚࡗยዃዕۅ=ഐۅLjሞ঳ຐӷ০փ೅ದኄዖ൧઄ူLj໯ᆶݛၠૌ(|R1-R2|>.15*႙ۼࣷิྜኝᇶႚăR1)ăb.ཚࡗยዃዕۅփڪᇀഐۅܸ൐๑ᆩྜኝݛၠૌ႙ă3.ܔᇀෙྼྜኝᇶႚǖॽ࿋ዃยዃྺأକഐۅᅜྔᇶฉڦඪᅪۅLjժ๑ᆩྜኝݛၠૌ႙ኮᅃă࿋ዃཞ้ۨᅭକࢷႚࢅፌ܌ݛၠૌ႙ăঢ়ᆯۅଇኁٱဃ44Ǘࠌ၍ঢ়ᆯۅ๔ዕਦۨঢ়ᆯۅ๔ዕਦۨ1.੗ᅜՊײྜኝᇶႚăႠጣݛၠăጣݛၠăݛၠፕຕৈᆩᇀඓۨ2.ܔᇀྜኝᇶႚǖॽ࿋ዃยዃٱဃ45Ǘዕۅ=ᇶ๟ྜኝڦ࣏๟ྺأକഐۅᅜྔᇶฉڦඪᅪഐۅփྜኝڦăۅLjժ๑ᆩྜኝݛၠૌ႙ኮᅃăఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ337\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯցۯༀۙኝሏۯցۯༀۙኝ(MCCD)ኸସॽഔۯኸۨፖՔဣୟ০ۯༀຕڦ߸(MCCD)߀ăߵ਍ሏۯૌ႙LjMCCD߸߀ဣཥዐړമऄሂڦၹۙሏۯఇ๕ăATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ăATTENTION注意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦኸସLjᄲၭ႐໏܈ࢅ/ईዕڦ؋ࡗዃ࿋ۅޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌٷे໏܈ሂ܈ইگܸዡኟሞे໏ăڍ๟൩઺ऻLjසࡕᆩ้क़%ۨኸ࿋ڇڦLjሂ܈੗ీࣷक़থԥ߀ՎăMCCDኸସፕຕ-ी梯形图ۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎፖՔဣCOORDINATE_SYՔധዡڦၹۙፇăSTEMሏۯ੦዆MOTION_Քധᆩᇀݡ࿚ኸସጒༀຕڦኸସ঳ࠓăሏۯૌ႙SINTĂINTईDINT૬न1=ၹۙሏۯՎ߸໏܈SINTĂINTईDINT૬न0=ޏ1=๟໏܈SINTĂINTĂDINT૬नईՔ[ၹۙڇ࿋]ईREALധ໏܈ڇ=0न૬TNIDईTNIĂTNIS࿋ڇ࿋௅௱1=ፌٷኵ%338؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCCDኸସፕຕ-ी梯ۉ形图ഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎՎ߸े໏SINTĂINTईDINT૬न0=ޏ܈1=๟े໏܈SINTĂINTĂDINT૬नईՔ[ၹۙڇ࿋]ईREALധे໏܈ڇ=0न૬DINTईTNIĂTNISڇ࿋௅௱2࿋1=ፌٷኵ%Վ߸३໏SINTĂINTईDINT૬न0=ޏ܈1=๟३໏܈SINTĂINTĂDINT૬नईՔ[ၹۙڇ࿋]ईREALധ३໏܈ڇ=0न૬DINTईTNIĂTNISڇ࿋௅௱2࿋1=ፌٷኵ%Վ߸े໏SINTĂINTईDINT૬न0=ޏ܈ሂ܈1=๟े໏ሂ܈SINTĂINTĂDINT૬नईՔ౞ՂՂႷ๔ዕྺे໏܈ሂ܈ईREALധፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă•े໏ሂ܈๟ፖՔဣڦे໏ሂ܈ኵă๑ᆩኄၵኵഐօăे໏܈ሂ܈=100(้क़%)ሂ܈ڇ࿋=2Վ߸३໏SINTĂINTईDINT૬न0=ޏ܈ሂ܈1=๟؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ339\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCCDኸସፕຕ-ी梯ۉ形图ഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎ३໏ሂ܈SINTĂINTĂDINT૬नईՔ౞ՂՂႷ๔ዕྺ३໏܈ሂ܈ईREALധፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă•३໏ሂ܈๟ፖՔဣڦ३໏ሂ܈ኵă๑ᆩኄၵኵഐօă•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ሂ܈ڇ=0न૬DINTईTNIĂTNIS࿋ڇ࿋௅௱31=ፌٷኵ%2=้क़%(๑ᆩኄ߲ኵഐօ)ݔྷSINTĂINTईDINT૬न0=ऄሂڦሏۯ1=ऄሂࢅࠬഐڦሏۯMCCD(CoordinateSystem,MotionControl,MotionTypeChangeSpeed,Speed,SpeedUnits,ChangeAccel,AccelRate,AccelUnits,ChangeDecel,঳ࠓ࿔ԨDecelRate,DecelUnits,ChangeAccelJerk,AccelJerk,ChangeDecelJerk,DecelJerk,JerkUnits,ፕຕᇑीۉഗ༱ႚ཮梯形图MCCDኸସڦፕຕ၎ཞăScope);ڦਉ஼ጴ߲ܠLj้ኵຕፕڦዐԨ࿔ࠓ঳ྺፕਉ஼෇๼ړ๼෇ՂႷுᆶ੣߭ăਉ૩සူ:ڇ܈໏३෇๼ړ࿋้Ljኵᆌ޿๼෇ྺunitspersec2ܸփ๟༱ႚ཮இडዐ၂๖ڦUnitsperSec2ăܔᇀᆶ஼ਉኵڦ౞෇๼๕ݛူᅜቷӀ൩Ljຕፕڦ჋ስǖُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔ԨईኁྺፖՔဣ࿮஼ਉՔധሏۯ੦዆࿮஼ਉՔധሏۯૌ႙࿮஼ਉՔധ0=ਨܔኵ1=ሺଉChangeSpeedޏ0๟1340؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔Ԩईኁྺ໏܈࿮஼ਉ૬नईՔധSpeedUnitsUnitspersec0%ofmaximum1ChangeAccelޏ0๟1े໏܈࿮஼ਉ૬नईՔധे໏܈ڇ࿋Unitspersec20%ofmaximum1ChangeDecelޏ0๟1३໏܈࿮஼ਉ૬नईՔധ३໏܈ڇ࿋Unitspersec20%ofmaximum1Վ߸े໏܈ሂ܈࿮஼ਉ0=ޏ1=๟े໏ሂ܈࿮஼ਉ૬नईՔധ౞ՂՂႷ๔ዕྺे໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄ߲ኵഐօăे໏܈ሂ܈=100(้क़%)Վ߸३໏܈ሂ܈࿮஼ਉ0=ޏ1=๟؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ341\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ُፕຕᆛᆶኄၵ჋ၜ੗ඟ౞๼෇ྺ...࿔Ԩईኁྺ३໏ሂ܈࿮஼ਉ૬नईՔധ౞ՂՂႷ๔ዕྺ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺS൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă๑ᆩኄ߲ኵഐօă•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ሂ܈ڇ࿋Unitspersec30%ofmaximum1%oftime2(๑ᆩኄ߲ኵഐօ)ݔྷ࿮஼ਉ0=ऄሂڦሏۯ1=ऄሂࢅࠬഐڦሏۯፖՔဣፖՔဣፕຕኸۨକۨᅭፖՔဣྼ܈ڦሏۯዡဣăፖՔဣኧ׼ፌٷෙ߲(3)ዷዡăሏۯ੦዆ᅜူ੦዆࿋ॽ๴ڦସኸMCCDڟᆖၚăऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ٗप༱ړăዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړ31ኈࡗ܉ڟ्้Ljഔᆩ࿋ԥް࿋ă.DNDŽྜׯDž࿋ړă࿋ްԥ࿋ׯྜLj้ኈڟ܉ࡗ्ٗप༱ړణՔ࿋29ዃׯࠀऺ໙ࢫLjྜׯ࿋ԥยዃă.ERDŽړă࿋ްԥ࿋ဃٱLj้ኈڟ܉ࡗ्ٗप༱ړ࿋DžဃٱణՔ࿋28ዃ࿄ీׯࠀऺ໙ࢫLjٱဃ࿋ԥยዃă342؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯૌ႙ሏۯૌ႙ፕຕਦۨᄲՎ߸నዖሏۯఇ๕ăణമLjၹۙሏۯ๟ྸᅃ੗ᆩڦ჋ၜă•ၹڦሂऄമణዐဣՔፖ߀߸ၜ჋ۯሏۙၹLj้ዐ჋ړ-ۯሏۙሏۯăՎ߸໏܈Վ߸໏܈ፕຕඓۨ๟ޏᄲ߸߀ၹۙሏۯఇ๕ڦ໏܈ă•ޏ-ܔၹۙሏۯڦ໏܈փፔՎ߸ă•๟-ཚࡗ໏܈ࢅ໏܈ڦۯሏۙၹ߀߸Ljኵڦᅭۨዐຕፕ࿋ڇ໏܈ă໏܈໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷ໏܈ă໏܈ڇ࿋໏܈ڇڦฉຕፕ܈໏ڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲăՎ߸े໏܈Վ߸े໏܈ፕຕඓۨ๟ޏᄲ߸߀ၹۙሏۯఇ๕ڦे໏܈ă•ޏ-ܔၹۙሏۯڦे໏܈փፔՎ߸ă•๟-ཚࡗे໏܈ࢅे໏܈ۙၹ߀߸Ljኵڦᅭۨዐຕፕ࿋ڇሏۯڦे໏܈ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ343\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)े໏܈े໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷे໏܈ăे໏܈ڇ࿋े໏܈ڇڦฉຕፕ܈໏ेڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲăՎ߸३໏܈Վ߸३໏܈ፕຕඓۨ๟ޏᄲ߸߀ၹۙሏۯఇ๕ڦ३໏܈ă•ޏ-ܔၹۙሏۯڦ३໏܈փፔՎ߸ă•๟-ཚࡗ३໏܈ࢅ३໏܈ۙၹ߀߸Ljኵڦᅭۨዐຕፕ࿋ڇሏۯڦ३໏܈ă३໏܈३໏܈ፕຕۨᅭକሞၹۙሏۯୟ০ฉڦፌٷ३໏܈ă३໏܈ڇ࿋३໏܈ڇڦฉຕፕ܈໏३ڟᆩᆌକᅭۨຕፕ࿋ڇ࿋Lj੗ᅜ኱থᆩኸۨፖՔဣڦၹۙڇ࿋LjईኁፕྺፖՔဣዐۨᅭڦፌٷኵڦӥԲăे໏܈ࢅ३໏܈ኵڦՎ߸ܔሏۯఇ๕ڦᆖၚူ཮঻ถړ໏܈থৎፌٷኵ้Ljසࡕ๑ᆩMCCDኸସઠইگे໏܈ࣷڦ܈໏ेକ዆၌օᅃ৊Ljၭ߸ڥՎ܈ሂ܈໏ेڦႎă઄൧஺๊၄؜ፌڦႴ໯ଭڟٳ܈໏ेྺᅺLj؋ࡗ܈໏ิ݀ăࣅՎٷ้क़ሺेକăิׯଷᅃ߲ఇ๕ॽ໏܈ዘႎټڟՊײፌٷኵă344؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ܔे໏܈Վ߸ڦᆖၚे໏܈ԥইگڦۅăူ཮঻ถړ໏܈ࢅ࿋ዃথৎഄణՔዕۅ้Ljසࡕ๑ᆩMCCDኸସઠইڟ໏३ăၭ߸ڥՎ܈ሂ܈໏३ڦႎă઄൧஺๊၄؜ࣷ܈໏३گଭ໯Ⴔݛገݒࣷᄺۯሏዡăኵ޶ྺՎۅଭࡗཚLj؋ࡗ܈໏ׯሰक़้ڦၠLj኱ڟټႎዘዃ࿋ॽ๕ఇڦे޹߲ᅃׯิăኹྺଭڟ࣮ݓ܈໏ڟՊײణՔăܔ३໏܈Վ߸ڦᆖၚ३໏܈ԥইگڦۅă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ345\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)Վ߸े໏܈ሂ܈Վ߸े໏܈ሂ܈ፕຕඓۨ๟ޏᄲ߸߀ၹۙሏۯఇ๕ڦे໏܈ሂ܈ă•ޏ-ܔၹۙሏۯڦे໏܈ሂ܈փፔՎ߸ă•๟-ཚࡗे໏܈ሂ܈ࢅሂ܈ۙၹ߀߸Ljኵڦᅭۨዐຕፕ࿋ڇሏۯڦे໏܈ăे໏ሂ܈े໏ሂ܈ڦ܈ሂ໏े໙ऺ࠲ᆶă܈ሂ໏ेٷፌڦۯሏײՊକᅭۨ߸ܠ႑တLj൩ለԨቤևđ࿋ڇ܈ሂĐڦăՎ߸३໏܈ሂ܈Վ߸३໏܈ሂ܈ፕຕඓۨ๟ޏᄲ߸߀ၹۙሏۯఇ๕ڦ३໏܈ሂ܈ă•ޏ-ܔၹۙሏۯڦ३໏܈ሂ܈փፔՎ߸ă•๟-ཚࡗ३໏܈ሂ܈ࢅሂ܈ۙၹ߀߸Ljኵڦᅭۨዐຕፕ࿋ڇሏۯڦ३໏܈ă३໏ሂ܈३໏ሂ܈ڦ܈ሂ໏໙३ऺ࠲ᆶă܈ሂ໏३ٷፌڦۯሏײՊକᅭۨ߸ܠ႑တLj൩ለԨቤևđ࿋ڇ܈ሂĐڦăሂ܈ڇ࿋ሂ܈ڇڦᆩᆌฉኵڦ෇๼໯ຕፕ܈ሂ໏३ࢅ܈ሂ໏ेၠକᅭۨ࿋ڇ࿋ă໯๼෇ڦኵ኱থᅜኸۨፖՔဣڦ࿋ዃڇ࿋ྺڇ࿋LjईኁྺӥԲăړದዃ๑ᆩፌٷኵ%้Ljሂ܈ԥᆌᆩྺፖՔဣຌႠዐኸۨڦፌٷे໏ሂ܈ࢅፌٷ३໏ሂ܈ፕຕڦӥԲăړದዃྺ๑ᆩ้क़%้Lj޿ኵྺएᇀኸସዐኸۨڦ໏܈Ăे໏܈ࢅ३໏܈ڦᅃ߲ӥԲă346؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7සࡕ౞ᄲॽ߾ײڇ࿋࣑໙ׯ%้क़Lj൩๑ᆩᅜူࠅ๕ăܔᇀे໏ሂ܈ǖܔᇀ३໏ሂ܈ǖ»Á¼°ƒŽ“™¾´%þ±º‰ªªÀ„Š…¼§ŠÃμ•Œª£¨«Îþ¼”Г‘œ¬¼´þ¾°£ܔᇀे໏ሂ܈ǖܔᇀ३໏ሂ܈ǖݔྷྺݔྷፕຕ჋ስऄሂڦሏۯॽኸۨՎ߸ৈᆖၚऄሂڦၹۙሏۯኸସڦሏۯۯༀຕă჋ስऄሂࢅࠬഐڦሏۯॽኸۨՎ߸ᆖၚऄሂڦၹۙሏۯኸସᅜतܓଚዐඪࢆࠬഐڦၹۙሏۯኸସڦሏۯۯༀຕăణമLjܓଚٷၭԥ၌዆ྺऄሂኸସኮࢫᆶᅃཉኸସăMCCD๟ᅃཉࡗ܉Ⴀኸସǖ转换指令•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ梯形图أൎ࣑ڟยዃă•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩限制指令只对转换执行。ለ޹୤Că໙ຍጒༀՔऻփ๴ᆖၚ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ347\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ࠤቱཉॲ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛٱဃپஓǖકቛٱဃپஓ੗ӻዺ৊ᅃօۨᅭྺኄཉ༬๺ኸସ໯༵ࠃڦٱဃၩတăഄႜྺൽਦᇀ໲்࠲૴๊஺ٱဃپஓăົޜ࠲Կጒༀ(5)Ă࠲Կጒༀ(7)Ăዡૌ႙ݥົޜ(8)Ăዡ࿄ದዃ(11)Ăࡃଭኟሞ৊ႜٱဃ(16)ᅜतݥ݆ዡຕ਍ૌ႙(38)ٱဃڦકቛٱဃپஓࠀీڦn...0၂๖ॽஓپဃٱቛકᇀܔăڦຼૌ׉ݥ๟ۼຕጴăኄ߲ຕጴ๟ፖՔဣڦ໭ᆅLj՗๖ኟتᇀٱဃጒ઄ዐڦዡăܔᇀMCCDኸସLjݓॽဃٱቛકLjྷݔ؜גຕ-13ஓپဃٱ࣮ᅃ߲ຕጴLj՗๖ᆶ࿚༶ڦຕՊࡽLjኄၵຕሞ௬ӱฉᅜຕጴຩႾٗฉٱᆶኵຕڦ႙ૌۯሏ๖՗2Ljස૩ă؜ଚDž๔ਸଭᅜDŽူڟဃăᆅᆩڦٱဃپஓࢅՊࡽકቛٱဃຕጴኸସຕ௮ຎኸ๖ޙຕٷኁई0ᇀၭྺ႙ૌۯሏ႙ૌۯሏ2)13(ྷݔ؜גᇀ1ăຕݔ؜גྷ(13)4໏܈໏܈ၭᇀ0ăຕڪईᇀၭ܈໏े܈໏े7)13(ྷݔ؜גᇀ0ăຕڪईᇀၭ܈໏३܈໏३10)13(ྷݔ؜גᇀ0ăܔᇀٱဃپஓ54-ፌٷ३໏܈ኵྺଭLjසࡕકቛٱဃپஓݓ࣮ᅃ߲ኟຕ(0-n)Ljኄ՗๖ፖՔဣዐᆶ࿚༶ڦዡăገڟፖՔဣຌႠڦ׉ࡀ჋ၜਸ਼Ljੂዡྪ߭ڦݛઔࡽ([])ଚڦူ௬Ljඓۨዡڦፌٷ३໏܈ኵ๟ޏྺ0ăڟገăటೡႠຌዡ࿚ݡ੗न౧Ӏࡽ୼ูڦՉಖዡڦ༶࿚ᆶऍڇۯༀຕ჋ၜਸ਼Ljܔፌٷ३໏܈ኵ৊ႜ၎ᆌڦ߸߀ăසࡕકቛپஓՊࡽྺ-1Ljኄ՗๖ፖՔဣڦፌٷ३໏܈ኵྺ0ăገڟፖՔဣຌႠڦۯༀຕ჋ၜਸ਼Lj߸ኟፌٷ३໏܈ኵă348؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCCDܔጒༀ࿋ڦ߸߀ǖ࿮ᆖၚăఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ăሏۯցཕኹ(MCS)ሏۯցཕኹ(MCS)ኸସ݀ഐၹۙሏۯڦ੦዆ཕኹăඪࢆࠬഐڦሏۯఇ๕ۼԥൽၩăATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă注ATTENTION意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦኸସLjᄲၭ႐໏܈ࢅ/ईዕڦ؋ࡗዃ࿋ۅޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌٷे໏܈ሂ܈ইگܸዡኟሞे໏ăڍ๟൩઺ऻLjසࡕᆩ้क़%ۨኸ࿋ڇڦLjሂ܈੗ీࣷक़থԥ߀Վă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ349\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ፕຕ༱ႚ཮ፕຕૌ႙߭๕௮ຎፖՔဣCOORDINATE_SYՔധፖՔဣڦఁ׬STEMሏۯ੦዆MOTION_Քധኸସڦ੦዆Քധኸସཕኹૌ႙DINT૬नසࡕ౞Ⴔᄲ჋ስኄዖཕኹૌ႙ཕኹፖՔဣዡڦ໯ᆶሏۯLjཕኹඇև(0)ፖՔဣᇑڦඪࢆፖՔገ࣑ৈཕኹၹۙሏۯၹۙሏۯ(2)ൽၩፖՔဣᇑڦඪࢆፖՔገ࣑ၹۙፖՔገ࣑(3)Վ߸३໏܈DINT૬नසࡕ౞Ⴔᄲఫ஺჋ስ๑ᆩፖՔဣڦፌٷ३໏܈ޏ(0)ኸۨ३໏܈๟(1)३໏܈REAL૬नईՔዘᄲ๚ၜǖසࡕሏۯኟሞ৊ႜኮዐܸ౞ইگ३໏܈Ljሶዡ੗ധీࣷࡗ؋ഄణՔ࿋ዃăᄂጣၹۙሏۯୟ০ڦ३໏ăኸସ๑ᆩኄ߲ኵǖ•ኻᆶړՎ߸३໏ྺ๟้ă•ৈ๢ᆩᇀၹۙሏۯă๼෇ٷᇀ0ڦኵă३໏܈ڇ=0न૬DINT࿋ڇ࿋௅௱21=ፌٷኵ%350؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ፕຕૌ႙߭๕௮ຎՎ߸३໏܈ሂ܈SINTĂINTई૬न0=ޏDINT1=๟३໏ሂ܈SINTĂINTĂ૬नईՔ౞ՂՂႷ๔ዕྺ३໏܈ሂ܈ፕຕ๼෇ኵăසࡕఇ๕ದዃྺSDINTईREALധ൸၍Ljኄ߲ኸସৈ๑ᆩ޿ኵă३໏ሂ܈๟ፖՔဣڦ३໏ሂ܈ኵă๑ᆩኄၵኵഐօă•३໏܈ሂ܈=100(้क़%)•ሂ܈ڇ࿋=2ሂ܈ڇ=0न૬ईINTĂINTS࿋ڇ࿋௅௱3DINT1=ፌٷኵ%2=้क़%(๑ᆩኄ߲ኵഐօ)঳ࠓ࿔ԨMCS(CoordinateSystem,MotionControl,StopType,঳ࠓ࿔Ԩፕຕᇑ༱ႚ཮ፕຕ၎ཞă๼෇ཕኹૌ႙ࢅ३໏ڇ࿋LjዐChangeDecel,DecelRate,DecelUnits,क़փା੣߭ăChangeDecelJerk,DecelJerk,JerkUnits);๖૩ǖ๼෇ፖՔဣፕຕCoordinateSystemă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ351\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ཕኹૌ႙සࢆᆖၚፖՔገ࣑ူ՗঻ถཕኹૌ႙සࢆᆖၚᇑፖՔገ࣑ڦፖՔဣăཕኹૌ႙௮ຎඇևኄዖཕኹૌ႙ǖ•ཕኹኸۨፖՔဣዐڦ໯ᆶዡă໲ཞ้ཕኹᇑُፖՔဣࠌዡڦඪࢆፖՔဣڦዡă•ൽၩፖՔဣᇑڦඪࢆፖՔገ࣑ăၹۙሏۯኄዖཕኹૌ႙ৈཕኹၹۙሏۯăඪࢆፖՔገ࣑ධԍ׼ऄሂጒༀăၹۙፖՔገ࣑ኄዖཕኹૌ႙ൽၩᇑኸۨፖՔဣ၎࠲ڦፖՔገ࣑ăሞ໯ᆶ၎࠲ڦణՔፖՔဣฉLj໯ᆶፖՔገ࣑၎࠲ڦሏۯۼࣷཕኹăڍ๟LjᇸፖՔዡॽीჄӀቷኸସڦంସሏۯă๖૩සࡕ຺߲ፖՔဣཚࡗෙ߲ፖՔገ࣑૴ۯăڼᅃ߲ፖՔဣ(CS1)ྺᇸLjժ൐ኟሞت૙ంସሏۯăሞCS2ฉኴႜMCSኸସժ๑ᆩཕኹૌ႙ྺၹۙፖՔገ࣑ॽࣷڞዂǖ•ፖՔገ࣑T1ࢅT2ԥൽၩă•ፖՔገ࣑T3ԍ׼ऄሂă•CS1ዐڦዡԍ׼ሏۯă•ፖՔဣCS2ࢅCS3ዐڦዡཚࡗMCSኸସዐ჋ስڦ३໏܈ईኁፌٷၹۙ३໏܈ܸཕኹă•CS4ዐڦዡ߶ໜ߳ጲڦCS3ዡăሞሏۯዡཕኹ(MAS)ኸସዐLjཕኹૌ႙ඇևᄺࣷൽၩፖՔገ࣑ă352؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MOTION_INSTRUCTIONຕ਍ૌ႙ᄲੂ๟ޏॠኄ߲࿋๟ޏتᇀຕ਍ૌ႙ጀᅪǖٶਸጒༀ༱पጒༀྺኈăENBOOLᆶ้ࢪन๑༱पՎׯ्LjEN࿋ධԍ׼ਸٱ؜ईׯྜସኸሞप༱ࡕසăༀጒڦኮമՎׯ्Lj৽ࣷ؜၄ኄዖ൧઄ă༱पENDNईERཕኹԥׯࠀ݀ഐăDNBOOL؜၄ٱဃăERBOOLዡኟሞཕኹăIPBOOLኄၵፕڦඪࢆᅃ߲ۼࣷ঳ຐMCSኸସLjժ࠲ԿIP࿋ǖ•ፖՔဣԥཕኹă•ଷྔᅃཉMCSኸସൽپኄཉMCSኸସă•࠲Կኸସă•ࠤቱፕăዡԥཕኹăPCBOOLPC࿋ԍ׼ਸْᅃႜ৊प༱ڟ኱Ljༀጒڦ्ٗڟኈڦࡗ܉ă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ353\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)કቛٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăాᆶ࠲ᇀසࢆ๑ᆩકቛٱဃپஓڦ႑တăܔጒༀ࿋ڦ߸߀ኸସኴႜ้ࣷ߸߀ᅜူጒༀ࿋ăሞᅜူՔധዐኄ߲࿋ړཕኹૌ႙ྺՎྺዡCoordinatedMotionStat࠲ԿLjړၹۙሏۯཕኹࢫusTransformStateStatusၹۙሏۯփ߀Վ•ඇև࠲Կ•ၹۙፖՔገ࣑ControlledByTransformၹۙሏۯ࠲ԿLjړዡཕኹܸ൐MCSኸସڦStatusPC࿋ٶਸ้•ඇև࠲Կ•ၹۙፖՔገ࣑ፖՔဣMotionStatus࠲ԿLjړၹۙሏۯཕኹࢫAccelStatus࠲ԿDecelStatusٶਸDŽሞཕኹࡗײዐDžLj඗ࢫ࠲ԿDŽړཕኹྜׯ้DžStoppingStatusٶਸDŽሞཕኹࡗײዐDžLj඗ࢫ࠲ԿDŽړPC࿋ٶਸ้DžMoveStatus࠲ԿMoveTransitionStatus࠲ԿMovePendingStatus࠲ԿTransformSourceStatusၹۙሏۯփ߀Վ•ඇև࠲Կ•ၹۙፖՔገ࣑TransformTargetStatusၹۙሏۯփ߀Վ•ඇև࠲Կ•ၹۙፖՔገ࣑354؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ཕኹૌ႙සࢆᆖၚፖՔገ࣑ࢅዡሏۯ๖૩्ย౞تᇀኄᄣڦᅃዖ൧઄ăഄዐǖ•ፖՔဣ1(CS1)ԈࡤXĂYࢅZዡă•ፖՔဣ2(CS2)ԈࡤYĂZࢅSዡă•ፖՔဣ3(CS3)ԈࡤAĂBࢅCዡă•ፖՔገ࣑(T1)ॽᇸፖՔဣCS2ᇑణՔCS3૴ۯă•CS2(XYS)ዡᆙพڟCS3(ABC)ዡă•MAMኸସሞYĂZࢅSዡฉኴႜă•MCLMኸସሞCS2ฉኴႜă•MCTኸସڦኴႜᅜCS2ፕྺᇸLjCS3ፕྺణՔă•ሞCS2ईCS3ฉփኴႜၹۙኸସăኄ߲՗߭၂๖๑ᆩփཞཕኹૌ႙ኴႜ߳ዖMCSࢅMAS้ڦ঳ࡕ.MCSࢅMACSኸସᅜतཕኹૌ႙ኸସཕኹૌ႙঳ࡕሞCS1ฉڦMCSඇևሞCS2ฉڦMCLMኸସॽཕኹăሞYฉڦMAMॽཕኹăሞZฉڦMAMॽཕኹăሞSฉڦMAMॽीჄăT1ԥൽၩăዡABCॽཕኹLjᅺྺൽၩକፖՔገ࣑ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ355\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCSࢅMACSኸସᅜतཕኹૌ႙ኸସཕኹૌ႙঳ࡕሞCS2ฉڦMCSඇևሞCS2ฉڦMCLMኸସॽཕኹăሞYฉڦMAMॽཕኹăሞSฉڦMAMॽཕኹăሞZฉڦMAMॽीჄăT1ԥൽၩăዡABCॽཕኹLjᅺྺൽၩକፖՔገ࣑ăሞCS3ฉڦMCSඇևሞCS2ฉڦMCLMኸସॽीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԥൽၩăዡABCॽཕኹLjᅺྺൽၩକፖՔገ࣑ăሞCS1ฉڦMCSၹۙሏۯሞCS2ฉڦMCLMኸସॽीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞCS2ฉڦMCSၹۙሏۯሞCS2ฉڦMCLMኸସॽཕኹăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞCS3ฉڦMCSၹۙሏۯሞCS2ฉڦMCLMኸସॽीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞYฉڦMASඇևሞCS2ฉڦMCLMኸସॽཕኹăሞYฉڦMAMॽཕኹăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԥൽၩăዡABCॽཕኹLjᅺྺൽၩକፖՔገ࣑ă356؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCSࢅMACSኸସᅜतཕኹૌ႙ኸସཕኹૌ႙঳ࡕሞYฉڦMASሏۯሞCS2ฉڦMCLMኸସॽीჄăሞYฉڦMAMॽཕኹăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞZฉڦMASඇևሞCS2ฉڦMCLMኸସॽीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽཕኹăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞZฉڦMASሏۯሞCS2ฉڦMCLMኸସॽीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽཕኹăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞCS1ฉڦMCSၹۙፖՔገ࣑ሞCS2ฉڦMCLMኸସीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăT1ԍ׼ऄሂăዡABCॽ߶ໜ߳ጲڦCS2ዡăሞCS2ฉڦMCSၹۙፖՔገ࣑T1ԥൽၩăሞCS2ฉڦMCLMኸସीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăዡABCॽཕኹLjᅺྺൽၩକፖՔገ࣑ăሞCS3ฉڦMCSၹۙፖՔገ࣑T1ԥൽၩăሞCS2ฉڦMCLMኸସीჄăሞYฉڦMAMॽीჄăሞSฉڦMAMॽीჄăሞZฉڦMAMॽीჄăዡABCॽཕኹLjᅺྺൽၩକፖՔገ࣑ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ357\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ఇ๕ፕຕړ๑ᆩኄ߲ኸସ้Lj౞ᆌ޿੊୯ఇ๕ፕຕăᆶ࠲߸ܠ႑တLj൩ለᄻஓ68ăሏۯց࠲Կ(MCSD)๑ᆩሏۯց࠲Կ(MCSD)ኸସ੗ሞంఁڦፖՔဣڦ໯ᆶዡฉኴႜᅃْ๴੦ཕऐă注意ATTENTIONᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă注ATTENTION意໏܈ࢅ/ईዕ؋ࡗዃ࿋ۅޅ၃සࡕ౞ཚࡗඪࢆݛ݆ۯༀں߸߀ሏۯຕLjनཚࡗሏۯۯༀኸସ(MCDईMCCD)৊ႜ߸߀Ljईኁሞፌࢫᅃ߲ኸସྜׯኮമਸ๔ᅃཉႎڦኸସLjᄲၭ႐໏܈ࢅ/ईዕڦ؋ࡗዃ࿋ۅޅ၃ăړሏۯኟሞ३໏ईኁথৎ३໏ۅ้Ljසࡕፌٷ३໏܈ইگLjሶ༱ႚ໏܈ఇ๕੗ీࣷࡗ؋ăS൸၍໏܈ఇ๕ሞူ௬ڦ൧઄ူ੗ీࣷࡗ؋ǖ•ړሏۯኟሞ३໏ईኁথৎ३໏ۅ้ፌٷ३໏܈ইگǗईኁ•ፌٷे໏܈ሂ܈ইگܸዡኟሞे໏ăڍ๟൩઺ऻLjසࡕᆩ้क़%ۨኸ࿋ڇڦLjሂ܈੗ీࣷक़থԥ߀Վă358؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7操作数梯形图ፕຕीۉഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎፖՔဣCOORDINATE_SYՔധዡڦၹۙፇăSTEMሏۯ੦዆MOTION_INSTRUՔധᆩᇀݡ࿚ኸସጒༀຕڦCTION঳ࠓă঳ࠓ࿔ԨMCSD(CoordinateSystem,MotionControl);ፕຕᇑीۉഗ༱ႚ཮梯形图MCSDኸସڦፕຕ၎ཞăፖՔဣፖՔဣፕຕኸۨକۨᅭڳਸ਼ܻፖՔဣྼ܈ڦሏۯዡဣăܔᇀኄ߲ӲԨLjፖՔဣኧ׼ፌٷෙ߲(3)ዷዡăኻᆶದዃྺዷዡDŽፌܠෙ߲DžڦఫၵዡॽԈࡤሞၹۙ໏܈ڦऺ໙ዐăሏۯ੦዆ᅜူ੦዆࿋ॽ๴ڦସኸMCSDڟᆖၚăऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋ٗप༱ړăዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړ31ኈࡗ܉ڟ्้Ljഔᆩ࿋ԥް࿋ă.DNDŽྜׯDž࿋ړၹۙ࠲Կԥׯࠀ݀ഐࢫLjྜׯ࿋ԥยዃăړ༱प29्ٗࡗ܉ڟኈ้Ljྜׯ࿋ԥް࿋ă.ERDŽٱဃDž࿋ړၹۙ࠲Կ࿄ీׯࠀ݀ഐ้Ljٱဃ࿋ԥยዃăړ༱28प्ٗࡗ܉ڟኈ้Ljٱဃ࿋ԥް࿋ăMCSD๟ᅃཉࡗ܉Ⴀኸସǖ转换指令•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ梯形图أൎ࣑ڟยዃă•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩限制指令只对转换执行。ለ޹୤Că؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ359\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)໙ຍጒༀՔऻփ๴ᆖၚࠤቱཉॲ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăMCSDܔጒༀ࿋ڦ߸߀状态位提供一种监视运动控制指令进度的途径。有三种类型的状态ጒༀ࿋༵ࠃᅃዖ॔๫ሏڦ႙ૌዖෙᆶă০཰ڦ܈৊ସኸۯጒༀ࿋༵ࠃ位提供有关信息。分别是：ᆶ࠲႑တă๟ǖዡጒༀ࿋ĂፖՔဣጒༀ࿋ࢅၹۙሏۯጒༀ࿋ăړ轴状态位、坐标系状态位和协调运动状态位。当MCS指令发起后，状态位将经历以下变化。MCSኸସ݀ഐࢫLjጒༀ࿋ॽঢ়૦ᅜူՎࣅăዡጒༀ࿋࿋ఁ׬ᆖၚCoordinatedMoveStatusԥأፖՔဣጒༀ࿋࿋ఁ׬ᆖၚShutdownStatusڦ࠲၎ᆶ໯൐ܸႜኴԥMCSDړዡ关联轴ۼԥ࠲ԿࢫยዃăReadyStatusሞMCSDኴႜࢫأăၹۙሏۯጒༀ࿋࿋ఁ׬ᆖၚAccelStatusሞMCSDኴႜࢫأăDecelStatusሞMCSDኴႜࢫأăActualPosToleranceStatusሞMCSDኴႜࢫأăCommandPosToleranceStሞMCSDኴႜࢫأăatus360؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ၹۙሏۯጒༀ࿋࿋ఁ׬ᆖၚStoppingStatusሞMCSDኴႜࢫأăMoveStatusሞMCSDኴႜࢫأăMoveTransitionStatusሞMCSDኴႜࢫأăMovePendingStatusሞMCSDኴႜࢫأăMovePendingQueueFullStሞMCSDኴႜࢫأăatus؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ361\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯցፖՔገ࣑๑ᆩMCTኸସ੗ഔۯᅃ߲ॽଇ߲ፖՔဣ૶ഐઠڦገ࣑ăኄૌຼᇀມ(MCT)ၠ؃୾ă๑ᆩፖՔገ࣑ڦᅃዖݛ݆৽๟Ljॽݥڳਸ਼ܻऐഗටᅎۯڟڳਸ਼ܻ࿋ዃăATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ăIMPORTANT重要提示౞ኻీሞ1756-L6x੦዆ഗฉ๑ᆩኄཉኸସăፕຕǖ༱ႚ཮ፕຕૌ႙߭๕௮ຎᇸဣཥCOORDINATE_SYՔധ౞ᆩᇀՊײ޿ሏۯڦፖՔဣăཚ׉Ljኄ๟ڳਸ਼ܻፖՔဣăSTEMణՔဣཥCOORDINATE_SYՔധ੦዆ጣํाยԢڦݥڳਸ਼ܻፖՔဣSTEMሏۯ੦዆MOTION_INSTRUCՔധኸସڦ੦዆ՔധTIONݛ࿋REAL[3]ຕፇထྭජጣX1ĂX2ईX3ዡ჉ገణՔ࿋ዃ஘Ǜසࡕఫ஺ޏॽຕፇኵԍ׼ྺଭă๟ၠຕፇా๼෇჉ገڦ܈ຕăሞຕፇڦڼᅃ߲ᇮ໎ዐགႀජጣX1჉ገڦ܈ຕLjᅜُૌླྀă๑ᆩෙ߲REALڦຕፇLjन๑ፖՔဣኻᆶᅃ߲ईଇ߲ዡăೝᅎREAL[3]ຕፇထྭᄂጣX1ĂX2ईX3ዡೋᅎణՔ࿋ዃ஘Ǜසࡕఫ஺ޏॽຕፇኵԍ׼ྺଭă๟ၠຕፇా๼෇ೋᅎਐ૗ăၠፖՔڇ࿋ా๼෇ೋᅎਐ૗ăሞຕፇڦ1Xႀགዐ໎ᇮ߲ᅃڼڦೋᅎਐ૗Ljᅜُૌླྀă๑ᆩෙ߲REALڦຕፇLjन๑ፖՔဣኻᆶᅃ߲ईଇ߲ዡă362؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7঳ࠓ࿔ԨMCT(SourceSystem,TargetSystem,MotionControl,Orientation,঳ࠓ࿔Ԩፕຕᇑ༱ႚ཮ፕຕ၎ཞăTranslation);MOTION_INSTRUCTIONຕ਍ૌ႙ᄲੂ๟ޏॠኄ߲࿋๟ޏتᇀຕ਍ૌ႙ጀᅪǖٶਸጒༀ༱पጒༀྺኈăENBOOLᆶ้ࢪन๑༱पՎׯ्LjEN࿋ධԍ׼ਸڦጒༀăසࡕ༱पሞኸସྜׯई؜ٱኮമՎׯ्Lj৽ࣷ؜၄ኄዖ൧઄ă༱पENDNईERኸସྜׯăDNBOOLኸସྜׯࢫፖՔገገीჄሏႜăٱڦ؜ଚా܎ጴஓپဃٱڦധՔ዆੦ۯሏ๎ՔBOOLERăဃٱ၄؜ဃՊࡽLj඗ࢫለԨ๮ڦሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăፖՔገ࣑ࡗײኟሞ৊ႜIPBOOLኄၵፕڦඪࢆᅃ߲ۼࣷൽၩፖՔገ࣑Ljժ࠲ԿIPኮዐă࿋ǖ•๢ᆩڦཕኹኸସ•࠲Կኸସ•ࠤቱፕX3MCTሏۯցፖՔገ࣑ኸସX2X1౞ॽႵెዡဣᅎڟڳਸ਼ܻ࿋ዃ虚轴(X1,ፖՔገ࣑ॽሏۯገ࣑ྺ࠲বঙLjժX2,X3)ăᅎۯऐഗටă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ363\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ፖՔገ࣑੦዆ፌܠෙ߲ऐഗට࠲বǖJ1ĂJ2ࢅJ3ăMCTኸସሞଇ߲ፖՔဣኮक़ڦຕ਍ୁۯူ௬ڦ཮၂๖ړMCTኸସ߾ፕ้ຕ਍๟සࢆୁۯڦăCS1๟ᅃ߲ڳਸ਼ܻፖՔဣLjԈࡤX1ĂX2ࢅX3ዡLjፕྺMCTኸସڦᇸăCS2๟࠲বፖՔဣLjԈࡤJ1ĂJ2ࢅJ3ዡLjፕྺMCTኸସڦణՔăཚࡗMCTኸସኴႜሏۯ้ڦຕ਍ୁۯ-ኟၠፖՔገ࣑๼෇ຕ਍CS2ǖຕ਍ᇸऺ໙๼؜࠲ব࿋ዃ(J1,J2,J3)ऐഗํ༹ऄሂኸସCS1ǖຕ਍ፖՔဣڳਸ਼ܻ࿋ዃ(X1,X2,X3)ణՔ૶থ׊܈(L1,L2)ፖՔဣܔࣆ઀ऐഗႵెएԨೋᅎ(X1b,X2b,X3b)ፖՔဣܔࣆ઀MCTፖՔဣ఍܋ኴႜഗೋᅎ(X1e,X2e,X3e)ፖՔဣܔࣆ઀ଭঙ܈ݛ࿋(Z1,Z2,Z3)ፖՔဣܔࣆ઀ݛ࿋(ຕፇ[3])ኸସ௬ӱೝᅎ(ຕፇ[3])ኸସ௬ӱཚࡗMCTኸସኴႜሏۯ้ڦຕ਍ୁۯ-ݒၠፖՔገ࣑๼෇ຕ਍CS1ǖຕ਍ᇸऺ໙๼؜ڳਸ਼ܻ࿋ዃ(X1,X2,X3)ऐഗႵెऄሂኸସCS2ǖຕ਍ణՔፖՔဣ࠲ব࿋ዃ(J1,J2,J3)ऐഗํ༹૶থ׊܈(L1,L2)ፖՔဣܔࣆ઀ፖՔဣएԨೋᅎ(X1b,X2b,X3b)ፖՔဣܔࣆ઀MCT఍܋ኴႜഗೋᅎ(X1e,X2e,X3e)ፖՔဣܔࣆ઀ଭঙ܈ݛ࿋(Z1,Z2,Z3)ፖՔဣܔࣆ઀ݛ࿋(ຕፇ[3])ኸସ௬ӱೝᅎ(ຕፇ[3])ኸସ௬ӱ364؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7Պײᇱሶሞ๑ᆩMCTኸସ้൩ፏቷᅜူኸڞᇱሶă注意ATTENTIONփᄲඟऐഗටྜඇฦቛईኁྜඇ໫࣮ڟጲวฉăޏሶ໲੗ీࣷᅜ࢔ߛڦ໏܈ਸ๔ሏۯăሞఫၵ࿋ዃLj໲฿ඁጲमፕྺፑՅईᆸՅڦದዃăړ؜၄ኄዖ൧઄้Lj໲੗ీࣷᅜ࢔ߛۯሏ๔ਸ܈໏ڦăඓݔ዆၌ሞ٪ԍഄॽLj዆၌ፕ߾ڦටഗऐۨྷᅜాă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ365\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCTኸସኸڞᇱሶኸڞᇱሶ๖૩ࢅጀ๥ྺऐഗටڦڳਸ਼ܻ࿋ዃॺ૬ዡፖՔဣዐዡڦ߲ຕăڦፖՔဣăኄၵዡཚ׉๟ႵెڦăႴᄲፖՔገ࣑ڦዡڦ߲ຕăዘᄲ๚ၜǖሞऺ໙৛܈ዐ౞੗ీࣷੂڟপٱဃăړᅜူଇዖཉॲۼྺኈ้ࣷ؜၄ኄዖ൧઄ǖ•ሞፖՔገ࣑ዐႵెڇዃ࿋/ْ8000ස૩Ljၭ׉ݥຕ׉࣑ገڦዡܻਸ਼ڳ࿋ă•٫ᆈ5.0ස૩Ljၭ׉ݥ܈׊থ૶ڦဣՔፖܻਸ਼ڳݥăሞፖՔገ࣑ዐፌࡻߴႵెڳਸ਼ܻዡൽডٷڦገ࣑׉ຕLj૩ස100,000ई1,000,000ٷፌڦටഗऐă࿋ڇዃ࿋/ْႜײ၌዆ྺ31ê2ၹۙڇ࿋ገ࣑׉ຕྺऐഗටڦํा࠲বॺ૬ଷᅃऐഗටबࢆૌ႙߲ፖՔဣăፖՔဣዐዡڦ߲ຕăႴᄲፖՔገ࣑ڦዡڦ߲ຕă366؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7MCTኸସኸڞᇱሶኸڞᇱሶ๖૩ࢅጀ๥ॽऐഗටᅎڟፑՅईᆸՅڦਸထྭऐഗටၟፑՅईᆸՅఫᄣሏۯ஘Ǜ๔࿋ዃăL2L2L1L1ፑՅᆸՅሞਸ๔ፖՔገ࣑ኮമLjॽऐഗටᅎڟᅃ߲ཕ੍࿋ዃLjॽഄ༵ࠃߴ౞ႴᄲڦՅDŽፑईᆸDžăᅃڋਸ๔ፖՔገ࣑ժሞᇸፖՔဣዐ݀ഐڳਸ਼ܻሏۯLjऐഗටॽԍ׼ྺᅃ߲ፑՅईᆸՅăසࡕ໲ፕྺፑՅഔۯLjሶፕྺፑՅᅎۯăසࡕ໲ፕྺᆸՅഔۯLjሶፕྺᆸՅᅎۯă౞๔ዕ੗ᅜٗፑՅڟᆸՅݒገईኁ၎ݒăᄲํ၄ኄၜፕLj኱থᅎۯ࠲বन੗ăॽ༱पٗॲཉ෇๼प༱ॽLj้ସኸႜኴྭထ౞ړ௅Ljዐ཮ႚ༱ሞăସኸႠ܉ࡗཉᅃ๟ኄኸႜኴᅜኈڟ࣑ൎ्ٗ转换指令。ସă्ൎ࣑ڟኈन੗ăڦਸྺՎ࿋IPLj๔ਸ࣑ገՔፖLj้ସኸႜኴ౞ړጒༀăᅃڋ౞ኴႜኸସLj੗ᅜॽ༱पՎׯ्ăፖՔገ࣑ॽԍ׼ऄሂăሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉ在结构文本中，限制指令只对ሞ঳ࠓ࿔ԨዐLjኸସ௅ْԥ෢௮้৽ࣷኴႜăยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้限制指令只对转换执行。ॲLj๑ഄৈሞࡗ܉้ኴႜă转换执行。