From 2f8fbc3a71b2b39b0e83d1d03110b33fba8e972d Mon Sep 17 00:00:00 2001 From: anfu Date: Fri, 23 Aug 2024 16:58:51 +0800 Subject: [PATCH] first commit --- .../Experiment Scope/Experiment Scope.tcmproj | 14 + .../Experiment Scope/Scope YT Project.tcscope | 362 +++ .../SystemTimerCount/Scope YT Project.tcscope | 473 ++++ .../SystemTimerCount/SystemTimerCount.tcmproj | 14 + .../Routine Scope.tcmproj | 14 + .../Scope YT Project.tcscope | 615 +++++ .../Fitting Scope.tcmproj | 14 + .../Scope YT Project.tcscope | 615 +++++ 主控制程序/ZeroTorque/ZeroTorque.sln | 78 + 主控制程序/ZeroTorque/ZeroTorque.sln.~u | 4 + 主控制程序/ZeroTorque/ZeroTorque.v12.suo | Bin 0 -> 42496 bytes .../ZeroTorque/ZeroTorque/TrialLicense.tclrs | 2 + .../ZeroTorque/ZeroTorque/ZeroTorque.tsproj | 2383 ++++++++++++++++ .../ZeroTorque/ZeroTorque/ZeroTorque.tsproj.bak | 2387 +++++++++++++++++ .../ZeroTorque/ZeroTorque/GVLs/GVL.TcGVL | 30 + .../ZeroTorque/ZeroTorque/POUs/KalmanFilter.TcPOU | 43 + .../ZeroTorque/ZeroTorque/POUs/MAIN.TcPOU | 537 ++++ .../ZeroTorque/ZeroTorque/ZeroTorque/PlcTask.TcTTO | 17 + .../ZeroTorque/ZeroTorque/ZeroTorque.plcproj | 129 + .../ZeroTorque/ZeroTorque/ZeroTorque.tmc | 37 + .../ZeroTorque/ZeroTorque/ZeroTorque.tpy | 37 + ...D9FD5CC-EBF1-40B1-EE24-FE8A91841B65.compileinfo | Bin 0 -> 839479 bytes ...2D624F7-A8F7-470F-5BB9-8DBE0B01C784.compileinfo | Bin 0 -> 1100225 bytes .../tc2_math/3.3.0.0/tc2_math.compiled-library | Bin 0 -> 19844 bytes .../tc2_mc2/3.3.15.0/tc2_mc2.compiled-library | Bin 0 -> 282155 bytes .../3.3.1.0/tc2_standard.compiled-library | Bin 0 -> 43560 bytes .../3.4.15.0/tc2_system.compiled-library | Bin 0 -> 157670 bytes .../3.3.12.0/tc3_module.compiled-library | Bin 0 -> 72213 bytes .../ZeroTorque/_Boot/TargetDescription.xml | 9 + .../_Boot/TwinCAT RT (x64)/CurrentConfig.xml | 2 + .../_Boot/TwinCAT RT (x64)/Plc/Port_851.app | Bin 0 -> 59316 bytes .../_Boot/TwinCAT RT (x64)/Plc/Port_851.autostart | 0 .../_Boot/TwinCAT RT (x64)/Plc/Port_851.cid | 1 + .../_Boot/TwinCAT RT (x64)/Plc/Port_851.crc | Bin 0 -> 28 bytes .../_Boot/TwinCAT RT (x64)/Plc/Port_851.occ | 0 .../_Boot/TwinCAT RT (x64)/Plc/Port_851_boot.tizip | Bin 0 -> 157933 bytes .../ZeroTorque/newControl/Scope YT Project.tcscope | 529 ++++ .../ZeroTorque/newControl/newControl.tcmproj | 14 + 参数标定程序/GetData/GetData.sln | 54 + 参数标定程序/GetData/GetData.v12.suo | Bin 0 -> 30720 bytes 参数标定程序/GetData/GetData/GetData.tsproj | 2301 ++++++++++++++++ .../GetData/GetData/GetData.tsproj.bak | 2290 ++++++++++++++++ .../GetData/GetData/_Boot/TargetDescription.xml | 9 + .../_Boot/TwinCAT RT (x64)/CurrentConfig.xml | 2 + .../GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.app | Bin 0 -> 36384 bytes .../_Boot/TwinCAT RT (x64)/Plc/Port_851.autostart | 0 .../GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.cid | 1 + .../GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc | Bin 0 -> 28 bytes .../GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.occ | 0 .../_Boot/TwinCAT RT (x64)/Plc/Port_851_boot.tizip | Bin 0 -> 106795 bytes 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参数标定程序/GetData/GetData/getData/getData.tpy create mode 100644 参数标定程序/GetData/showData/Scope YT Project.tcscope create mode 100644 参数标定程序/GetData/showData/showData.tcmproj diff --git a/主控制程序/ZeroTorque/Experiment Scope/Experiment Scope.tcmproj b/主控制程序/ZeroTorque/Experiment Scope/Experiment Scope.tcmproj new file mode 100644 index 0000000..c9a790b --- /dev/null +++ b/主控制程序/ZeroTorque/Experiment Scope/Experiment Scope.tcmproj @@ -0,0 +1,14 @@ + + + + {25266813-b8bd-4fca-900e-0b9714878e6a} + Experiment Scope + Experiment Scope + Experiment Scope + + + + Content + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/Experiment Scope/Scope YT Project.tcscope b/主控制程序/ZeroTorque/Experiment Scope/Scope YT Project.tcscope new file mode 100644 index 0000000..f628b0a --- /dev/null +++ b/主控制程序/ZeroTorque/Experiment Scope/Scope YT Project.tcscope @@ -0,0 +1,362 @@ + + + 1.0.0.6 + Scope YT Project + <?xml version="1.0" encoding="utf-16"?> +<Layout> + <Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133597156560467605" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /> + <DocumentContainer Dock="5"> + <SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"> + <ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a"> + <Controls> + <Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" /> + </Controls> + </ControlLayoutSystem> + </SplitLayoutSystem> + </DocumentContainer> +</Layout> + + 6000000000 + C:\temp + ClientStart + AutoStop + true + + + false + + + {SCOPE}_AutoSave_{HH_mm_ss} + + false + + + + Chart + 97332cdc-477f-498a-a8da-59f3e238ae5a + + + + -1 + false + + + + Axis + Axis + + + + DualPosDiff + 1 + + INT32 + 61472 + 516976 + 851 + 4 + GVL.DualPosDiff + --- Triansmit PDO --- + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(2) + Axis(2) + + + + actVelo + 2 + + INT32 + 61472 + 516980 + 851 + 4 + GVL.actVelo + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(1) + Axis(1) + + + + actAngle + 3 + + REAL64 + 16448 + 514416 + 851 + 8 + MAIN.actAngle + + true + 0 + true + 172.18.138.230.1.1 + 100000 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Chart + 97332cdc-477f-498a-a8da-59f3e238ae5a + + + + -1 + false + + + + Axis + Axis + + + + cycleCounter + 1 + + INT32 + 16448 + 518252 + 851 + 4 + MAIN.cycleCounter + 循环计数器 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(1) + Axis(1) + + + + actCyclePerSecond + 2 + + INT32 + 16448 + 518260 + 851 + 4 + MAIN.actCyclePerSecond + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + expectedCyclePerSecond + 3 + + INT32 + 16448 + 518256 + 851 + 4 + MAIN.expectedCyclePerSecond + 100Hz + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + -1 + + + Axis(2) + Axis(2) + + + + ifStartTimeCount + 4 + + BIT + 16448 + 518249 + 851 + 1 + MAIN.ifStartTimeCount + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + ifEndTimeCount + 5 + + BIT + 16448 + 518537 + 851 + 1 + MAIN.ifEndTimeCount + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + -1 + + + + + + false + true + true + true + false + false + + + 100000000 + + XT + -1 + -1 + 120000 + true + 00000000-0000-0000-0000-000000000000 + + + + + + -1 + Default + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/SystemTimerCount/SystemTimerCount.tcmproj b/主控制程序/ZeroTorque/SystemTimerCount/SystemTimerCount.tcmproj new file mode 100644 index 0000000..5ca88c4 --- /dev/null +++ b/主控制程序/ZeroTorque/SystemTimerCount/SystemTimerCount.tcmproj @@ -0,0 +1,14 @@ + + + + {e56a7522-ee8a-4efd-bc6c-526f41496fe1} + SystemTimerCount + SystemTimerCount + SystemTimerCount + + + + Content + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/TwinCAT Measurement Project1/Routine Scope.tcmproj b/主控制程序/ZeroTorque/TwinCAT Measurement Project1/Routine Scope.tcmproj new file mode 100644 index 0000000..1869e26 --- /dev/null +++ b/主控制程序/ZeroTorque/TwinCAT Measurement Project1/Routine Scope.tcmproj @@ -0,0 +1,14 @@ + + + + {ffc8516a-b58d-4531-ad7b-9ff30d4ad54a} + TwinCAT Measurement Project1 + Routine Scope + TwinCAT Measurement Project1 + + + + Content + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/TwinCAT Measurement Project1/Scope YT Project.tcscope b/主控制程序/ZeroTorque/TwinCAT Measurement Project1/Scope YT Project.tcscope new file mode 100644 index 0000000..ec0b2bc --- /dev/null +++ b/主控制程序/ZeroTorque/TwinCAT Measurement Project1/Scope YT Project.tcscope @@ -0,0 +1,615 @@ + + + 1.0.0.6 + Scope YT Project + <?xml version="1.0" encoding="utf-16"?