PLC 堆栈任务实现逻辑

VAR
InStackSign:BOOL;
InStackTrig:R_TRIG;
StackData:ARRAY [0…9] OF LREAL;(堆栈数据)
StopPOS:LREAL;
OutTim:TON;
StopOut:BOOL;
END_VAR

（堆栈数据压入）
InStackTrig(CLK:=InStackSign);
IF InStackTrig.Q THEN
FOR i:=8 TO 0 BY -1 DO
StackData[i+1]:=StackData[i];
END_FOR
StackData[1]:=AxisArr[1].NcToPlc.ActPos;
END_IF
（堆栈任务执行及数据吐出）
CASE Step OF
0:
IF StackData[1]<>0 THEN(有堆栈任务)
StopPOS:=StackData[1]+150;
FOR i:=2 TO 9 DO
StackData[i-1]:=StackData[i];
END_FOR
Step:=200;
END_IF
200:
IF AxisArr[1].NcToPlc.ActPos>=StopPOS THEN
StopOut:=TRUE;
Step:=0;
END_IF
END_CASE
OutTim(IN:=StopOut,PT:=T#0.5S);
IF OutTim.Q THEN
StopOut:=FALSE;
END_IF