ኴႜă๑ᆩူ௬ڦݛ݆ኮᅃǖሞ౞ഔۯඪࢆሏۯኮമਸ๔ፖ•SFCፕ၌ۨޙՔገ࣑ă•঳ࠓ࿔Ԩࠓॺසࡕඪࢆሏۯࡗײኟሞ੦዆ᇸईణՔፖՔဣڦగ߲ዡLjሶփీਸ๔ፖՔገ࣑ă๖૩ǖሞ౞ഔۯ؃୾ईཫ୾ኮമਸ๔ፖՔገ࣑ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ367\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCTኸସኸڞᇱሶኸڞᇱሶ๖૩ࢅጀ๥ሞᇸࢅణՔፖՔဣኮक़೺ྭॺፖՔገ࣑๟ມၠڦă૬ມၠሏۯă๑ᆩMCSኸସઠൽၩፖՔገᇸፖՔဣణՔፖՔဣ࣑ăፖՔገ࣑ڦဣՔፖՔణದ೅ᅜLj߀߸ዃ࿋ڦဣՔፖᇸLj้࣑ገՔፖ๔ਸ౞ړ၎ᆌ࿋ዃăഄࢫLjසࡕ౞ᅎۯඪᅃဣཥLjଷᅃ߲ဣཥໜኮሏۯă੦዆ഗीჄ੦዆ዡLjन๑౞ཕኹ෢௮MCTኸସईഄ༱पՎྺ्ă๑ᆩሏۯցཕኹ(MCS)ኸସ੗ཕኹፖՔဣዐڦሏۯĂൽၩፖՔገ࣑ईኁܾኁཞ้ăසࡕ౞߀Վକݛ࿋ईೝᅎLj൩සࡕ౞ထྭፖՔገ࣑ኟሞሏႜ้߀Վݛ࿋ईೝᅎڦኵLjምْኴႜMCTኸସăఫ஺৽ምْኴႜ޿ኸସăᄲኴႜ޿ኸସLjॽ༱प๼෇ཉॲ्ٗൎ࣑ྺኈăཞ้Ljසࡕ౞߀ՎକยԢڦबࢆຌႠLjᄺᄲምْኴႜ޿ኸସă໙ຍጒༀՔऻփ๴ᆖၚࠤቱཉॲ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă368؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7કቛٱဃپஓǖકቛٱဃپஓ੗ӻዺ৊ᅃօۨᅭྺኄཉ༬๺ኸସ໯༵ࠃڦٱဃၩတăഄႜྺൽਦᇀ໲்࠲૴๊஺ٱဃپஓăકቛٱဃپஓERREXERRց৸ٯแጀᅪǖ611ॽଇ߲ፖՔဣۼኸۨߴሏۯፇă2ॠ౞ኟሞ๑ᆩڦᇸࢅణՔፖՔဣ๟ޏኟඓă౞փీ๑ᆩཞᅃ߲ፖՔဣཞ้ፕྺᇸࢅణՔă3ॽᇸፖՔဣڦፖՔገ࣑ྼ܈ยዃྺፖՔဣዐዡڦ߲ຕLjፌܠྺෙă4ॽణՔፖՔဣڦፖՔገ࣑ྼ܈ยዃྺᄲ৊ႜፖՔገ࣑ڦፖՔဣዐዡڦ߲ຕLjፌܠྺෙă5๑ᆩփཞڦᇸፖՔဣă౞ኻీ๑ᆩᅃ߲ፖՔဣፕྺऄሂڦፖՔገ࣑ڦᇸă6๑ᆩփཞڦణՔፖՔဣă౞ኻీ๑ᆩᅃ߲ፖՔဣፕྺऄሂڦፖՔገ࣑ڦణՔă7ლቴᅙঢ়ሞഄ໱ፖՔገ࣑ዐ๑ᆩڦᇸईణՔዡă๑ᆩፖՔ౞ኻీॽᅃ߲ዡᆩሞᅃ߲ᇸፖՔဣဣዐփཞڦዡăࢅᅃ߲ణՔፖՔဣዐă8๑ᆩᅃ߲փ๟ኄ߲ፖՔገ࣑૾ᇸڦణՔፖՔဣă౞փీظॺᅃ߲ᆼዘႎ࣮ڟᇱ๔ᇸڦᇶႚፖՔገ࣑૾ă9ॠ౞๟ޏॽኟඓڦዡದߴ௅ᅃ߲ፖՔဣă౞փీॽ၎ཞڦዡᆩሞᇸࢅణՔፖՔဣዐă10ཕኹଇ߲ፖՔဣዐ໯ᆶዡڦሏۯࡗײDŽ૩සۅۯĂᅎۯࢅසࡕඪࢆሏۯࡗײኟሞ੦዆ᇸईణ؃୾DžăՔڦዡLjሶփీਸ๔ፖՔገ࣑ă11݀ഐፖՔገ࣑૶থ໯Ⴔጨᇸփፁă12ยዃ૶থ׊܈ă౞փీඟ૶থ׊܈ྺଭă13ლቴᇸईణՔڦዡ๟ޏتᇀ࠲Կጒༀă๑ᆩሏۯዡ࠲Կް࿋(MASR)ኸସई኱থంସઠް࿋ዡă14঴أܔ໯ᆶᇸࢅణՔڦዡڦ্ኹă15ܔᇀDeltaईSCARADeltaऐഗටLjॠྺएԨೋᅎࢅ఍ܔᇀDeltaईSCARADeltaऐഗ܋ኴႜഗೋᅎ໯ದዃڦኵăටLj(X1b-X1e)ۼփీၭᇀ0.0ăܔᇀDeltaऐഗටLjසࡕL1+(X1b-X1e)ڦኵٷᇀL2Ljᄺࣷ؜၄ኄዖٱဃă16ॲSCARA܀૬ࢅSCARADeltaऐഗටದዃLjඓԍǖ•ᇸፖՔဣڦፖՔገ࣑ྼ܈ದዃྺ2ă•ྺᇸፖՔဣࢅణՔፖՔဣದዃڦڼෙ߲ዡ๟၎ཞڦă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ369\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ܔጒༀ࿋ڦ߸߀ᄲੂ๟ޏॠՔധ๟ޏܸ൐ኄ߲࿋ᆶ࠲ፖՔဣ๟ޏ๟ऄሂፖՔገ࣑ڦᇸăፖՔဣTransformSourceStatusٶਸፖՔဣ๟ޏ๟ऄሂፖՔገ࣑ڦణՔăፖՔဣTransformTargetStatusٶਸዡ๟ऄሂፖՔገ࣑ڦᅃևăዡTransformStateStatusٶਸዡᅺྺగ߲ፖՔገ࣑ܸኟሞሏۯăዡControlledByTransformStٶਸatus370؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7૩1-่ൽࢅݣዃ༱ႚ཮1.ᅎۯڟཕ੍૩ײኄ߲૩ײ๟ᅃ߲ሏۯႾଚLjॽ࠲ব܀૬ڦऐഗටݣڟፑՅईᆸՅঙڦగ߲ཕ੍࿋ዃăڟۯᅎ2JዡLj้ਸٶ0.petS_tseR_oT_evoMړ90ÄÄă඗ࢫႾଚ৊෇ူᅃօă2.ਸ๔ፖՔገ࣑૩ײٶmrofsnarT_tratS.sdnammoC_mrAړਸ้LjፖՔገ࣑ਸ๔ăIP࿋՗௽ፖՔገ࣑ኟሞሏႜă3.่ൽࢅݣዃ૩ײኄ߲૩ײ๟ᅎۯڳਸ਼ܻፖՔဣڦMCLMኸସႾଚዐڦᅃ߲ăऐഗටڦ࠲ব߶ໜሏۯăتۯሏࢫ඗ă2,6,0ڟᅎဣՔፖLj้ਸٶ1.Stepړᇀኟሞ৊ႜዐ(IP)LjႾଚಇܓူᅃ߲ሏۯă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ371\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)่ൽࢅݣዃ-঳ࠓ࿔Ԩ๖૩1.ᅎۯڟཕ੍૩ײኄ߲૩ײ๟ᅃ߲ሏۯႾଚLjॽऐഗටݣڟፑՅईᆸՅঙڦగ߲ཕ੍࿋ዃăړSFC૗ਸኄ߲օႾ้Ljࣷ࠲ԿMove_To_Reset_Done࿋ăٶ࿋tseR_oT_evoMړਸ้LjSFC৊෇ူᅃ߲օႾăኄ߲օႾॽዡJ2ᅎڟ90ÄÄăP1၌ۨޙॽኄ၌዆ྺڼᅃْօႾ෢௮ă2.ਸ๔ፖՔገ࣑૩ײٶ࿋tseR_oT_evoMړਸ้LjSFC৊෇ူᅃ߲օႾăኄ߲օႾਸ๔ፖՔገ࣑ăP1၌ۨޙॽኄ၌዆ྺڼᅃْօႾ෢௮ă3.่ൽࢅݣዃ૩ײኄ߲૩ײ๟ᅎۯڳਸ਼ܻፖՔဣڦMCLMኸସႾଚዐڦᅃ߲ăऐഗටڦ࠲ব߶ໜሏۯăړሏႜ࿋ٶਸ้LjSFCਸ๔่ൽࢅݣዃሏۯăኄ߲օႾॽፖՔဣᅎڟ0,6,2ăP1၌ۨޙॽኄ၌዆ྺڼᅃْօႾ෢௮ăړሏۯኟሞ৊ႜ(IP)้LjSFC৊෇ူᅃօႾժಇܓူᅃ߲ሏۯă372؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7߸߀ݛ࿋๖૩සࡕ౞ထྭᄂጣ׊ۯᅎઠ০ୟႚݛፖՔဣăሞኄዖ൧઄ူLjኴႜMCTኸସઠਸ๔ፖՔՎ࣑ă඗ࢫLjኴႜ຺߲ሏۯ኱၍ց(MCLM)ኸସઠิ׊ݛႚୟ০ăڼܾཉMCLMኸସăX2ڼăସኸMCLMཉෙڼᅃཉMCLMኸସă՗๖ᇸࢅణՔፖՔဣăX1ڼ຺ཉMCLMኸସăX3සࡕ౞ထྭॽణՔፖՔဣڦڳਸ਼ܻ࿋ዃජጣX3ዡొ้ኍ჉ገ20ÄÄă1.ၠMCTኸସዐ๼෇ݛ࿋ኵ0ÄÄ,0ÄÄ,20ÄÄă2.ምڟᆩᆌ࿋ݛ޿ॽ੗नLjସኸMCTႜኴْፖՔገ࣑ዐă3.ምْኴႜ၎ཞڦ຺ཉMCLMኸସă՗๖ణՔፖՔဣăX2՗๖ᇸፖՔဣăڳਸ਼ܻ࿋ዃජጣX3ዡొ้ኍ჉ገ20ÄÄăX1X3؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ373\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)߸߀ೝᅎ๖૩සࡕ౞ထྭᄂጣ׊ۯᅎઠ০ୟႚݛፖՔဣăሞኄዖ൧઄ူLjኴႜMCTኸସઠਸ๔ፖՔՎ࣑ă඗ࢫLjኴႜ຺߲ሏۯ኱၍ց(MCLM)ኸସઠิ׊ݛႚୟ০ăڼܾཉMCLMኸସăX2ڼăସኸMCLMཉෙڼᅃཉMCLMኸସă՗๖ᇸࢅణՔፖՔဣăX1ڼ຺ཉMCLMኸସăX3සࡕ౞ထྭॽణՔፖՔဣڦڳਸ਼ܻ࿋ዃᄂጣX1ࢅX2ዡೋᅎ1߲ڇ࿋ă1.ၠMCTኸସዐ๼෇ೋᅎኵ1,1,0ă2.ምْኴႜMCTኸସLjन੗ॽ޿ೝᅎᆌᆩڟፖՔገ࣑ዐă3.ምْኴႜ၎ཞڦ຺ཉMCLMኸସă՗๖ణՔፖՔဣ՗๖ᇸፖՔဣX2ణՔፖՔဣڦڳਸ਼ܻ࿋ዃᄂጣX1ࢅX2ೋᅎକ1߲ڇ࿋ăX1X3374؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ऺ໙ፖՔገ࣑࿋ዃ๑ᆩMCTPኸସ੗ऺ໙ᅃ߲ፖՔဣዐగ߲ۅڦ࿋ዃሞڼܾ߲ፖՔဣ(MCTP)ዐڦڪၳۅă注ATTENTION意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ă重要提示IMPORTANT౞ኻీሞ1756-L6x੦዆ഗฉ๑ᆩኄཉኸସăፕຕ༱ႚ཮ፕຕૌ႙߭๕௮ຎᇸဣཥCOORDINATE_SYՔധྺऐഗටڦڳਸ਼ܻ࿋ዃॺ૬ڦڳਸ਼ܻፖՔဣSTEMణՔဣཥCOORDINATE_SYՔധ੦዆ጣํाยԢڦݥڳਸ਼ܻፖՔဣSTEMሏۯ੦዆MOTION_INSTRUCՔധኸସڦ੦዆ՔധTIONݛ࿋REAL[3]ຕፇထྭජጣX1ĂX2ईX3ዡ჉ገణՔ࿋ዃ஘Ǜසࡕఫ஺ޏॽຕፇኵԍ׼ྺଭă๟ၠຕፇా๼෇჉ገڦ܈ຕăሞຕፇڦڼᅃ߲ᇮ໎ዐགႀජጣX1჉ገڦ܈ຕLjᅜُૌླྀă๑ᆩෙ߲REALڦຕፇLjन๑ፖՔဣኻᆶᅃ߲ईଇ߲ዡă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ375\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ፕຕૌ႙߭๕௮ຎೝᅎREAL[3]ຕፇထྭᄂጣX1ĂX2ईX3ዡೋᅎణՔ࿋ዃ஘Ǜසࡕఫ஺ޏॽຕፇኵԍ׼ྺଭă๟ၠຕፇా๼෇ೋᅎਐ૗ăၠፖՔڇ࿋ా๼෇ೋᅎਐ૗ăሞຕፇڦ1Xႀགዐ໎ᇮ߲ᅃڼڦೋᅎਐ૗Ljᅜُૌླྀă๑ᆩෙ߲REALڦຕፇLjन๑ፖՔဣኻᆶᅃ߲ईଇ߲ዡăፖՔገ࣑ݛၠDINT૬न๢ᆩᇀऐᄲऺ໙एإገՎܸ൐ऐഗ჋ስഗටૌ႙ྺටඇևڳਸ਼ܻኟၠ࿋ዃڳਸ਼ܻ࠲বঙݒၠDelta2DDelta3DSCARADelta࠲ব܀૬࠲বঙ޿ۅڦཞᆸՅದዃݒၠᆸᅃၡ၌Յ࠲বփ܀૬ፑՅದዃݒၠፑՅSCARA܀޿ݒዃದՅᆸ၎ڦۅၠᆸ૬ܔၡ၌Յ৥ၟፑՅದዃݒၠፑՅ৥ၟ੊࿋ዃREAL[3]ຕፇසࡕፖՔገ࣑ݛၠྺሶ๼෇ᅃ߲ຕፇ൐ࡤᆶኟၠ࠲বঙݒၠڳਸ਼ܻ࿋ዃፖՔገ࣑࿋ዃREAL[3]ຕፇڦዃ࿋໙ऺ٪ئຕፇ঳ࠓ࿔ԨMCTP(SourceSystem,TargetSystem,MotionControl,Orientation,঳ࠓ࿔Ԩፕຕᇑ༱ႚ཮ፕຕ၎ཞă๼෇ፖՔገ࣑ݛၠLjփټ੣Translation,TransformDirection,߭ăReferencePosition,TransformPosition);๖૩ǖॽݒၠፑՅڦፖՔገ࣑ݛၠ๼෇ྺInverseLeftArmă376؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏ运动控制ۯኸସຕ指਍令数据类型ૌ႙ᄲੂ๟ޏॠኄ߲࿋๟ޏتᇀٶຕ਍ૌ႙ጀᅪǖਸጒༀ༱पጒༀྺኈăENBOOLᆶ้ࢪन๑༱पՎׯ्LjEN࿋ධԍ׼ਸڦጒༀăසࡕ༱पሞኸସྜׯई؜ٱኮമՎׯ्Lj৽ࣷ؜၄ኄዖ൧઄ă༱पENDNईERኸସྜׯăDNBOOLٱڦ؜ଚా܎ጴஓپဃٱڦധՔ዆੦ۯሏ๎ՔBOOLERăဃٱ၄؜ဃՊࡽLj඗ࢫለԨ๮ڦሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžă౞੗ᅜྺኸସ༵ࠃX1ĂX2ࢅX3࿋ዃLjइڥ၎ᆌڦJ1ĂJ2ࢅJ3ঙă౞੗ᅜྺኸସ༵ࠃJ1ĂJ2ࢅJ3ঙLjइڦᆌ၎ڥX1ĂX2ࢅX3࿋ዃăMCTPኸସૌຼᇀMCTኸସLjأକMCTPኸସփీਸ๔ፖՔገ࣑ᅜྔă౞௅ْኴႜ໲้Lj৽ࣷऺ໙ᅃ߲࿋ዃă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ377\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)Պײᇱሶሞ๑ᆩMCTPኸସ้൩ፏቷᅜူኸڞᇱሶăMCTPኸସኸڞᇱሶኸڞᇱሶ๖૩ࢅጀ๥ॽ༱पٗॲཉ෇๼प༱ॽLj้ସኸႜኴྭထ౞ړ௅Ljዐ཮ႚ༱ሞăସኸႠ܉ࡗཉᅃ๟ኄኸႜኴᅜኈڟ࣑ൎ्ٗ转换指令ସă्ൎ࣑ڟኈन੗ă在结构文本中，限制ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉ指令只对ሞ঳ࠓ࿔ԨዐLjኸସ௅ْԥ෢௮้৽ࣷኴႜăยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้限制指令只对转换执行。转换执行。ॲLj๑ഄৈሞࡗ܉้ኴႜăኴႜă๑ᆩူ௬ڦݛ݆ኮᅃǖ•SFCፕ၌ۨޙ•঳ࠓ࿔Ԩࠓॺ໙ຍጒༀՔऻփ๴ᆖၚࠤቱཉॲ࿮ٱဃپஓ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ăકቛٱဃپஓ࿮ܔጒༀ࿋ڦ߸߀࿮378؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7๖૩1සࡕ౞ထྭՊႀᅃ߲ࠤቱ࣬ްႾଚăፕྺօႾኮᅃLj౞ထྭइൽ࠲ব܀૬ऐഗටڦړമ࿋ዃăሞኄዖ൧઄ူLjසࡕኪڢऐഗටڦ࠲বঙLj৽੗๑ᆩMCTPኸସઠऺ໙ऐഗටڦڳਸ਼ܻ࿋ዃăऺ໙࿋ዃ-༱ႚ཮සࡕRecovery_Step.1ٶਸLjሶߵ਍ഄړമڦ࠲বঙઠऺ໙ऐഗටڦX1ĂX2ࢅX3࿋ዃăړኸସྜׯ้LjMULኸସॽႾଚټ෇ူᅃօăऺ໙࿋ዃ-঳ࠓ࿔Ԩኄ߲օႾߵ਍ഄړമڦ࠲বঙઠऺ໙ऐഗටڦX1ĂX2ࢅX3࿋ዃăP1၌ۨޙॽኄ၌዆ྺڼᅃْօႾ෢௮ăړMCTPኸସྜׯ้LjSFC৊෇ူᅃ߲օႾă๖૩2සࡕ౞ထྭሞ๖૩1ዐ๼෇ݛ࿋ኵ20ÄÄ,0ÄÄ,0ÄÄăሞఫ߲๖૩ዐLjMCTPኸସ৊ႜᅃْኟၠፖՔገ࣑ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ379\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)߸߀ݛ࿋๖૩සࡕ੊࿋ዃ࿋ᇀڳਸ਼ܻ੣क़ڦُتĹX3X2MCTP๑ᆩX1ݛ࿋20ÄÄઠऺ໙ُتڦፖՔገ࣑࿋ዃăX1๖૩3සࡕ౞ထྭሞ๖૩1ዐ๼෇ೝᅎኵ0,1,1ăሞఫ߲๖૩ዐLjMCTPኸସ৊ႜᅃْኟၠፖՔገ࣑ă߸߀ೝᅎX3සࡕ੊࿋ዃ࿋ᇀڳਸ਼ܻ੣क़ڦُتĹX2MCTP๑ᆩX2ࢅX3ೝᅎ1ઠऺ໙ُتڦፖՔገ࣑࿋ዃăX1๖૩4සࡕ౞ڦऐഗටᆶएԨೋᅎLjሶ੗ཚࡗፌܠ຺ዖփཞݛ๕ڟٳߴۨڦۅăසࡕ౞ڦऐഗටबࢆຕසူǖ•L1=10•L2=10•X1b=3.0380؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7•X3b=4.0ٳڟࢆසถ঻૩ُ࿋ዃX1=10ĂX2=0ࢅX3=15ፖՔገ࣑ݛၠ.ݒၠፑՅݒၠፑՅ৥ၟJ3J1=180J1=0J2=171.39J2=106.84J3J3=-63.26J2J3=-98.63J2Ԩ༹ٗՅڦ఍܋ገਸăएԨೋᅎݒၠᆸՅݒၠᆸՅ৥ၟJ3J1=180J1=0J2=108.14J2=8.22J3=63.26J3=98.63J3J2J2MCTPኸସሞଇ߲ፖՔဣኮक़ڦຕ਍ୁۯူ௬ڦ཮၂๖ړኴႜMCTPኸସઠྜׯኟၠፖՔገ࣑ࢅݒၠፖՔገ้࣑ຕ਍๟සࢆୁۯڦăCS1Ք๎ޙ՗๖ᅃ߲ڳਸ਼ܻፖՔဣLjԈࡤ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ381\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)X1ĂX2ࢅX3ዡLjፕྺMCTPኸସڦᇸăCS2Ք๎ޙ՗๖ᅃ߲࠲বፖՔဣLjԈࡤJ1ĂJ2ࢅJ3ዡLjፕྺMCTPኸସڦణՔăཚࡗMCTPኸସኴႜሏۯ้ڦຕ਍ୁۯ-ኟၠፖՔገ࣑๼෇ຕ਍CS2ǖDATAᇸऺ໙๼؜૶থ׊܈(L1,L2)ፖՔဣܔࣆ઀ኴႜڦኸCS1ǖຕ਍ణڦںएԨೋᅎ(X1b,X2b,X3b)ፖՔဣܔࣆ઀ସڳਸ਼ܻ࿋ዃ(X1,X2,X3)ኸସ௬ӱ఍܋ኴႜഗೋᅎ(X1e,X2e,X3e)ፖՔဣܔࣆ઀ཚ׉ྺڳਸ਼ܻፖՔገ࣑࿋ዃଭঙ܈ݛ࿋(Z1,Z2,Z3)ፖՔဣܔࣆ઀MCTPݛ࿋(ຕፇ[3])ኸସ௬ӱೝᅎ(ຕፇ[3])ኸସ௬ӱፖՔገ࣑ݛၠኸସ௬ӱ੊࿋ዃኸସ௬ӱཚ׉ྺ࠲ব-ణՔ382؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ཚࡗMCTPኸସኴႜሏۯ้ڦຕ਍ୁۯ-ݒၠፖՔገ࣑๼෇ຕ਍CS1ǖຕ਍ᇸऺ໙๼؜૶থ׊܈(L1,L2)ፖՔဣܔࣆ઀ኴႜڦኸସCS2ǖຕ਍ణՔएԨೋᅎ(X1b,X2b,X3b)ፖՔဣܔࣆ઀࠲ব࿋ዃ(J1,J2,J3)ኸସ௬ӱ఍܋ኴႜഗೋᅎ(X1e,X2e,X3e)ፖՔဣܔࣆ઀ፖՔገ࣑࿋ዃཚ׉ྺ࠲বଭঙ܈ݛ࿋(Z1,Z2,Z3)ፖՔဣܔࣆ઀MCTPݛ࿋(ຕፇ[3])ኸସ௬ӱೝᅎ(ຕፇ[3])ኸସ௬ӱፖՔገ࣑ݛၠኸସ௬ӱ੊࿋ዃኸସ௬ӱཚ׉ྺڳਸ਼ܻ-ᇸ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ383\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ሏۯց࠲Կް࿋(MCSR)๑ᆩሏۯց࠲Կް࿋(MCSR)ኸସ੗ް࿋ፖՔဣዐڦ໯ᆶዡăMCSRኸସॽዡٗ࠲Կጒༀް࿋ׯዡ৽Ⴣጒༀăኄཉኸସ࣏أඪࢆዡࠤቱATTENTION注意ᆩᇀኸସሏۯ੦዆ຌႠڦՔധᆌৈ๑ᆩᅃْăሞഄ໱ኸସዐዘް๑ᆩሏۯ੦዆Քധ੗ీڞዂሰׯݥᇨ೺ڦፕăኄ੗ీሰׯยԢ໦࣋ईኁටᇵฅ࡞ăፕຕǖी梯ۉ形图ഗ༱ႚ཮ፕຕૌ႙߭๕௮ຎፖՔဣCOORDINATE_SYՔധॽ࿋ዃ๼෇༵ࠃߴཫ୾๼؜STEMڦዡڦఁ׬ăู୼ࡽॽഔۯዡຌႠܔࣆ઀ăሏۯ੦዆MOTION_INSTRUՔധᆩᇀݡ࿚ኸସጒༀຕڦ঳CTIONࠓă঳ࠓ࿔ԨMCSR(CoordinateSystem,ፕຕᇑीۉഗ༱ႚ཮梯形图MCSRኸସڦፕຕ၎ཞăMotionControl);ፖՔဣፖՔဣፕຕኸۨକۨᅭڳਸ਼ܻፖՔဣྼ܈ڦሏۯዡဣăܔᇀኄ߲ӲԨLjፖՔဣኧ׼ፌٷෙ߲(3)ዷዡăኻᆶದዃྺዷዡDŽፌܠෙ߲DžڦఫၵዡॽԈࡤሞၹۙ໏܈ڦऺ໙ዐă384؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)ቤব7ሏۯ੦዆ᅜူ੦዆࿋ॽ๴ڦସኸMCSRڟᆖၚă๴ڦၚᆖସኸMCSRڟ੦዆࿋ऻᅬڇᇮ௮ຎ.ENDŽഔᆩDž࿋31ٗप༱ړăዃยԥ࿋ᆩഔLj้ኈڟ܉ࡗ्ٗप༱ړኈࡗ܉ڟ्้Ljഔᆩ࿋ԥް࿋ă.DNDŽྜׯDž࿋29ړၹۙ࠲Կް࿋ԥׯࠀ݀ഐࢫLjྜׯ࿋ԥยዃăړ༱पٗኈࡗ܉ڟ्้Ljྜׯ࿋ԥް࿋ă.ERDŽٱဃDž࿋28ړၹۙ࠲Կڦް࿋࿄ీ݀ഐ้Ljٱဃ࿋ԥยዃăړ༱प्ٗࡗ܉ڟኈ้Ljٱဃ࿋ԥް࿋ă这是一条转换指令：ኄ๟ᅃཉࡗ܉Ⴀኸସǖ•在梯形图中，当每次应执行指令时，将梯级输入条件从清除切换到设置•ሞीۉഗ༱ႚ཮ዐLjړ௅ْᆌኴႜኸସ้Ljॽ༱प๼෇ཉॲٗ。•在结构文本中，限制指令只对转换执行。请参阅附录أൎ࣑ڟยዃăC。•ሞ঳ࠓ࿔ԨዐLjยዃኸସڦཉॲLj๑ഄৈሞࡗ܉้ኴႜă൩ለ޹୤Că໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮ٱဃپஓǖ९ሏۯ੦዆ኸସٱဃپஓ(ERR)ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ385\nቤব7ሏۯၹۙኸସ(MCLMĂMCCMĂMCCDĂMCSĂMCSDĂMCTĂMCTPĂMCSR)MCSRܔጒༀ࿋ڦ߸߀ǖጒༀ࿋༵ࠃᅃዖ॔๫ሏڦ႙ૌዖෙᆶă০཰ڦ܈৊ସኸۯጒༀ࿋༵ࠃ状态位提供一种监视运动控制指令进度的途径。有三种类型的状态位ᆶ࠲႑တă๟ǖዡጒༀ࿋ĂፖՔဣጒༀ࿋ࢅၹۙሏۯጒༀ࿋ăړ提供有关信息。分别是：轴状态位、坐标系状态位和协调运动状态位。MCS当MCSኸସ݀ഐࢫLjጒༀ࿋ॽঢ়૦ᅜူՎࣅă指令发起后，状态位将经历以下变化。ዡጒༀ࿋࿋ఁ׬ᆖၚCoordinatedMoveStatus࿮ᆖၚăፖՔဣጒༀ࿋࿋ఁ׬ᆖၚShutdownStatusأ࠲Կጒༀ࿋ăၹۙሏۯጒༀ࿋࿋ఁ׬ᆖၚMovePendingStatus੣ኸସܓଚժأጒༀ࿋ăMovePendingQueueFullSt੣ኸସܓଚժأጒༀ࿋ăatusी梯ۉ形图示例ഗ༱ႚ཮๖૩঳ࠓ࿔ԨMCSR(Coordinated_sys,MCSR[3]);386؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nቤব8ኝۨS൸၍ఇ๕०঻๑ᆩኄ߲ײႾ੗ܔ๑ᆩS൸၍ఇ๕ڦሏۯሞೝࣂ܈ࢅთ้࣍क़ኮक़৊ႜೝ࢚ăኴႜ้ऐևڦ๕ఇ׼ԍᄲᆼڍLjक़้࣍თڦ๕ఇۯሏ၍൸S܌໫ᄲၙ౞ړೝࣂ܈้Lj൩ኴႜኄ߲ײႾă໏܈े໏ሺेሂ܈ሂ܈თ้࣍क़໫܌თ้࣍क़ᄲ๑ᆩኄ߲ײႾLj౞ڦᆌᆩՂႷ஢ፁᅜူᄲ൱ǖ•੦዆ഗྺӲԨ16ई߸ߛă•ᅜူᅃዖኸସሞิׯሏۯǖ-ዡ࿋ᅎ(MAM)-ዡ໏܈(MAJ)-ሏۯዡཕኹ(MAS)•ኸସ๑ᆩS൸၍ఇ๕387؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ387\nቤব8ኝۨS൸၍ఇ๕准备ሞ౞事ਸ宜๔ኮമIMPORTANT重要提示ሞኄ߲ײႾዐLj౞ሺेକሂ܈ăኄॽሺेܔยԢࢅሜࢁڦუ૰ăඓۨ౞੗ᅜ๎ยԢई޶ࢁ๊஺้ࢪٳڟሂ܈၌዆ăײႾ1.ሂ܈ڇ࿋๟ޏยዃྺ้क़%Ǜසࡕሂ܈ڇ࿋๟ఫ஺้क़%ीჄօየ2ăፌڇ܈ሂॽ.A%ኵٷ࿋߸߀ྺ้क़%ăڇ࿋௅௱3B.ीჄօየ2ă2.ॽሂ܈ኵยዃྺ้क़50%ă๖૩388؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nኝۨS൸၍ఇ๕ቤব83.๬౞ڦยԢժ࠵ഄሂ܈ă4.ۙኝሂ܈ኵ.සࡕఫ஺ኄࣷڞዂሂ܈փ໿ٷ໫܌้क़%ăሺेሂ܈໫܌თ้࣍क़ሂ܈໿ٷሺे้क़%ăሂ܈ইگთ้࣍क़ሺे5.