> +<Layout> + <Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133598985474271739" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" 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{SCOPE}_AutoSave_{HH_mm_ss} + + false + + + + Chart + 97332cdc-477f-498a-a8da-59f3e238ae5a + + + + -1 + false + + + + Axis + Axis + + + + runDirect + 1 + + INT16 + 16448 + 512998 + 851 + 2 + MAIN.runDirect + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(1) + Axis(1) + + + + sampleVelo + 2 + + INT32 + 16448 + 512988 + 851 + 4 + MAIN.sampleVelo + 采样速度 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + targetVelo + 3 + + INT32 + 61488 + 514168 + 851 + 4 + GVL.targetVelo + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(2) + Axis(2) + + + + dualPosFix + 4 + + INT32 + 16448 + 514224 + 851 + 4 + GVL.dualPosFix + process data + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + irDualPos + 5 + + REAL64 + 16448 + 513232 + 851 + 8 + MAIN.irDualPos + 滤波后双编码器差值 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + lowSpeedOffset + 6 + + REAL64 + 16448 + 513304 + 851 + 8 + MAIN.lowSpeedOffset + 低速偏置 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 1 + + + Axis(3) + Axis(3) + + + + udiProAcc + 7 + + UINT32 + 61488 + 514184 + 851 + 4 + GVL.udiProAcc + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + + + + false + true + true + true + false + false + + + 100000000 + + XT + -1 + -1 + 120000 + true + 00000000-0000-0000-0000-000000000000 + + + + + + -1 + Default + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/TwinCAT Measurement Project2/Fitting Scope.tcmproj b/主控制程序/ZeroTorque/TwinCAT Measurement Project2/Fitting Scope.tcmproj new file mode 100644 index 0000000..d292b06 --- /dev/null +++ b/主控制程序/ZeroTorque/TwinCAT Measurement Project2/Fitting Scope.tcmproj @@ -0,0 +1,14 @@ + + + + {ee167ca7-c964-44c2-a943-8612583d6c56} + TwinCAT Measurement Project2 + Fitting Scope + TwinCAT Measurement Project2 + + + + Content + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/TwinCAT Measurement Project2/Scope YT Project.tcscope b/主控制程序/ZeroTorque/TwinCAT Measurement Project2/Scope YT Project.tcscope new file mode 100644 index 0000000..b2ed92e --- /dev/null +++ b/主控制程序/ZeroTorque/TwinCAT Measurement Project2/Scope YT Project.tcscope @@ -0,0 +1,615 @@ + + + 1.0.0.6 + Scope YT Project + <?xml version="1.0" encoding="utf-16"?> +<Layout> + <Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133599059070841222" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /> + <DocumentContainer Dock="5"> + <SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"> + <ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a"> + <Controls> + <Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" /> + </Controls> + </ControlLayoutSystem> + </SplitLayoutSystem> + </DocumentContainer> +</Layout> + + 6000000000 + C:\temp + ClientStart + AutoStop + true + + + false + + + {SCOPE}_AutoSave_{HH_mm_ss} + + false + + + + Chart + 97332cdc-477f-498a-a8da-59f3e238ae5a + + + + -1 + false + + + + Axis + Axis + + + + tarAcc + 1 + + REAL64 + 16448 + 553088 + 851 + 8 + MAIN.tarAcc + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(1) + Axis(1) + + + + actVelo + 2 + + INT32 + 61472 + 514152 + 851 + 4 + GVL.actVelo + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + tarVelocity + 3 + + REAL64 + 16448 + 553080 + 851 + 8 + MAIN.tarVelocity + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(2) + Axis(2) + + + + actPosition + 4 + + INT32 + 61472 + 514164 + 851 + 4 + GVL.actPosition + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + tarPosition + 5 + + REAL64 + 16448 + 553072 + 851 + 8 + MAIN.tarPosition + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 1 + + + Axis(3) + Axis(3) + + + + runDirect + 6 + + INT16 + 16448 + 512998 + 851 + 2 + MAIN.runDirect + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + enable + 7 + + BIT + 16448 + 550406 + 851 + 1 + MAIN.enable + + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + -1 + + + + + + false + true + true + true + false + false + + + 100000000 + + XT + -1 + -1 + 120000 + true + 00000000-0000-0000-0000-000000000000 + + + + + + -1 + Default + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque.sln b/主控制程序/ZeroTorque/ZeroTorque.sln new file mode 100644 index 0000000..6fe4fdc --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque.sln @@ -0,0 +1,78 @@ + +Microsoft Visual Studio Solution File, Format Version 12.00 +# Visual Studio 2013 +VisualStudioVersion = 12.0.21005.1 +MinimumVisualStudioVersion = 10.0.40219.1 +Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "ZeroTorque", "ZeroTorque\ZeroTorque.tsproj", "{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}" +EndProject +Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "Routine Scope", "TwinCAT Measurement Project1\Routine Scope.tcmproj", "{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}" +EndProject +Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "Fitting Scope", "TwinCAT Measurement Project2\Fitting Scope.tcmproj", "{EE167CA7-C964-44C2-A943-8612583D6C56}" +EndProject +Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "Experiment Scope", "Experiment Scope\Experiment Scope.tcmproj", "{25266813-B8BD-4FCA-900E-0B9714878E6A}" +EndProject +Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "newControl", "newControl\newControl.tcmproj", "{DFD57539-9BF9-4B55-A36D-0267A2D1970A}" +EndProject +Global + GlobalSection(SolutionConfigurationPlatforms) = preSolution + Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7) + Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64) + Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86) + Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7) + Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64) + Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86) + EndGlobalSection + GlobalSection(ProjectConfigurationPlatforms) = postSolution + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {EE167CA7-C964-44C2-A943-8612583D6C56}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {EE167CA7-C964-44C2-A943-8612583D6C56}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {EE167CA7-C964-44C2-A943-8612583D6C56}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {EE167CA7-C964-44C2-A943-8612583D6C56}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {EE167CA7-C964-44C2-A943-8612583D6C56}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {EE167CA7-C964-44C2-A943-8612583D6C56}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {25266813-B8BD-4FCA-900E-0B9714878E6A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {25266813-B8BD-4FCA-900E-0B9714878E6A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {25266813-B8BD-4FCA-900E-0B9714878E6A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {25266813-B8BD-4FCA-900E-0B9714878E6A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {25266813-B8BD-4FCA-900E-0B9714878E6A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {25266813-B8BD-4FCA-900E-0B9714878E6A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection +EndGlobal diff --git a/主控制程序/ZeroTorque/ZeroTorque.sln.~u b/主控制程序/ZeroTorque/ZeroTorque.sln.~u new file mode 100644 index 0000000..2c73391 --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque.sln.