st计算机编程语言,如何学习ST/SCL编程语言

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(*****************************************************************************

       MC_Power_JEC

   運転可 / Operation possible

COPYRIGHT (C) 2016 MITSUBISHI ELECTRIC CORPORATION ALL RIGHT RESERVED

*****************************************************************************)

PLS(Enable, bEnablePls);

PLF(Enable, bEnablePlf);

(*========================================================================*

* 有効ON

* Enable ON

*========================================================================*)

IF Enable THEN

(*------------------------------------------------------------------*

* 初期化処理

* Initial processing

*------------------------------------------------------------------*)

IF bEnablePls THEN

Status := FALSE;

Error := FALSE;

ErrorID := 0;

bBusy := FALSE;

bLinkReady := FALSE;

wAxisStatus := 0;

(* 入力ラベル取込 / Input labels transfer *)

wAxisNo := Axis.AxisNo;

MOV(((wAxisNo < 1) OR (16 < wAxisNo)), H1100, ErrorID);

wPosTrqLimit := REAL_TO_INT(Axis.PosTrqLimit *10.0);

MOV((ErrorID = 0) AND ((wPosTrqLimit < 0) OR (10000 < wPosTrqLimit)), H110E, ErrorID);

wNegTrqLimit := REAL_TO_INT(Axis.NegTrqLimit *10.0);

MOV((ErrorID = 0) AND ((wNegTrqLimit < 0) OR (10000 < wNegTrqLimit)), H110E, ErrorID);

(* リンクデバイスのオフセット計算 / Link device offset calculation *)

IF (ErrorID = 0) THEN

wRX3F  := ((wAxisNo - 1) * 64) + H003F;    (* サイクリック通信準備完了 / Cyclic communication ready command *)

wRWw01 := ((wAxisNo - 1) * 32) + H0001;    (* 制御指令 / Control command *)

wRWw14 := ((wAxisNo - 1) * 32) + H0014;    (* トルク制限値(正) / Torque limit value(positive) *)

wRWw15 := ((wAxisNo - 1) * 32) + H0015;    (* トルク制限値(逆) / Torque limit value(negative) *)

wRWr00 := ((wAxisNo - 1) * 32) + H0000;    (* 制御モード表示 / Control mode display *)

wRWr02 := ((wAxisNo - 1) * 32) + H0002;    (* 制御ステータス / Control status *)

wRWr0B := ((wAxisNo - 1) * 32) + H000B;    (* 制御出力2 / Control output 2 *)

bBusy := TRUE;

END_IF;

END_IF;

(*------------------------------------------------------------------*

* 軸状態取得 & 実行条件確認

* Axis status acquisition & execution condition check

*------------------------------------------------------------------*)

IF bBusy THEN

(* サイクリック通信状態確認 / Cyclic communication status check *)

bLinkReady := G_stLinkBasic.bnRX[wRX3F];

IF bLinkReady THEN

uModeDisp := G_stLinkBasic.unRWr[wRWr00];

bZeroVelocity:= ((G_stLinkBasic.unRWr[wRWr0B] AND H0008) = H0008);

(* 軸状態取得 / Axis status acquisition *)

IF ((G_stLinkBasic.unRWr[wRWr02] AND H0008) = H0008) THEN

wAxisStatus := 1;        (* Errorstop *)

ErrorID := H1202;

ELSIF ((G_stLinkBasic.unRWw[wRWw01] AND H0086) = H0002) THEN

wAxisStatus := 2;        (* Stopping *)

ELSIF (((G_stLinkBasic.unRWr[wRWr02] AND H000F) = H0000) OR

((G_stLinkBasic.unRWr[wRWr02] AND H000F) = H0001) OR

((G_stLinkBasic.unRWr[wRWr02] AND H000F) = H0003)) THEN

wAxisStatus := 0;        (* Disabled *)

ELSE

wAxisStatus := 4;        (* Standstill *)

IF ((G_stLinkBasic.unRWw[wRWw01] AND H0100)= H0100) THEN

CASE WORD_TO_INT(uModeDisp) OF

1,    (* Profile position mode *)

6:    (* Homing mode *)

IF ((G_stLinkBasic.unRWr[wRWr02] AND H0400) = H0000) THEN

wAxisStatus := 5;    (* DiscreteMotion *)

END_IF;

3,    (* Profile Velocity mode *)

4:    (* Profile Torque mode *)

IF NOT bZeroVelocity THEN

wAxisStatus := 5;    (* DiscreteMotion *)

END_IF;

ELSE

;

END_CASE;

ELSE

CASE (WORD_TO_INT(uModeDisp)) OF

1:

IF ((G_stLinkBasic.unRWr[wRWr02] AND H0400) = H0000) THEN

wAxisStatus := 5;    (* DiscreteMotion *)

END_IF;

3,

4:

wAxisStatus := 6;    (* ContinuousMotion *)

6:

IF ((G_stLinkBasic.unRWr[wRWr02] AND H0400) = H0000) THEN

wAxisStatus := 3;    (* Homing *)

END_IF;

ELSE

;

END_CASE;

END_IF;

END_IF;

(* 実行条件確認 / execution condition check *)

IF bEnablePls THEN

CASE wAxisStatus OF

2:    (* Stopping *)

ErrorID := H1204;

ELSE

;

END_CASE;

END_IF;

(*------------------------------------------------------------------*

* サーボON実行

* Servo ON execution

*------------------------------------------------------------------*)

IF (ErrorID =0) AND bEnablePls AND (wAxisStatus = 0) THEN

G_stLinkBasic.unRWw[wRWw14] := INT_TO_WORD(wPosTrqLimit);    (* トルク制限値(正) / Torque limit value(positive) *)

G_stLinkBasic.unRWw[wRWw15] := INT_TO_WORD(wNegTrqLimit);    (* トルク制限値(逆) / Torque limit value(negative) *)

G_stLinkBasic.unRWw[wRWw01] := (G_stLinkBasic.unRWw[wRWw01] AND HFF70) OR H000F;

END_IF;

IF ((G_stLinkBasic.unRWr[wRWr02] AND H006F) = H0027) THEN    (* OperationEnabled *)

Status := TRUE;

Error := FALSE;

ErrorID := 0;

ELSE

Status := FALSE;

END_IF;

ELSE

wAxisStatus := 1;

ErrorID := H1202;

END_IF;

END_IF;

(*========================================================================*

* エラー出力

* Output for [Error]

*========================================================================*)

IF (ErrorID <> 0) THEN

Error := TRUE;

Status := FALSE;

bBusy := FALSE;

END_IF;

(*========================================================================*

* 有効OFF

* Enable OFF

*========================================================================*)

ELSE

IF bEnablePlf THEN

G_stLinkBasic.unRWw[wRWw01] := (G_stLinkBasic.unRWw[wRWw01] AND HFF70);    (* DisableOperation *)

END_IF;

Status := FALSE;

Error := FALSE;

END_IF;