KUKA的程序调用--VSS版本解析

机器人及PLC自动化应用 2021-03-18 2925

描述

UP/MAKRO程序调用

该指令可用于调用子程序并将子程序调用链接到条件（布尔操作数）。如果需要，可以链接多个操作数（最多11个）。

子程序的调用次数没有限制。

KUKA

UP101 = F78 + F79 激活条件UP101

;%{SE}%MKUKATPVW %CVW_SPS %VUP %P 2:UP101 = F78 + F79,3:UP

;ENDFOLDSEL_RES=SELECT(#UP,101,$FLAG[78] OR $FLAG[79])

REPEAT UP101 N= 999 STOP= !F298 条件满足停止循环调用UP101

SEL_RES=SELECT (#CYC_UP,101,TRUE,#NUM,999,#NOT_F,298,FALSE)

;ENDFOLD

DEFFCT INT SELECT

(SUB :IN,NO :IN,CALL_CND :IN,ARI_OP :IN,ARI_NUM :IN,BOOL_OP :IN,BOOL_NUM :IN,MAKRO_ADV :IN)

SUB : 选择调用的类型UP/makro

NO : 程序号

CALL_CND : 激活条件

ADV_RESULT = 0

IF NOT CALL_CND THEN ---如果不激活就跳步到最后

GOTO PEXIT -----跳步到退出

ENDIF

SWITCH SUB

CASE #UP 使用调用UP

CALLBYSELECT=TRUE

SWITCH NO ;调用UP程序号

CASE 101 ---程序号

UP101 ( ) 调用UP程序号

CASE 102

UP102 ( )

CASE 103

UP103 ( )

CASE 112

UP112 ( )

CASE 201

UP201 ( )

CASE 206

UP206 ( )

DEFAULT

$LOOP_MSG[]=" "

OFFSET = 0

---程序号不能被调用---

SWRITE($LOOP_MSG[],STATE,OFFSET,"UP%D ist nicht vorhanden",NO)

HALT ---程序号不能被调用---使得程序停止

$LOOP_MSG[]=" "

ENDSWITCH

CALLBYSELECT=FALSE

CASE #MAKRO

SWITCH NO ;开始调用MAKRO程序号 --

CASE 0 要激活的程序号

ADV_RESULT = MAKRO0 (MAKRO_ADV) 激活MAKRO0程序

CASE 1

ADV_RESULT = MAKRO1 (MAKRO_ADV) 激活MAKRO1程序

CASE 2

ADV_RESULT = MAKRO2 (MAKRO_ADV)

CASE 3

ADV_RESULT = MAKRO3 (MAKRO_ADV)

CASE 4

ADV_RESULT = MAKRO4 (MAKRO_ADV)

CASE 5

ADV_RESULT = MAKRO5 (MAKRO_ADV)

CASE 6

ADV_RESULT = MAKRO6 (MAKRO_ADV)

CASE 7

ADV_RESULT = MAKRO7 (MAKRO_ADV)

CASE 8

ADV_RESULT = MAKRO8 (MAKRO_ADV)

CASE 9

ADV_RESULT = MAKRO9 (MAKRO_ADV)

CASE 10

ADV_RESULT = MAKRO10 (MAKRO_ADV)

CASE 11

ADV_RESULT = MAKRO11 (MAKRO_ADV)

CASE 12

ADV_RESULT = MAKRO12 (MAKRO_ADV)

CASE 13

ADV_RESULT = MAKRO13 (MAKRO_ADV)

CASE 14

ADV_RESULT = MAKRO14 (MAKRO_ADV)

CASE 15

ADV_RESULT = MAKRO15 (MAKRO_ADV)

CASE 20

ADV_RESULT = MAKRO20 (MAKRO_ADV)

CASE 50

ADV_RESULT = MAKRO50 (MAKRO_ADV)

CASE 57

ADV_RESULT = MAKRO57 (MAKRO_ADV)

CASE 80

ADV_RESULT = MAKRO80 (MAKRO_ADV)

