KUKA 通信子程序 p00src 注释

KUKA通信子程序p00.src注释DEFP00(COMMAND:IN,PGNO_FUNCT:IN,>_ID[]:OUT,E_NO:IN)DECLP00_COMMANDCOMMANDDECLFUNCT_TYPEPGNO_FUNCTDECLCHARP_ID[]INTE_NOE6AXISAK_AXISSTRUCE6AXISREALA1,A2,A3,A4,A5,A6,E1,E2,E3,E4,E5,E6$OPERATE.SRCREALAX_DISTSWITCHCOMMANDCASE#INIT_EXTINIT_EXT()CASE#EXT_PGNOEXT_PGNO(PGNO_FUNCT)CASE#CHK_HOMECHK_HOME()CASE#EXT_ERREXT_ERR(P_ID[],E_NO)ENDSWITCHEND;********************************;函数：初始化外部接口;********************************DEFINIT_EXT()BOOLERRORINTNPGNO_ERROR=0;********************************;CHECKHOME;********************************;********************************;INITPGNO_REQUNDAPPL_RUN;********************************IF(PGNO_REQ>0)THEN$OUT[PGNO_REQ]=FALSEENDIFIF(PGNO_REQ<0)THEN$OUT[-PGNO_REQ]=TRUEENDIFIF(APPL_RUN>0)THEN$OUT[APPL_RUN]=FALSEENDIFIFPLC_ENABLEAND(ERR_TO_PLC>0)THEN$OUT[ERR_TO_PLC]=FALSEENDIFIFREFLECT_PROG_NR==1THENFORN=0TOPGNO_LENGTH-1$OUT[PGNO_FBIT_REFL+N]=FALSEENDFORENDIF$LOOP_MSG[]=" ";*******************REPEAT;***********************************************************ERROR=FALSEREPEATIF($I_O_ACTCONF==FALSE)THENERROR=TRUEP00_MSG(13)ENDIFUNTIL($I_O_ACTCONF==TRUE)SWITCHPGNO_TYPE;*********************************************************CASE1,2;bci-coding,bcd-coding;*********************************************************;*****CHECKPGNO_LENGTH*****IF(PGNO_LENGTH<1)THENERROR=TRUE;pgno_lengthP00_MSG(2)ENDIFIF(PGNO_TYPE==1)THEN;bci-codingIF(PGNO_LENGTH>16)THENERROR=TRUE;pgno_lengthP00_MSG(2)ENDIFENDIFIF(PGNO_TYPE==2)THEN;bcd-codingSWITCHPGNO_LENGTHCASE4,8,12,16DEFAULTERROR=TRUE;pgno_lengthP00_MSG(3)ENDSWITCHENDIF;*****CHECKPGNO_FBIT*****IF(PGNO_FBIT<1)THENERROR=TRUE;pgno_fbitP00_MSG(4)ENDIF;*****CHECKPGNO_REQ*****IF(PGNO_REQ==0)THENERROR=TRUE;pgno_reqP00_MSG(7)ENDIFIF(PGNO_REQ>0)THEN;activehigh$OUT[PGNO_REQ]=FALSE;resetWAITSEC0.2;delayforplcENDIFIF(PGNO_REQ<0)THEN;activelow$OUT[PGNO_REQ*(-1)]=TRUE;resetWAITSEC0.2;delayforplcENDIF;*********************************************************CASE3;oneoutofn;*********************************************************;*****CHECKPGNO_LENGTH*****IF(PGNO_LENGTH<1)THENERROR=TRUE;pgno_lengthP00_MSG(2)ENDIFIF(PGNO_LENGTH>16)THENERROR=TRUE;pgno_lengthP00_MSG(2)ENDIF;*****CHECKPGNO_FBIT*****IF(PGNO_FBIT<1)THENERROR=TRUE;pgno_fbitP00_MSG(4)ENDIF;*********************************************************DEFAULT;PGNO_TYPEwrongtype;*********************************************************ERROR=TRUE;pgno_typeP00_MSG(1)ENDSWITCH;***********************************************************UNTIL(ERROR