~u @@ -0,0 +1,4 @@ +Administrator +2303186-002 +7728 +638508643709001267 diff --git a/主控制程序/ZeroTorque/ZeroTorque.v12.suo b/主控制程序/ZeroTorque/ZeroTorque.v12.suo new file mode 100644 index 0000000000000000000000000000000000000000..42aab8d57c88d9b238e199f827746373bc502d40 GIT binary patch literal 42496 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{08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + MAIN.axis1.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + + + HomingState + + + + + + CoupleState + + + + + + + GVL.ActTorque + INT + + + GVL.DualPosDiff + + + + DINT + + + GVL.actVelo + DINT + + + GVL.loadPos + DINT + + + GVL.motorPos + DINT + + + GVL.actPosition + DINT + + + + PlcTask Outputs + + MAIN.axis1.PlcToNc + PLCTONC_AXIS_REF + + + GVL.targetTor + + + + INT + + + GVL.uiCtrl + UINT + + + GVL.targetVelo + DINT + + + GVL.targetPos + DINT + + + GVL.siOperationMode + SINT + + + GVL.udiProVelo + UDINT + + + GVL.udiProAcc + UDINT + + + GVL.udiProDec + UDINT + + + + + + + + + + + Device 3 (EtherCAT) + + + Local Area Connection 2 (TwinCAT-Intel PCI Ethernet + \DEVICE\{18280C8F-D2D6-4D82-AA13-9EA29A01D8E9} + 0400a82333e1 + + + + Image + + + Drive 1 (ZeroErr Driver) + 1000 + + 001080002600010001000000220080008000001026010000 + 801080002200010002000000220080008000801022010000 + 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#x1a01 + #x1a03 + #x1a04 + + DINT + + + INT + + + UINT + + + SINT + + + USINT + + + + #x1a00 + #x1a01 + #x1a02 + #x1a04 + + DINT + + + DINT + + + DINT + + + UINT + + + + #x1a00 + #x1a01 + #x1a02 + #x1a03 + + DINT + + + DINT + + + INT + + + UINT + + + SINT + + + USINT + + + + + UINT + + + UINT + + + DINT + + + DINT + + + SINT + + + USINT + + + + + UINT + + + UINT + + + DINT + + + DINT + + + INT + + + SINT + + + USINT + + + + + DINT + + + + + UDINT + + + DINT + + + INT + + + + + UINT + + + + + SINT + + + ARRAY [0..0] OF BYTE + + + + + DINT + + + + + DINT + + + + + DINT + + + + + DINT + + + + + DINT + + + + + DINT + + + + + INT + + + + + INT + + + + + UDINT + + + + + DINT + + + + + DINT + + + + + DINT + + + + + INT + + + + #x1601 + #x1602 + #x1603 + #x1604 + #x1605 + #x1606 + + DINT + + + UDINT + + + UINT + + + SINT + + + ARRAY [0..0] OF BYTE + + + INT + + + UDINT + + + UDINT + + + UDINT + + + DINT + + + + #x1600 + #x1602 + #x1603 + #x1604 + #x1605 + #x1606 + + DINT + + + UINT + + + + #x1600 + #x1601 + #x1603 + #x1604 + #x1605 + #x1606 + + INT + + + UINT + + + + #x1600 + #x1601 + #x1602 + #x1604 + #x1605 + #x1606 + + DINT + + + UDINT + + + DINT + + + UINT + + + + #x1600 + #x1601 + #x1602 + #x1603 + #x1605 + #x1606 + + DINT + + + DINT + + + UINT + + + UINT + + + + #x1600 + #x1601 + #x1602 + #x1603 + #x1604 + #x1606 + + DINT + + + DINT + + + INT + + + UINT + + + UINT + + + SINT + + + ARRAY [0..0] OF BYTE + + + + #x1600 + #x1601 + #x1602 + #x1603 + #x1604 + #x1605 + + DINT + + + UDINT + + + DINT + + + DINT + + + INT + + + UINT + + + + + UINT + + + DINT + + + SINT + + + SINT + + + + + UINT + + + INT + + + DINT + + + UDINT + + + DINT + + + SINT + + + USINT + + + + + UINT + + + UINT + + + DINT + + + DINT + + + SINT + + + ARRAY [0..0] OF BYTE + + + + + UINT + + + + + SINT + + + ARRAY [0..0] OF BYTE + + + + + INT + + + + + UINT + + + + + UINT + + + + + DINT + + + + + UDINT + + + + + UDINT + + + + + UDINT + + + + + UDINT + + + + + UDINT + + + + + DINT + + + + + DINT + + + + + INT + + + + + DINT + + + + + UDINT + + + + + UDINT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/GVLs/GVL.TcGVL b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/GVLs/GVL.TcGVL new file mode 100644 index 0000000..3682eb4 --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/GVLs/GVL.TcGVL @@ -0,0 +1,30 @@ + + + + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/KalmanFilter.TcPOU b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/KalmanFilter.TcPOU new file mode 100644 index 0000000..fe88f47 --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/KalmanFilter.TcPOU @@ -0,0 +1,43 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/MAIN.TcPOU b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/MAIN.TcPOU new file mode 100644 index 0000000..54dcf4a --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/MAIN.TcPOU @@ -0,0 +1,537 @@ + + + + + + , ET=> ); +CASE iStep OF + 0: + GVL.uiCtrl:=6;//0x0006 + oriPos := GVL.actPosition; + tarPosition := oriPos; + 1: + GVL.udiProAcc:=1000; + GVL.udiProDec:=1000; + iStep:=2; + timer1.IN:=TRUE; + 2: + GVL.siOperationMode:=3; + IF GVL.siOperationMode=3 THEN + iStep:=10;//跳入使能 + END_IF + 10: //使能 + //6 + IF GVL.uiCtrl = 0 THEN + GVL.uiCtrl:=6;//0x002F + END_IF + IF timer1.Q THEN + IF GVL.uiCtrl = 6 THEN + GVL.uiCtrl:=47;//0x002F + iStep:=15;//跳入运行 + END_IF + timer1.IN:=FALSE; + END_IF + 11://零力运行 + IF (GVL.actVelo > 45000) THEN + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(-(DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003816)+DINT_TO_LREAL(GVL.actVelo)*0.08359+highSpeedOffsetA)); + ELSIF (GVL.actVelo < -45000) THEN + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT((DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003500)+DINT_TO_LREAL(GVL.actVelo)*0.07837+highSpeedOffsetB)); + ELSE + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(DINT_TO_LREAL(GVL.actVelo)*0.0624 + lowSpeedOffsetA)); + END_IF + filter1(NewData:= GVL.dualPosFix, Q_cov:=, R_cov:= , OutData=> ); + irDualPos:=filter1.OutData; + sampleVelo := GVL.actVelo/257;//重新标定参考速度 + + (*--- 重新设置静态偏置---*) + IF (ABS(sampleVelo)) < 5 AND ifModifyFinish = FALSE THEN + offsetList[zeroCount] := irDualPos; + zeroCount:=zeroCount + 1; + ELSE + zeroCount:=0; + END_IF + IF zeroCount >= 100 THEN + offsetSum := 0; + FOR i := 0 TO 99 BY +1 DO + offsetSum := offsetSum + offsetList[i]; + offsetList[i] := 0; + END_FOR; + offsetMean := offsetSum / 100; + zeroCount := 0; + lowSpeedOffsetA := lowSpeedOffsetA + offsetMean; + offsetSum := 0; + ifModifyFinish:=TRUE; + END_IF + (*--- 完成设置静态偏置---*) + IF runDirect = 0 AND ifModifyFinish = TRUE THEN//处于零位置稳态 + IF (irDualPos - startDeadZone) > 0 THEN + runDirect := -1; + ifModifyFinish := FALSE; + ELSIF (irDualPos + startDeadZone) < 0 THEN + runDirect := 1; + ifModifyFinish := FALSE; + END_IF + ELSIF (irDualPos - deadZone) > 0 THEN + runDirect := -1; + ELSIF (irDualPos + deadZone) < 0 THEN + runDirect := 1; + ELSIF ABS(irDualPos) <100 THEN//当从动态进入稳态时 + runDirect := 0; + END_IF + (*--- 加速度和速度设定---*) + IF runDirect <> 0 THEN + GVL.udiProAcc:=LREAL_TO_UDINT(ABS(irDualPos)*accGain); + GVL.udiProDec:=LREAL_TO_UDINT(ABS(irDualPos)*accGain); + GVL.targetVelo:=sampleVelo+speedGain*runDirect; + ELSE + GVL.udiProAcc:=LREAL_TO_UDINT(DINT_TO_LREAL(ABS(sampleVelo))*dampGain); + GVL.udiProDec:=LREAL_TO_UDINT(DINT_TO_LREAL(ABS(sampleVelo))*dampGain); + GVL.targetVelo:=0; + END_IF + + (*--- 限幅 ---*) + IF GVL.targetVelo>speedLimit THEN + GVL.targetVelo:=speedLimit; + ELSIF GVL.targetVelo<-speedLimit THEN + GVL.targetVelo:=-speedLimit; + END_IF + IF GVL.udiProAcc>accMax THEN + GVL.udiProAcc:=accMax; + END_IF + IF GVL.udiProDec>accMax THEN + GVL.udiProDec:=accMax; + END_IF + IF GVL.udiProAcc= 180 THEN + IF actAngle >= 355 AND rotationSingle = 1 THEN + rotationSingle := 2; + END_IF + GVL.targetVelo:=(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))+30; + END_IF + ELSE + IF actAngle < 180 THEN + IF actAngle <= 5 AND rotationSingle = 4 THEN + rotationSingle := 5; + END_IF + GVL.targetVelo:=-(ABS(LREAL_TO_DINT(actAngle*1.5)))-30; + ELSIF