CASE 81

ADV_RESULT = MAKRO81 (MAKRO_ADV)

CASE 82

ADV_RESULT = MAKRO82 (MAKRO_ADV)

CASE 83

ADV_RESULT = MAKRO83 (MAKRO_ADV)

CASE 89

ADV_RESULT = MAKRO89 (MAKRO_ADV)

DEFAULT

$LOOP_MSG[]=" "

-------没有建立的Makro号被调用

OFFSET = 0

SWRITE($LOOP_MSG[],STATE,OFFSET,"Makro%D ist nicht vorhanden",NO)

用来模拟显示: 没有建立的Makro号被调用

HALT -----如果没有号需要停止

$LOOP_MSG[]=" "

ENDSWITCH 结束了MAKRO选择

CASE #CYC_UP -----循环执行UP程序

NR=0

WHILE NOT (CHECK_BOOL(BOOL_OP,BOOL_NUM) OR CHECK_ARI(NR,ARI_OP,ARI_NUM)) CHECK_BOOL/ CHECK_ARI启动功能条件开启

NR=NR+1 从0开始计数大于给定值将不执行循环程序

CALLBYSELECT=TRUE

SWITCH NO ; UP程序号调用

CASE 101

UP101 ( )

CASE 102

UP102 ( )

CASE 103

UP103 ( )

CASE 112

UP112 ( )

CASE 201

UP201 ( )

CASE 206

UP206 ( )

DEFAULT

$LOOP_MSG[]=" "

UP程序号没有被激活的程序号

OFFSET = 0

SWRITE($LOOP_MSG[],STATE,OFFSET,"UP%D ist nicht vorhanden",NO)

HALT 程序号没有使用程序停止

$LOOP_MSG[]=" "

ENDSWITCH

CALLBYSELECT=FALSE

ENDWHILE

CASE #CYC_MAKRO -----循环执行MAKRO程序

NR=0

WHILE NOT (CHECK_BOOL(BOOL_OP,BOOL_NUM) OR CHECK_ARI(NR,ARI_OP,ARI_NUM)) 大于给定值将不执行循环程序

NR=NR+1 从0开始计数大于给定值将不执行循环程序

SWITCH NO -----调用的程序号

CASE 0

ADV_RESULT = MAKRO0 (MAKRO_ADV) 调用执行MAKRO程序

CASE 1

ADV_RESULT = MAKRO1 (MAKRO_ADV)

CASE 2

ADV_RESULT = MAKRO2 (MAKRO_ADV)

CASE 3

ADV_RESULT = MAKRO3 (MAKRO_ADV)

CASE 4

ADV_RESULT = MAKRO4 (MAKRO_ADV)

CASE 5

ADV_RESULT = MAKRO5 (MAKRO_ADV)

CASE 6

ADV_RESULT = MAKRO6 (MAKRO_ADV)

CASE 7

ADV_RESULT = MAKRO7 (MAKRO_ADV)

CASE 8

ADV_RESULT = MAKRO8 (MAKRO_ADV)

CASE 9

ADV_RESULT = MAKRO9 (MAKRO_ADV)

CASE 10

ADV_RESULT = MAKRO10 (MAKRO_ADV)

CASE 11

ADV_RESULT = MAKRO11 (MAKRO_ADV)

CASE 12

ADV_RESULT = MAKRO12 (MAKRO_ADV)

CASE 13

ADV_RESULT = MAKRO13 (MAKRO_ADV)

CASE 14

ADV_RESULT = MAKRO14 (MAKRO_ADV)

CASE 15

ADV_RESULT = MAKRO15 (MAKRO_ADV)

CASE 20

ADV_RESULT = MAKRO20 (MAKRO_ADV)

CASE 50

ADV_RESULT = MAKRO50 (MAKRO_ADV)

CASE 57

ADV_RESULT = MAKRO57 (MAKRO_ADV)

CASE 80

ADV_RESULT = MAKRO80 (MAKRO_ADV)

CASE 81

ADV_RESULT = MAKRO81 (MAKRO_ADV)

