#一个简单的文字轨迹仿真案例#
国庆节的到来，到处充满着红色图像，犹如向上的红色箭头和增长的数字，全国都喜气洋洋，在这个举国欢庆的假期，我们能做点什么庆祝呢？那就使用CODESYS的运动轨迹，简单的祝大家国庆节快乐，祖国繁荣昌盛，牛气冲天吧。
国庆节快乐
言归正传，使用CODESYS软件的CNC功能，如何做到上面的轨迹图呢？CODESYS的软件使用还是比较简单，下面我主要讲解CNC功能的使用方面。
一、CNC代码
①创建一个SoftMotion的项目（仿真运行），分别添加三个X/Y/Z的Axis，注意速度的限制，防止CNC速度超限之后的问题。然后，在程序中添加CNC程序的对象，右击这个对象，找到CNC属性项，默认实现的方式是Din66025，编译模式SMC_OutQueue，这里仅修改下默认的速度即可，其它不用设定，防止G代码里面没有速度参数不运行。
②编写一个最简单的插补运行程序（当然轴要先使能，不必要的就不展示了），该程序段的解释网上也有太多，简单是说就是将G代码→转换运行轨迹→逆解成笛卡尔坐标点→各自轴运行，然后再使用轨迹显示和跟踪，完成可视化的相关工作。
PROGRAM POU
VAR
MC_Power_X: MC_Power;
MC_Power_Y: MC_Power;
// 插补运算
SMC_Interpolator_0: SMC_Interpolator;
// 正向变换
SMC_TRAFO_Gantry2_0: SMC_TRAFO_Gantry2;
SMC_ControlAxisByPos_X: SMC_ControlAxisByPos;
SMC_ControlAxisByPos_Y: SMC_ControlAxisByPos;
X_Axis_Enable: BOOL;
Y_Axis_Enable: BOOL;
SMC_PathCopier_0: SMC_PathCopier;
SMC_PositionTracker_0: SMC_PositionTracker;
pointbuffer_pcf: ARRAY[0..10000] OF VisuStruct3DPathPoint;
pointbuffer_pt: ARRAY[0..10000] OF VisuStruct3DPathPoint;
vc: VisuStruct3DControl;
Record: BOOL;
CNC_No: WSTRING;
CNC_Info: WSTRING;
SMC_ControlAxisByPos_Z: SMC_ControlAxisByPos;
SMC_TRAFO_Gantry3_0: SMC_TRAFO_Gantry3;
CNC_Model: INT;
CNC_popDataIn: POINTER TO SMC_OUTQUEUE;
CNC_NoMin: INT;
CNC_NoMax: INT;
Z_Axis_Enable: BOOL;
MC_Power_Z: MC_Power;
i: REAL;
j: REAL;
k: REAL;
m: REAL;
n: REAL;
x: REAL;
y: REAL;
END_VAR 
③使用CAD设计软件，敲上你最想要的文字，如下“国庆节快乐”，在命令行输入“txtexp” ，主要目的是将文字打散（CNC识别不了未打散的文字块），保存为dxf格式。
④在CNC功能中，导入DXF文件，部分文件导入时，由于坐标系问题，可能存在偏离坐标系的问题，在这里可以通过“”“移动程序、缩放程序”等功能，变换到理想位置即可。本次导入后，在程序前后分别添加了M功能和H功能，用于控制实现的效果。有关CNC代码的解释，可以搜索相关资料，如有疑问可以在评论区说明，本次仅是一个演示过程。
代码如下，使用此代码，即便不导图也可以实现：
N005 M0
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N2670 G00 X3.060912475965945 Y1.1419214891772671
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N5890 G01 X7.6636577931739636 Y1.3086876238587051
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N5930 G01 X7.7923059542139832 Y1.330128984032118
N5940 G01 X7.7660998473353926 Y1.396835437904602
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N5960 G00 X7.75895272727774 Y1.103803515535847
N5970 G01 X7.6755696599370209 Y1.096656395478081
N5980 G01 Y1.0633031685417249
N5990 G01 Y0.88700754044993235
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N6120 G01 Y0.57015188455517685
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N6140 G01 X7.7637174739829176 Y0.76312412611509117
N6150 G01 X7.761335100630216 Y0.91321364732840837
N6160 G01 X7.75895272727774 Y1.103803515535847
N6170 G00 X7.9423954754274142 Y0.87033092698181125
N6180 G01 X7.9161893685488236 Y0.84174244675063292
N6190 G01 X8.025778542767906 Y0.73215327253143769
N6200 G01 X8.0853378765827362 Y0.67497631206919451
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N6220 G01 X8.2187507843279342 Y0.553475271086942