==FALSE)ENDDEFEXT_PGNO(FUNCT);Function:communicationprogram;forexternalmode；********************************DECLFUNCT_TYPEFUNCTINTI,J,K,L,M,NBOOLP_RECVBOOLP_CALCJ=1K=0L=1P_RECV=FALSEP_CALC=FALSEIF(APPL_RUN>0)THEN$OUT[APPL_RUN]=FALSEENDIFSWITCHFUNCT;*******************CASE#PGNO_ACKN;*******************IF(PGNO_REQ>0)THEN$OUT[PGNO_REQ]=FALSEENDIFIF(PGNO_REQ<0)THEN$OUT[PGNO_REQ*(-1)]=TRUEENDIFIF(APPL_RUN>0)THEN$OUT[APPL_RUN]=TRUEENDIF;*******************CASE#PGNO_GET;*******************IFREFLECT_PROG_NR==1THENFORN=0TOPGNO_LENGTH-1$OUT[PGNO_FBIT_REFL+N]=FALSEENDFORENDIFSWITCHPGNO_TYPE;*******************CASE1,2;*******************IF(PGNO_VALID>0)THENWAITFOR$IN[PGNO_VALID]==FALSEENDIFIF(PGNO_VALID==0)THENWAITFOR$EXT_START==FALSEENDIFIF(PGNO_VALID<0)THENWAITFOR$IN[PGNO_VALID*(-1)]==TRUEENDIFIF(PGNO_REQ>0)THEN$OUT[PGNO_REQ]=TRUEENDIFIF(PGNO_REQ<0)THEN$OUT[PGNO_REQ*(-1)]=FALSEENDIFIF(PGNO_VALID>0)THENREPEATIFREFLECT_PROG_NR==1THENFORI=0TOPGNO_LENGTH-1IF$IN[PGNO_FBIT+I]==TRUETHEN$OUT[PGNO_FBIT_REFL+I]=TRUEELSE$OUT[PGNO_FBIT_REFL+I]=FALSEENDIFENDFORENDIF$LOOP_MSG[]="WaitforPGNO_VALID=True"UNTIL$IN[PGNO_VALID]==TRUE$LOOP_MSG[]="ENDIFIF(PGNO_VALID==0)THENREPEATIFREFLECT_PROG_NR==1THENFORI=0TOPGNO_LENGTH-1IF$IN[PGNO_FBIT+I]==TRUETHEN$OUT[PGNO_FBIT_REFL+I]=TRUEELSE$OUT[PGNO_FBIT_REFL+I]=FALSEENDIFENDFORENDIF$LOOP_MSG[]="Waitfor$EXT_START=True"UNTIL$EXT_START==TRUE$LOOP_MSG[]="ENDIFIF(PGNO_VALID<0)THENREPEATIFREFLECT_PROG_NR==1THENFORI=0TOPGNO_LENGTH-1IF$IN[PGNO_FBIT+I]==TRUETHEN$OUT[PGNO_FBIT_REFL+I]=TRUEELSE$OUT[PGNO_FBIT_REFL+I]=FALSEENDIFENDFORENDIF$LOOP_MSG[]="WaitforPGNO_VALID=False"UNTIL$IN[PGNO_VALID*(-1)]==FALSE$LOOP_MSG[]="ENDIFPGNO=0SWITCHPGNO_TYPE;*******************CASE1;*******************FORI=0TOPGNO_LENGTH-1IF$IN[PGNO_FBIT+I]THENIFREFLECT_PROG_NR==1THEN$OUT[PGNO_FBIT_REFL+I]=TRUEENDIFPGNO=PGNO+JENDIFJ=J*2ENDFOR;*******************CASE2；*******************FORI=0TOPGNO_LENGTH-1STEP4N=0J=1FORM=ITOI+3IF$IN[PGNO_FBIT+M]THENN=N+JIFREFLECT_PROG_NR==1THEN$OUT[PGNO_FBIT_REFL+M]=TRUEENDIFENDIFJ=J*2ENDFORIF(N>9)THENPGNO_ERROR=2PGNO=0EXITELSEPGNO=PGNO+N*LL=L*10ENDIFENDFORENDSWITCHIF(PGNO_ERROR<>2)THENIF(PGNO_PARITY>0)THENP_RECV=$IN[PGNO_PARITY]FORI=0TOPGNO_LENGTH-1P_CALC=P_CALCEXOR$IN[PGNO_FBIT+I]ENDFORIF(P_RECV<>P_CALC)THENPGNO=0PGNO_ERROR=1ELSEPGNO_ERROR=0ENDIFENDIFIF(PGNO_PARITY<0)THENP_RECV=$IN[PGNO_PARITY*(-1)]FORI=0TOPGNO_LENGTH-1P_CALC=P_CALCEXOR$IN[PGNO_FBIT+I]ENDFORIF(P_RECV<>NOT(P_CALC))THENPGNO=0PGNO_ERROR=1ELSEPGNO_ERROR=0ENDIFENDIFENDIF;*******************CASE3;*******