CASE 82

ADV_RESULT = MAKRO82 (MAKRO_ADV)

CASE 83

ADV_RESULT = MAKRO83 (MAKRO_ADV)

CASE 89

ADV_RESULT = MAKRO89 (MAKRO_ADV)

DEFAULT

$LOOP_MSG[]=" "

Makro程序号没有被激活的程序号

OFFSET = 0

SWRITE($LOOP_MSG[],STATE,OFFSET,"Makro%D ist nicht vorhanden",NO)

HALT -----程序号没有使用程序停止

$LOOP_MSG[]=" "

ENDSWITCH ---结束选择程序

ENDWHILE ---结束条件

DEFAULT --- 没有UP,MAKRO,CYC_MAKRO,CYC_UP

ENDSWITCH ---结束选择程序

PEXIT: -------跳步退出

RETURN ADV_RESULT

ENDFCT

---检查位用于循环调用---

DEFFCT BOOL CHECK_BOOL(BOOLOP :IN,BOOLOP_NUM :IN)

INT BOOLOP_NUM 位号,数字

DECL BOOL_TYP BOOLOP 各种类型

BOOL STOP_BOOL

SWITCH BOOLOP

CASE #EIN

STOP_BOOL=TRUE ---激活

CASE #AUS

STOP_BOOL=FALSE ---关闭

CASE #E

STOP_BOOL=$IN[BOOLOP_NUM] ---用输入激活

CASE #NOT_E

STOP_BOOL= NOT $IN[BOOLOP_NUM] ---输入取反激活

CASE #A

STOP_BOOL=$OUT[BOOLOP_NUM] ---用输出激活

CASE #NOT_A

STOP_BOOL= NOT $OUT[BOOLOP_NUM] ---用输出的非激活

CASE #M

STOP_BOOL=$CYCFLAG[BOOLOP_NUM] ---用M量激活

CASE #NOT_M

STOP_BOOL= NOT $CYCFLAG[BOOLOP_NUM] ---用M量的非激活

CASE #F

STOP_BOOL=$FLAG[BOOLOP_NUM] 用F量激活

CASE #NOT_F

STOP_BOOL= NOT $FLAG[BOOLOP_NUM] 用F量的非激活

CASE #T

STOP_BOOL=$TIMER_FLAG[BOOLOP_NUM] 用时间量激活

CASE #NOT_T

STOP_BOOL= NOT $TIMER_FLAG[BOOLOP_NUM] 用时间量的非激活

CASE #S

STOP_BOOL=S[BOOLOP_NUM] S量一般不用

CASE #NOT_S

STOP_BOOL= NOT S[BOOLOP_NUM]

ENDSWITCH

RETURN (STOP_BOOL) 条件满足反馈

ENDFCT

-----用于输入数---

DEFFCT BOOL CHECK_ARI(ACT_NR :IN, ARIOP :IN ,ARIOP_NUM :IN)

INT ACT_NR, ARIOP_NUM, MAX_NR

DECL ARI_TYP ARIOP

SWITCH ARIOP

CASE #NUM 直接给入数

MAX_NR=ARIOP_NUM

CASE #COUNT 计数器

MAX_NR=$COUNT_I[ARIOP_NUM]

CASE #BIN 二进制

MAX_NR=$B_OUT[ARIOP_NUM]

CASE #BININ 二进制输入

MAX_NR=ARIOP_NUM

CASE #ANA 模拟量输出

MAX_NR=$ANOUT[ARIOP_NUM]*1000

CASE #ANAIN 模拟量输入

MAX_NR=$ANIN[ARIOP_NUM]*1000

CASE #TIMER 时间控制

MAX_NR=$TIMER[ARIOP_NUM]*0.01

CASE #PROCPAR P值控制

MAX_NR=PROCPAR[ARIOP_NUM]

ENDSWITCH

RETURN (ACT_NR>=MAX_NR) 计数大于给定值.

ENDFCT

;ENDFOLD

编辑：jq

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