actAngle >= 180 THEN + IF rotationSingle = 5 THEN//切换模式 + rotation := 0; + rotationSingle := 0; + GVL.targetVelo:=0; + ELSE + IF actAngle >= 355 THEN + rotationSingle := 4; + END_IF + GVL.targetVelo:=-(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))-30; + END_IF + END_IF + END_IF + //控制关节变速运动 + //GVL.targetVelo:=(ABS(LREAL_TO_DINT((actAngle-180)*1.5)))+30; + 15://二阶阻抗系统模拟 + (*--- 双编码器差值插补---*) + IF GVL.actVelo > 45000 THEN + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(-(DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003665)+DINT_TO_LREAL(GVL.actVelo)*0.08170+highSpeedOffsetA)); + ELSIF GVL.actVelo < -45000 THEN + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT((DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003247)+DINT_TO_LREAL(GVL.actVelo)*0.07503+highSpeedOffsetB)); + ELSIF GVL.actVelo > 0 THEN + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(DINT_TO_LREAL(GVL.actVelo)*0.06254 + lowSpeedOffsetA)); + ELSE + GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(DINT_TO_LREAL(GVL.actVelo)*0.06284 + lowSpeedOffsetB)); + END_IF + filter1(NewData:= GVL.dualPosFix, Q_cov:=, R_cov:= , OutData=> ); + irDualPos:=filter1.OutData; + + (*--- 重新设置静态偏置---*) + IF (ABS(GVL.actVelo)) < 200 AND ifModifyFinish = FALSE THEN + offsetList[zeroCount] := irDualPos; + zeroCount:=zeroCount + 1; + ELSE + zeroCount:=0; + END_IF + IF zeroCount >= 100 THEN + offsetSum := 0; + FOR i := 0 TO 99 BY +1 DO + offsetSum := offsetSum + offsetList[i]; + offsetList[i] := 0; + END_FOR; + offsetMean := offsetSum / 100; + zeroCount := 0; + lowSpeedOffsetA := lowSpeedOffsetA + offsetMean; + lowSpeedOffsetB := lowSpeedOffsetB + offsetMean; + offsetSum := 0; + ifModifyFinish:=TRUE; + END_IF + + (*--- 开始方向解算---*) + IF runDirect = 0 AND ifModifyFinish = TRUE THEN//处于零位置稳态 + IF (irDualPos - startDeadZone) > 0 THEN + runDirect := -1; + ifAction := TRUE; + ifModifyFinish := FALSE; + ELSIF (irDualPos + startDeadZone) < 0 THEN + runDirect := 1; + ifAction := TRUE; + ifModifyFinish := FALSE; + END_IF + ELSIF (irDualPos - deadZone) > 0 THEN + runDirect := -1; + ifAction := TRUE; + ELSIF (irDualPos + deadZone) < 0 THEN + runDirect := 1; + ifAction := TRUE; + ELSIF ABS(irDualPos) <100 THEN//当从动态进入稳态时 + runDirect := 0; + END_IF + + (*--- 开始导纳控制解算---*) + sampleVelo := GVL.actVelo/257; + IF runDirect = 0 THEN//调整阻尼曲线 + Bactual := B + BGain * EXP(-ABS(oriPos - GVL.actPosition)/257); + ELSE + Bactual := B; + END_IF + //添加积分项并限幅 + posiDiff := (oriPos - DINT_TO_LREAL(GVL.actPosition))/257; + sumPosDiff := sumPosDiff + posiDiff; + IF sumPosDiff < -iLimit THEN + sumPosDiff := -iLimit; + ELSIF sumPosDiff > iLimit THEN + sumPosDiff := iLimit; + END_IF + //调整外力曲线 + IF irDualPos < 500 AND irDualPos >= 0 THEN + irDualPosFix := irDualPos * irDualPos /500; + ELSIF irDualPos >= -500 AND irDualPos < 0 THEN + irDualPosFix := -irDualPos * irDualPos /500; + END_IF + (*--- 运动状态判断---*) + IF ifAction = TRUE AND runDirect = 0 AND ABS(sampleVelo) < 20 AND ABS(posiDiff) < 10 THEN + ifAction := FALSE; + END_IF + (*--- 导纳控制---*) + IF ifAction = TRUE THEN + tarAcc := (-irDualPosFix * dualGain + iGain * sumPosDiff + K * posiDiff + Bactual*DINT_TO_LREAL(tarVelo - sampleVelo))/M; + tarVelocity := tarVelocity + tarAcc * 0.01; + ELSE//重置位置信息，去零漂 + tarAcc := 500; + tarVelocity := 0; + IF sampleVelo = 0 AND ifPosModifyFinish = FALSE THEN + posCount := posCount + 1; + posSum := posSum + GVL.actPosition; + IF posCount = 100 THEN + oriPos := posSum / 100; + ifPosModifyFinish := TRUE; + END_IF + ELSE + posCount := 0; + posSum := 0; + END_IF + END_IF + + IF tarVelocity > veloLimit THEN + tarVelocity := veloLimit; + ELSIF tarVelocity <= -veloLimit THEN + tarVelocity := -veloLimit; + END_IF + + tarAcc := tarAcc * gainAcc; + (*--- 限幅 ---*) + IF tarAcc>accMax THEN + tarAcc:=accMax; + ELSIF tarAcc<=-LREAL_TO_DINT(accMax) THEN + tarAcc:=-LREAL_TO_DINT(accMax); + END_IF + GVL.udiProAcc := LREAL_TO_UDINT(ABS(tarAcc)); + GVL.udiProDec := LREAL_TO_UDINT(ABS(tarAcc)); + + (*--- 限幅 ---*) + GVL.targetVelo := LREAL_TO_DINT(tarVelocity); + IF GVL.targetVelo>speedLimit THEN + GVL.targetVelo:=speedLimit; + ELSIF GVL.targetVelo<-speedLimit THEN + GVL.targetVelo:=-speedLimit; + END_IF + 1000: + GVL.targetVelo:=0; + IF (ABS(gvl.actVelo)<1000) AND timer1.IN=FALSE THEN + timer1.IN:=TRUE; + END_IF + IF timer1.Q THEN + timer1.IN:=FALSE; + iStep:=0;//停滞档 + END_IF +END_CASE]]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/PlcTask.TcTTO b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/PlcTask.TcTTO new file mode 100644 index 0000000..4c845b8 --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/PlcTask.TcTTO @@ -0,0 +1,17 @@ + + + + + 10000 + 20 + + MAIN + + {3a9e7f1a-1ec4-4947-a01b-a9fb6649f7a5} + {bc0bbf97-e8fa-430a-982a-31ec2530381c} + {a888598b-78e6-43f1-8eb5-11c5959640d3} + {279d01ce-f96d-4606-aff9-7d831d061938} + {1540b719-5b4e-426d-98eb-8c080aaf78ba} + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.plcproj b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.plcproj new file mode 100644 index 0000000..86b2ad6 --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.plcproj @@ -0,0 +1,129 @@ + + + + 1.0.0.0 + 2.0 + {1b06f6b8-fdcd-40c8-8cc0-f331acb723e8} + True + ZeroTorque + 3.1.4020.4 + {30661dd2-f26f-4975-9075-0128944e2589} + {9cea75cc-1224-4652-ae20-c29019682d81} + {b2bd9461-063e-4864-b10e-fda06112df91} + {004f52db-f686-46bc-aa89-72c5c61d5e3a} + {c9d602d5-8514-4b8e-aefd-657ba7849071} + {cfaa02b9-f003-4e81-86b6-764330845a4d} + + + + Code + true + + + Code + + + Code + + + Code + + + + + + + + + + + Tc2_MC2, * (Beckhoff Automation GmbH) + Tc2_MC2 + + + Tc2_Standard, * (Beckhoff Automation GmbH) + Tc2_Standard + + + Tc2_System, * (Beckhoff Automation GmbH) + Tc2_System + + + Tc3_Module, * (Beckhoff Automation GmbH) + Tc3_Module + + + + + Content + + + + + + + + "<ProjectRoot>" + + {8F99A816-E488-41E4-9FA3-846536012284} + + "{8F99A816-E488-41E4-9FA3-846536012284}" + + + + {29BD8D0C-3586-4548-BB48-497B9A01693F} + + "{29BD8D0C-3586-4548-BB48-497B9A01693F}" + + Rules + + "Rules" + + + + + + + {40450F57-0AA3-4216-96F3-5444ECB29763} + + "{40450F57-0AA3-4216-96F3-5444ECB29763}" + + + ActiveVisuProfile + 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+ + + {192FAD59-8248-4824-A8DE-9177C94C195A} + + "{192FAD59-8248-4824-A8DE-9177C94C195A}" + + + + {F66C7017-BDD8-4114-926C-81D6D687E35F} + + "{F66C7017-BDD8-4114-926C-81D6D687E35F}" + + + + {246001F4-279D-43AC-B241-948EB31120E1} + + "{246001F4-279D-43AC-B241-948EB31120E1}" + + + GlobalVisuImageFilePath + %APPLICATIONPATH% + + + + + + + + System.Collections.Hashtable + {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} + System.String + + + + + \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tmc b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tmc new file mode 100644 index 0000000..7522c9a --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tmc @@ -0,0 +1,37 @@ +T_AmsNetID192STRING(23)_ST_NCADS_IDXOFFS_AxisParameter1504PARAMSTRUCTUDINT3200IDUDINT32321NAMEUDINT32642AXISTYPEUDINT32963CYCLETIMEUDINT321284UNITNAMEUDINT321605VELOREFSEARCHUDINT321926VELOSYNCSEARCHUDINT322247VELOSLOWMANUALUDINT322568VELOFASTMANUALUDINT322889VELOFASTUDINT3232010POSAREAENABLEUDINT3235215POSAREARANGEUDINT3238416MOTCNTRLENABLEUDINT3241617MOTCNTRLTIMEUDINT3244818LOOPENABLEUDINT3248019LOOPDISTANCEUDINT3251220TARGETPOSENAUDINT3254421TARGETPOSRANGEUDINT3257622TARGETPOSTIMEUDINT3260823PULSDISTPOSUDINT3264024PULSDISTNEGUDINT3267225FASTAXISSTOPSIGNALTYPEUDINT3270430UNITFLAGSUDINT3273638VELOMAXIMUMUDINT3276839MOTCNTRLRANGEUDINT3280040PEHCONTROLENAUDINT3283241PEHCONTROLTIMEUDINT3286442BACKLASHCOMPENAUDINT3289643BACKLASHUDINT3292844DATAPERSISTENCEUDINT3296048HWAMSADDRUDINT3299249HWCHNNOUDINT32102450APPLICATIONREQUESTUDINT32105651ACCUDINT321088257DECUDINT321120258JERKUDINT321152259DELAYUDINT321184260OVERRIDETYPEUDINT321216261VELOJUMPFACTORUDINT321248262REDUCTIONFEEDBACKUDINT321280263TOLERANCEBALLAUXAXISUDINT321312264MAXPOSDEVIATIONAUXAXISUDINT321344265FASTACCUDINT321376266FASTDECUDINT321408267FASTJERKUDINT321440268REF_POSUDINT32147265795hide_ST_NCADS_AxisParameter1536IDXGRPUDINT32016384IDXOFFS_ST_NCADS_IDXOFFS_AxisParameter150432hide_ST_NCADS_IDXOFFS_AxisState800ONLINESTRUCTUDINT3200ERRORUDINT32321SETTASKCYCLEUDINT32649SETPOSUDINT329610SETVELOUDINT3212814SETACCUDINT3216015MODULOSETPOSUDINT3219211MODULOSETTURNSUDINT3222412SETDIRUDINT3225613TARGETPOSITIONUDINT3228819REMAININGTIMEANDPOSUDINT3232020STOPINFORMATIONUDINT3235224SETTASKCYCLE_WITHOUTCORRUDINT3238425SETPOS_WITHOUTCORRUDINT3241626SETVELO_WITHOUTCORRUDINT3244830SETACC_WITHOUTCORRUDINT3248031SETDIR_WITHOUTCORRUDINT3251229COUPLESTATEUDINT3254432CPLPARAMSUDINT3257634CPLFACTORUDINT3260835AXISCTRLLOOPIDXUDINT3264036AXISSETPOINTGENIDXUDINT3267237CPLCHARACVALUESUDINT3270438CAMINFOUDINT3273639CAMSTATUSUDINT3276840hide_ST_NCADS_AxisState832IDXGRPUDINT32016640IDXOFFS_ST_NCADS_IDXOFFS_AxisState80032hide_ST_NCADS_IDXOFFS_AxisFunctions1728RESETUDINT3201STOPUDINT32322CLEARUDINT32643EMERGENCYSTOPUDINT32964PARAMETRIZEDSTOPUDINT321285INITIALIZEUDINT321607ORIENTEDSTOPUDINT321929CALIBRUDINT3222416NEWTARGPOSUDINT3225617NEWTARGPOSANDVELOUDINT3228818CHANGEDYNAMICPARAMUDINT3232021UNIVERSALSTARTUDINT3235222SLAVEUNIVERSALSTARTUDINT3238423SETEXTERNALERRORUDINT3241625SETPOSUDINT3244826SETCALFLAGUDINT3248027SETACTPOSUDINT3251228SETDRIVEPOSUDINT3254429SETENCODERSCALINGUDINT3257630SETPOSONTHEFLYUDINT3260831STARTUDINT3264032STARTEXTUDINT3267233STARTVELOCHANGEUDINT3270434ENABLEEXTGENUDINT3273635DISABLEEXTGENUDINT3276836REVERSINGSEQUENCEUDINT3280037STARTDRVOUTUDINT3283238STOPDRVOUTUDINT3286439CHANGEDRVOUTUDINT3289640JUMPTOOVERRIDEUDINT3292841EXTSETGENUNIVERSALSTARTUDINT3296043STARTSCOMUDINT3299248STOPSCOMUDINT32102449PHASINGREQEUSTUDINT32105652CPLUDINT32108864DECPLUDINT32112065CPLCHANGEUDINT32115266TABCPLCHANGEUDINT32118467STOPSLAVEUDINT32121668CPLTABUDINT32124869TABSLVACTIVCORUDINT32128070TABSLVLEAVECYCUDINT32131271TABSLVCOROFFSETUDINT32134472TABSLVSCALINGUDINT32137673CPLSOLOTABUDINT32140874CPLSYNCHRONIZINGUDINT32144075CAMSCALINGUDINT32147277DISABLEUDINT32150480ENABLEUDINT32153681CHANGEAXISCTRLLOOPUDINT32156882DRIVEDISABLEUDINT32160096DRIVEENABLEUDINT32163297RELEASEBRAKEUDINT32166498RECONFIGURATEUDINT321696112hide_ST_NCADS_AxisFunctions1760IDXGRPUDINT32016896IDXOFFS_ST_NCADS_IDXOFFS_AxisFunctions172832hide_ST_NCADS_Axis4128Parameter_ST_NCADS_AxisParameter15360State_ST_NCADS_AxisState8321536Functions_ST_NCADS_AxisFunctions17602368hide_ST_NCADS_IDXOFFS_TableParameter192MFREADCHARACVALUESUDINT32080WRITETABROWSUDINT323216777216WRITEMFTABROWSUDINT326483886080MFREADTABUDINT329634READSLAVEDYNAMICSUDINT3212835READMASTERPOSITIONUDINT3216036hide_ST_NCADS_TableParameter224IDXGRPUDINT32040960IDXOFFS_ST_NCADS_IDXOFFS_TableParameter19232hide_ST_NCADS_IDXOFFS_TableFunctions96CREATETABUDINT32065536CREATEMOTIONTABUDINT323265552DELETETABUDINT3264131072hide_ST_NCADS_TableFunctions128IDXGRPUDINT32041472IDXOFFS_ST_NCADS_IDXOFFS_TableFunctions9632hide_ST_NCADS_Table352Parameter_ST_NCADS_TableParameter2240Functions_ST_NCADS_TableFunctions128224hideT_AmsPort16UINTADSRDDEVINFO1344NETIDT_AmsNetID19264ItemTypeInputPORTT_AmsPort16256ItemTypeInputRDINFOBOOL8272ItemTypeInputTMOUTTIME322885000ItemTypeInputBUSYBOOL8320ItemTypeOutputERRBOOL8328ItemTypeOutputERRIDUDINT32352ItemTypeOutputDEVNAMESTRING(19)160384ItemTypeOutputDEVVERUDINT32544ItemTypeOutputPouTypeFunctionBlockhide_all_locals_TCMCGLOBAL6912NCPORT_TCMCUINT1664500ItemTypeInputNCPORT_TCMC_COUPLINGUINT1680500ItemTypeInputNCNETID_TCMCT_AmsNetID19296ItemTypeInputNCPORT_TCMC_CAMUINT16288500ItemTypeInputNCPORT_TCMC_CAM_FASTUINT16304500ItemTypeInputNCNETID_TCMC_CAMT_AmsNetID192320ItemTypeInputNCPORT_TCMC_SUPERPOSITIONUINT16512501ItemTypeInputNcDeviceInfoTcMainVersionDWORD32544ItemTypeOutputNcDeviceInfoTcSubVersionDWORD32576ItemTypeOutputNcDeviceInfoNcDriverVersionDWORD32608ItemTypeOutputNcDeviceInfoNcVersionDWORD32640ItemTypeOutputNcDeviceInfoNcNameSTRING(19)160672ItemTypeOutputAxis_ST_NCADS_Axis4128832suppress_warning_0C0228Table_ST_NCADS_Table3524960suppress_warning_0C0228NCPORT_TCNCCAMMING_TABLEFUNCTIONUINT165312500tTargetPosTimeOutTIME3253446000tADSTimeOutTIME3253761000tStopMonitoringTimeOutTIME325408100NCTOPLC_FEEDBACK_MAXWAITCYCLESINT16544010fbADSRDDEVINFOADSRDDEVINFO13445504DeviceVersionDWORD326848ReadDeviceInfoPouTypeFunctionBlockhideE_WATCHDOG_TIME_CONFIG16INTeWATCHDOG_TIME_DISABLED0eWATCHDOG_TIME_SECONDS1eWATCHDOG_TIME_MINUTES2TON256INBOOL864ItemTypeInputPTTIME3296ItemTypeInputQBOOL8128ItemTypeOutputETTIME32160ItemTypeOutputMBOOL8192StartTimeTIME32224PouTypeFunctionBlockPLCTONC_AXIS_REF_CTRL32EnableBIT10FeedEnablePlusBIT11FeedEnableMinusBIT12HomingSensorBIT15AcceptBlockedDriveBIT18PlcDebugFlagBIT130NcDebugFlagBIT131%08x0x%08x16#%08XPLCTONC_AXIS_REF1024ControlDWordPLCTONC_AXIS_REF_CTRL320OverrideUDINT3232AxisModeRequestUDINT3264AxisModeDWordUDINT3296AxisModeLRealLREAL64128PositionCorrectionLREAL64192ExtSetPosLREAL64256ExtSetVeloLREAL64320ExtSetAccLREAL64384ExtSetDirectionDINT32448ExtControllerOutputLREAL64512GearRatio1LREAL64576GearRatio2LREAL64640GearRatio3LREAL64704GearRatio4LREAL64768MapStateBOOL8832PlcCycleControlBYTE8840PlcCycleCountBYTE8848NcStructType1NCAXLESTRUCT_FROMPLC3NCTOPLC_AXIS_REF_STATE32OperationalBIT10HomedBIT11NotMovingBIT12InPositionAreaBIT13InTargetPositionBIT14ProtectedBIT15ErrorPropagationDelayedBIT16HasBeenStoppedBIT17HasJobBIT18PositiveDirectionBIT19NegativeDirectionBIT110HomingBusyBIT111ConstantVelocityBIT112CompensatingBIT113ExtSetPointGenEnabledBIT114PhasingActiveBIT115ExternalLatchValidBIT116NewTargetPosBIT117ContinuousMotionBIT119ControlLoopClosedBIT120CamTableQueuedBIT121CamDataQueuedBIT122CamScalingPendingBIT123CmdBufferedBIT124PTPmodeBIT125SoftLimitMinExceededBIT126SoftLimitMaxExceededBIT127DriveDeviceErrorBIT128MotionCommandsLockedBIT129IoDataInvalidBIT130ErrorBIT131%08x0x%08x16#%08XNCTOPLC_AXIS_REF_OPMODE32OpModePosAreaMonitoringBIT10OpModeTargetPosMonitoringBIT11OpModeLoopBIT12OpModeMotionMonitoringBIT13OpModePEHTimeMonitoringBIT14OpModeBacklashCompensationBIT15OpModeDelayedErrorReactionBIT16OpModeModuloBIT17OpModeSimulationAxisBIT18OpModePosLagMonitoringBIT116OpModeVeloLagMonitoringBIT117OpModeSoftLimitMinMonitoringBIT118OpModeSoftLimitMaxMonitoringBIT119OpModePosCorrectionBIT120OpModeAllowSlaveCommandsBIT121OpModeAllowExtSetAxisCommandsBIT122ApplicationRequestBIT123NCTOPLC_AXIS_REF_STATE2_FLAGS32AvoidingCollisionBIT10%08x0x%08x16#%08XNCTOPLC_AXIS_REF_STATE232ValueDWORD320FlagsNCTOPLC_AXIS_REF_STATE2_FLAGS320%08x0x%08x16#%08XNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE8CamActivationPendingBIT10CamDeactivationPendingBIT11CamActiveBIT12CamDataQueuedBIT16CamScalingPendingBIT17UINTARR8128UINT08NCTOPLC_AXIS_REF2048StateDWordNCTOPLC_AXIS_REF_STATE320ErrorCodeUDINT3232AxisStateUDINT3264AxisModeConfirmationUDINT3296HomingStateUDINT32128CoupleStateUDINT32160SvbEntriesUDINT32192SafEntriesUDINT32224AxisIdUDINT32256OpModeDWordNCTOPLC_AXIS_REF_OPMODE32288ActPosLREAL64320ModuloActPosLREAL64384ActiveControlLoopIndexUINT16448ControlLoopIndexUINT16464ModuloActTurnsDINT32480ActVeloLREAL64512PosDiffLREAL64576SetPosLREAL64640SetVeloLREAL64704SetAccLREAL64768TargetPosLREAL64832ModuloSetPosLREAL64896ModuloSetTurnsDINT32960CmdNoUINT16992CmdStateUINT161008SetJerkLREAL641024SetTorqueLREAL641088ActTorqueLREAL641152StateDWord2NCTOPLC_AXIS_REF_STATE2321216StateDWord3DWORD321248TouchProbeStateDWORD321280TouchProbeCounterDWORD321312CamCouplingStateNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE08641344CamCouplingTableIDUINTARR81281408ActTorqueDerivativeLREAL641536SetTorqueDerivativeLREAL641600ActPosWithoutPosCorrectionLREAL641792ActAccLREAL641856DcTimeStampUDINT321920NcStructType2NCAXLESTRUCT_TOPLCNCAXLESTRUCT_TOPLC2NCAXLESTRUCT_TOPLC3NCAXLESTRUCT_TOPLC4ST_AdsAddress224NetIdSTRING(23)1920PortUINT16192ChannelUINT16208MC_AxisStates16INTMC_AXISSTATE_UNDEFINED0MC_AXISSTATE_DISABLED1MC_AXISSTATE_STANDSTILL2MC_AXISSTATE_ERRORSTOP3MC_AXISSTATE_STOPPING4MC_AXISSTATE_HOMING5MC_AXISSTATE_DISCRETEMOTION6MC_AXISSTATE_CONTINOUSMOTION7MC_AXISSTATE_SYNCHRONIZEDMOTION8ST_AxisOpModes136PositionAreaMonitoringBOOL80TargetPositionMonitoringBOOL88LoopModeBOOL816MotionMonitoringBOOL824PEHTimeMonitoringBOOL832BacklashCompensationBOOL840DelayedErrorReactionBOOL848ModuloBOOL856SimulationAxisBOOL864StopMonitoringBOOL872PositionLagMonitoringBOOL880VelocityLagMonitoringBOOL888SoftLimitMinMonitoringBOOL896SoftLimitMaxMonitoringBOOL8104PositionCorrectionBOOL8112AllowSlaveCommandsBOOL8120AllowExtSetAxisCommandsBOOL8128ST_AxisStatus768UpdateTaskIndexBYTE80UpdateCycleTimeLREAL6464CycleCounterUDINT32128NcCycleCounterUDINT32160MotionStateMC_AxisStates16192ErrorBOOL8208ErrorIDUDINT32224ErrorStopBOOL8256DisabledBOOL8264StoppingBOOL8272StandStillBOOL8280DiscreteMotionBOOL8288ContinuousMotionBOOL8296SynchronizedMotionBOOL8304HomingBOOL8312ConstantVelocityBOOL8320AcceleratingBOOL8328DeceleratingBOOL8336OperationalBOOL8344ControlLoopClosedBOOL8352HasJobBOOL8360HasBeenStoppedBOOL8368NewTargetPositionBOOL8376InPositionAreaBOOL8384InTargetPositionBOOL8392ProtectedModeBOOL8400HomedBOOL8408HomingBusyBOOL8416MotionCommandsLockedBOOL8424SoftLimitMinExceededBOOL8432SoftLimitMaxExceededBOOL8440MovingBOOL8448PositiveDirectionBOOL8456NegativeDirectionBOOL8464NotMovingBOOL8472CompensatingBOOL8480ExtSetPointGenEnabledBOOL8488ExternalLatchValidBOOL8496CamDataQueuedBOOL8504CamTableQueuedBOOL8512CamScalingPendingBOOL8520CmdBufferedBOOL8528PTPmodeBOOL8536DriveDeviceErrorBOOL8544IoDataInvalidBOOL8552ErrorPropagationDelayedBOOL8560CoupledBOOL8568OpModeST_AxisOpModes136576NcApplicationRequestBOOL8712AXIS_REF8384PlcToNcPLCTONC_AXIS_REF102464ItemTypeInputNcToPlcNCTOPLC_AXIS_REF20481088ItemTypeOutputADSST_AdsAddress2243136ItemTypeOutputStatusST_AxisStatus7683392ItemTypeOutputReadStatusPouTypeFunctionBlockhide_all_localsKalmanFilter896NewDataLREAL6464ItemTypeInputQ_covLREAL641282ItemTypeInputR_covLREAL64192100ItemTypeInputOutDataLREAL64256ItemTypeOutputP_covLREAL643201P1_covLREAL64384P2_covLREAL64448KLREAL64512PosteriorLREAL64576Posterior1LREAL64640PrioriLREAL64704aLREAL64768bLREAL64832PouTypeFunctionBlockVERSION64uiMajorUINT160uiMinorUINT1616uiServicePackUINT1632uiPatchUINT1648PlcAppSystemInfo2048ObjIdOTCID320TaskCntUDINT3232OnlineChangeCntUDINT3264FlagsDWORD3296AdsPortUINT16128BootDataLoadedBOOL8144OldBootDataBOOL8152AppTimestampDT32160KeepOutputsOnBPBOOL8192ShutdownInProgressBOOL8200LicensesPendingBOOL8208BSODOccuredBOOL8216TComSrvPtrITComObjectServer32256TcComInterfaceAppNameSTRING(63)512512ProjectNameSTRING(63)5121024PlcTaskSystemInfo1024ObjIdOTCID320CycleTimeUDINT3232PriorityUINT1664AdsPortUINT1680CycleCountUDINT3296DcTaskTimeLINT64128LastExecTimeUDINT32192FirstCycleBOOL8224CycleTimeExceededBOOL8232InCallAfterOutputUpdateBOOL8240RTViolationBOOL8248TaskNameSTRING(63)512512_Implicit_KindOfTask16INT_implicit_cyclic0_implicit_event1_implicit_external2_implicit_freewheeling3_Implicit_Jitter_Distribution48wRangeMaxWORD160wCountJitterNegWORD1616wCountJitterPosWORD1632hide_Implicit_Task_Info896dwVersionDWORD320pszNameSTRING(80)6464nPriorityINT16128KindOf_Implicit_KindOfTask16144bWatchdogBOOL8160bProfilingTaskBOOL8168dwEventFunctionPointerBYTE64192pszExternalEventSTRING(80)64256dwTaskEntryFunctionPointerBYTE64320dwWatchdogSensitivityDWORD32384dwIntervalDWORD32416dwWatchdogTimeDWORD32448dwLastCycleTimeDWORD32480dwAverageCycleTimeDWORD32512dwMaxCycleTimeDWORD32544dwMinCycleTimeDWORD32576diJitterDINT32608diJitterMinDINT32640diJitterMaxDINT32672dwCycleCountDWORD32704wTaskStatusWORD16736wNumOfJitterDistributionsWORD16752pJitterDistribution_Implicit_Jitter_Distribution64768bWithinSPSTimeSlicingBOOL8832byDummyBYTE8840bShouldBlockBOOL8848bActiveBOOL8856dwIECCycleCountDWORD32864hideZeroTorque{08500001-0000-0000-F000-000000000064}0PlcTask#x020100500PlcTask Inputs0655360MAIN.axis1.NcToPlc2048NCTOPLC_AXIS_REF4116544GVL.ActTorque16INTTcVarGlobal4127664GVL.DualPosDiff32DINTTcVarGlobal4135872GVL.actVelo32DINTTcVarGlobal4135904GVL.loadPos32DINTTcVarGlobal4135936GVL.motorPos32DINTTcVarGlobal4135968GVL.actPosition32DINTTcVarGlobal41360001PlcTask Outputs0655360MAIN.axis1.PlcToNc1024PLCTONC_AXIS_REF4115520GVL.siOperationMode8SINTTcVarGlobal4127656GVL.targetTor16INTTcVarGlobal4136032GVL.uiCtrl16UINTTcVarGlobal4136048GVL.targetVelo32DINTTcVarGlobal4136064GVL.targetPos32DINTTcVarGlobal4136096GVL.udiProVelo32UDINTTcVarGlobal4136128GVL.udiProAcc32UDINTTcVarGlobal4136160GVL.udiProDec32UDINTTcVarGlobal41361923PlcTask Internal0655360Global_Variables.TcMcGlobal6912_TCMCGLOBALTcVarGlobal4096000Global_Variables.DEFAULT_HOME_POSITION64LREAL1E+307TcVarGlobal4102912Global_Variables.DEFAULT_BACKLASHVALUE64LREAL1E+307TcVarGlobal4102976Global_Variables.AMSPORT_LOGGER16UINT100TcVarGlobal4103264Global_Variables.AMSPORT_EVENTLOG16UINT110TcVarGlobal4103280Global_Variables.AMSPORT_R0_RTIME16UINT200TcVarGlobal4103296Global_Variables.AMSPORT_R0_IO16UINT300TcVarGlobal4103312Global_Variables.AMSPORT_R0_NC16UINT500TcVarGlobal4103328Global_Variables.AMSPORT_R0_NCSAF16UINT501TcVarGlobal4103344Global_Variables.AMSPORT_R0_NCSVB16UINT511TcVarGlobal4103360Global_Variables.AMSPORT_R0_ISG16UINT550TcVarGlobal4103376Global_Variables.AMSPORT_R0_CNC16UINT600TcVarGlobal4103392Global_Variables.AMSPORT_R0_LINE16UINT700TcVarGlobal4103408Global_Variables.AMSPORT_R0_PLC16UINT800TcVarGlobal4103424Global_Variables.AMSPORT_R0_PLC_RTS116UINT801TcVarGlobal4103440Global_Variables.AMSPORT_R0_PLC_RTS216UINT811TcVarGlobal4103456Global_Variables.AMSPORT_R0_PLC_RTS316UINT821TcVarGlobal4103472Global_Variables.AMSPORT_R0_PLC_RTS416UINT831TcVarGlobal4103488Global_Variables.AMSPORT_R0_CAM16UINT900TcVarGlobal4103504Global_Variables.AMSPORT_R0_CAMTOOL16UINT950TcVarGlobal4103520Global_Variables.AMSPORT_R3_SYSSERV16UINT10000TcVarGlobal4103536Global_Variables.AMSPORT_R3_SCOPESERVER16UINT14001TcVarGlobal4103552Global_Variables.ADSSTATE_INVALID16UINT0TcVarGlobal4103568Global_Variables.ADSSTATE_IDLE16UINT1TcVarGlobal4103584Global_Variables.ADSSTATE_RESET16UINT2TcVarGlobal4103600Global_Variables.ADSSTATE_INIT16UINT3TcVarGlobal4103616Global_Variables.ADSSTATE_START16UINT4TcVarGlobal4103632Global_Variables.ADSSTATE_RUN16UINT5TcVarGlobal4103648Global_Variables.ADSSTATE_STOP16UINT6TcVarGlobal4103664Global_Variables.ADSSTATE_SAVECFG16UINT7TcVarGlobal4103680Global_Variables.ADSSTATE_LOADCFG16UINT8TcVarGlobal4103696Global_Variables.ADSSTATE_POWERFAILURE16UINT9TcVarGlobal4103712Global_Variables.ADSSTATE_POWERGOOD16UINT10TcVarGlobal4103728Global_Variables.ADSSTATE_ERROR16UINT11TcVarGlobal4103744Global_Variables.ADSSTATE_SHUTDOWN16UINT12TcVarGlobal4103760Global_Variables.ADSSTATE_SUSPEND16UINT13TcVarGlobal4103776Global_Variables.ADSSTATE_RESUME16UINT14TcVarGlobal4103792Global_Variables.ADSSTATE_CONFIG16UINT15TcVarGlobal4103808Global_Variables.ADSSTATE_RECONFIG16UINT16TcVarGlobal4103824Global_Variables.ADSSTATE_STOPPING16UINT17TcVarGlobal4103840Global_Variables.ADSSTATE_INCOMPATIBLE16UINT18TcVarGlobal4103856Global_Variables.ADSSTATE_EXCEPTION16UINT19TcVarGlobal4103872Global_Variables.ADSSTATE_MAXSTATES16UINT20TcVarGlobal4103888Global_Variables.ADSIGRP_SYMTAB32UDINT61440TcVarGlobal4103904Global_Variables.ADSIGRP_SYMNAME32UDINT61441TcVarGlobal4103936Global_Variables.ADSIGRP_SYMVAL32UDINT61442TcVarGlobal4103968Global_Variables.ADSIGRP_SYM_HNDBYNAME32UDINT61443TcVarGlobal4104000Global_Variables.ADSIGRP_SYM_VALBYNAME32UDINT61444TcVarGlobal4104032Global_Variables.ADSIGRP_SYM_VALBYHND32UDINT61445TcVarGlobal4104064Global_Variables.ADSIGRP_SYM_RELEASEHND32UDINT61446TcVarGlobal4104096Global_Variables.ADSIGRP_SYM_INFOBYNAME32UDINT61447TcVarGlobal4104128Global_Variables.ADSIGRP_SYM_VERSION32UDINT61448TcVarGlobal4104160Global_Variables.ADSIGRP_SYM_INFOBYNAMEEX32UDINT61449TcVarGlobal4104192Global_Variables.ADSIGRP_SYM_DOWNLOAD32UDINT61450TcVarGlobal4104224Global_Variables.ADSIGRP_SYM_UPLOAD32UDINT61451TcVarGlobal4104256Global_Variables.ADSIGRP_SYM_UPLOADINFO32UDINT61452TcVarGlobal4104288Global_Variables.ADSIGRP_SYMNOTE32UDINT61456TcVarGlobal4104320Global_Variables.ADSIGRP_IOIMAGE_RWIB32UDINT61472TcVarGlobal4104352Global_Variables.ADSIGRP_IOIMAGE_RWIX32UDINT61473TcVarGlobal4104384Global_Variables.ADSIGRP_IOIMAGE_RISIZE32UDINT61477TcVarGlobal4104416Global_Variables.ADSIGRP_IOIMAGE_RWOB32UDINT61488TcVarGlobal4104448Global_Variables.ADSIGRP_IOIMAGE_RWOX32UDINT61489TcVarGlobal4104480Global_Variables.ADSIGRP_IOIMAGE_ROSIZE32UDINT61493TcVarGlobal4104512Global_Variables.ADSIGRP_IOIMAGE_CLEARI32UDINT61504TcVarGlobal4104544Global_Variables.ADSIGRP_IOIMAGE_CLEARO32UDINT61520TcVarGlobal4104576Global_Variables.ADSIGRP_IOIMAGE_RWIOB32UDINT61536TcVarGlobal4104608Global_Variables.ADSIGRP_DEVICE_DATA32UDINT61696TcVarGlobal4104640Global_Variables.ADSIOFFS_DEVDATA_ADSSTATE32UDINT0TcVarGlobal4104672Global_Variables.ADSIOFFS_DEVDATA_DEVSTATE32UDINT2TcVarGlobal4104704Global_Variables.SYSTEMSERVICE_OPENCREATE32UDINT100TcVarGlobal4104736Global_Variables.SYSTEMSERVICE_OPENREAD32UDINT101TcVarGlobal4104768Global_Variables.SYSTEMSERVICE_OPENWRITE32UDINT102TcVarGlobal4104800Global_Variables.SYSTEMSERVICE_CREATEFILE32UDINT110TcVarGlobal4104832Global_Variables.SYSTEMSERVICE_CLOSEHANDLE32UDINT111TcVarGlobal4104864Global_Variables.SYSTEMSERVICE_FOPEN32UDINT120TcVarGlobal4104896Global_Variables.SYSTEMSERVICE_FCLOSE32UDINT121TcVarGlobal4104928Global_Variables.SYSTEMSERVICE_FREAD32UDINT122TcVarGlobal4104960Global_Variables.SYSTEMSERVICE_FWRITE32UDINT123TcVarGlobal4104992Global_Variables.SYSTEMSERVICE_FSEEK32UDINT124TcVarGlobal4105024Global_Variables.SYSTEMSERVICE_FTELL32UDINT125TcVarGlobal4105056Global_Variables.SYSTEMSERVICE_FGETS32UDINT126TcVarGlobal4105088Global_Variables.SYSTEMSERVICE_FPUTS32UDINT127TcVarGlobal4105120Global_Variables.SYSTEMSERVICE_FSCANF32UDINT128TcVarGlobal4105152Global_Variables.SYSTEMSERVICE_FPRINTF32UDINT129TcVarGlobal4105184Global_Variables.SYSTEMSERVICE_FEOF32UDINT130TcVarGlobal4105216Global_Variables.SYSTEMSERVICE_FDELETE32UDINT131TcVarGlobal4105248Global_Variables.SYSTEMSERVICE_FRENAME32UDINT132TcVarGlobal4105280Global_Variables.SYSTEMSERVICE_MKDIR32UDINT138TcVarGlobal4105312Global_Variables.SYSTEMSERVICE_RMDIR32UDINT139TcVarGlobal4105344Global_Variables.SYSTEMSERVICE_REG_HKEYLOCALMACHINE32UDINT200TcVarGlobal4105376Global_Variables.SYSTEMSERVICE_SENDEMAIL32UDINT300TcVarGlobal4105408Global_Variables.SYSTEMSERVICE_TIMESERVICES32UDINT400TcVarGlobal4105440Global_Variables.SYSTEMSERVICE_STARTPROCESS32UDINT500TcVarGlobal4105472Global_Variables.SYSTEMSERVICE_CHANGENETID32UDINT600TcVarGlobal4105504Global_Variables.TIMESERVICE_DATEANDTIME32UDINT1TcVarGlobal4105536Global_Variables.TIMESERVICE_SYSTEMTIMES32UDINT2TcVarGlobal4105568Global_Variables.TIMESERVICE_RTCTIMEDIFF32UDINT3TcVarGlobal4105600Global_Variables.TIMESERVICE_ADJUSTTIMETORTC32UDINT4TcVarGlobal4105632Global_Variables.TIMESERVICE_TIMEZONINFORMATION32UDINT6TcVarGlobal4105664Global_Variables.ADSLOG_MSGTYPE_HINT32DWORD1TcVarGlobal4105696Global_Variables.ADSLOG_MSGTYPE_WARN32DWORD2TcVarGlobal4105728Global_Variables.ADSLOG_MSGTYPE_ERROR32DWORD4TcVarGlobal4105760Global_Variables.ADSLOG_MSGTYPE_LOG32DWORD16TcVarGlobal4105792Global_Variables.ADSLOG_MSGTYPE_MSGBOX32DWORD32TcVarGlobal4105824Global_Variables.ADSLOG_MSGTYPE_RESOURCE32DWORD64TcVarGlobal4105856Global_Variables.ADSLOG_MSGTYPE_STRING32DWORD128TcVarGlobal4105888Global_Variables.BOOTDATAFLAGS_RETAIN_LOADED8BYTE1TcVarGlobal4105920Global_Variables.BOOTDATAFLAGS_RETAIN_INVALID8BYTE2TcVarGlobal4105928Global_Variables.BOOTDATAFLAGS_RETAIN_REQUESTED8BYTE4TcVarGlobal4105936Global_Variables.BOOTDATAFLAGS_PERSISTENT_LOADED8BYTE16TcVarGlobal4105944Global_Variables.BOOTDATAFLAGS_PERSISTENT_INVALID8BYTE32TcVarGlobal4105952Global_Variables.SYSTEMSTATEFLAGS_BSOD8BYTE1TcVarGlobal4105960Global_Variables.SYSTEMSTATEFLAGS_RTVIOLATION8BYTE2TcVarGlobal4105968Global_Variables.nWatchdogTime8BYTETcVarGlobal4105976Global_Variables.FOPEN_MODEREAD32DWORD1TcVarGlobal4105984Global_Variables.FOPEN_MODEWRITE32DWORD2TcVarGlobal4106016Global_Variables.FOPEN_MODEAPPEND32DWORD4TcVarGlobal4106048Global_Variables.FOPEN_MODEPLUS32DWORD8TcVarGlobal4106080Global_Variables.FOPEN_MODEBINARY32DWORD16TcVarGlobal4106112Global_Variables.FOPEN_MODETEXT32DWORD32TcVarGlobal4106144Global_Variables.TCEVENTFLAG_PRIOCLASS16WORD16TcVarGlobal4106400Global_Variables.TCEVENTFLAG_FMTSELF16WORD32TcVarGlobal4106416Global_Variables.TCEVENTFLAG_LOG16WORD64TcVarGlobal4106432Global_Variables.TCEVENTFLAG_MSGBOX16WORD128TcVarGlobal4106448Global_Variables.TCEVENTFLAG_SRCID16WORD256TcVarGlobal4106464Global_Variables.TCEVENTFLAG_AUTOFMTALL16WORD4096TcVarGlobal4106480Global_Variables.TCEVENTSTATE_INVALID16WORD0TcVarGlobal4106496Global_Variables.TCEVENTSTATE_SIGNALED16WORD1TcVarGlobal4106512Global_Variables.TCEVENTSTATE_RESET16WORD2TcVarGlobal4106528Global_Variables.TCEVENTSTATE_CONFIRMED16WORD16TcVarGlobal4106544Global_Variables.TCEVENTSTATE_RESETCON16WORD18TcVarGlobal4106560Global_Variables.TCEVENT_SRCNAMESIZE16INT15TcVarGlobal4106576Global_Variables.TCEVENT_FMTPRGSIZE16INT31TcVarGlobal4106592Global_Variables.eWatchdogConfig16E_WATCHDOG_TIME_CONFIG0TcVarGlobal4106608Global_Variables.PI64LREAL3.14159265358979TcVarGlobal4106624Global_Variables.DEFAULT_ADS_TIMEOUT32TIME5000TcVarGlobal4106688Global_Variables.MAX_STRING_LENGTH32UDINT255TcVarGlobal4106720MAIN.iStep16INT4114944MAIN.rotation8BOOL4114960MAIN.needChange8BOOL4114968MAIN.referVelo32DINT4114976MAIN.timer1256TON4115008MAIN.sampleVelo32DINT4115264MAIN.modAngle32DINT4115296MAIN.actAngle64LREAL4115328MAIN.rotationSingle16INT4115392MAIN.runDirect16INT4115408MAIN.power_do8BOOL4115424MAIN.ifPosModifyFinish8BOOL4115432MAIN.posCount16INT4115440MAIN.axis18384AXIS_REF4115456MAIN.tarPosition64LREAL4123840MAIN.oriPos32DINT4123904