TwinCAT中PLC编程ST常用功能块的总结

TwinCAT中PLC编程ST常⽤功能块的总结1.前⾔使⽤软最好是多创建action，这样编程⽐较清晰，主程序⾥代码⽐较少，实现语⾔我推荐使⽤结构化⽂本（ST）。2.常⽤功能块①.powerVAR：12power1:mc_power;power_do:BOOL;action:12power1(Axis:=axis1,Enable:=power_do,Enable_Positive:=,Enable_Negative:=,Override:=,BufferMode:=,Options:=,3456789Status=>,10111213Busy=>,Active=>,Error=>,ErrorID=>);②.stopVAR:12stop1:MC_Stop;stop_do:BOOL;action:12stop1(Axis:=axis1,Execute:=stop_do,Deceleration:=,Jerk:=,3456Options:=,Done=>,78Busy=>,9Active=>,101112CommandAborted=>,Error=>,ErrorID=>);③.resetVAR:12reset1:mc_reset;reset_do:BOOL;action:1234567reset1(Axis:=axis1,Execute:=reset_do,Done=>,Busy=>,Error=>,ErrorID=>);④.jogVAR:12jog1:MC_Jog;jog_forward,jog_backward:BOOL;action:12jog1(Axis:=axis1,JogForward:=jog_forward,JogBackwards:=jog_backward,Mode:=,3456Position:=,7Velocity:=,8Acceleration:=,Deceleration:=,Jerk:=,910111213141516Done=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);⑤.move_relativeVAR:12move_r1:MC_MoveRelative;mover_do:BOOL;action:12move_r1(Axis:=axis1,Execute:=mover_do,Distance:=10000,Velocity:=100,Acceleration:=,Deceleration:=,Jerk:=,3456789BufferMode:=,Options:=,10111213141516Done=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);⑥.move_absoluteVAR:12move_a1:MC_MoveAbsolute;movea_do;action:12move_a1(Axis:=axis1,Execute:=movea_do,Position:=0,Velocity:=100,Acceleration:=,Deceleration:=,Jerk:=,3456789BufferMode:=,Options:=,10111213141516Done=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);⑦.VAR:1234camin:mc_camin;camout:mc_camout;camin_do:BOOL;camin_out:BOOL;action:12camin(Master:=axis1,Slave:=axis2,Execute:=camin_do,MasterOffset:=,SlaveOffset:=,MasterScaling:=,SlaveScaling:=,StartMode:=,CamTableID:=1,BufferMode:=,Options:=,34567891011121314151617181920212223242526InSync=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);camout(Slave:=axis2,Execute:=camout_do,Options:=,Done=>,Busy=>,Error=>,ErrorID=>);⑧.gearVAR:1234gearin2:MC_GearIn;gearout2:MC_GearOut;greain_do:BOOL;gearout_do:BOOL;action:12gearin2(Master:=axis1,Slave:=axis2,Execute:=greain_do,RatioNumerator:=1,RatioDenominator:=1,Acceleration:=,Deceleration:=,Jerk:=,345678910111213141516171819202122232425BufferMode:=,Options:=,InGear=>,Busy=>,Active=>,CommandAborted=>,Error=>,ErrorID=>);gearout2(Slave:=axis2,Execute:=gearout_do,Options:=,Done=>,Busy=>,Error=>,ErrorID=>);⑨.setpositionVAR:12setpos1:mc_setposition;set_do:BOOL;action:12setpos1(Axis:=axis1,Execute:=set_do,Position:=0,Mode:=,3456Options:=,Done=>,78Busy=>,9Error=>,10ErrorID=>);⑩.homeVAR:123home1:mc_home;home_do:BOOL;sensor:BOOL;action:12home(Axis:=axis1,3Execute:=home_do,Position:=,45H