************IFPGNO>0THENWAITFOR$IN[PGNO_FBIT+PGNO-1]==FALSEENDIFK=0REPEATFORI=0TOPGNO_LENGTH-1IF$IN[PGNO_FBIT+I]THENIFK==0THENK=I+1ELSEPGNO_ERROR=0K=0ENDIFENDIFENDFORUNTIL((K<>0)OR(PGNO_ERROR==0))PGNO=KENDSWITCH;***********************************************************CASE#PGNO_FAULT;***********************************************************IFPGNO_ERROR==1THENP00_MSG(10)ENDIFIFPGNO_ERROR==2THENP00_MSG(12)ENDIFIFPGNO_ERROR==0THENIF(PGNO_TYPE==3)THENP00_MSG(15)ELSEP00_MSG(11)ENDIFENDIFPGNO_ERROR=0IF(PGNO_REQ>0)THEN$OUT[PGNO_REQ]=FALSEENDIFIF(PGNO_REQ<0)THEN$OUT[PGNO_REQ*(-1)]=TRUEENDIFWAITSEC0.5ENDSWITCHENDDEFCHK_HOME()BOOLHDECLMSG_TP_MSGDECLMSG_TEMPTY_MSGIF($I_O_ACTCONF==TRUE)THENEMPTY_MSG=(MSG_T:VALIDFALSE,RELEASEFALSE,TYP#NOTIFY,MODUL[]"",KEY[]"”,PARAM_TYP#VALUE,PARAM[]"",DLG_FORMAT[]"”,ANSWER0}P_MSG={MSG_T:VALIDFALSE,RELEASEFALSE,TYP#QUIT,MODUL[]"P00”,KEY[]"MoveHomeInT1",PARAM_TYP#KEY,PARAM[]"",DLG_FORMAT[]"",ANSWER0}$MSG_T=P_MSGWAITSEC1.0REPEATH=TRUEIF($IN_HOME==FALSE)THENH=FALSE$MSG_T.VALID=TRUEREPEATHALTIF(($MODE_OP==#T1)OR($MODE_OP==#T2))THEN$MSG_T.RELEASE=TRUE$MSG_T=EMPTY_MSGRETURNENDIFUNTIL$IN_HOME==TRUEELSEH=TRUEENDIFUNTIL((H==TRUE)OR($I_O_ACTCONF==FALSE))ENDIFENDDEFEXT_ERR(P_ID,E_NO:IN);******************************;Function:ext.errormessages;forpackageP00;******************************CHARP_ID[]INTE_NO,M;*********MODUL-/FEHLER-NUMMERAUSWERTEN********I=1FOUND=FALSEIF(E_NO==0)THENIFPLC_ENABLETHENERR=0WAITSEC0.2IF(ERR_TO_PLC>0)THEN$OUT[ERR_TO_PLC]=FALSEWAITSEC0.2ENDIFENDIFELSEIFPLC_ENABLETHENFOUND=FALSE；******************************;APPLIKATIONS-FEHLERAUSWERTEN；******************************I=1REPEATIF(E_NO==P[I].ERR)THENIF(P_ID[1]==P[I].PKG[1])THENIF(P_ID[2]==P[I].PKG[2])THENIF(P_ID[3]==P[I].PKG[3])THENFOUND=TRUEERR=P[I].OUTF_WRITE()ENDIFENDIFENDIFENDIFI=I+1UNTIL(I>MAXERR_A)ORFOUND;***************************;$STOPMESS-FEHLERAUSWERTEN;***************************I=128IF(P_ID[1]=="C")THENIF(P_ID[2]=="T")THENIF(P_ID[3]=="L")THENM=MBX_REC(1,MLD)IFM==0THENREPEATIF(MLD.MESSNO==P[I].ERR)THENFOUND=TRUEERR=P[I].OUTF_WRITE()ENDIFI=I+1UNTIL(I>MAXERR_C+128-1)ORFOUNDENDIFENDIFENDIFENDIFIF(ERR_TO_PLC>0)THEN$OUT[ERR_TO_PLC]=TRUEENDIFENDIFENDIFENDDEFF_WRITE()IF(F_NO>64)THENF_NO=1ENDIFERR_FILE[F_NO].P[1]=P[I].PKG[1]ERR_FILE[F_NO].P[2]=P[I].PKG[2]ERR_FILE[F_NO].P[3]=P[I].PKG[3]ERR_FILE[F_NO].E=P[I].ERRF_NO=F_NO+1ENDDEFP00_MSG(MSG_NO:IN)DECLINTOFFSET,MSG_NODECLSTATE_TSTATEDECLMSG_TP_MSGDECLMSG_TEMPTY_MSGEMPTY_MSG=(MSG_T:VALIDFALSE,RELEASEFALSE,TYP#NOTIFY,MODUL[]"”,KEY[]””,P