ዘްօየ3ࢅ4Lj኱ڦᄲႴڟቴक़ኮक़้࣍თࢅ܈ࣂೝሞ౞ڟೝࣂăഄ໱ጨᇸ•Պႀᅃ߲໏܈ఇ๕ײႾሞᄻஓ24•TroubleshootAxisMotionሞpage9؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ389\nቤব8ኝۨS൸၍ఇ๕ጀ提ᅪ示：ǖ390؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)ٱဃց৸ٯแईᇱᅺጀᅪǖ3ቴኄૌኸସ؋ႜኴٶྺ࿋ENڦ໲ޏ๟ੂă૩ํ໱ഄڦ཭ਸጒༀڦ໲๟ڍDNࢅER࿋ඐ๟࠲ԿጒༀDŽᅙ๑ీLjٱ؜ኁईׯྜ࿄ڍీ๑ঢ়ᅙସኸڦ႙ૌཞࡕස࿋ERईDNڦ໲ڟڪăDžٱ؜ኁईׯྜ࿄๟ڍLjሶփీኴႜኸସăٶਸă4ሞኴႜُኸସኮമLjံٶਸົޜ࣍ăົޜഔۯጒༀٱဃ5ሞኴႜُኸସኮമLjံ࠲Կົޜ࣍ăົޜ࠲ԿጒༀٱဃܔᇀሏۯၹۙኸସLj൩ੂકቛٱဃپஓ(EXERR)ă໲Ք๎న߲ዡڞዂକٱဃă๖૩ǖසࡕEXERRྺଭLj൩ॠዡڦྼ܈๟ޏྺଭă6্ኹዡڦൻۯăൻۯٶਸጒༀٱဃ7ኴႜሏۯዡ࠲Կް࿋(MASR)ኸସई኱থంସઠް࠲Կጒༀٱဃ࿋ዡăܔᇀሏۯၹۙኸସLj൩ੂકቛٱဃپஓ(EXERR)ă໲Ք๎న߲ዡڞዂକٱဃă๖૩ǖසࡕEXERRྺଭLj൩ॠዡڦྼ܈๟ޏྺଭă8ದዃڦዡૌ႙փኟඓăٱဃዡૌ႙ܔᇀሏۯၹۙኸସLj൩ੂકቛٱဃپஓ(EXERR)ă໲Ք๎న߲ዡڞዂକٱဃă๖૩ǖසࡕEXERRྺଭLj൩ॠዡڦྼ܈๟ޏྺଭă9ኸସ׈๬ኴႜגă઄൧ײႜגڦമړକዘेၠݛڦႜײཉॲ10ዷዡ੊ᇑٗዡ੊၎ཞăዷዡ؋཭11዁ณᅃ߲ዡ࿄ದዃڟ࿿૙ሏۯఇ੷Ljईኁช࿄ኸۨڟዡ࿄ದዃగ߲ሏۯፇăܔᇀሏۯၹۙኸସLj൩ੂકቛٱဃپஓ(EXERR)ă໲Ք๎న߲ዡڞዂକٱဃă๖૩ǖසࡕEXERRྺଭLj൩ॠዡڦྼ܈๟ޏྺଭă12݀ྫົޜఇ੷ڦၩတ฿Өăົޜၩတ฿Ө؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ391\n޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)ٱဃց৸ٯแईᇱᅺጀᅪǖ13ੂકቛݔ؜גຕגକ๎Ք໲ăସኸ঴କ)EXERR(ஓپဃٱྷ؜ഄݔྷڦፕຕăEXERR=0՗๖ኸସڦڼᅃ߲ፕຕג؜ഄݔྷă๖૩ǖ्ยMAJኸସ؜၄ERR=13ࢅEXERR=3ăሞኄዖ൧઄ူLj߸߀໏܈๑ഄ࿋ᇀݔྷᅜాă012314ኸସ࿮݆ᆌᆩኝٱײࡗۨኝ၄؜ዐସኸۨኝႜሏሞྺᅺLjຕۨဃٱဃă15ኸସ࿮݆ᆌᆩኑຕLjᅺྺሞሏႜኑ๬ኸସዐ๬ࡗײٱဃ؜၄ٱဃă16ڪڟࡃଭࡗײྜׯăࡃଭࡗײዐٱဃ17ኸସ׈๬ሞዡฉኴႜ჉ገሏۯLjڍ޿ዡ࿄ದዃྺ჉ገዡఇ๕ݥ჉ገፕă18ዡڦૌ႙ԥದዃྺ࿄๑ᆩăዡૌ႙࿄๑ᆩ19ሏٱई฿۪๟ྺᅺీ੗ኄăༀጒօཞሞփፇۯဃದዃፇ࿄ཞօົޜఇ੷໯ዂă20ዡتᇀࠤቱጒༀăዡྺࠤቱጒༀ21ፇتᇀࠤቱጒༀăፇྺࠤቱጒༀ22ሞኴႜُኸସኮമLjံཕኹዡăዡሞሏۯዐ23ኸସ׈๬ݥ݆ۯༀຕ߸߀ăݥ݆ۯༀ߸߀24ॽ੦዆ഗ૗ਸ๬ఇ๕ă࿮ၳACఇ๕ፕ25౞׈๬ኴႜᅃ߲փኟඓڦኸସăݥ݆ኸସ26ཫ୾ဣଚ׊܈ݥ݆ăݥ݆ཫ୾׊܈27ཫ୾൸၍ဣଚ׊܈ݥ݆ăݥ݆ཫ୾൸၍׊܈28౞ሞཫ୾ᇮ໎ዐᆶݥ݆ڦ܎ૌ႙ăݥ݆ཫ୾ૌ႙29౞ڦཫ୾ᇮ໎ຩႾݥ݆ăݥ݆ཫ୾ຩႾ30౞׈๬ኴႜᅃ߲ኟሞ৊ႜऺ໙ڦཫ୾൸၍ăཫ୾൸၍ኟሞऺ໙31౞׈๬ኴႜڦཫ୾൸၍ဣଚኟሞ๑ᆩዐăཫ୾൸၍ኟሞ๑ᆩ32౞׈๬ኴႜڦཫ୾൸၍ဣଚช࿄ऺ໙ăཫ୾൸၍࿄ऺ໙33໲׈๬ኴႜᅃཉMAHኸସڇுᆶ࿋ዃཫ୾ኟሞ৊࿋ዃཫ୾࿄๑ీႜă34MAHኸସኟ׈๬ഔۯLjڍᆶ߲ऻ୤ᅙঢ়ሞሏႜăऻ୤ኟሞ৊ႜ35੦዆ഗईཫ୾๼؜ఇ੷փኧ׼ኸۨڦ๼؜ཫ୾ĂዡĂݥ݆ኴႜణՔ๼෇ई๼؜ă392؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ੦዆ኸସٱဃپஓ(ERR)޹୤Aٱဃց৸ٯแईᇱᅺጀᅪǖ36ཫ୾๼؜ဣଚڦٷၭփԥኧ׼Ljईኁ໲ڦᅃ߲ׯᇵڦݥ݆ཫ୾๼؜ኵݔ؜גྷăExErr#1ǖ๼؜࿋ၭᇀ0ईኁٷᇀ31ăExErr#2ǖ໮٪ૌ႙ၭᇀ0ईኁٷᇀ3ăExErr#3ǖ঴໮٪ૌ႙ၭᇀ0ईኁٷᇀ5ăExErr#4ǖፑईᆸ࿋ዃ٪໮Ljྷݔ୾ཫ؜גई঴໮٪ԥยዃྺĐ࿋ዃđईኁĐ࿋ዃࢅ๑ీđăExErr#5ǖ׼Ⴤ้क़ၭᇀईڪᇀ0Lj঴໮٪ૌ႙ԥยዃྺĐ׼Ⴤ้क़đईĐ׼Ⴤ้क़ࢅ๑ీđăExErr#6ǖ๑ీૌ႙ၭᇀ0ईٷᇀ3Lj໮٪ई঴໮٪ԥยዃྺĐ๑ీđĂĐ࿋ዃࢅ๑ీđईኁĐ׼Ⴤ้क़ࢅ๑ీđăExErr#7ǖ๑ీ࿋ၭᇀ启用位0ईٷᇀ31Lj໮٪ई঴໮٪ԥยዃྺĐ๑ీđĂĐ࿋ዃࢅ๑ీđईኁĐ׼Ⴤ้क़ࢅ๑ీđăExErr#8ǖ໮٪ԥยዃྺĐփऄሂđLj঴໮٪ૌ႙ԥยዃྺĐ׼Ⴤ้क़đईĐ׼Ⴤ้क़ࢅ๑ీđă37๼؜ց׋ဣଚڦٷၭփԥኧ׼Ljईኁ໲ڦᅃ߲ׯᇵڦݥ݆๼؜ց׋ኵݔ؜גྷăExErr#1ǖఇ๕ၭᇀ0ईኁٷᇀ3ăExErr#2ǖთ้࣍क़ၭᇀईڪᇀ0Ljఇ๕ԥยዃྺĐஞۙ؋ஞࢅݒൽĐईđ዆ۙ؋዆đăExErr#3ǖ቞੣Բၭᇀ0ईٷᇀ100Ljఇ๕ԥยዃྺĐஞۙ؋ஞࢅݒൽĐईđ዆ۙ؋዆đă38ዡຕ਍ૌ႙ݥ݆ă໲ܔᇀፕ๟փኟඓڦăݥ݆ዡຕ਍ૌ႙ܔᇀሏۯၹۙኸସLj൩ੂકቛٱဃپஓ(EXERR)ă໲Ք๎న߲ዡڞዂକٱဃă๖૩ǖසࡕEXERRྺଭLj൩ॠዡڦྼ܈๟ޏྺଭă39౞؋ײࡗăႜሏ้ཞీփۨኝࢅ๬ă཭؋ሞ٪ዐײࡗڦ཭40ሞՎೕഗԥԨں্ኹ้Lj౞ሞ׈๬ሏႜMSOईՎೕഗԨں্ኹMAHኸସă41ࡃଭದዃ๟ݥ݆ڦăړࡃଭႾଚփ๟૬न้Lj౞๑ᆩݥ݆ࡃଭದዃᅃཉਨܔኵࡃଭኸସă42MASDईMGSDኸସᅙঢ়גༀጒԿ࠲࠲ڟ๭ᆶு໲ྺᅺLj้ג้Կጒༀ࿋ăཚ׉ړMASDईMGSDࢫ߶ް࿋ኸସ้Ljሞ࠲Կኸସ࣏ுᆶ๭ڟ࠲Կ࿋้৽݀ഐ޿ް࿋ኸସLj৽ࣷڞዂײႾ࿚༶ă43౞׈๬घऄܠ߲ሏۯ੦዆ኸସLjגࡗኸସܓଚ੗ᅜඹፖՔဣܓଚ஢భڦຕଉă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ393\n޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)ٱဃց৸ٯแईᇱᅺጀᅪǖ44౞๑ᆩෙ߲ۅࣃᅃཉ၍Ljܸ࿮݆ඁዐ႐ۅঢ়ᆯۅईᇶႚࠌ၍Ⴀٱဃኁೝ௬ዐ႐ۅă45౞ኸۨକᅃ߲ۅӷ০ईኁĐࣃᅃཉ၍đዐ႐ۅĂঢ়ᇶႚਸ๔঳ຐٱဃᆯۅLjܸዐ႐ۅӷ০ईೝ௬ዐ႐ۅĂঢ়ᆯۅ࿮݆ඓۨă46Պײڦዐ႐ۅਐഐۅࢅዕۅփڪਐăᇶႚR1R2փ೅ದٱဃ47൩૴ဣஆਖ਼ྴܻጲۯࣅኧ׼ăᇶႚ࿮၌঴ٱဃ48൩૴ဣஆਖ਼ྴܻጲۯࣅኧ׼ăᇶႚ࿮঴ٱဃ49|R|<0.01ăRߵԨฉ໿ၭܸփీᆩᇀऺ໙ăᇶႚၭRٱဃ50ፖՔဣՔധփ࠲૴ᅃ߲ሏۯፇăፖՔဣփሞፇా51౞ยዃڦዕኹૌ႙ྺํा࿋ዃ൐ኵྺ0Ljኄ߲ኵփԥ࿮ၳํाඹኧ׼ă52዁ณᅃ߲ዡణമኟሞ৊ႜଷᅃ߲ፖՔဣڦၹۙሏۯăၹۙሏۯኟሞ৊ႜٱဃ53঴أܔዡڦ্ኹăዡԥ্ኹ541.ٶਸ޿ዡڦຌႠăଭፌٷ३໏܈2.ሞۯༀຕ჋ၜਸ਼ฉLj๼෇ፌٷ३໏܈ڦኵăසࡕዡڦፌٷ३໏܈ྺଭLjሶփీਸ๔ሏۯă61ੂકቛٱဃپஓ(EXERR)କ঴ኸସă૶থ؋཭62ൽၩ੦዆ُዡڦፖՔገ࣑LjईኁړፖՔገ࣑ኟሞ߾ፕፖՔገ࣑ኟሞ৊ႜ้փ๑ᆩُኸସăසࡕዡ๟ऄሂُႜኴీփ౞Ljևᅃڦ࣑ገՔፖڦኸସă63ൽၩ੦዆ُዡڦፖՔገ࣑LjईኁڪڟፖՔገ࣑ྜׯܔዡሞፖՔገ࣑ሏۯዐ޿ዡڦሏۯăසࡕగ߲ፖՔገ࣑ኟሞᅎۯ޿ዡLj౞փీኴႜُኸସă64๑ᆩڳਸ਼ܻፖՔဣă޹ॲփԥኧ׼౞փీॽኄཉኸସᆩᇀݥڳਸ਼ܻፖՔဣዐă394؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ੦዆ኸସٱဃپஓ(ERR)޹୤Aٱဃց৸ٯแईᇱᅺጀᅪǖ65ዡᅎ؜ᅯዃ࿋ዡٱ޿၄؜ኹݞྺăዃ࿋ئ٪݆࿮ഗ዆੦Lj੺ࡗۯဃLj൩ยዃ෉ႜײ၌዆ॽዡԍ׼ሞ࿋ዃݔྷᅜాăइڦዡᇀਦൽྷݔڦዃ࿋ڦኟٷፌईڦ޶ٷፌᆩ๑๟৽ᅃኮ݆ݛڦײႜܠ߸ڥገ࣑׉ຕă࿋ዃፕྺ౞ڦࡃଭ࿋ዃă๖૩Max-0Max+Ifyousetthehome…0isinthemiddleofthepositionhere…travel.Thisgivesyoutwicethetravelthathomingto0•ፌٷኟڦ࿋ዃ=2,147,483,647/ዡڦገ࣑׉ຕwouldgiveyou.•ፌڦዡ/648,483,147,2-=ዃ࿋ڦ޶ٷገ࣑׉ຕ्ย౞ڦገ࣑׉ຕྺ2,097,152ْຕ/ᆈ٫ăሞኄዖ൧઄ူǖ•ፌٷኟڦ࿋ዃ=2,147,483,647/2,097,152ْຕ/ᆈ٫=1023ᆈ٫•ፌْ152,097,2/648,483,147,2-=ዃ࿋ڦ޶ٷຕ/ᆈ٫=-1023ᆈ٫ܔᇀሏۯၹۙኸସLj൩ੂકቛٱဃپஓ(EXERR)ă໲Ք๎న߲ዡڞዂକٱဃă๖૩ǖසࡕEXERRྺଭLj൩ॠዡڦྼ܈๟ޏྺଭă66ඓۨॽऐഗටԍ׼ሞ౞ሞഄዐದዃڦጚԢ঴ాă౞੗౞ኟሞ׈๬ሞၡ၌Չহتॽ࠲ব܀૬ईփ܀૬ڦܾᅜሞፑጚԢईᆸጚԢ঴ాದዃऐഗටăዡऐഗටች࣮ڟጲวฉă67•ॽణՔ࿋ዃ߸߀ྺऐഗටՅቛݔྷᅜాڦኵă࿮ၳፖՔገ࣑࿋ዃ•සࡕX2b+X2eփྺଭLjԍ׼ሞُ൶ᇘᅜྔǖ•౞ኟሞ׈๬ᅎۯڟᅃ߲ऐഗට࿮݆ࠕڟڦ࿋ዃă-(X2bX2b+X2e•MCTሞᇱۅت׈๬ăྺՆ௨ऐഗටች࣮ጲวฉईኁቛਸגࡗഄݔྷLjܔᇀDelta2DĂDelta3DࢅSCARADeltaऐഗටઠX2ຫᆯࠦॲాևऺ໙࠲ব၌዆ăසࡕ౞׈๬ժದዃᅃ߲ྵٱ߲ኄ၄؜ሶLjۯሏڦ዆၌ၵኄݒဃă68ᅎۯ࠲ব๑ऐഗටڦ఍܋փሞፖՔဣڦᇱۅฉăፖՔገ࣑ሞᇱۅتසࡕ࠲বঙ঳ࡕิX1=0ࢅX2=0Lj౞փీਸ๔ኄ߲ፖՔገ࣑ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ395\n޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)ٱဃց৸ٯแईᇱᅺጀᅪǖ69•൩ॠ࠲বٷፌ؜גăዃದ܈໏ٷፌڦ࠲ব໏܈•ሞፖՔဣڦᇱۅتLj๑ᆩణՔ࿋ዃඟऐഗටԍ׼ऺ໙تටഗऐړăߛ׉ݥ܈໏ڦ؜ᇀᅜူᅃዖ൧઄ྜඇฦቛईኁች࣮ڟጲวฉă้ࣷ݀ิኄዖ൧઄ǖ•ᅜ၎ܔ኱ۯᅎ၍ڦཚࡗ࿋ዃX1=0ࢅX2=0ă•ྜඇฦቛă•ች࣮ڟጲวฉă•ٗX1=0ࢅX2=0ᅎਸ้๑ᆩᇑڟٳ޿࿋ዃփཞڦঙ܈ă•ದዃକٱဃڦ໏܈၌዆ă๖૩ǖኄၵሏۯิُٱဃăXူᅃ߲ሏۯሞڼᅃ߲ሏۯሞኄ߲ঙ܈ฉኄ߲ঙ܈ฉX2X170ლቴದዃྺ჉ገۨ࿋ఇ๕ڦᇸईణՔăॽഄ߸߀ྺ၍৊ႜፖՔገ࣑ڦዡՂႷ๟၍ႠڦႠۨ࿋ఇ๕ăፖՔገ࣑ኻీᆩᇀ၍Ⴀڦዡă71ڦၩൽሞኟ౞ڟڪፖՔገ࣑ྜඇԥൽၩăፖՔገ࣑ኟሞൽၩ72ॠణՔ࿋ዃăऺ໙ٷፌ؜גăÄÄ360-/+؜גঙব࠲ڦ؜࠲বঙ܈73ॠኄ߲૾ዐڦ௅ᅃཉMCTኸସ๟ޏิ࿮ၳ࿋ፖՔဣ૾থٱဃዃăኄཉMCTኸସ๟MCTኸସ૾ڦᅃևă૾ዐڦᅃཉኸସᆶ࿚༶ă74߸߀ݛ࿋๑ঙ܈تᇀ+/-360ÄÄݔྷాă࿮ၳݛ࿋ঙ75ኻీሞ1756-L6x੦዆ഗฉ๑ᆩኄཉኸସăኸସփԥኧ׼౞ኻీሞ1756-L6x੦዆ഗฉ๑ᆩMCTईMCTPኸସă761.ٶਸ޿ዡڦຌႠăଭፌٷ३໏܈ሂ܈2.ሞۯༀຕ჋ၜਸ਼ฉLj๼෇ፌٷ३໏܈ሂ܈ڦኵăසࡕዡڦፌٷ३໏܈ሂ܈ྺଭLjሶփీਸ๔๑ᆩS൸၍ఇ๕ڦሏۯă396؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ੦዆ኸସٱဃپஓ(ERR)޹୤Aٱဃց৸ٯแईᇱᅺጀᅪǖ77౞ڦፖՔဣዐᆶܠณ߲ዡǛፖՔገ࣑ݛၠփԥኧ׼•2ę๑ᆩݥ৥ၟፖՔገ࣑ݛၠă1.౞ኟሞ׈๬ሞෙዡፖՔဣዐ๑ᆩ৥ၟݛၠᅜतݥଭڦएԨೋᅎ(X2b)ईኴႜഗೋᅎ(X2e)ă•3ę๑ᆩݥݒገፖՔገ࣑ݛၠă2.৥ၟݛၠሞܾዡፖՔဣዐփԥኧ׼ă3.౞ኟሞ׈๬๑ᆩܾዡईෙዡڳਸ਼ܻĂDelta2DĂDelta3DईSCARADeltaణՔፖՔဣᅜतأኟၠࢅݒၠᅜྔڦፖՔገ࣑ݛၠăኻᆶړူ௬ଇ߲ཉॲۼྺኈ้Lj౞֍੗ᅜ๑ᆩݒገ৥ၟݛၠǖ•౞๑ᆩᅃ߲ෙዡፖՔဣă•X2ྼ܈ڦएԨೋᅎ(X2b)ࢅ఍܋ኴႜഗೋᅎ(X2e)ྺଭă78ړሏۯཕኹኸସኟሞ৊ႜ้փᄲ۠ेሏۯ੦዆ኸସሞཕኹࡗײዐփሎႹሞཕኹࡗײዐLj౞փీ۠ेగၵሏۯ੦዆ኸସăڪځڼᅃཉኸସྜׯࢫLjምഔۯڼܾཉኸସăᆶ࠲߸ܠ႑တLj൩ለڼ398ࢅ399ᄻฉڦ՗߭ă79ምْॽ౞ڦዡࡃଭăాևࡃଭႾଚٱဃසࡕ౞ੂڦ౞ॽዐႾײᆩᆌڦ౞ሞ൩Ljဃٱ߲ኄڟዡዘႎࡃଭăසࡕٱဃᅈ඗٪ሞLj൩૴ဣஆਖ਼ྴܻጲۯࣅኧ׼ă80ৰኟMAOC๼؜ፕຕईኁOB16ISఇ੷ཚ႑߭通讯MAOC࿮ၳ๼؜ፕຕ๕ăසࡕMAOC๼؜ፕຕᆅᆩକᅃ߲OB16ISࡀࣄ๼؜ఇ੷LjሶړMAOCԥ݀ഐ้ॽኴႜଇ߲޹ेڦॠă•๼؜ፕຕՂႷᆅᆩఇ੷๼؜ຕ਍Քധڦਸཀྵ'O.Data'ă•OB16ISఇ੷ڦཚ႑߭๕ՂႷྺఐණڦĐӀۅڦ通讯ऺࣄ๼؜ຕ਍đăසࡕඪࢆᅃ߲ॠ฿ӨLj౞৽ࣷੂڟኄ߲ٱဃăExErr#1ǖ࿮ၳڦຕ਍Քധᆅᆩ-๼؜ፕຕுᆶኸၠఇ੷๼؜ຕ਍ՔധڦO.Dataᇮ໎ăExErr#2ǖ࿮ၳڦOB16ISఇ੷ཚ႑߭๕通讯–OB16ISཚ႑߭๕ᅙٗఐණڦĐӀۅऺࣄ๼؜ຕ਍đ߸߀通讯ྺڦ߭๕ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ397\n޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)ٱဃց৸ٯแईᇱᅺጀᅪǖ81ሞऄሂڦMGSRኸସฉLjփᄲޮ߃ཕኹఇ๕=Պײևፇ࠲Կް࿋ăኵڦMASDኸସईMGSཕኹኸସăසࡕ౞ڦᆌᆩײႾኟሞᆶၳںኴႜᅃཉMGSRኸସLjܸ౞׈๬ሞഄዐᅃ߲๴ڟऄሂMGSRኸସᆖၚڦዡฉኴႜMASDኸସईMGSཕኹኸସDŽཕኹఇ๕=ՊײኵDžLjሶॽࣷሞMGSRኸସฉੂڟኄ߲ٱဃăړሏۯཕኹኸସኟሞऄሂ้Ljසࡕగၵሏۯ੦዆ኸସ۠ेLjሶࣷڥڟٱဃăሞኄዖ൧઄ူLjኸସኟሞᆶၳںཕኹLjڼܾཉኸସԥ݀ഐޮ߃ऄሂ۠ၵᅃڦဃٱิࣷॽକ؜ଚ߭՗ڦ௬ူăସኸڦेํ૩ăሞኄዖ൧઄ူǖ•ٱဃ#7=࠲Կጒༀٱဃ•ٱဃ#61ĂExErr#10=૶থ؋཭LjፖՔገ࣑ዡኟሞሏۯईԥഄ໱ፕ໮ۨ•ٱဃ#78=ሞཕኹࡗײዐփሎႹऄሂڦཕኹኸସMGSMGSDMCSMASᅙ݀ഐڼܾཉཕኹఇ๕ཕኹఇ๕ཕኹఇ๕ཕኹૌ႙ཕኹૌ႙ཕኹૌ႙أକཕኹཕኹૌ႙ኸସ=੺໏ཕ=੺໏্=Պײኵ=ၹۙሏ=ၹۙፖ=ඇևૌ႙=ඇ=ඇևኹኹڦྔᅜև࣑ገՔۯ໯ᆶཕኹૌ႙MAATٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78MRATٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78MAHDٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78MRHDٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78MAHٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78MAJٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MAMٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MAGٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MCDٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78MAPCٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MATCٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MDOٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MCTٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#61ٱဃ#61ٱဃ#61ٱဃ#61ٱဃ#61ExErr#10ExErr#10ExErr#10ExErr#10ExErr#10MCCDٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78MCLM/MCCٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#78M(ࢇժ=ᅙ্ኹ)MCLM/MCCٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#78M(ࢇժ=ᅙ๑ీ)398؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ੦዆ኸସٱဃپஓ(ERR)޹୤Aူ௬۠ܠ߸ڦဃٱิࣷॽକ؜ଚ߭՗ڦेํ૩ăऄሂڦཕኹኸସMGSMGSDMCSMASMASDᅙ݀ഐڼܾཉཕኹૌ႙ཕኹఇ๕=ཕኹఇ๕=ཕኹఇ๕=࿮ཕኹૌ႙=ཕኹૌ႙=࿮ኸସ੺໏ཕኹ੺໏্ኹՊײኵඇևඇևཕኹఇ๕=ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7੺໏ཕኹཕኹఇ๕=ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7MGS੺໏্ኹཕኹఇ๕=ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ՊײኵMGSR࿮ٱ7#ဃٱ78#ဃٱ78#ဃٱ78#ဃٱဃ#7ཕኹૌ႙=ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ၹۙሏۯཕኹૌ႙=ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ၹۙፖՔገMCS࣑أକཕኹૌٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7႙=ඇևᅜྔڦ໯ᆶཕኹૌ႙ཕኹૌ႙ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#78ٱဃ#78ٱဃ#7!=ඇևMASཕኹૌ႙=ٱဃ#78ٱဃ#78ٱဃ#78ٱဃ#7ٱဃ#7ඇևMASR࿮ٱ7#ဃٱ78#ဃٱ78#ဃٱ78#ဃٱဃ#7൩ለᅜူ๮Ljକ঴ሞՎೕഗࢅ/ईܠዡሏۯ੦዆ဣཥฉ၂๖ڦٱ޹ेٱဃپஓ႑တဃپஓڦᆶ࠲႑တă؜Ӳࡽ؜ӲࡽKinetix2000ܠዡՎೕഗᆩࢽ๮2093-UM001Kinetix6000ܠዡՎೕഗᆩࢽ๮2094-UM001Kinetix7000ߛࠀ୲ົޜՎೕഗᆩࢽ๮2099-UM001Ultra3000ຕጴ๕ົޜൻۯഗҾጎኸళ2098-IN0038720ߛႠీՎೕഗҾጎኸళ8720MC-IN0011394SERCOSথ੨ܠዡሏۯ੦዆ဣཥҾጎ๮1394-IN002؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ399\n޹୤Aሏۯ੦዆ኸସٱဃپஓ(ERR)ጀ提ᅪ示：ǖ400؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n޹୤Bሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDž०঻๑ᆩُ޹୤੗କ঴ᆶ࠲ᅜူሏۯ၎࠲ຕ਍ૌ႙ڦ႑တǖຕ਍ૌ႙ᄻஓCAM঳ࠓ401CAM_PROFILE঳ࠓ402MOTION_GROUP঳ࠓ403MOTION_INSTRUCTIONຕ਍ૌ႙404OUTPUT_CAM঳ࠓ405OUTPUT_COMPENSATION঳ࠓ407ഄ໱ጨᇸܔᇀഄ໱ሏۯ၎࠲ڦຕ਍ૌ႙Lj൩ለňLogix5000੦዆ဣཥᆩࢽ๮ėDŽ؜ӲࡽLOGIX-UM002DžዐڦĐሏۯఇ੷đ“运动控制模块ă”。