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N6240 G01 X8.2902219849058234 Y0.6082698581965964
N6250 G01 X8.2473392645589971 Y0.71785903241590543
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N6420 G01 Y1.206245569697276
N6430 G01 X8.1544267038081522 Y1.227686929870575
N6440 G01 X8.0400727828836658 Y1.2324516765757521
N6450 G00 X7.8971303817278873 Y1.727985333915004
N6460 G01 X7.8375710479132819 Y1.6946321069786481
N6470 G01 X7.816129687740097 Y1.6660436267475831
N6480 G01 X7.7422761138095062 Y1.6231609064008721
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N6650 G01 X7.4349499513252191 Y1.1347743691195009
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N6670 G01 X7.3944496043310961 Y1.1871865828765671
N6680 G01 X7.4111262177993309 Y1.2896286370379959
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N6710 G01 X7.59695133930148 Y1.5088069854765
N6720 G01 X7.7113052602259664 Y1.5350130923549761
N6730 G01 X7.81136494103492 Y1.5588368258808629
N6740 G01 X7.9352483553695343 Y1.5826605594068639
N6750 G01 X8.0329256628257841 Y1.5969547995223961
N6760 G01 Y1.649367013279462
N6770 G01 X7.9995724358895428 Y1.675573120157938
N6780 G01 X7.8971303817278873 Y1.727985333915004
N6790 G00 X7.3468021372793224 Y0.87986042039216616
N6800 G01 X7.2920075501696671 Y0.82983057998768917
N6810 G01 X7.2276834696494312 Y0.73691801923661515
N6820 G01 X7.1681241358348258 Y0.66782919201142843
N6830 G01 X7.1633593891296492 Y0.66306444530625086
N6840 G01 X7.1609770157769459 Y0.55585764443964436
N6850 G01 X7.201477362771068 Y0.52726916420857961
N6860 G01 X7.2920075501696671 Y0.6082698581965964
N6870 G01 X7.3015370435797946 Y0.62256409831212878
N6880 G01 X7.3563316306896773 Y0.73453564588402653
N6890 G01 X7.3634787507475572 Y0.83697770004545535
N6900 G01 X7.3468021372793224 Y0.87986042039216616
N6910 G00 X7.49450928514005 Y0.54632815102917576
N6920 G01 X7.5111858986080584 Y0.4962983106248125
N6930 G01 X7.6279221928850189 Y0.52250441750328847
N6940 G01 X7.5111858986080584 Y0.54394577767670083
N6950 G01 X7.49450928514005 Y0.54632815102917576
N6960 H1 L0
另外，在轨迹完成之后，有个烟花绽放的过程，在此也将代码展示一下：
//H开关启用
IF POU.SMC_Interpolator_0.dwSwitches.0 THEN
//Y方向移动值
y:=y-0.05;
IF y<=-50 THEN
y:=-50;
END_IF;
//中心缩放值
j:=j+5;
IF j>=2000 THEN
j:=2000;
END_IF
//内部旋转值
IF j>=2000 THEN
k:=k+5;
IF k>=360 THEN
k:=0;
END_IF;
END_IF;
END_IF;二、可视化界面
①在Special Controls里添加一个Path3D，设为透明，并将CNC代码中的轨迹跟踪和轨迹显示填入（根据刚刚的参数变量和插补程序）。
②在程序中添加图片池，添加你喜欢的背景图。
③烟花特效这块很简单，代码刚刚已经展示，可视化这边绑定相关的变量即可，主要实现一个轨迹描述完成之后，根据输出的H信号，烟花上升并缩放，最终绽放并旋转。
#写在最后#
以上就是使用CODESYS的CNC运动控制，完成节日祝福文字轨迹和动画效果的展示，整个过程非常简单，希望感兴趣的小伙伴动手尝试一下。在下方评论，将给予整个程序的源码哦，希望大家多多支持，谢谢！
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