CAM঳ࠓཫ୾ຕ਍ૌ႙Ԉઔٗዡࢅዷዡۅܔᅜतాૌ႙ăᆯᇀᇑ༬ۨڦዡ࿋ዃई้क़ுᆶ࠲૴Ljۅኵுᆶڇ࿋ăాૌ႙੗ྺ௅߲܎ኸۨྺ၍Ⴀईෙْݛăཫ୾ຕፇᇮ໎ڦ߭๕සူ՗໯๖ăऻᅬڇᇮຕ਍ૌ႙௮ຎዷऐREALۅڦxኵăSLAVEREALۅڦyኵă܎ૌ႙DINTాૌ႙ăኵ௮ຎ0၍Ⴀ1ෙݛْ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ401\n޹୤Bሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDžCAM_PROFILE঳ࠓCAM_PROFILEຕ਍ૌ႙๟ᅃ߲ဣຕຕፇLj՗๖੗ᆩፕ้क़ཫ୾ई࿋ዃཫ୾ኸସ๼෇ڦऺ໙ཫ୾൸၍ă༵ࠃߴ౞ڦྸᅃᇮ໎๟ጒༀLjසူ՗ۨᅭăऻᅬڇᇮຕ਍ૌ႙௮ຎጒༀDINTጒༀຕᆩᇀኸ๖ཫ୾൸၍ຕፇᇮ໎ᅙঢ়ऺ໙؜ઠăසࡕཫ୾ኸସڦኴႜ׈๬๑ᆩཫ୾൸၍ዐඪࢆ࿄ऺ໙ٱ؜ࣷ৽ସኸሶLj໎ᇮڦăኵ௮ຎ0ཫ୾൸၍ᇮ໎ช࿄ऺ໙؜ઠă1ཫ୾൸၍ᇮ໎ኟሞ৊ႜऺ໙ă2ཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠănཫ୾൸၍ᇮ໎ᅙঢ়ऺ໙؜ઠLjణമኟԥ(n-2)ཉMAPCࢅMATCኸସ๑ᆩă402؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDž޹୤BMOTION_GROUP঳௅߲੦዆ഗᆶᅃ߲MOTION_GROUP঳ࠓăኄ߲঳ࠓԈࡤ࠲ᇀሏۯፇڦጒༀࢅದዃ႑တăࠓऻᅬڇᇮຕ਍ૌ႙௮ຎGroupStatusDINTፇڦጒༀ࿋ă࿋ຕࡽຕ਍ૌ႙௮ຎInhibStatus00DINT্ኹጒༀăGroupSynced01DINTཞօጒༀă-no-tag02DINT้ۨഗ๚ॲഔۯăԍା03-31MotionFaultDINTፇڦሏۯࠤቱ࿋ă࿋ຕࡽຕ਍ૌ႙௮ຎACAsyncConnFault00DINTᅴօ૶থࠤቱăACSyncConnFault01DINTཞօ૶থࠤቱăԍା02-31ServoFaultDINTፇڦົޜఇ੷ࠤቱ࿋ă࿋ຕࡽຕ਍ૌ႙௮ຎPOtrvlFault00DINTኟၠגႜײࠤቱăNOtrvlFault01DINT޶ၠגႜײࠤቱăPosErrorFault02DINT࿋ዃٱဃࠤቱăEncCHALossFault03DINTՊஓഗཚ۪Aڢ฿ࠤቱăEncCHBLossFault04DINTՊஓഗཚ۪Bڢ฿ࠤቱăEncCHZLossFault05DINTՊஓഗཚ۪Zڢ฿ࠤቱăEncNsFault06DINTՊஓഗሯำࠤቱăDriveFault07DINTՎೕഗࠤቱăԍା08-31࿋ຕࡽຕ਍ૌ႙௮ຎSyncConnFault00DINTཞօ૶থࠤቱăHardFault01DINTົޜᆘॲࠤቱăԍା02-31GroupFaultDINTፇڦࠤቱ࿋ă࿋ຕࡽຕ਍ૌ႙௮ຎGroupOverlapFault00DINTፇඪခዘ۠ࠤቱăCSTLossFault01DINT੦዆ഗ฿ඁᇑCSTዷऐڦཞօăGroupTaskLoading02DINTፇڦٷຘႎዜ೺໿܌Ljᆩࢽᆌᆩඪခு近似刷新周期太短，Faultᆶፁࠕ้क़ኴႜăԍା03-31؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ403\n޹୤Bሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDžMOTION_INSTRUCTI౞ՂႷྺ໯๑ᆩڦ௅ཉሏۯኸସۨᅭᅃ߲ሏۯ੦዆Քധă޿Քധ๑ᆩ您必须为所使用的每条运动控制指令定义一个运动控制标签。该标签MOTION_INSTRUCTION使用MOTION_INSTRUCTIONຕ਍ૌ႙Ljئ٪࠲ᇀ޿ኸସڦጒༀ႑တă数据类型，储存关于该指令的状态信ONຕ਍ૌ႙息。ऻᅬڇᇮຕ਍ૌ႙௮ຎFLAGSDINT๑ᆩDINT੗ሞᅃ߲32࿋ኵాݡ࿚޿ኸସڦ໯ᆶጒༀ࿋ăܔᇀኄ߲ጒༀ࿋๑ᆩኄ߲࿋ՊࡽEN31DN29ER28PC27IP26AC23DECEL1ACCEL0ENBOOLഔᆩ࿋՗๖޿ኸସԥ๑ీDŽ༱प๼෇ࢅ༱प๼؜ཉॲྺኈDžăDNBOOLྜׯ࿋՗๖໯ᆶऺ໙ࢅၩတ݀ໃDŽසࡕᆶDžۼᅙྜׯăERBOOLٱဃ࿋ኸ๖ኸସԥݥ݆๑ᆩăPCBOOLࡗײྜׯ࿋՗๖ፕᅙঢ়ྜׯăړኸସྜׯኴႜ้Lj.DN࿋ԥยዃăړ݀ഐڦࡗײᅙঢ়ྜׯ้Lj.PC࿋ԥยዃăIPBOOLኟሞ৊ႜ࿋՗๖ࡗײኟሞኴႜዐăACBOOLۯऄLj้ሂऄྺՎସኸړăۯሏ዆੦ሞସኸ߲న঴କ౞ඟ੗࿋ۯऄLjࢫܓಇସኸॽ౞ړ࿋ԥยዃăړࡗײྜׯ࿋ԥยዃLjईኁړኸସԥཕኹ้Ljऄۯ࿋ԥް࿋ăACCELBOOL.ACCEL࿋՗๖ᇑڦସኸ߲ڇڦဣ૴ڪ୾؃Ăᅎ࿋Ăۯۅሏႜ໏܈ᅙঢ়ሺेăDECELBOOL.DECEL࿋՗๖ᇑگইঢ়ᅙ܈໏ႜሏڦସኸ߲ڇڦဣ૴ڪ୾؃Ăᅎ࿋ĂۯۅăERRINTٱဃኵԈࡤᇀሏۯࠀీ၎࠲ڦٱဃپஓă९ሏۯ੦዆ኸସٱဃپஓ(ERR)DŽሞᄻஓ391ฉDžăSTATUSSINTᇑሏۯࠀీ၎࠲ڦඪࢆၩတڦጒༀăၩတጒༀ௮ຎ0x0ၩတׯࠀă0x1ఇ੷ኟሞت૙ଷᅃཉၩတă0x2ఇ੷ኟሞڪځമᅃཉၩတڦၚᆌă0x3ၩတڦၚᆌ฿Өă0x4ఇ੷࿄ጚԢࡻ݀ໃၩတă404؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDž޹୤Bऻᅬڇᇮຕ਍ૌ႙௮ຎSTATESINTኴႜጒༀኵ߶ጷగ߲ࠀీڦኴႜጒༀă࢔ܠሏۯࠀీۼᆶܠ߲օႾLjኄ߲ኵॽ߶ጷኄၵօႾăړ੦዆ྺሏۯኸସยዃ步序。当控制为运动控制指令设置EN࿋้Ljኴႜጒༀ๔ዕԥยዃྺEN位时，执行状态始终被设置为0ăഄ໱ኴႜጒༀൽਦᇀ0。其他执行状态取ሏۯኸସă决于运动控制指令。SEGMENTDINT܎๟ᅃ߲ۅڟူᅃ߲ۅDŽڍփԈઔኄ߲ۅDžڦਐ૗ăሞཫ୾ኴႜ้LjSEGMENTཚࡗ܎ࡽ༵ࠃ၎ܔ࿋ዃăEXERRSINTકቛٱဃپஓ–ᆩᇀڥڟ࠲ᇀٱဃڦ߸ܠ႑တăOUTPUT_CAM঳ࠓOUTPUT_CAMຕ਍ૌ႙๟ᅃ߲ຕፇLjۨᅭକ௅߲ཫ୾๼؜ᇮ໎ڦਏ༹ຕăOUTPUT_CAMԈࡤᅜူׯᇵăऻᅬڇᇮຕ਍ૌ႙௮ຎOutputBitDINT౞ՂႷሞ0؜๼୾ཫ݆ݥዂڞࣷॽስ჋ڦ31ᇀٷई0ᇀၭă࿋؜๼ስ჋ాྷݔڦ31ڟٱဃLjܸ൐ཫ୾ᇮ໎ॽփԥ੊୯ăLatchTypeDINT໮٪ૌ႙ਦۨጣසࢆยዃ၎ᆌڦ๼؜࿋ăኵၭᇀ0ईٷᇀ3ॽڞዂݥ݆ཫ୾๼؜ٱဃLjժ๑ᆩ໮٪ૌ႙ྺփऄሂăኵ௮ຎ0=փऄሂ๼؜࿋փԥ߸߀ă1=࿋ዃړዡ৊෇ԥց׋ڦཫ୾ݔྷ้Lj๼؜࿋ԥยዃă2=๑ీړഔᆩ࿋Վྺऄሂ้Lj๼؜࿋ԥยዃă3=࿋ዃࢅ๑ీړዡ৊෇ԥց׋ڦཫ୾ݔྷܸ൐ഔᆩ࿋Վྺऄሂ้Lj๼؜࿋ԥยዃăUnlatchTyDINT঴໮٪ૌ႙ਦۨጣසࢆް࿋๼؜࿋ă჋ስኵၭᇀ0ईٷᇀ5ॽڞዂݥ݆ཫ୾๼؜ٱဃLjpeժ๑ᆩ঴໮٪ૌ႙ྺփऄሂăኵ௮ຎ0=փऄሂ๼؜࿋փԥ߸߀ă1=࿋ዃړዡ૗ਸԥց׋ڦཫ୾ݔྷ้Lj๼؜࿋ԥް࿋ă2=׼Ⴤ้क़؜๼Lj้ຐ঳क़้Ⴤ׼ړ࿋ԥް࿋ă3=๑ీړഔᆩ࿋Վྺփऄሂ้Lj๼؜࿋ԥް࿋ă4=࿋ዃࢅ๑ీړዡ૗ਸԥց׋ڦཫ୾ݔྷईኁഔᆩ࿋Վྺփऄሂ้Lj๼؜࿋ԥް࿋ă5=׼Ⴤ้क़ࢅ๑ీ؜๼Lj้ሂऄփྺՎ࿋ᆩഔኁईຐ঳क़้Ⴤ׼ړ࿋ԥް࿋ăLeftREALፑཫ୾࿋ዃ૶ཞᆸཫ୾࿋ዃᅃഐۨᅭକཫ୾๼؜ᇮ໎ڦཫ୾ݔྷăړ໮٪ई঴໮٪ૌ႙ԥยዃྺ࿋࿋ዃई࿋࿋ዃࢅ๑ీժ൐ഔᆩ࿋ऄሂ้Ljፑᆸཫ୾࿋ዃኸ٪໮঴ࢅ٪໮ڦ࿋؜๼କۨ࿋ዃăසࡕፑ࿋ዃၭᇀཫ୾ഐ๔࿋ዃईኁٷᇀཫ୾ዕኹ࿋ዃLjሶݓ࣮ݥ݆ཫ୾๼؜ٱဃLj޿ཫ୾ᇮ໎ॽփԥ੊୯ă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ405\n޹୤Bሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDžऻᅬڇᇮຕ਍ૌ႙௮ຎRightREALᆸཫ୾࿋ዃ૶ཞፑཫ୾࿋ዃᅃഐۨᅭକཫ୾๼؜ᇮ໎ڦཫ୾ݔྷăړ໮٪ई঴໮٪ૌ႙ԥยዃྺ࿋࿋ዃई࿋࿋ዃࢅ๑ీժ൐ഔᆩ࿋ऄሂ้Ljፑᆸཫ୾࿋ዃኸ٪໮঴ࢅ٪໮ڦ࿋؜๼କۨ࿋ዃăසࡕᆸ࿋ዃၭᇀཫ୾ഐ๔࿋ዃईኁٷᇀཫ୾ዕኹ࿋ዃLjሶݓ࣮ݥ݆ཫ୾๼؜ٱဃLj޿ཫ୾ᇮ໎ॽփԥ੊୯ă׼Ⴤ้क़REAL٪໮঴ई٪໮ړૌ႙ԥยዃྺ׼׼Ⴤ้क़ई׼׼Ⴤ้क़ࢅ๑ీժ൐ഔᆩ࿋ऄሂ้Lj׼Ⴤ้क़ኸۨକ໮٪ࢅ঴໮٪ኮक़ڦ้क़DŽڇ࿋๟௱Džăኵၭᇀईڪᇀ0ॽڞዂݥ݆ཫ୾๼؜ٱဃLj޿ཫ୾ᇮ໎ॽփԥ੊୯ăEnableTyDINTڦ࿋ᆩഔۨኸକᅭۨ໲Lj้ీ๑ࢅक़้Ⴤ׼׼ኁईీ๑ࢅዃ࿋࿋Ăీ๑๑ྺ႙ૌ٪໮঴ई٪໮ړpeᇸࢅटႠăኵၭᇀ0ईٷᇀ31ॽڞዂݥ݆ཫ୾๼؜ٱဃLj޿ཫ୾ᇮ໎ॽփԥ੊୯ăኵ௮ຎ0=๼෇ഔᆩ࿋ሞ๼෇ຕዐă1=ݒገ๼෇ഔᆩ࿋ሞ๼෇ຕዐLjྺگᆶၳă2=๼؜ഔᆩ࿋ሞ๼؜ຕዐă3=ݒገ๼؜ഔᆩ࿋ሞ๼؜ຕዐLjྺگᆶၳăEnableBitDINTڦ࿋ᆩഔڦስ჋Lj้ీ๑ࢅक़้Ⴤ׼׼ኁईీ๑ࢅዃ࿋࿋Ăీ๑๑ྺ႙ૌ٪໮঴ई٪໮ړኵՂႷሞ0ٱ؜๼୾ཫ݆ݥዂڞॽ31ᇀٷई0ᇀၭኵăक़ኮ31ڟဃLj޿ཫ୾ᇮ໎ॽփԥ੊୯ă406؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\nሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDž޹୤BOUTPUT_COMPENSOUTPUT_COMPENSATIONຕ਍ૌ႙ཚࡗኸۨ௅߲ኴႜऐࠓڦ༬ኙLjઠۨᅭ௅߲๼؜࿋ڦਏ༹ຕăOUTPUT_COMPENSATIONԈATION঳ࠓࡤᅜူׯᇵǖऻᅬڇᇮຕ਍ૌ႙௮ຎೋᅎଉREALೋᅎྺ໮٪ࢅ঴໮٪ፕ༵ࠃ࿋ዃց׋ăLatchDelayREAL໮٪ჽ׿ᆩ௱ྺڇ࿋Ljྺ໮٪ፕ༵ࠃ้क़ց׋ăUnlatchDelaREAL঴໮٪ჽ׿ᆩ௱ྺڇ࿋Ljྺ঴໮٪ፕ༵ࠃ้क़ց׋ăyModeDINTఇ๕ඓ؜๼݆ݥዂڞॽ3ᇀٷई0ᇀၭኵǖၜ჋๕ఇ຺߲௬ူࠃ༵ăྺႜڦ࿋؜๼କۨց׋ٱဃăኵ௮ຎ0=ኟ׉๼؜࿋ܔᇀ໮٪ፕԥยዃLjܔᇀ঴໮٪ፕԥް࿋ă1=ݒၠ๼؜࿋ܔᇀ໮٪ፕԥް࿋Ljܔᇀ঴໮٪ፕԥยዃă2=ஞ٪໮঴ᇀܔLjዃยԥ้ༀጒᆶ቞ڦ؋ஞतᅜፕ٪໮ᇀܔ࿋؜๼዆ۙ؋ፕᅜतஞڦ؋੣ዃጒༀ้ԥް࿋ă3=٪໮঴ᇀܔLj࿋ްԥ้ༀጒᆶ቞ڦ؋ஞतᅜፕ٪໮ᇀܔ࿋؜๼዆ۙ؋ஞࢅገݒፕᅜतஞڦ؋੣ዃጒༀ้ԥยዃăCycleTimeREALஞڪईᇀၭक़้࣍თැLj዆ۙ؋ஞࢅገݒݒई዆ۙ؋ஞஞྺ๕ఇࡕසă௱๟࿋ڇLjक़้؋ᇀ0Ljሶิݥ݆๼؜ց׋ٱဃăDutyCycleREALஞپ50ኵăԲӥڦक़้࣍თڦ้Džᆶ቞DŽਸٶԥ؋՗50%቞ᆶጒༀăኵၭᇀ0ईٷᇀ100ॽڞዂݥ݆๼؜ց׋ٱဃă؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ407\n޹୤Bሏۯ၎࠲ڦຕ਍ૌ႙DŽ঳ࠓDžጀ提示：ᅪǖ408؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n޹୤C঳ࠓ࿔ԨՊײ०঻Ԩ޹୤঻ถܔᇀ঳ࠓ࿔ԨՊײ໯܀ᆶڦ࿚༶ă൩ለԨ޹୤ዐڦ႑တLjඓۨ౞ᅙକ঴঳ࠓ࿔ԨՊײॽࣷසࢆኴႜăᇡକ঴၎࠲႑တ९ᄻஓ঳ࠓ࿔Ԩᇕ݆409ޯኵ411՗ٳ๕413ኸସ420ࠓሰ421ጀ๥437঳ࠓ࿔Ԩᇕ݆঳ࠓ࿔Ԩ๟ᅃዖ࿔Ԩ႙ՊײᇕჾLj໲๑ᆩᇕਔઠۨᅭᄲኴႜڦాඹă•঳ࠓ࿔Ԩփ൶ٷၭႀă•๑ᆩ዆՗ޙࢅ࣮ڦ౞ඟ੗DžႜߪDŽޙכ঳ࠓ࿔Ԩ߸ेඹᅟለ܁ă໲்ܔ঳ࠓ࿔Ԩڦኴႜுᆶᆖၚă঳ࠓ࿔Ԩփ൶ٷၭႀă঳ࠓ࿔Ԩ੗Ԉࡤᅜူፇॲǖၜۨᅭ๖૩ǖޯኵ๑ᆩޯኵᇕਔઠॽኵኸۨߴՔധăՔധ:=՗ٳ๕;(൩ለᄻ:=ሏ໙ޙ৽๟ޯኵሏ໙ޙăஓ411)๑ᆩࡽĐ;đዕኹޯኵă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ409\n޹୤C঳ࠓ࿔ԨՊײၜۨᅭ๖૩ǖ՗ٳ๕՗ٳ๕๟ྜኝޯኵईࠓሰᇕਔڦᅃևă՗ٳ๕൱ኵྺగ߲ຕጴDŽຕጴ՗ٳ๕Džईኁኈ्ጒༀDŽքܻ՗ٳ๕Džă(数值表达式)(൩ለᄻஓ413)՗ٳ๕ԈઔǖՔധ٪ా׬ఁټڦ਍ຕئ٪൶ᇘDŽBOOLĂvalue1SINTĂINTĂDINTĂREALĂጴޙزDžă૬न׉ຕኵă4ሏ໙ޙኸۨ՗ٳ๕ాևሏ໙ڦޙࡽईऻᅬڇᇮătag1+tag2tag1>=value1ࡧຕࡧຕሞኴႜࢫॽิᅃ߲ኵă๑ᆩᇶઔࡽॽfunction(tag1)ࡧຕڦፕຕઔഐઠăन๑ᇕ݆ૌຼLjࡧຕᇑኸସᄺփ၎ཞLj൶ሞᇀࡧຕኻీሞ՗ٳ๕ዐ๑ᆩăኸସփీᆩᇀ՗ٳ๕ዐăኸସኸସ৽๟ڦ܀ڇᇕਔăinstruction();(൩ለᄻኸସ๑ᆩᇶઔࡽॽഄፕຕઔഐઠăinstruction(operand);ஓ420)ߵ਍ኸସڦૌ႙Lj੗ీࣷᆶଭ߲Ăᅃ߲ईܠ߲ፕຕăinstruction(operand1,operand2,operand3);ړኴႜ้Ljኸସิຕ਍঳ࠓዐڦᅃ߲ईܠ߲ኵă๑ᆩࡽĐ;đዕኹኸସăन๑ᇕ݆ૌຼLjኸସᇑࡧຕᄺփ၎ཞLj൶ሞᇀኸସփీᆩሞ՗ٳ๕ዐăࡧຕኻփీᆩᇀ՗ٳ๕ዐăࠓሰᆩᇀة݀঳ࠓ࿔ԨپஓڦཉॲᇕਔDŽ૩සഄ໱ᇕਔDžăIF...THEN(൩ለᄻ๑ᆩࡽĐ;đዕኹࠓሰăCASEஓ421)FOR...DOWHILE...DOREPEAT...UNTILEXITጀ๥঴๥ई״గ߲঳ࠓ࿔Ԩևڦ࿔ጴă//ጀ๥(൩ለᄻ•๑ᆩጀ๥੗߸ඹᅟں঴๥঳ࠓ࿔Ԩă(*ጀ๥ਸ๔....ጀ๥঳ຐ*)ஓ437)•ጀ๥ܔ঳ࠓ࿔Ԩڦኴႜுᆶᆖၚă/*ጀ๥ਸ๔...ጀ๥঳ຐ*/•ጀ๥੗ᅜ؜၄ሞ঳ࠓ࿔Ԩዐڦඪࢆ࿋ዃă410؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cޯኵ๑ᆩޯኵ੗߸߀Քധా٪ئڦኵăޯኵڦᇕ݆සူǖՔധ:=՗ٳ๕;ഄዐǖፇॲ௮ຎՔധ՗๖ኟሞइڥႎኵڦՔധՔധՂႷྺBOOLĂSINTĂINTĂDINTईREAL:=ྺޯኵޙࡽ՗ٳ๕՗๖ॽႎኵኸۨߴՔധසࡕՔധ๟๟ኄዖຕ਍ૌ႙๑ᆩኄዖૌ႙ڦ՗ٳ๕BOOLքܻ՗ٳ๕SINT数值表达式ຕጴ՗ٳ๕INTDINTREAL;঳ຐޯኵՔധԍ׼໯ޯڦኵLj኱ڟଷᅃ߲ޯኵ߸߀޿ኵྺኹă՗ٳ๕੗ీ࢔०ڇLj૩සᅃ߲૬नኵईଷᅃ߲Քധఁ׬Ljᄺ੗ీࣷ࢔ްሗLjԈࡤܠ߲ሏ໙ޙࢅ/ईࡧຕă൩ለ՗ٳ๕DŽሞᄻஓ413ฉDžକ঴ၘ൧ăTIPI/Oఇ੷ຕ਍ᇑஇडڦኴႜ৊ႜᅴօ߸ႎăසࡕ౞ሞஇडዐܠْᆅᆩగ߲๼෇Ljሶփཞᆅᆩኮक़ڦ๼෇੗ీࣷ߀Վጒༀăසࡕ౞Ⴔᄲܔ௅ْᆅᆩڦ๼෇ਏᆶ၎ཞڦጒༀLj൩࣐؋๼෇ኵժᆅᆩ޿࣐؋Քധăᆶ࠲߸ܠ႑တLj൩ለň有关更多信息，请参阅《Logix5000Logix5000控制器通用程序੦዆ഗײႾཚᆩՊஓ๮ėLj؜Ӳࡽ编程手册》，出版号1756-PM0011756-PM001。ă൩ለ໭ᆅକ঴߸ܠ႑တă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ411\n޹୤C঳ࠓ࿔ԨՊײኸۨݥԍ׼ޯኵ؜ഗ዆੦ړْ௅ᇀሞLjཞփኵޯࡀ׉ڦຎ໯௬ฉᇑኵޯ׼ԍݥ၄ူ௬ڦ൧઄้Ljݥԍ׼ޯኵॽް࿋ྺଭă•๼෇ሏႜఇ๕•૗ਸSFCڦօႾLjසࡕ౞ॽSFCದዃྺጲۯް࿋(ኻᆶړ౞ॽޯኵഴ෇޿օႾڦፕLjईኁ๑ᆩ޿ፕཚࡗJSRኸସઠۙᆩ঳ࠓ࿔Ԩ૩ײ้Ljኄ֍๢ᆩDžăݥԍ׼ޯኵڦᇕ݆සူǖՔധ[:=]՗ٳ๕;ഄዐǖፇॲ௮ຎՔധ՗๖ኟሞइڥႎኵڦՔധՔധՂႷྺBOOLĂSINTĂINTĂDINTईREAL[:=]ྺݥԍ׼ޯኵޙࡽ՗ٳ๕՗๖ॽႎኵኸۨߴՔധසࡕՔധ๟๟ኄዖຕ਍ૌ႙๑ᆩኄዖૌ႙ڦ՗ٳ๕BOOLքܻ՗ٳ๕SINT数ຕጴ՗ٳ๕值表达式INTDINTREAL;঳ຐޯኵ412؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤CॽASCIIጴޙޯኵߴጴޙز๑ᆩޯኵሏ໙ޙ੗ॽASCIIጴޙኸۨߴగ߲ጴޙزՔധڦDATAׯᇵڦగ߲ᇮ໎ăᄲޯኵጴޙLj൩ኸۨጴޙڦኵईኁኸۨՔധఁ׬ĂDATAׯᇵᅜतጴޙᇮ໎ăਉ૩සူ:ኄᄣ੗ᅜኄᄣփ੗ᅜăstring1.DATA[0]:=65;string1.DATA[0]:=A;string1.DATA[0]:=string2.DATA[0];string1:=string2;ᄲཁेई෇ጴޙزڟጴޙزՔധዐLj൩๑ᆩူ௬ڦASCIIጴޙزኸସǖᄲ๑ᆩኄ߲ኸସॽጴޙཁेڟጴޙزڦ঳࿂CONCATॽጴޙ෇ጴޙزINSERT՗ٳ๕՗ٳ๕ฉᅃ߲Քധఁ׬Ăڪ๕ईԲডăᄲՊႀ՗ٳ๕Lj൩๑ᆩူ௬ඪᅃᇮ໎ǖ•٪ئኵڦՔധఁ׬DŽՎଉDž•౞኱থ๼෇ڦ๕ٳ՗ڟຕጴ(૬नኵ)•ࡧຕLj૩සǖABSĂTRUNC•ሏ໙ޙLj૩සǖ+,-,<Ă>ĂAndĂOrڦ௬ူቷፏ൩Lj้๕ٳ՗ႀՊ౞ړᅃӯࡀሶǖ•๑ᆩඪࢆٷႀࢅၭႀጴజፇࢇă૩සLjĐANDđڦኄෙዖՎࣅڦ๴থᅜ੗๟ۼǖANDĂAndĂandă•ܔᇀ߸ेްሗڦᄲ൱Lj൩๑ᆩᇶઔࡽॽ՗ٳ๕ాڦ՗ٳ๕ፇăኄᄣ੗๑ኝ߲՗ٳ๕߸ඹᅟሂ܈Ljԍኤ՗ٳӀቷ໯ထྭڦຩႾኴႜă൩ለĐඓڦႜኴۨຩႾđDŽሞᄻஓ419ฉDžă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ413\n޹୤C঳ࠓ࿔ԨՊײሞ঳ࠓ࿔ԨዐLj౞ॽ๑ᆩଇዖૌ႙ڦ՗ٳ๕ǖքܻ՗ٳ՗ڦ)्(0ई)ኈ(1ኵܻքׯิǖ๕ٳ๕ă•քܻ՗ٳ๕๑ᆩքܻՔധĂ࠲ဣሏ໙ޙࢅஇडሏ໙ޙઠԲডኵईኁॠཉॲ๟ኈ࣏๟्ă૩සLjtag1>65ă•०ڇڦքܻ՗ٳ๕੗ᅜ৽๟ᅃ߲քܻՔധă•ཚ׉Lj౞๑ᆩքܻ՗ٳ๕ઠยۨഄ໱இडኴႜڦཉॲă数值表达式ຕጴ՗ٳ๕ǖऺ໙ኝຕईޝۅኵڦ՗ٳ๕ă•ຕጴ՗ٳ๕๑ᆩ໙ຍሏ໙ޙĂ໙ຍࡧຕࢅӀ࿋ሏ໙ޙă૩සLj数值表达式tag1+5ă•ཚ׉Lj౞ࣷॽຕጴ՗ٳ๕ഴ༫ሞքܻ՗ٳ๕ాևă૩සLj数值表达式(tag1+5)>65ă๑ᆩူ՗ઠྺ౞ٳ՗ڦ๕჋ስሏ໙ޙǖසࡕ౞Ⴔᄲఫ஺ऺ໙໙ຍኵĐ“使用算术运算符和算数函数๑ᆩ໙ຍሏ໙ޙࢅࡧຕđLjሞ”ᄻஓ，在415页码ฉă415上。Բডଇ߲ኵईጴޙزĐ๑ᆩ࠲ဣሏ໙ޙđLjሞᄻஓ416ฉăॠཉॲ๟ኈ࣏๟्Đ๑ᆩஇडሏ໙ޙđLjሞᄻஓ418ฉăԲডኵాڦ࿋Đ๑ᆩӀ࿋ሏ໙ޙđLjሞᄻஓ419ฉă414؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤C使用算๑ᆩ໙数ຍ运算符和算ሏ໙ޙࢅ数ࡧ函ຕ数౞੗ᅜሞ໙ຍ՗ٳ๕ዐፇࢇܠ߲ሏ໙ޙࢅࡧຕă໙ຍሏ໙ޙࣷऺ໙ႎኵăᄲ๑ᆩኄ߲ሏ໙ޙፌॅຕ਍ૌ႙၎े+DINTĂREAL३݆/ൽ޶-DINTĂREALױ݆*DINTĂREALኸຕDŽXݛْYڦDž**DINTĂREAL၎أ/DINTĂREALఇຕأMODDINTĂREAL໙ຍࡧຕኴႜຕბሏ໙ăྺࡧຕኸۨ׉ຕĂݥքܻՔധई՗ٳ๕ăᄲइڥ๑ᆩኄ߲ࡧຕፌॅຕ਍ૌ႙ਨܔኵABS(numeric_expression)DINTĂREALݒᇆ၀ACOS(numeric_expression)REALݒኟ၀ASIN(numeric_expression)REALݒኟൎATAN(numeric_expression)REALᇆ၀COS(numeric_expression)REALࢷ܈ገ࣑ׯ܈DEG(numeric_expression)DINTĂREALጲ඗ܔຕLN(numeric_expression)REALڹྺ以10为底的对数10ڦܔຕLOG(numeric_expression)REAL܈ገ࣑ׯࢷ܈RAD(numeric_expression)DINTĂREALኟ၀SIN(numeric_expression)REALೝݛߵSQRT(numeric_expression)DINTĂREALኟൎTAN(numeric_expression)REALপTRUNC(numeric_expression)DINTĂREAL؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ415\n޹୤C঳ࠓ࿔ԨՊײਉ૩සူ:๑ᆩኄዖ߭๕๖૩ܔᇀኄዖ൧઄౞ॽՊႀvalue1ሏ໙ޙvalue2සࡕgain_4ࢅgain_4_adj๟DINTՔധLjgain_4_adj:=gain_4+15;ܸ൐౞ڦኸۨాඹྺǖĐॽ15ेฉgain_4Ljॽ঳ࡕ٪ئሞgain_4_adjዐăđሏ໙ޙvalue1සࡕalarmࢅhigh_alarm๟DINTՔധLjalarm:=-high_alarm;ܸ൐౞ڦኸۨాඹྺǖĐܔhigh_alarmൽݒLjॽ঳ࡕئ٪ሞalarmዐăđfunction(numeric_expression)සࡕovertravelࢅovertravel_POS๟overtravel_POS:=DINTՔധLjܸ൐౞ڦኸۨాඹྺǖĐऺ໙ABS(overtravel);overtravelڦਨܔኵLjॽ঳ࡕئ٪ሞovertravel_POSዐăđvalue1ሏ໙ޙසࡕadjustmentࢅposition๟DINTՔposition:=adjustment+(function((value2+value3)/2)ധLjsensor1ࢅsensor2๟REALՔധLjABS((sensor1+sensor2)/2);ܸ൐౞ڦኸۨాඹྺǖĐቴ؜sensor1ࢅsensor2ೝ਩ڦਨܔኵLjेฉadjustmentLjॽ঳ࡕ٪ئሞpositionዐăđ๑ᆩ࠲ဣሏ໙ޙ࠲ဣሏ໙ޙԲডଇ߲ኵईጴޙزLjժ༵ࠃ঳ࡕྺኈई्ă࠲ဣሏ໙ڦ঳ࡕ๟քܻኵǖසࡕԲড๟঳ࡕ๟ኈ1्0๑ᆩኄၵ࠲ဣሏ໙ޙǖܔᇀኄዖԲড๑ᆩኄ߲ሏ໙ޙፌॅຕ਍ૌ႙ڪᇀ=DINTĂREALĂጴޙزၭᇀDINTĂREALĂጴޙزٷᇀईڪᇀ>=DINTĂREALĂጴޙزփڪᇀ<>DINTĂREALĂጴޙز416؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cਉ૩සူ:๑ᆩኄዖ߭๕๖૩ܔᇀኄዖ൧઄౞ॽՊႀvalue1ሏ໙ޙvalue2සࡕtemp๟DINTՔധLjܸ൐౞ڦኸIFtemp<100THEN...ۨాඹྺǖĐසࡕtempၭᇀ100ÄÄLjఫ஺Ĺđstringtag1ሏ໙ޙstringtag2සࡕbar_codeࢅdest๟ጴޙزՔധLjIFbar_code=destTHEN...ܸ൐౞ڦኸۨాඹྺǖĐසࡕbar_codeڪᇀdestLjఫ஺Ĺđchar1ሏ໙ޙchar2සࡕbar_code๟ጴޙزՔധLjܸ൐౞IFbar_code.DATA[0]=65THEN...ڦኸۨాඹྺǖĐසࡕᄲॽASCIIጴޙ኱থ๼෇՗ٳ๕Ljbar_code.DATA[0]ڪᇀďAďLjఫ஺൩๼෇ጴޙڦๆ৊዆ኵăĹđbool_tag:=bool_expressionsසࡕcountࢅlength๟DINTՔധLjdone:=(count>=length);done๟BOOLՔധLjܸ൐౞ڦኸۨాඹྺǖĐසࡕcountٷᇀईڪᇀlengthLj౞ॽdoneऺຕăđጴޙزසࢆൽኵASCIIጴޙڦๆୃ৊዆ኵඓۨକᅃ߲ጴޙز๟ޏၭᇀईٷᇀଷᅃ߲ጴޙزă•ړଇ߲ጴޙزሞۉࣆణ୤ዐಇႾ้LjጴޙزڦຩႾਦۨన߲߸ٷăASCIIጴޙๆୃ৊዆Պஓ1ab$31$61$62߸߸1b$31$62ၭٷA$41AB$41$42ABBab$61$62•ጴޙزڦጴޙසࡕ၎ཞLjሶጴޙز၎ڪă•ጴޙྺ൶ڦႀၭᇀڪփ)41$(đAĐڦႀٷăႀၭٷĐađ($61)ă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ417\n޹୤C঳ࠓ࿔ԨՊײ๑ᆩஇडሏ໙ޙஇडሏ໙ޙඟ౞ॠܠ߲ཉॲ๟ኈ࣏๟्ăஇडሏ໙ڦ঳ࡕ๟քܻኵǖසࡕԲড๟঳ࡕ๟ኈ1्0๑ᆩኄၵஇडሏ໙ޙǖᆶ࠲๑ᆩኄ߲ሏ໙ޙຕ਍ૌ႙இडᇑ&ĂANDBOOLஇडईईBOOLஇडᅴईXORBOOL逻辑取反இड൱ցNOTBOOLਉ૩සူ:๑ᆩኄዖ߭๕๖૩ܔᇀኄዖ൧઄౞ॽՊႀBOOLtagසࡕphotoeye๟BOOLՔധLjܸ൐౞ڦኸۨIFphotoeyeTHEN...ాඹྺǖĐසࡕphotoeye_1ٶਸLjఫ஺ĹđNOTBOOLtagසࡕphotoeye๟BOOLՔധLjܸ൐౞ڦኸۨIFNOTphotoeyeTHEN...ాඹྺǖĐසࡕphotoeye࠲ԿLjఫ஺Ĺđexpression1&expression2සࡕphotoeye๟BOOLՔധLjtemp๟DINTIFphotoeye&(temp<100)ՔധLjܸ൐౞ڦኸۨాඹྺǖĐසࡕphotoeyeTHEN...ٶਸܸ൐tempၭᇀ100ÄÄLjఫ஺Ĺđexpression1ORexpression2සࡕphotoeye๟BOOLՔധLjtemp๟DINTIFphotoeyeOR(temp<100)ՔധLjܸ൐౞ڦኸۨాඹྺǖĐසࡕphotoeyeTHEN...ٶਸईኁtempၭᇀ100ÄÄLjఫ஺Ĺđexpression1XORexpression2සࡕphotoeye1ࢅphotoeye2๟BOOLՔIFphotoeye1XORphotoeye2ധLjܸ൐౞ڦኸۨాඹྺǖĐසࡕǖTHEN...•photoeye1ٶਸཞ้photoeye2࠲ԿLjईኁ•photoeye1࠲Կཞ้photoeye2ٶਸLjఫ஺ĹđBOOLtag:=expression1&සࡕphotoeye1ࢅphotoeye2๟BOOLՔopen:=photoeye1&photoeye2;expression2ധLjopen๟BOOLՔധLjܸ൐౞ڦኸۨాඹྺǖĐසࡕphotoeye1ࢅphotoeye2ཞ้ٶਸLjॽopenยዃྺኈđă418؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤C๑ᆩӀ࿋ሏ໙ޙӀ࿋ሏ໙ޙएᇀଇ߲ኵઠت૙గ߲ኵాڦ࿋ăᆶ࠲๑ᆩኄ߲ሏ໙ޙፌॅຕ਍ૌ႙Ӏ࿋ᇑ&ĂANDDINTӀ࿋ईईDINTӀ࿋ᅴईXORDINTӀ࿋൱ցNOTDINTਉ૩සူ:๑ᆩኄዖ߭๕๖૩ܔᇀኄዖ൧઄౞ॽՊႀvalue1ሏ໙ޙvalue2සࡕinput1Ăinput2ࢅresult1๟DINTՔധLjresult1:=input1ANDinput2;ܸ൐౞ڦኸۨాඹྺǖĐऺ໙input1ࢅinput2ڦӀ࿋঳ࡕLjॽ঳ࡕئ٪ሞresult1ዐăđඓڦႜኴۨຩႾ౞ႀڟ՗ٳ๕ዐڦሏ໙ޙӀቷࡀۨڦຩႾኴႜLjܸփᅃۨ๟ٗፑڟᆸă•၎ڟፑٗྺ໙ሏڦႾຩڪᆸኴႜă•සࡕ՗ٳ๕Ԉࡤܠ߲ሏ໙ޙईࡧຕLj൩ॽཉॲᆩᇶઔࡽĐ()đ৊ႜፇăኄᄣԍኤኴႜຩႾኟඓLjժ๑՗ٳ๕ڦሂ܈߸ेඹᅟăຩႾፕ1.()2.ࡧຕ(Ĺ)3.**4.-(൱ݒ)5.NOT6.*,/,MOD7.+,-(३݆)8.<,<=,>,>=9.=,<>10.&ĂAND11.XOR12.OR؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ419\n޹୤C঳ࠓ࿔ԨՊײኸସ঳ࠓ࿔Ԩᇕਔᄺ੗ᅜ๟ኸସă൩ለԨ๮ਸཀྵتڦۨ࿋ഗ՗߭Ljକ঴੗ᆩᇀ঳ࠓ࿔Ԩڦኸସଚ՗ă঳ࠓ࿔Ԩኸସሞ௅ْԥ෢௮้ኴႜă࿋ᇀࠓሰాڦ঳ࠓ࿔Ԩኸସሞ௅ْࠓሰཉॲྺኈ้ኴႜăසࡕࠓሰڦཉॲྺ्Ljሶࠓሰాևڦᇕਔփԥ෢௮ăுᆶ༱पཉॲईጒༀገ࣑ઠة݀ኴႜăኄᇑ๑ᆩEnableInઠة݀ኴႜڦࠀీ੷ኸସᆶ໯փཞăසࡕEnableInԥ๔ዕยዃLj঳ࠓ࿔Ԩኸସॽࣷኴႜăኄᇑ๑ᆩ༱प๼෇ཉॲઠۉीڦႜኴ݀ةഗ༱ႚ཮ኸସᄺᆶ໯փཞă梯形图గၵीۉഗ༱ႚ཮ኸସኻሞ༱प๼෇ཉॲ्ٗൎ࣑ڟኈ้ኴႜăኄၵ梯形图๟ࡗ܉Ⴀीۉഗ༱ႚ཮ኸସăሞ঳ࠓ࿔ԨዐLjኸସॽሞ௅ْԥ෢௮ڟ梯形图้ኴႜLjأݥ౞ᇨံยዃ঳ࠓ࿔Ԩኸସڦኴႜཉॲă૩සLjABLኸସ๟ीۉഗ༱ႚ཮ዐڦᅃཉࡗ܉Ⴀኸସăሞኄ߲๖૩梯形图转换指令ዐLjABLኸସৈሞtag_xicٗԥأࡗ܉ڟԥยዃ้ኴႜăABLኸସሞړtag_xicԍ׼ยዃጒༀईኁtag_xicԥأ้փࣷኴႜăሞ঳ࠓ࿔ԨዐLjසࡕ౞Պႀူ௬ڦ๖૩ǖIFtag_xicTHENABL(0,serial_control);END_IF;ABLኸସॽሞtag_xicԥยዃړৈৈփܸLjႜኴ้௮෢ْ௅ڦtag_xicٗԥأࡗ܉ڟԥยዃ้ă420؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cසࡕ౞ထྭABLኸସৈሞtag_xicٗԥأࡗ܉ڟԥยዃ้ኴႜLjሶՂႷྺ঳ࠓ࿔Ԩኸସยۨཉॲă๑ᆩڇْઠة݀ኴႜă使用单次触发来触发执行。osri_1.InputBit:=tag_xic;OSRI(osri_1);IF(osri_1.OutputBit)THENABL(0,serial_control);END_IF;ࠓሰࠓሰ੗ᅜڇ܀ՊײLjᄺ੗ᅜഴ༫ᇀഄ໱ࠓሰాևăstructs.සࡕ౞Ⴔᄲ๑ᆩኄዖࠓሰ༵在以下语言中可用ࠃڦᇕჾ९ᄻஓසࡕईኁړ༬ۨཉॲ݀ิ้ፔగ๚IF...THEN঳ࠓ࿔Ԩ422ߵ਍గ߲ຕጴኵઠ჋ስᄲፔڦాඹCASE...OF঳ࠓ࿔Ԩ425ፔగ߲๚൧༬ڦፔምࢫ඗LjຕْڦۨFOR...DO঳ࠓ࿔Ԩ428๚൧ԍ׼ᅃ኱ፔగ๚LjኻᄲగၵཉॲྺኈWHILE...DO঳ࠓ࿔Ԩ431ԍ׼ᅃ኱ፔగ๚Lj኱ڟగ߲ཉॲྺኈREPEAT...UNTIL঳ࠓ࿔Ԩ434և࠲॰ጴྺᇨାྺॽઠ๑ᆩኄၵࠓሰփ੗ᆩǖ•GOTO•REPEATRSLogix5000෉ॲॽփࣷඟ౞๑ᆩ໲்ă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ421\n޹୤C঳ࠓ࿔ԨՊײIF...THEN๑ᆩIFĹTHENሞසࡕईړ༬ۨཉॲ݀ิ้ፔగ๚ăፕຕǖ঳ࠓ࿔ԨIFbool_expressionTHENፕຕૌ႙߭๕๼෇;bool_BOOLՔധܔքܻኵDŽքܻ՗ٳ๕Dž൱ኵڦ՗ٳ๕՗ٳ๕քܻՔധई՗ٳ๕END_IF;ຫ௽ǖᇕ݆සူǖIFbool_expression1THEN;ړbool_expression1ྺኈ้ᄲኴႜڦᇕਔ...ELSIFbool_expression2THEN੗჋;ړbool_expression2ྺኈ้ᄲኴႜڦᇕਔ...ELSE੗჋;ړଇ߲՗ٳ๕ۼྺ्้ᄲኴႜڦᇕਔ...END_IF;ᄲ๑ᆩELSIFईELSELj൩ፏቷᅜူኸڞᇱሶǖ1.ᄲٗब߲੗ీڦᇕਔፇዐ৊ႜ჋ስLj൩ཁेᅃ߲ईܠ߲ELSIFᇕਔă•௅߲ELSIFپ՗ᅃ߲჋ስୟ০ă•ߵ਍Ⴔᄲኸۨܠ߲ELSIFୟ০ă•੦዆ഗኴႜڼᅃ߲ྺኈڦIFईELSIFLjཌࡗഄᇆڦELSIFᅜतELSEă2.ᄲሞ໯ᆶڦIFईELSIFཉॲྺ्้ፔగ๚Lj൩ཁेᅃ߲ELSEᇕਔă422؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cኄ߲՗ࣹ߭ጺକIFĂTHENĂELSIFᅜतELSEڦፇࢇăසࡕ౞Ⴔᄲܸ൐ఫ஺๑ᆩኄዖࠓሰසࡕईኁړཉॲྺኈ้ፔగ๚සࡕཉॲྺ्้ፔగ๚IFĹTHENޏሶසࡕཉॲྺ्้ፔగ๚IFĹTHENĹESLEߵ਍๼෇ཉॲٗ੗჋ᇕਔDŽईසࡕཉॲྺ्้ፔగ๚IFĹTHENĹELSIFኁᇕਔፇDžዐ჋ስසࡕ໯ᆶཉॲྺ्ሶޯኵఐණᇕIFĹTHENĹELSIFĹਔELSE໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮૩1ǖIFĹTHENසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔Ԩසࡕrejects>3Ljఫ஺IFrejects>3THENconveyor=off(0)conveyor:=0;alarm=on(1)alarm:=1;END_IF;૩2ǖIFĹTHENĹELSEසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔Ԩසࡕدໃټݛၠةۅ=ኟၠ(1)Ljఫ஺IFconveyor_directionTHENlight=offlight:=0;ޏሶlight=onELSElight[:=]1;END_IF;[:=]ߢ໕੦዆ഗ௅أ้઄൧ူᅜ၄؜ഗ዆੦ړlightǖ•๼෇ሏႜఇ๕•૗ਸSFCڦօႾLjසࡕ౞ॽSFCದዃྺጲۯް࿋(ኻᆶړ౞ॽޯኵഴ෇޿օႾڦፕLjईኁ๑ᆩ޿ፕཚࡗJSRኸସઠۙᆩ঳ࠓ࿔Ԩ૩ײ้Ljኄ֍๢ᆩDžă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ423\n޹୤C঳ࠓ࿔ԨՊײ૩3ǖIFĹTHENĹELSIFසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔Ԩසࡕ༛܈گ=࠲ਸ၌گDŽਸDžժ൐༛܈ߛ၌ਸIFSugar.Low&Sugar.HighTHEN࠲=փߛDŽਸDžLjఫ஺非高෇੨݅=ٶਸDŽਸDžSugar.Inlet[:=]1;኱ڟ༛܈ߛ၌ਸ࠲=ߛDŽ࠲DžELSIFNOT(Sugar.High)THENSugar.Inlet:=0;END_IF;[:=]ߢ໕੦዆ഗ௅أ้઄൧ူᅜ၄؜ഗ዆੦ړSugar.Inletǖ•๼෇ሏႜఇ๕•૗ਸSFCڦօႾLjසࡕ౞ॽSFCದዃྺጲۯް࿋(ኻᆶړ౞ॽޯኵഴ෇޿օႾڦፕLjईኁ๑ᆩ޿ፕཚࡗJSRኸସઠۙᆩ঳ࠓ࿔Ԩ૩ײ้Ljኄ֍๢ᆩDžă૩4ǖIFĹTHENĹELSIFĹELSEසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔Ԩසࡕඹഗ࿒܈箱体温度>100IFtank.temp>200THENఫ஺ԭ=஥pump.fast:=1;pump.slow:=0;pump.off:=0;සࡕඹഗ࿒܈箱体温度>200ELSIFtank.temp>100THENఫ஺ԭ=੺pump.fast:=0;pump.slow:=1;pump.off:=0;ޏሶԭ=࠲ԿELSEpump.fast:=0;pump.slow:=0;pump.off:=1;END_IF;424؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤CCASE...OF๑ᆩCASE੗ߵ਍గ߲ຕጴኵઠ჋ስᄲፔڦాඹăፕຕǖ঳ࠓ࿔ԨCASEnumeric_expressionOFፕຕૌ႙߭๕๼෇selector1:statement;numeric_SINTՔധྺగ߲ຕጴDŽຕጴ՗ٳ๕Džൽኵ(数值表达式)՗ٳ๕INT՗ٳ๕ڦՔധई՗ٳ๕selectorN:statement;DINTREALELSE჋ስഗSINT૬नᇑnumeric_expressionૌ႙၎ཞINTDINTREAL重要提示IMPORTANTසࡕ౞๑ᆩREALኵLjሶྺ჋ስഗ๑ᆩᅃ߲ኵݔྷLjᅺྺREALኵݥ׉੗ీ࿋ᇀᅃ߲ኵݔྷాLjܸփ๟ጚඓڦగ߲༬ۨኵăຫ௽ǖᇕ݆සူǖCASEnumeric_expressionOFselector1:;ړnumeric_expression=.selector1้ᄲኴႜڦᇕਔ..selector2:;ړnumeric_expression=੗ߵ਍Ⴔᄲ዆ۨܠ߲.selector2้ᄲኴႜڦᇕਔ჋ስႠڦ჋ስഗኵ.DŽୟ০Dž.selector3:;ړnumeric_expression=.selector3้ᄲኴႜڦᇕਔ..ELSE;ړnumeric_expressionඪ੗჋.ࢆ჋ስഗ้ᄲኴႜڦᇕਔ..END_CASE;൩ለူᄻฉڦ՗߭କ঴ᆶၳڦ჋ስഗኵă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ425\n޹୤C঳ࠓ࿔ԨՊײ๼෇჋ስഗኵڦᇕ݆සူǖړ჋ስഗྺ๼෇ᅃ߲ኵvalue:statementܠ߲૗ڦኵvalue1,value2,valueN:๑ᆩۺࡽ(,)ઠ߲߰߳ኵăኵڦݔྷvalue1...valueN:๑ᆩଇ߲ۅࡽ(..)ઠ๎ݔྷăݔڦኵฉेኵڦ૗ྷvaluea,valueb,value1...valueN:CASEࠓሰڍਔᇕ࠲ਸڦዐჾᇕײՊ++CईCᇀຼૌ׉ݥ๟Lj๑ᆩCASEᇕਔLj੦዆ഗৈኴႜᇑڼᅃ߲೅ದڦ჋ስഗኵ၎࠲ڦᇕਔăሞ޿჋ስഗڦᇕਔᅜࢫLjኴႜ๔ዕࣷዐLjժገڟEND_CASEᇕਔă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ࿮426؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤C๖૩සࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔ԨසࡕದݛՊࡽ=1Ljఫ஺CASErecipe_numberOFׯٶ=1੨؜Aਸ(1)1:Ingredient_A.Outlet_1:=1;ׯٶ=4੨؜Bਸ(1)Ingredient_B.Outlet_4:=1;සࡕದݛՊࡽ=2ई3Ljఫ஺2,3:Ingredient_A.Outlet_4:=1;ׯٶ=4੨؜Aਸ(1)Ingredient_B.Outlet_2:=1;ׯٶ=2੨؜Bਸ(1)සࡕದݛՊࡽ=4Ă5Ă6ई7Ljఫ஺4..7:Ingredient_A.Outlet_4:=1;ׯٶ=4੨؜Aਸ(1)Ingredient_B.Outlet_2:=1;ׯٶ=2੨؜Bਸ(1)සࡕದݛՊࡽ=8Ă11Ă12ई13Ljఫ஺8,11..13Ingredient_A.Outlet_1:=1;ׯٶ=1੨؜Aਸ(1)Ingredient_B.Outlet_4:=1;ׯٶ=4੨؜Bਸ(1)ޏሶ໯ᆶ؜੨=࠲Կ(0)ELSEIngredient_A.Outlet_1[:=]0;Ingredient_A.Outlet_4[:=]0;Ingredient_B.Outlet_2[:=]0;Ingredient_B.Outlet_4[:=]0;END_CASE;[:=]ߢ໕੦዆ഗ௅؜أ้࣏ཞ้઄൧ူᅜ၄؜ഗ዆੦ړ੨Քധǖ•๼෇ሏႜఇ๕•૗ਸSFCڦօႾLjසࡕ౞ॽSFCದዃྺጲۯް࿋(ኻᆶړ౞ॽޯኵഴ෇޿օႾڦፕLjईኁ๑ᆩ޿ፕཚࡗJSRኸସઠۙᆩ঳ࠓ࿔Ԩ૩ײ้Ljኄ֍๢ᆩDžă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ427\n޹୤C঳ࠓ࿔ԨՊײFORĹDO๑ᆩFORĹDOთ࣍ፔగ߲๚൧༬ڦፔምࢫ඗Ljຕْڦۨ๚൧ăፕຕǖ঳ࠓ࿔ԨFORcount:=initial_valueTOfinal_valueBYincrementDOፕຕૌ႙߭๕௮ຎْዐײࡗႜኴODĹROF٪ئധՔSINTຕْຕ;INT࿋ዃڦՔധDINTEND_FOR;initial_valueSINTՔധՂႷൽኵྺຕጴINT՗ٳ๕DINT૬नኸْۨຕڦ؛๔ኵfinal_valueSINTՔധኸْۨຕڦፌዕኵLjኄਦۨକࢆINT՗ٳ๕้ཽ؜თ࣍DINT૬नሺଉSINTՔധ(੗჋)௅ْཚࡗთ้࣍ڿሺْຕINT՗ٳ๕ڦଉDINT૬नසࡕ౞փኸۨሺଉLjሶْຕӀ1ڿሺă重要提示IMPORTANTඓْܠࡗپ۞ևా࣍თሞዐ௮෢ْᅃሞᄲփۨຕă•੦዆ഗփࣷኴႜ૩ײዐڟ኱Ljਔᇕ໱ഄࢆඪڦ໲ྜׯთ࣍ྺኹă•සࡕྜׯთ࣍໯Ⴔڦ้क़ٷᇀੂோࠑܔඪခڦ้ۨഗLjሶ؜၄ዘᄲࠤቱă•൩੊୯๑ᆩഄ໱ࠓሰLj૩සIF...THENăຫ௽ǖᇕ݆සူǖFORcount:=initial_valueTOfinal_value੗჋{BYincrementසࡕ౞փኸڿ1Ӏ࣍თሶLjଉሺۨሺăDO;IFbool_expressionTHENEXIT;සࡕᆶ౞ၙᄲ༵മཽڦ࣍თ؜ཉ੗჋ॲLj൩๑ᆩഄ໱ᇕਔLj૩සEND_IF;IF...THENࠓሰLjઠยۨEXITᇕਔڦཉॲăEND_FOR;428؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cኄၵ཮၂๖କFOR...DOთ࣍ڦኴႜݛ๕LjᅜतEXITᇕਔසࢆ༵മ૗ਸთ࣍ăྜׯxْକ๟ྜׯxْକ๟஘Ǜ஘Ǜ࿮࿮ᇕਔ1ᇕਔ1ᇕਔ2ᇕਔ2ᇕਔ3ᇕਔ3ᇕਔ4ᇕਔ4Ö๟૩ײڦഄᇆև࿮૩ײڦഄᇆևFORĹDOთ࣍ኴႜ༬ۨڦْຕăᄲሞْຕٳڟፌࢫڦኵኮമዕኹთ࣍Lj൩๑ᆩEXITᇕਔă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ؜၄ዘᄲࠤቱLjසࡕࠤቱૌ႙ࠤቱپஓࠓሰთ࣍ࡗ׊61૩1ǖසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔Ԩأඪࢆքܻຕፇዐڦ࿋0-31ǖForsubscript:=0to31by1doarray[subscript]:=0;1.ॽူՔՔധ؛๔ࣅྺ0ăEnd_for;2.أຕፇ[ူՔ]ă૩සLjړူՔ=5้Ljأຕፇ[5]ă3.ॽူՔे1ă4.සࡕူՔ31Ljሶዘް2ࢅ3ăޏሶLjཕኹă૩2ǖ؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ429\n޹୤C঳ࠓ࿔ԨՊײසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔Ԩᆩࢽጲڦ౞ئ٪)ࠓ঳(႙ૌ਍ຕᅭۨੰాగॲSIZE(Inventory,0,Inventory_Items);࿿೗ڦ၎࠲႑တǖForposition:=0toInventory_Items-1do•޿࿿೗ڦཉႚஓIDDŽጴޙزຕ਍ૌ႙DžIfBarcode=Inventory[position].IDthen•޿࿿೗ڦੰ٪ຕଉ(DINTຕ਍ૌ႙)Quantity:=Inventory[position].Qty;ฉຎ঳ࠓຕፇྺ౞ڦੰా௅ॲփཞ࿿೗Ԉࡤᅃ߲Exit;ᇮ໎ă౞ထྭٗຕፇዐ໇໭గ༬༬ۨ೗DŽ๑ᆩഄEnd_if;ཉႚஓDžLjժඓ٪ੰഄۨຕଉăEnd_for;1.इൽੰ٪ຕፇڦٷၭ(࿿೗ॲຕ)Ljժॽ঳ࡕ٪ئሞInventory_Itemsా(DINTՔധ)ă2.ॽ࿋ዃՔധ؛๔ࣅྺ0ă3.සࡕཉႚஓ೅ದຕፇాڦగॲ࿿೗IDLjఫ஺ǖa.ยዃຕଉՔധ=Inventory[position].Qtyăኄॽิׯ࿿೗ڦੰ٪ຕଉăb.ཕኹăཉႚஓ๟ᅃ߲ጴޙڦ໭໇ሞኟ౞ئ٪LjധՔز࿿೗ڦཉႚஓă૩සLjړ࿋ዃ=5้LjॽཉႚஓᇑInventory[5].ID৊ႜԲডă4.ॽ࿋ዃे1ă5.සࡕ࿋ዃ(Inventory_Items-1)Ljዘް3ࢅ4ăᆯᇀᇮ໎Պࡽٗ0ਸ๔Ljፌࢫᅃ߲ᇮ໎ᄲԲຕፇాᇮ໎߲ຕณ1ăޏሶLjཕኹă430؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤CWHILEĹDO๑ᆩWHILEĹDOთ࣍ԍ׼ᅃ኱ፔగ๚Ljኻᄲగၵཉॲྺኈăፕຕǖ঳ࠓ࿔ԨWHILEbool_expressionDOፕຕૌ႙߭๕๼෇;bool_BOOLՔധܔքܻኵ൱ኵٳ՗ईധՔܻքڦ՗ٳ๕՗ٳ๕๕END_WHILE;IMPORTANT重要提示ඓْܠࡗپ۞ևా࣍თሞዐ௮෢ْᅃሞᄲփۨຕă•੦዆ഗփࣷኴႜ૩ײዐڟ኱Ljਔᇕ໱ഄࢆඪڦ໲ྜׯთ࣍ྺኹă•සࡕྜׯთ࣍໯Ⴔڦ้क़ٷᇀੂோࠑܔඪခڦ้ۨഗLjሶ؜၄ዘᄲࠤቱă•൩੊୯๑ᆩഄ໱ࠓሰLj૩සIF...THENăຫ௽ǖᇕ݆සူǖWHILEbool_expression1DO;ړbool_expression1ྺኈ้ᄲኴႜڦᇕਔIFbool_expression2THENEXIT;සࡕᆶ౞ၙᄲ༵മཽڦ࣍თ؜ཉ੗჋ॲLj൩๑ᆩഄ໱ᇕਔLj૩සEND_IF;IF...THENࠓሰLjઠยۨEXITᇕਔڦཉॲăEND_WHILE;؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ431\n޹୤C঳ࠓ࿔ԨՊײኄၵ཮၂๖କWHILE...DOთ࣍ڦኴႜݛ๕LjᅜतEXITᇕਔසࢆ༵മ૗ਸთ࣍ă््քܻ՗ٳ๕քܻ՗ٳ๕ኈኈᇕਔ1ᇕਔ1ᇕਔ2ᇕਔ2ᇕਔ3ᇕਔ3ᇕਔ4ᇕਔ4Ö๟૩ײڦഄᇆև࿮૩ײڦഄᇆևړbool_expressionྺኈ้Lj੦዆ഗৈኴႜᄲሞཉॲྺኈኮമዕኹთ࣍Lj൩๑ᆩEXITᇕਔăWHILEĹDOთ࣍ాڦᇕਔă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ؜၄ዘᄲࠤቱLjසࡕࠤቱૌ႙ࠤቱپஓࠓሰთ࣍ࡗ׊61૩1ǖසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔ԨWHILE...DOთ࣍ံೠࠚഄཉॲăසࡕཉॲྺኈLjpos:=0;ఫ஺੦዆ഗ৽ኴႜWHILEĹDOთ࣍ాڦᇕਔăWhile((pos<=100)&structarray[pos].value<>targetvalue))doኄփཞᇀREPEAT...UNTILთ࣍Ljᅺྺpos:=pos+2;REPEAT...UNTILთ࣍ኴႜࠓሰዐڦᇕਔLj඗ࢫඓۨཉॲ๟ޏྺኈࢫምઠኴႜኄၵᇕਔăString_tag.DATA[pos]:=SINT_array[pos];REPEAT...UNTILთ࣍ዐڦᇕਔ๔ዕࣷԥ዁ณኴႜend_while;ᅃْăWHILE...DOთ࣍ዐڦᇕਔ੗ీࣷᆩփኴႜă432؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤C૩2ǖසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔ԨॽASCIIጴޙٗSINTຕፇᅎڟጴޙزՔധాă(element_number:=0;ሞSINTຕፇዐLj௅߲ᇮ໎ඹభᅃ߲ጴޙă)ڟ౞ړSIZE(SINT_array,0,SINT_array_size);ٳ࣮כޙ้ཕኹăWhileSINT_array[element_number]<>13do1.ॽElement_number؛๔ࣅྺ0ăString_tag.DATA[element_number]:=SINT_array[element_number];2.ຕ؜SINT_array(ԈࡤASCIIጴޙڦຕፇ)ዐᇮelement_number:=element_number+1;໎ئ٪ࠓ঳ॽLjຕ߲ڦሞSINT_array_size(DINTՔധ)ాăString_tag.LEN:=element_number;Ifelement_number=SINT_array_sizethen3.සࡕSINT_array[element_number]تڦጴޙ=13(࣮כޙڦๆ৊዆ኵ)Ljఫ஺ཕኹăexit;end_if;4.ยዃString_tag[element_number]=SINT_array[element_number]تڦጴޙăend_while;5.ॽelement_numberे1ăኄᄣඟ੦዆ഗॠSINT_arrayዐڦူᅃ߲ጴޙă6.ยዃString_tagڦ׊܈ׯᇵ=element_numberă(ኄऻ୤କణമྺኹString_tagాڦጴޙ߲ຕă)7.සࡕelement_number=SINT_array_sizeLjఫ஺ཕኹă(౞၄ሞ࿋ᇀຕፇ঳࿂Ljُتփࡤ࣮כޙă)8.ገڟ3ă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ433\n޹୤C঳ࠓ࿔ԨՊײREPEATĹUNTIL๑ᆩREPEATĹUNTILთ࣍ԍ׼ᅃ኱ፔగ๚Lj኱ڟཉॲྺኈྺኹăፕຕǖ঳ࠓ࿔ԨREPEATፕຕૌ႙߭๕๼෇;bool_BOOLՔധܔքܻኵDŽքܻ՗ٳ๕Dž൱ኵڦUNTILbool_expression՗ٳ๕՗ٳ๕քܻՔധई՗ٳ๕END_REPEAT;重要提示IMPORTANTඓْܠࡗپ۞ևా࣍თሞዐ௮෢ْᅃሞᄲփۨຕă•੦዆ഗփࣷኴႜ૩ײዐڟ኱Ljਔᇕ໱ഄࢆඪڦ໲ྜׯთ࣍ྺኹă•සࡕྜׯთ࣍໯Ⴔڦ้क़ٷᇀੂோࠑܔඪခڦ้ۨഗLjሶ؜၄ዘᄲࠤቱă•൩੊୯๑ᆩഄ໱ࠓሰLj૩සIF...THENăຫ௽ǖᇕ݆සူǖREPEAT;ړbool_expression1ྺ्้ᄲኴႜڦᇕਔIFbool_expression2THENEXIT;සࡕᆶ౞ၙᄲ༵മཽڦ࣍თ؜ཉ੗჋ॲLj൩๑ᆩഄ໱ᇕਔLj૩සEND_IF;IF...THENࠓሰLjઠยۨEXITᇕਔڦཉॲăUNTILbool_expression1END_REPEAT;434؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cኄၵ཮၂๖କREPEAT...UNTILთ࣍ڦኴႜݛ๕LjᅜतEXITᇕਔසࢆ༵മ૗ਸთ࣍ăᇕਔ1ᇕਔ1ᇕਔ2ᇕਔ2ᇕਔ3ᇕਔ3ᇕਔ4ᇕਔ4ኈÖ๟քܻ՗ٳ๕࿮्ኈքܻ՗ٳ๕૩ײڦഄᇆև्૩ײڦഄᇆևړbool_expressionྺ्้Lj੦዆ഗৈኴႜᄲሞཉॲྺ्ኮമዕኹთ࣍Lj൩๑ᆩEXITᇕਔăREPEATĹUNTILთ࣍ాڦᇕਔă໙ຍጒༀՔऻǖփ๴ᆖၚࠤቱཉॲǖ؜၄ዘᄲࠤቱLjසࡕࠤቱૌ႙ࠤቱپஓࠓሰთ࣍ࡗ׊61૩1ǖසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔ԨREPEAT...UNTILთ࣍ኴႜࠓሰዐڦᇕਔLj඗ࢫඓpos:=-1;ۨཉॲ๟ޏྺኈࢫምઠኴႜኄၵᇕਔăREPEATኄփཞᇀWHILE...DOთ࣍LjᅺྺWHILE...DOთpos:=pos+2;࣍ࣷံೠࠚഄཉॲăසࡕཉॲྺኈLjఫ஺੦዆ഗ৽UNTIL((pos=101)OR(structarray[pos].value=ኴႜWHILEĹDOთ࣍ాڦᇕਔătargetvalue))REPEAT...UNTILთ࣍ዐڦᇕਔ๔ዕࣷԥ዁ณኴႜend_repeat;ᅃْăWHILE...DOთ࣍ዐڦᇕਔ੗ీࣷᆩփኴႜă؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ435\n޹୤C঳ࠓ࿔ԨՊײ૩2ǖසࡕ౞Ⴔᄲ๼෇ኄ߲঳ࠓ࿔ԨॽASCIIጴޙٗSINTຕፇᅎڟጴޙزՔധాă(element_number:=0;ሞSINTຕፇዐLj௅߲ᇮ໎ඹభᅃ߲ጴޙă)ڟ౞ړSIZE(SINT_array,0,SINT_array_size);ٳ࣮כޙ้ཕኹăRepeat1.ॽElement_number؛๔ࣅྺ0ăString_tag.DATA[element_number]:=SINT_array[element_number];2.ຕ؜SINT_array(ԈࡤASCIIጴޙڦຕፇ)ዐᇮelement_number:=element_number+1;໎ئ٪ࠓ঳ॽLjຕ߲ڦሞSINT_array_size(DINTՔധ)ాăString_tag.LEN:=element_number;Ifelement_number=SINT_array_sizethen3.ยዃString_tag[element_number]=SINT_array[element_number]تڦጴޙăexit;end_if;4.ॽelement_numberे1ăኄᄣඟ੦዆ഗॠSINT_arrayዐڦူᅃ߲ጴޙăUntilSINT_array[element_number]=13end_repeat;5.ยዃString_tagڦ׊܈ׯᇵ=element_numberă(ኄऻ୤କణമྺኹString_tagాڦጴޙ߲ຕă)6.සࡕelement_number=SINT_array_sizeLjఫ஺ཕኹă(౞၄ሞ࿋ᇀຕፇ঳࿂Ljُتփࡤ࣮כޙă)7.සࡕSINT_array[element_number]تڦጴޙ=13(࣮כޙڦๆ৊዆ኵ)Ljఫ஺ཕኹăޏሶLjገڟ3ă436؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n঳ࠓ࿔ԨՊײ޹୤Cጀ๥ᄲඟ౞ڦ঳ࠓ࿔Ԩ߸ඹᅟ঴๥Lj൩ၠഄዐཁेጀ๥ă•ጀ๥੗ඟ౞๑ᆩ೵ཚᇕჾઠ঻ถ౞ڦ঳ࠓ࿔Ԩසࢆ߾ፕă•ጀ๥ܔ঳ࠓ࿔Ԩڦኴႜுᆶᆖၚă঳ࠓ࿔Ԩጀ๥ԥူሜڦ౞ၠᄲăሜฉᇀᆩ੗Ljዐ٪ాഗ዆੦ڟ঳ࠓ࿔Ԩዐཁेጀ๥ǖᄲཁेጀ๥๑ᆩူ௬ᅃዖ߭๕ሞᅃႜా//ጀ๥ሞ঳ࠓ࿔Ԩႜت࿂঳ڦ(*ጀ๥*)/*ጀ๥*/ሞ঳ࠓ࿔Ԩཞᅃႜా(*ጀ๥*)/*ጀ๥*/ܠႜ(*ጀ๥ਸ๔....ጀ๥঳ຐ*)/*ጀ๥ਸ๔...ጀ๥঳ຐ*/ਉ૩සူ:߭๕๖૩//ጀ๥ሞႜڦਸཀྵت//ॠدໃټݛၠIFconveyor_directionTHEN...ሞႜت࿂঳ڦELSE//සࡕدໃټփሞሏۯLjሶยዃয়Ԓኸ๖ڨlight:=1;END_IF;(*ጀ๥*)Sugar.Inlet[:=]1;(*ٶਸ৊੨*)IFSugar.Low(*گपLS*)&Sugar.High(*ߛपLS*)THEN...(*੦዆ምთ࣍ԭۨਦ܈࿒ڦాഗඹᆯ܈໏ă܈໏ڦă*)IFtank.temp>200THEN.../*ጀ๥*/Sugar.Inlet:=0;/*࠲Կ৊੨*/IFbar_code=65/*A*/THEN.../*इൽੰئ٪ኵॽLjຕ߲ڦ໎ᇮాፇຕ٪ሞInventory_ItemsՔധా*/SIZE(Inventory,0,Inventory_Items);؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ437\n޹୤C঳ࠓ࿔ԨՊײ438؜Ӳࡽ1756-RM007J-ZH-P-2007౎7ሆ\n໭ᆅNumericsሏۯցۯༀۙኝ(MCCD)1756-OB16IS216ፕຕՎ߸໏܈34387589ޏ343H1ᅃपՔ༶๟343࿢සࢆ֍ీڥڟൎ၍໏܈ఇ๕Ǜ264Վ߸े໏܈343ޏ343,346๟343,346AՎ߸३໏܈344ASCIIޏ344঳ࠓ࿔Ԩޯኵ413๟344Ӏ࿋ሏ໙ޙݔྷ347঳ࠓ࿔Ԩ419঳ࠓ࿔Ԩ340ሏۯૌ႙343Bၹۙሏۯ343՗ٳ๕ሏۯ੦዆342ፖՔဣ342քܻ՗ٳ๕঳ࠓ࿔Ԩ413໏܈343঳ࠓ࿔Ԩ໏܈ڇ࿋343Ӏ࿋ሏ໙ޙ419े໏܈344߁ຎ413े໏܈ڇ࿋344࠲ဣሏ໙ޙ416梯形图ीۉഗ༱ႚ཮338ࡧຕ415३໏܈344இडሏ໙ޙ418३໏܈ڇ࿋344໙ຍሏ໙ޙ415ٱဃپஓ348数值表ຕጴ՗ڦ࿋ༀጒܔ式达๕ٳ߸߀349঳ࠓ࿔Ԩ413ࠤቱཉॲ348ኴႜپဃٱቛકႾຩڦஓ348঳ࠓ࿔Ԩ419௮ຎ338քܻ՗ٳ๕໙ຍጒༀՔऻ347঳ࠓ࿔Ԩ413ሏۯց࠲Կ(MCSD)ፕຕ359C঳ࠓ࿔Ԩ359ሏۯ੦዆359CAM_PROFILEຕ਍ૌ႙402ፖՔဣ359CAMຕ਍ૌ႙401ीۉഗ༱ႚ཮梯形图359CASE425ٱဃپஓ360ٱဃܔጒༀ࿋ڦ߸߀360޹े႑တ399ၹۙሏۯጒༀ࿋360ሏۯ੦዆ኸସ391ዡጒༀ࿋360ٱဃپஓፖՔဣጒༀ࿋360Վೕഗ399ࠤቱཉॲ360ሏۯ੦዆ኸସ391௮ຎ358໙ຍጒༀՔऻ360Dሏۯց࠲Կް࿋384ۉጱ؃୾33,100ሏۯց࠲Կް࿋(MCSR)ፕຕ384ܔ׬ఇ๕঳ࠓ࿔Ԩ384ୟ০262ሏۯ੦዆385ܠዡၹۙሏۯፖՔဣ384ᇶႚՊײ੊ኸళ337ܠዡၹۙሏۯኸସ249ीۉഗ༱ႚ཮梯形图384؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n2໭ᆅٱဃپஓ385262ܔጒༀ࿋ڦ߸߀386࿮Ҿಇ257,260,262ၹۙሏۯጒༀ࿋386࿮३໏257,260,262ዡጒༀ࿋386ፖՔဣ297ፖՔဣጒༀ࿋386ঢ়ᆯ/ዐ႐/ӷ০321ࠤቱཉॲ385໏܈322௮ຎ163,384໏܈ڇ࿋322໙ຍጒༀՔऻ385ఇ๕323ሏۯցፖՔገ࣑(MCT)362े໏܈322ሏۯցཕኹ349े໏܈ڇ࿋322(MCS)ीۉഗ༱ႚ཮梯形图293ፕຕ350࿋ዃ299ٱဃپஓ353३໏܈323঳ࠓ࿔Ԩ351३໏܈ڇ࿋323ሏۯ੦዆353ܔጒༀ࿋ڦ߸߀334ीۉഗ༱ႚ཮梯形图350ዡጒༀ࿋335३໏܈353ፖՔဣጒༀ࿋335ܔጒༀ࿋ڦ߸߀354ࠤቱཉॲዡጒༀ࿋354329ࠤቱཉॲ353કቛٱဃپஓ330કቛٱဃپஓ354௮ຎ292௮ຎ349໙ຍጒༀՔऻ໙ຍጒༀՔऻ353329ሏۯᇶࢷց292ణՔ࿋ዃ๼෇ܔࣆ઀325ሏۯᇶࢷց(MCCM)ሏۯ኱၍ց266ፕຕ293ሏۯ኱၍ց(MCLM)ݛၠ322ፕຕࢇժ324ࢇժ283ၹۙሏۯ325ၹۙሏۯ283্ኹࢇժ325্ኹࢇժ283ඇևሏۯ325ඇևሏۯ283ࢇժ໏܈325ࢇժ໏܈283঳ࠓ࿔Ԩ295঳ࠓ࿔Ԩ269ᇶႚૌ႙300ሏۯૌ႙272ӷ০300ሺଉ272ዐ႐300ਨܔኵ272ዐ႐ሺଉ300ሏۯ੦዆271ঢ়ᆯ300ዕኹૌ႙251,257,260,ሏۯૌ႙299262ሺଉ299୾ખ߶ጷ໏܈၌዆ਨܔኵ299257,260,262ሏۯ੦዆298୾ખ߶ጷ໏܈࿮၌዆ዕኹૌ႙257,260,262257,260,262୾ખ߶ጷ໏܈၌዆ంସඹ257,260,257,260,262262୾ખ߶ጷ໏܈࿮၌዆ํाඹ257,260,257,260,262262ంସඹ257,260,࿮Ҿಇ257,260,262262࿮३໏257ํाඹ257,260,ፖՔဣ270؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n໭ᆅ3໏܈279ࡗײሏۯኸସ22໏܈؜๼ࣄࡀ279࿋ڇఇ੷216ఇ๕280࠲Կሏۯዡ33༱ႚ280࠲Կሏۯፇ34,171໏܈ఇ๕ၳࡕ280࠲Կሏۯཫ୾๼؜34,223S൸၍ႚ280࠲Կሏۯ॔๫184े໏܈279࠲Կሏۯ࿋ዃ॔๫34े໏܈ڇ࿋279࠲Կዡ࿋ዃጃಆ34,193ीۉഗ༱ႚ཮梯形图266࠲ሏۯົޜ๑ీ33࿋ዃ279࠲ဣሏ໙ޙ३໏܈279঳ࠓ࿔Ԩ416३໏܈ڇ࿋279ܔ׬ఇ๕262Hܔጒༀ࿋ڦ߸߀290ၹۙሏۯጒༀ࿋290ࡧຕዡጒༀ࿋290঳ࠓ࿔Ԩ415ፖՔဣጒༀ࿋290ࠤቱཉॲI288IF...THEN422કቛٱဃپஓ289௮ຎ266໙ຍጒༀՔऻ288J໏܈ఇ๕260ऺ໙ٗዡሏۯኵ33ణՔ࿋ዃ๼෇ܔࣆ઀286ऺ໙ٗዡሏۯኵ(MCSV)163MCCD338ऺ໙ཫ୾ሏۯ൸၍33,123MCCM292ऺࣄ๼؜MCLM266ፕ216ፕຕ266๼؜ຕ਍঳ࠓ221MCS349ᇺײፕ217MCSD35816߲ऺࣄ঳ࠓڦຕፇ221MCSR384I/Oጱဣཥ220MCT362MAOCኸସڦᆩ݆217०঻249ऺࣄت૙221঳ࠓF९ຕ਍ૌ႙FORāO428঳ࠓ࿔ԨޯኵӀ࿋ሏ໙ޙ419ԍ׼411՗ٳ๕413ݥԍ׼412ݥԍ׼ޯኵ412ASCIIጴޙ413ޯኵ411ޯኵASCIIጴޙ413ࠓሰ421G࠲ဣሏ໙ޙ416ࠌ၍ሏۯࡧຕ415໏܈ఇ๕இडሏ໙ޙ418ዕኹૌ႙260数ຕጴ՗ٳ๕值表达式413ࠓሰጀ๥437঳ࠓ࿔Ԩ421ጴޙزൽኵ417ࠤቱت૙ፇॲ409໙ຍሏ໙ޙ415Վೕഗٱဃ399CASE425ኸସٱဃ391FORāO428؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n4໭ᆅIF...THEN422๑ᆩዐ႐ᇶႚ300REPEATāNTIL434๑ᆩዐ႐ሺଉᇶႚૌ႙WHILEāO431308๑ᆩঢ়ᆯᇶႚૌ႙304K঳ࠓ࿔Ԩ337ෙྼࢷႚ317ਸഔሏۯཫ୾๼؜34,196ᇶႚૌ႙ዐ႐318ਸഔሏۯ॔๫180ᇶႚૌ႙ঢ়ᆯ317ਸഔሏۯ࿋ዃ॔๫34ᇶႚٱဃ331ਸഔዡ࿋ዃጃಆ34,186CIRCULAR_COLLINEARਸሏۯົޜ๑ీ33,39ITY_ERROR(44)331LCIRCULAR_R1_R2_MISMATCH_ERROR૬नሏۯኸସ19(46)332இडሏ໙ޙCIRCULAR_SMALL_R_E঳ࠓ࿔Ԩ418RROR(49)333,334MCIRCULAR_START_ENMAAT228D_ERROR(45)MAFR55332MAG100჉ገዡ312MAH72ሏۯૌ႙ྺሺଉ314MAHD239ሏۯૌ႙ྺਨܔኵ312MAJ76MCCP123MAM88MCDኸସ111MAOC196,223MCLMኸସ201๖૩ǖMAPC128ࢇժ284MAR186ᆶ࠲ࢇժኸସڦ޹ेጀ๥286MAS58ሏۯૌ႙272MASD45჉ገዡ276ܔጒༀ࿋ۯሏ47߀߸ڦૌ႙ྺሺଉ277ሏۯጒༀ࿋47ሏۯૌ႙ྺਨܔኵ276ዡጒༀ࿋47ंࢇMASR48փཞ໏܈265MATC150ዕኹૌ႙251MAW180MCSMCCDፕຕፕຕीۉഗ༱ႚ཮梯形图350঳ࠓ࿔Ԩ340๖૩ǖीۉഗ༱ႚ཮梯形图338ीۉഗ༱ႚ཮梯形图355๖૩ǖMCSDे໏܈ࢅ३໏܈ኵڦՎ߸ܔሏ๖૩ǖۯఇ๕ڦᆖၚ344ीۉഗ༱ႚ཮梯形图362ीۉഗ༱ႚ཮梯形图349MCSRMCCM๖૩ǖ๖૩ǖ঳ࠓ࿔Ԩ386ܾྼኝᇶ310ीۉഗ༱ႚ཮梯形图386ܾྼࢷႚ300MCT362๑ᆩӷ০ᇶႚૌ႙306MCTኸସ362؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n໭ᆅ5MCTP375ຫ௽MDF53঳ࠓ࿔Ԩ437MDOኸସ50MDR193WMDW184WHILEāO431MGS166࿔ڗMGSD171঳ࠓ࿔Ԩ437MGSP176MGSRኸସ174MOTION_GROUPຕ਍ૌ႙403XMOTION_INSTRUCTIONຕ਍ૌ႙ၩတሏۯኸସ21404MRAT233YMRHD243MRP118ᆌᆩዡ૶থኑ34,239MSF42ᆌᆩዡኝۨຕ34,228MSO39ሏۯٱဃپஓ391ࡗײૌ႙ڦኸସ22O૬नૌ႙ڦኸସ19OUTPUT_CAMຕ਍ૌ႙405ຕ਍ૌ႙401OUTPUT_COMPENSATIONຕ਍ૌၩတૌ႙ڦኸସ21ሏۯၹۙኸସ႙407९ܠዡၹۙሏۯኸସሏۯցۯༀۙኝ35Pሏۯց࠲Կ35postscanሏۯց࠲Կް࿋35঳ࠓ࿔Ԩ412ሏۯցፖՔገ࣑362ሏۯցཕኹ35Rሏۯۯༀۙኝ33,111ሏۯದዃኸସ227REPEATāNTIL434ᆌᆩዡ૶থኑ(MAHD)239Պஓഗ૶থ๬241Sፕຕ239঳ࠓ࿔Ԩ239S൸၍ఇ๕ीۉഗ༱ႚ཮梯形图239ኝۨ387ۉऐՊஓഗ૶থ๬240໙ຍሏ໙ޙ௮ຎ240঳ࠓ࿔Ԩ415ጒༀ࿋242໏܈ఇ๕MOTION_INSTRUCTION঳ࠌ၍ሏۯ260ࠓ240ൎ၍264ᆌᆩዡኝۨຕ(MAAT)228数ຕ值表ጴ达式՗ٳ๕413ፕຕ228ຕ਍ૌ႙঳ࠓ࿔Ԩ228CAM401ीۉഗ༱ႚ཮梯形图228CAM_PROFILE402௮ຎ228MOTION_GROUP403ጒༀ࿋232MOTION_INSTRUCTION404MOTION_INSTRUCTION঳OUTPUT_CAM405ࠓ228OUTPUT_COMPENSATION407ሏႜዡ૶থኑ(MRHD)243ຕბሏ໙ޙՊஓഗ૶থ๬245঳ࠓ࿔Ԩ415Քኾ૶থ๬246؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n6໭ᆅ๬ጒༀ246঳ࠓ࿔Ԩ200ፕຕ243ीۉഗ༱ႚ཮梯形图197঳ࠓ࿔Ԩ243׼Ⴤ้क़206ीۉഗ༱ႚ཮梯形图243ٱဃپஓ213ۉऐՊஓഗ૶থ๬244ܔጒༀ࿋ڦᆖၚ215߸߀዁ጒༀ࿋248঴໮٪ૌ႙205કቛٱဃپஓ248કቛٱဃپஓ215௮ຎ244௮ຎ202MOTION_INSTRUCTION঳ೋᅎࢅჽ׿ց׋208ࠓ244๑ీૌ႙206ੂோࠑOK๬246๼؜210ሏႜዡኝۨ(MRAT)233๼؜ց׋ຕፇॠ210ፕຕ233๼෇211঳ࠓ࿔Ԩ233ኴႜఇ๕211ीۉഗ༱ႚ཮梯形图233ኴႜణՔ202߸߀዁ጒༀ࿋238ኴႜऺࣄ211કቛٱဃپஓ238ኸۨ๼؜ց׋208௮ຎ233ኸۨཫ୾๼؜൸၍203ኝۨጒༀຕ236ዡ202MOTION_INSTRUCTION঳ዡጚԢࢅཫ୾ጚԢ࿋ዃ212ࠓ233ፑᆸཫ୾࿋ዃ206०঻227໮٪ૌ႙204ሏۯ๚ॲኸସ179ఇ๕ց׋209࠲Կሏۯཫ୾๼؜(MDOC)223MOTION_INSTRUCTION঳ፕຕ223ࠓ202঳ࠓ࿔Ԩ223ཫ୾ഐ๔࿋ዃࢅཫ୾ዕኹ࿋ዃ211ीۉഗ༱ႚ཮梯形图223ཫ୾๼؜ຕፇॠ207કቛٱဃپஓ224ਸഔሏۯ॔๫(MAW)180௮ຎ224ፕຕ180MOTION_INSTRUCTION঳঳ࠓ࿔Ԩ180ࠓ224࠲Կሏۯཫ୾๼؜(MDOC)ጒༀीۉഗ༱ႚ཮梯形图180࿋225ܔጒༀ࿋ڦ߸߀183࠲Կሏۯ॔๫(MDW)184કቛٱဃپஓ182ፕຕ184௮ຎ181঳ࠓ࿔Ԩ184MOTION_INSTRUCTION঳ीۉഗ༱ႚ཮梯形图184ࠓ181ਸഔዡ࿋ዃጃಆ(MAR)186ܔጒༀ࿋ڦ߸߀185ፕຕ186௮ຎ184঳ࠓ࿔Ԩ187MOTION_INSTRUCTION঳ࠓ184ीۉഗ༱ႚ཮梯形图186࠲Կዡ࿋ዃጃಆ(MDR)193ش੨ک୤188ፕຕ193ܔጒༀ࿋ڦ߸߀191঳ࠓ࿔Ԩ193કቛٱဃپஓ191௮ຎ188ीۉഗ༱ႚ཮梯形图193MOTION_INSTRUCTION঳ܔጒༀ࿋ڦ߸߀195ࠓ187કቛٱဃپஓ194०঻179௮ຎ193ሏۯᇶࢷց35MOTION_INSTRUCTION঳ࠓ193ሏۯ኱থ๑ీ33,50ਸഔሏۯཫ୾๼؜(MAOC)196ሏۯ኱၍ց35੊212ሏۯዡლ33,72ፕຕ197ሏۯዡࠤቱް࿋33؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n໭ᆅ7ሏۯዡ࠲Կް࿋33঳ࠓ࿔Ԩ39ሏۯዡ้क़ཫ୾33,150ीۉഗ༱ႚ཮梯形图39ሏۯዡཕኹ33,58௮ຎ39ሏۯዡ࿋ዃཫ୾33,128MOTION_INSTRUCTION঳ሏ运ۯ动控ጒༀ制状态ࠓ39MDO50०঻37运动控制状态指令ሏۯጒༀኸସ3737ሏۯፇMGSR174࠲Կሏۯዡ(MASD)45ፕຕ45ሏۯፇ࠲Կް࿋34,174঳ࠓ࿔Ԩ45ሏۯፇኸସ165ीۉഗ༱ႚ཮梯形图45࠲Կሏۯፇ(MGSD)171௮ຎ45ፕຕ171MOTION_INSTRUCTION঳঳ࠓ࿔Ԩ171ࠓ45ीۉഗ༱ႚ཮梯形图171࠲ሏڦ࿋ༀጒܔ42)MSF(ీ๑ޜົۯ߸߀172ፕຕ42௮ຎ171঳ࠓ࿔Ԩ42MOTION_INSTRUCTION঳ीۉഗ༱ႚ཮梯形图42ࠓ171௮ຎ42ሏۯፇ࠲Կް࿋(MGSR)174MOTION_INSTRUCTION঳ፕຕ174ࠓ42঳ࠓ࿔Ԩ174ሏۯ኱থ๑ీ(MDO)50ीۉഗ༱ႚ཮梯形图174ፕຕ50ܔጒༀ࿋ڦ߸߀175঳ࠓ࿔Ԩ50௮ຎ174ीۉഗ༱ႚ཮梯形图50MOTION_INSTRUCTION঳ܔጒༀ࿋ڦ߸߀52ࠓ174௮ຎ51ሏۯፇཕኹ(MGS)166MOTION_INSTRUCTION঳ፕຕ166ࠓ50঳ࠓ࿔Ԩ166ሏۯዡࠤቱް࿋(MAFR)55ीۉഗ༱ႚ཮梯形图166ፕຕ55ܔጒༀ࿋ڦ߸߀170঳ࠓ࿔Ԩ55௮ຎ167ीۉഗ༱ႚ཮梯形图55ᆘ࠲Կ169௮ຎ55ᆘ্ኹ168MOTION_INSTRUCTION঳MOTION_INSTRUCTION঳ࠓ55ࠓ167ሏۯዡ࠲Կް࿋(MASR)48੺໏࠲Կ168ፕຕ48੺໏্ኹ168঳ࠓ࿔Ԩ48੺໏ཕכ快速停止168ीۉഗ༱ႚ཮梯形图48ጃಆሏۯፇ࿋ዃ(MGSP)176ፕຕ176௮ຎ48঳ࠓ࿔Ԩ176MOTION_INSTRUCTION঳ࠓ48ीۉഗ༱ႚ཮梯形图176኱থ࠲ሏۯ๑ీ(MDF)53௮ຎ176ፕຕ53MOTION_INSTRUCTION঳঳ࠓ࿔Ԩ53ࠓ176ीۉഗ༱ႚ཮梯形图53०঻165ሏۯፇཕኹ34,166௮ຎ53MOTION_INSTRUCTION঳ሏۯ࿋ᅎMCD111ࠓ53ਸሏۯົޜ๑ీ(MSO)39ሏۯ࿋ᅎኸସፕຕ39ፕຕ؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n8໭ᆅीۉഗ༱ႚ཮梯形图58૬नኴႜ157ۉጱ؃୾(MAG)100௮ຎ153ፕຕ100้क़ཫ୾Բ૩标定156঳ࠓ࿔Ԩ102ኴႜऺࣄ157ीۉഗ༱ႚ཮梯形图100ኸۨཫ୾൸၍154؃୾ग़࿋ᅎ108MOTION_INSTRUCTION঳ۯٗ዁ంସ࿋ዃ104ࠓ153ۯٗ዁ํा࿋ዃ104ཕኹཫ୾160ܔጒༀ࿋ݛཞ109߀߸ڦၠཫ୾153ݒݛၠ؃୾105ཫ୾ݛၠ153ݒገ؃୾ݛၠ105ཫ୾ࢇժ160ຕ؃୾Բ106ཫ୾൸၍ຕፇॠ155߸߀؃୾Բ105ཫ୾൸၍ኴႜఇ๕157߸߀ዷዡ107၍Ⴀࢅෙْݛా155કቛٱဃپஓ108ሏۯዡཕኹ(MAS)58૗ࢇഗ106ፕຕ58௮ຎ103঳ࠓ࿔Ԩ60ํຕ؃୾Բ105ीۉഗ༱ႚ཮梯形图58MOTION_INSTRUCTION঳કቛٱဃپஓ63,81,378ࠓ103௮ຎ61ཞݛၠ؃୾105MOTION_INSTRUCTION঳ሏۯۯༀۙኝ(MCD)111ࠓ61,353ፕຕ111ሏۯዡ࿋ዃཫ୾(MAPC)128঳ࠓ࿔Ԩ113ԍାړമཫ୾ݛၠ134ीۉഗ༱ႚ཮梯形图111ፕຕ129߸߀ۅۯۯༀຕ116঳ࠓ࿔Ԩ132߸߀࿋ᅎۯༀຕ116ीۉഗ༱ႚ཮梯形图129કቛۯٗ116ஓپဃٱ዁ంସ࿋ዃ143௮ຎ115ۯٗ዁ํा࿋ዃ143ሡཕ࿋ᅎ116ܔጒༀ࿋ڦ߸߀147MOTION_INSTRUCTION঳ݒݛၠཫ୾134ࠓ115ݒገړമཫ୾ݛၠ134ሏۨ໮୾ཫ߀߸72)MAH(ლዡۯ࿋ዃ138ԥۯࡃଭ73ࠤቱ࣬ް145ፕຕ72ࠬഐཫ୾ኴႜ141঳ࠓ࿔Ԩ72ৈኟၠĂৈݒၠईມၠኴႜीۉഗ༱ႚ཮梯形图72139ܔጒༀ࿋پဃٱቛક75߀߸ڦஓ147કቛٱဃپஓ74௮ຎ134௮ຎ73ሺଉ࿋ᅎ144ዷۯࡃଭ73ኴႜऺࣄ137ਨܔࡃଭ73૬नኴႜ138MOTION_INSTRUCTION঳ኸۨཫ୾൸၍135ࠓ72ዷዡ੊142ሏۯዡ้क़ཫ୾(MATC)150ዷዡݛၠ143ፕຕ150ዷዡೋᅎ࿋ᅎ144঳ࠓ࿔Ԩ152MOTION_INSTRUCTION঳ीۉഗ༱ႚ཮梯形图150ࠓ133ݒݛၠཫ୾154ཕኹཫ୾145߸߀ཫ୾ݛၠ154ཞݛၠཫ୾134߸߀ཫ୾൸၍154ཫ୾ݛၠ134કቛٱဃپஓཫ୾ࢇժ145161,164ཫ୾൸၍ຕፇॠ135؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n໭ᆅ9ཫ୾൸၍ኴႜఇ๕137ኸۨཫ୾൸၍Քധ124ཫ୾ग़࿋ᅎ144ኸۨཫ୾ຕፇ124࿋ዃཫ୾Բ૩标定136MOTION_INSTRUCTION঳၍Ⴀࢅෙْݛా136ࠓ124ሏۯ࿋ዃዘย(MRP)118ཫ୾൸၍ຕፇጒༀׯᇵ125ፕຕ118ऺ໙ཫ୾൸၍125঳ࠓ࿔Ԩ119၍Ⴀࢅෙْݛᄣཉా125ीۉഗ༱ႚ཮梯形图118०঻57કቛٱဃپஓ122ሏۯ࿋ዃዘย33,118ంସ࿋ዃ121ሏۯ੦዆ኸସ௮ຎ119ၹۙሏۯኸସํा࿋ዃ120ሏۯցۯༀۙኝ(MCCD)ਨܔኵఇ๕11935MOTION_INSTRUCTION঳ሏۯց࠲Կ(MCSD)35ࠓ119ሏۯց࠲Կް࿋(MCSR)၎ܔኵఇ๕12035ዡ໏܈(MAJ)76,362ሏۯցཕኹ(MCS)35ፕຕ76,362,375ሏۯᇶࢷց(MCCM)35঳ࠓ࿔Ԩ78,363,376ሏۯ኱၍ց(MCLM)35ीۉഗ༱ႚ཮梯形图76ٱဃپஓ391௮ຎ80,365,378ሏۯದዃኸସ໏܈ఇ๕ၳࡕ27ᆌᆩዡ૶থኑ(MAHD)34MOTION_INSTRUCTION঳ᆌᆩዡኝۨຕ(MAAT)34ࠓ79,363,377ሏႜዡ૶থኑ(MRHD)34ዡ࿋ᅎ(MAM)88ሏႜዡኝۨ(MRAT)34ፕຕ88ሏۯ๚ॲኸସ঳ࠓ࿔Ԩ91࠲Կሏۯཫ୾๼؜(MDOC)34ीۉഗ༱ႚ཮梯形图88કቛٱဃپஓ97࠲Կሏۯ࿋ዃ॔๫(MDW)34௮ຎ92࠲Կዡ࿋ዃጃಆ(MDR)34჉ገፌ܌ୟ০࿋ᅎ95ਸഔሏۯཫ୾๼؜(MAOC)34ਨܔኵ࿋ᅎ95MOTION_INSTRUCTION঳ਸഔሏۯ࿋ዃ॔๫(MAW)34ࠓ92ਸഔዡ࿋ዃጃಆ(MAR)34ጃಆሏۯፇ࿋ዃ(MGSP)ሏۯጒༀኸସ运动控制状态指令ጒༀ࿋177࠲Կሏۯዡ(MASD)33MCSV163࠲ሏۯົޜ๑ీ(MSF)33ऺ໙ٗዡሏۯኵ(MCSV)163ሏۯ኱থ๑ీ(MDO)33ፕຕ163ሏۯዡࠤቱް࿋(MAFR)33঳ࠓ࿔Ԩ163ሏۯዡ࠲Կް࿋(MASR)33኱থ࠲ሏۯ๑ీ(MDF)33ሏۯ੦዆164ਸሏۯົޜ๑ీ(MSO)33ीۉഗ༱ႚ཮梯形图163ሏۯፇኸସܔጒༀ࿋ڦ߸߀164࠲Կሏۯፇ(MGSD)34ࠤቱཉॲ164ሏۯፇ࠲Կް࿋(MGSR)34঳ࠓ࿔Ԩ163ሏۯፇཕኹ(MGS)34໙ຍጒༀՔऻ164ጃಆሏۯፇ࿋ዃ(MGSP)34ऺ໙ཫ୾ሏۯ൸၍(MCCP)123ሏۯ࿋ᅎኸସፕຕ123ۉጱ؃୾(MAG)33঳ࠓ࿔Ԩ123ሏۯۯༀۙኝ(MCD)33ीۉഗ༱ႚ཮梯形图123ሏۯዡლ(MAH)33કቛٱဃپஓ127ሏۯዡ้क़ཫ୾(MATC)33௮ຎ124ሏۯዡཕኹ(MAS)33ഐ๔ၽ୲ࢅዕኹၽ୲126؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n10໭ᆅሏۯዡ࿋ዃཫ୾(MAPC)33ጴޙزሏۯ࿋ዃዘย(MRP)33঳ࠓ࿔Ԩዐڦൽኵ417ዡ໏܈(MAJ)33ፖՔገ࣑ዡ࿋ᅎ(MAM)33ਸ๔ፖՔገ࣑362ऺ໙ٗዡሏۯኵ33ኝۨऺ໙ཫ୾ሏۯ൸၍(MCCP)ሂ܈38733S൸၍ఇ๕387ሏۯბ኱থ࠲ሏۯ๑ీ33९ܠዡၹۙሏۯኸସ኱থంସሏႜዡ૶থኑ34,243ኧ׼ڦంସሏႜዡኝۨ34,233ሏۯጒༀ运动控制状态3333ሏ໙ޙኴႜڦຩႾኴႜڦຩႾ঳ࠓ࿔Ԩ419঳ࠓ࿔Ԩ419ዡ໏܈33,76,362ሂ܈ዡ࿋ᅎ33,88ኝۨ387ጀ๥঳ࠓ࿔Ԩ437Zጃಆሏۯፇ࿋ዃ34,176؜Ӳࡽ1756-RM007J-ZH-P-2008౎7ሆ\n࿢்๟ሹ஺ፔڦǛ౞ܔ࿢்रຍڦࡻ߸ࠃ༵౞ྺઠॽሞ்࿢ዺӻॽ९ᅪڦ࿿Ӳ؜ޜခăߌႇ౞ሞӥ஬ኮዐၠ࿢்༵ࠃݒઍă൩౞གႀኄ՗߭ժᆰस(ईدኈ)ߴ࿢்Ljई݀ڟ࿢்ڦۉጱᆰၒRADocumentComments@ra.rockwell.comă؜ӲՔ༶/Logix5000੦዆ഗሏۯຫ௽控制器运动控制指令ૌ႙೗Պࡽ1756-L1M1Ă1756-L1M2Ă1756-L1M3Ă؜Ӳ1756-RM007J-ZH-P؜Ӳ2008౎7ሆଭॲ࿮1756-L55M12Ă1756-L55M13Ă1756-L55M14ĂՊࡽන೺Պࡽ1756-L55M16Ă1756-L55M22Ă1756-L55M23Ă1756-L55M24Ă1756-L60M03SEĂ1756-L61Ă1756-L62Ă1756-L63Ă1756-L64Ă1768-L43Ă1789-L60Ă1789-20D൩ྜኝགႀᅜူ՗߭჋ၜăሞ๢ᆩ؜׉ݥ=3andLjᅪ஢Ԩए=2Lj৊߀ᄲႴ=1(ۅ༬ڦᆌ၎؜Ք൩Ljฉೝ຤ڦ෥ኝ༹ํᆩႠ123සࢆඟԨ؜Ӳ࿿ܔ౞߸ᆶํᆩႠǛ123࿢்੗ᅜཁे߸ܠ႑တᅜՍྺ౞༵ࠃӻዺ஘ǛྜኝႠ(Ⴔᄲ༵ࠃ໯ᆶՂႴ႑ײႾ/օየ཮૩༬ۅတ)๖૩ኸڞഄ໱௮ຎۨᅭरຍጚඓ܈123࿢்࣏ీፔڟ߸ेጚඓ஘Ǜ(Ⴔᄲ༵ࠃ໯ᆶՂႴ႑࿔Ԩ཮૩တ)ည܈123࿢்ሹᄣ֍ీፔںຎ௮ڟ߸ेည?(໯ᆶ༵ࠃڦ႑တۼ࢔ඹᅟ૙঴)ഄ໱ᅪ९౞੗ሞ՗߭ڦԝ௬༵؜߸ܠԐࡍᅪ९ăႡఁՔ༶/ࠀీ౞ᇼᅪඟ࿢்ߵ਍౞ڦᅪ९ཞ౞ԍ׼૴ဣ஘Ǜۉ/኷ںࣆ___փၙLjփႴᄲཞ࿢૴ဣ___๟ڦLj൩ᇑ࿢૴ဣ___๟ڦLj൩ߴ࿢݀ᆰॲڟ___๟ڦLj൩ཚࡗᅜူݛ๕ཞᇑ࿢૴ဣ请将此表格寄回：罗克韦尔自动化技术通讯部，൩ॽُ՗߭स࣮ǖஆਖ਼ྴܻጲۯࣅरຍཚრևLj1艾伦-布拉德利（1Allen-BradleyDr.Allen-BradleyLj஽ݤܻڤߛں）Dr.，梅菲尔德高地,ܭ࡝ܭዝ,俄亥俄州44124-970544124-9705))ă。(RockwellAutomationTechnicalCommunications,1Allen-BradleyDr.,MayfieldHts.,OH44124-9705)دኈǖ440-646-3525ۉጱᆰॲǖRADocumentComments@ra.rockwell.com\n൩ሞُت৆ࠦ(փᄲጎۤ)ഄ໱ᅪ९൩ሞُتች۠සࡕᆰसںۅ๟ሞ൩ހெࡔԨںLjᆰጨ௨௨ཌྷ࣮ᆰฆᄽ࣮႑ᅃपᆰॲሎႹՊࡽ18235ਖ਼૧ސન๨Ljܭ࡝ܭዝᆰጨॽᆯ๭ॲට޲11ALLEN-BRADLEYDR艾伦-布拉德利（ALLEN-BRADLEY）DR஽ݤܻڤߛںLjܭ࡝ܭዝ44124-9705\n\nஆਖ਼ྴܻጲۯࣅኧ׼ஆਖ਼ྴܻጲۯࣅᆶ၌ࠅິሞྪበฉ༵ࠃକरຍ႑တᅜ೺ӻዺ౞๑ᆩഄ೗ăሞྪበhttp://support.rockwellautomation.comฉLj౞੗ᅜቴڟरຍ๮Ă׉९࿚༶(FAQ)ኪ๎ੰĂरຍᇑᆌᆩຫ௽Ă๖૩پஓࢅኸၠ෉ॲցۡԈڦ૾থLjᅜतMySupportࠀీę౞੗ᅜጲՍᅜీࠀُᅭۨ૧ᆩኄၵ߾ਏăසࡕሞҾጎĂದዃࢅࠤቱت૙ݛ௬Ⴔᄲ৊ᅃօڦۉࣆरຍኧ׼Lj࿢்ॽ༵ࠃTechConnectኧ׼ײႾăසႴ߸ܠ႑တLj൩૴ဣԨڦںၨฆईஆਖ਼ྴܻጲݡኁईLjت՗پںԨጂິࠅ၌ᆶࣅۯ࿚http://support.rockwellautomation.comăҾጎӻዺසࡕ౞ሞҾጎᆘॲఇ੷ڦፌ؛24ၭ้ాᇜڟକ࿚༶Lj൩ለԨ๮ዐڦ၎࠲႑တăଷྔLj౞ᄺ੗ᅜծٗLjዺӻօ؛ڥ൱ᅜஓࡽ׼ኧࢽᆩ༬ٶܸඟ౞ڦఇ੷ኟ׉ሏႜഐઠǖெࡔ1.440.646.3223႓೺ᅃڟ႓೺࿵Ljฉ࿷8:00዁ူ࿷5:00(ெࡔ۫և้क़)ெࡔᅜྔت՗پںԨጂິࠅ၌ᆶࣅۯጲܻྴਖ਼ஆဣ૴൩൶ںᅜ঴ਦඪࢆरຍኧ׼࿚༶ăႎ೗ཽऋஆਖ਼ྴܻܔഄ໯ᆶ೗৊ႜକ๬Ljᅜ೺ඓԍ೗ሞ૗׍้Ⴀీྜඇኟ׉ăڦ౞ࡕසLj๟ڍ೗߾ፕփኟ׉ܸႴᄲཽऋǖெࡔ૴ဣၨฆă౞Ⴗၠၨฆ༵ࠃᆩࢽኧ׼پஓ(๑ᆩฉຎپ߲ᅃڥइ੗ஓࡽࣆۉஓ)Lj֍੗ᅜྜׯཽऋײႾăெࡔᅜྔپںԨጂິࠅ၌ᆶࣅۯጲܻྴਖ਼ஆဣ૴൩LjႾײऋཽ࠲ᆶ൶ں՗تăݛਦ঴တ႑ࢅ዆੦Ă૰ۯӄጺևࡼ࡯ǃ᥻ࠊϢᙃ㾷އᮍḜᘏ䚼ெዞں൶ǖஆਖ਼ྴܻጲۯࣅࠅິLjళܾٷন㕢⌆㔫ܟ䶺ᇨ㞾ࡼ᳝࣪䰤݀ৌ˖1201SouthSecondStreetˈMilwaukeeˈWI53204-2496ˈ1201ࡽLj௢ܻ࿦ए๨Ljྰຯ੃ႍዝLj㕢೑ˈ⬉䆱˖(1)414.382.2000ˈӴⳳ˖(1)414.382.444453204-2496ெࡔLjۉࣆǖ(1)414.382.2000Ljدኈǖ(1)414.382.4444౹ዞ⃻⌆/Ёϰ/䴲⌆㔫ܟ䶺ᇨ㞾ࡼ᳝࣪䰤݀ৌ˖Vorstlaan/BoulevardduSouverain36ˈ1170Br/ዐ۫/ݥዞǖஆਖ਼ྴܻጲۯࣅࠅິLjVorstlaan/BoulevardduSouverain36,1170usselsˈ↨߽ᯊˈ⬉䆱˖(32)26630600ˈӴⳳ˖(32)26630640ք୛෗ܻLjԲ૧้Ljۉࣆǖ(32)2.663.0600Ljدኈǖ(32)26630640ჱ໿دLj184642887508.2887)852(ǖࣆۉLj୍14൶Fፗ3ߗஓຕࡽ100)852(˖ⳳӴˈ47882887)852(˖䆱⬉ˈὐ14ऎFᑻ3␃ⷕ᭄ো100䘧␃ⷕ᭄␃佭˖ৌ݀䰤᳝࣪ࡼ㞾ᇨ䶺ܟ㔫໾ѮڢߗஓຕߗၑLjິࠅࣅۯጲܻྴਖ਼ஆǖ൶ںኈǖ(852)2508.1846出版号؜Ӳࡽ1756-RM007J-ZH-P-20081756-RM007I-ZH-P-2008年7౎月7ሆ14ൽۯጲܻྴਖ਼ஆሆ7౎化动自尔韦克罗20082008Copyrightሆ12౎2006-P-EN-H007MR-1756࿿Ӳ؜پࣅᆶ၌ࠅິӲ඄໯ᆶăԍା໯ᆶ඄૧ăெࡔᆇຘ有限公司版权所有。