MAIN.posSum32DINT4123936MAIN.tarVelocity64LREAL04123968MAIN.tarAcc64LREAL500004124032MAIN.enable8BOOL14124096MAIN.ifDone8BOOL4124104MAIN.ifGetTarPos8BOOL14124112MAIN.ifAction8BOOL04124120MAIN.dualPosDiffPreFix32DINT4124128MAIN.K64LREAL0.34124160MAIN.B64LREAL0.54124224MAIN.BGain64LREAL14124288MAIN.Bactual64LREAL4124352MAIN.M64LREAL0.54124416MAIN.iGain64LREAL0.0014124480MAIN.iLimit64LREAL500004124544MAIN.veloLimit64LREAL5004124608MAIN.dualGain64LREAL0.34124672MAIN.irDualPosFix64LREAL4124736MAIN.tarVelo32DINT04124800MAIN.speedLimit32DINT3504124832MAIN.posiDiff64LREAL4124864MAIN.sumPosDiff64LREAL04124928MAIN.gainAcc64LREAL154124992MAIN.filter1896KalmanFilter4125056MAIN.filter2896KalmanFilter4125952MAIN.irDualPos64LREAL4126848MAIN.irActVelo64LREAL4126912MAIN.accMax32UDINT30004126976MAIN.accMin32UDINT2004127008MAIN.accGain64LREAL34127040MAIN.speedGain32DINT504127104MAIN.deadSpeedZone32DINT504127136MAIN.dampGain64LREAL1.54127168MAIN.deadZone64LREAL2004127232MAIN.startDeadZone64LREAL1504127296MAIN.lowSpeedOffsetA64LREAL872.7834127360MAIN.lowSpeedOffsetB64LREAL860.3114127424MAIN.highSpeedOffsetA64LREAL772.06434127488MAIN.highSpeedOffsetB64LREAL751.814644127552MAIN.i16INT4127616MAIN.zeroCount16INT04127632MAIN.ifModifyFinish8BOOL04127648MAIN.offsetList6400LREAL01004127680MAIN.offsetSum64LREAL04134080MAIN.offsetMean64LREAL04134144GVL.arrCtrl128BOOL016TcVarGlobal4136224GVL.arrStatus128BOOL016TcVarGlobal4136352GVL.dualPosFix32DINTTcVarGlobal4136480Constants.bLittleEndian8BOOL1TcVarGlobal4136520Constants.RuntimeVersion64VERSIONuiMajor3uiMinor5uiServicePack6uiPatch0TcVarGlobal4136528Constants.CompilerVersion64VERSIONuiMajor3uiMinor5uiServicePack8uiPatch40TcVarGlobal4136592Constants.bSimulationMode8BOOL0TcVarGlobal4136656Constants.bFPUSupport8BOOL1TcVarGlobal4136664Constants.nRegisterSize16WORD64TcVarGlobal4136672Constants.nPackMode16UINT8TcVarGlobal4136688Constants.RuntimeVersionNumeric32DWORD50660864TcVarGlobal4136704Constants.CompilerVersionNumeric32DWORD50661416TcVarGlobal4136736TwinCAT_SystemInfoVarList._AppInfo2048PlcAppSystemInfono_initTcVarGlobal4136768TwinCAT_SystemInfoVarList._TaskInfo1024PlcTaskSystemInfo11no_initTcVarGlobal4138816TwinCAT_SystemInfoVarList.__PlcTask896_Implicit_Task_InfodwVersion2TcVarGlobal4139840ApplicationNamePort_851ChangeDate2024-05-14T05:11:59GeneratedCodeSize49152GlobalDataSize12288 \ No newline at end of file diff --git a/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tpy b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tpy new file mode 100644 index 0000000..19780e0 --- /dev/null +++ b/主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tpy @@ -0,0 +1,37 @@ +C:\Users\Administrator\Desktop\TwinCAT运动控制\ZeroTorque\ZeroTorque\ZeroTorque\ZeroTorque.plcproj2024-05-13T04:17:40tc2_mc2, 3.3.15.0 (beckhoff automation gmbh)tc2_math, 3.3.0.0 (beckhoff automation gmbh)tc2_standard, 3.3.1.0 (beckhoff automation gmbh)tc2_system, 3.4.15.0 (beckhoff automation gmbh)tc3_module, 3.3.12.0 (beckhoff automation gmbh)172.18.138.230.1.1851ZeroTorqueIntel X863.5.8.03.4.0.03.4.0.0Intel X8610485760128000128000128000128000TC2_MC2._ST_NCADS_IDXOFFS_AxisParameter1504PARAMSTRUCTUDINT3200IDUDINT32321NAMEUDINT32642AXISTYPEUDINT32963CYCLETIMEUDINT321284UNITNAMEUDINT321605VELOREFSEARCHUDINT321926VELOSYNCSEARCHUDINT322247VELOSLOWMANUALUDINT322568VELOFASTMANUALUDINT322889VELOFASTUDINT3232010POSAREAENABLEUDINT3235215POSAREARANGEUDINT3238416MOTCNTRLENABLEUDINT3241617MOTCNTRLTIMEUDINT3244818LOOPENABLEUDINT3248019LOOPDISTANCEUDINT3251220TARGETPOSENAUDINT3254421TARGETPOSRANGEUDINT3257622TARGETPOSTIMEUDINT3260823PULSDISTPOSUDINT3264024PULSDISTNEGUDINT3267225FASTAXISSTOPSIGNALTYPEUDINT3270430UNITFLAGSUDINT3273638VELOMAXIMUMUDINT3276839MOTCNTRLRANGEUDINT3280040PEHCONTROLENAUDINT3283241PEHCONTROLTIMEUDINT3286442BACKLASHCOMPENAUDINT3289643BACKLASHUDINT3292844DATAPERSISTENCEUDINT3296048HWAMSADDRUDINT3299249HWCHNNOUDINT32102450APPLICATIONREQUESTUDINT32105651ACCUDINT321088257DECUDINT321120258JERKUDINT321152259DELAYUDINT321184260OVERRIDETYPEUDINT321216261VELOJUMPFACTORUDINT321248262REDUCTIONFEEDBACKUDINT321280263TOLERANCEBALLAUXAXISUDINT321312264MAXPOSDEVIATIONAUXAXISUDINT321344265FASTACCUDINT321376266FASTDECUDINT321408267FASTJERKUDINT321440268REF_POSUDINT32147265795hideTC2_MC2._ST_NCADS_AxisParameter1536IDXGRPUDINT32016384IDXOFFSTC2_MC2._ST_NCADS_IDXOFFS_AxisParameter150432hideTC2_MC2._ST_NCADS_IDXOFFS_AxisState800ONLINESTRUCTUDINT3200ERRORUDINT32321SETTASKCYCLEUDINT32649SETPOSUDINT329610SETVELOUDINT3212814SETACCUDINT3216015MODULOSETPOSUDINT3219211MODULOSETTURNSUDINT3222412SETDIRUDINT3225613TARGETPOSITIONUDINT3228819REMAININGTIMEANDPOSUDINT3232020STOPINFORMATIONUDINT3235224SETTASKCYCLE_WITHOUTCORRUDINT3238425SETPOS_WITHOUTCORRUDINT3241626SETVELO_WITHOUTCORRUDINT3244830SETACC_WITHOUTCORRUDINT3248031SETDIR_WITHOUTCORRUDINT3251229COUPLESTATEUDINT3254432CPLPARAMSUDINT3257634CPLFACTORUDINT3260835AXISCTRLLOOPIDXUDINT3264036AXISSETPOINTGENIDXUDINT3267237CPLCHARACVALUESUDINT3270438CAMINFOUDINT3273639CAMSTATUSUDINT3276840hideTC2_MC2._ST_NCADS_AxisState832IDXGRPUDINT32016640IDXOFFSTC2_MC2._ST_NCADS_IDXOFFS_AxisState80032hideTC2_MC2._ST_NCADS_IDXOFFS_AxisFunctions1728RESETUDINT3201STOPUDINT32322CLEARUDINT32643EMERGENCYSTOPUDINT32964PARAMETRIZEDSTOPUDINT321285INITIALIZEUDINT321607ORIENTEDSTOPUDINT321929CALIBRUDINT3222416NEWTARGPOSUDINT3225617NEWTARGPOSANDVELOUDINT3228818CHANGEDYNAMICPARAMUDINT3232021UNIVERSALSTARTUDINT3235222SLAVEUNIVERSALSTARTUDINT3238423SETEXTERNALERRORUDINT3241625SETPOSUDINT3244826SETCALFLAGUDINT3248027SETACTPOSUDINT3251228SETDRIVEPOSUDINT3254429SETENCODERSCALINGUDINT3257630SETPOSONTHEFLYUDINT3260831STARTUDINT3264032STARTEXTUDINT3267233STARTVELOCHANGEUDINT3270434ENABLEEXTGENUDINT3273635DISABLEEXTGENUDINT3276836REVERSINGSEQUENCEUDINT3280037STARTDRVOUTUDINT3283238STOPDRVOUTUDINT3286439CHANGEDRVOUTUDINT3289640JUMPTOOVERRIDEUDINT3292841EXTSETGENUNIVERSALSTARTUDINT3296043STARTSCOMUDINT3299248STOPSCOMUDINT32102449PHASINGREQEUSTUDINT32105652CPLUDINT32108864DECPLUDINT32112065CPLCHANGEUDINT32115266TABCPLCHANGEUDINT32118467STOPSLAVEUDINT32121668CPLTABUDINT32124869TABSLVACTIVCORUDINT32128070TABSLVLEAVECYCUDINT32131271TABSLVCOROFFSETUDINT32134472TABSLVSCALINGUDINT32137673CPLSOLOTABUDINT32140874CPLSYNCHRONIZINGUDINT32144075CAMSCALINGUDINT32147277DISABLEUDINT32150480ENABLEUDINT32153681CHANGEAXISCTRLLOOPUDINT32156882DRIVEDISABLEUDINT32160096DRIVEENABLEUDINT32163297RELEASEBRAKEUDINT32166498RECONFIGURATEUDINT321696112hideTC2_MC2._ST_NCADS_AxisFunctions1760IDXGRPUDINT32016896IDXOFFSTC2_MC2._ST_NCADS_IDXOFFS_AxisFunctions172832hideTC2_MC2._ST_NCADS_Axis4128ParameterTC2_MC2._ST_NCADS_AxisParameter15360StateTC2_MC2._ST_NCADS_AxisState8321536FunctionsTC2_MC2._ST_NCADS_AxisFunctions17602368hideTC2_MC2._ST_NCADS_IDXOFFS_TableParameter192MFREADCHARACVALUESUDINT32080WRITETABROWSUDINT323216777216WRITEMFTABROWSUDINT326483886080MFREADTABUDINT329634READSLAVEDYNAMICSUDINT3212835READMASTERPOSITIONUDINT3216036hideTC2_MC2._ST_NCADS_TableParameter224IDXGRPUDINT32040960IDXOFFSTC2_MC2._ST_NCADS_IDXOFFS_TableParameter19232hideTC2_MC2._ST_NCADS_IDXOFFS_TableFunctions96CREATETABUDINT32065536CREATEMOTIONTABUDINT323265552DELETETABUDINT3264131072hideTC2_MC2._ST_NCADS_TableFunctions128IDXGRPUDINT32041472IDXOFFSTC2_MC2._ST_NCADS_IDXOFFS_TableFunctions9632hideTC2_MC2._ST_NCADS_Table352ParameterTC2_MC2._ST_NCADS_TableParameter2240FunctionsTC2_MC2._ST_NCADS_TableFunctions128224hideT_AmsPortUINT16TC2_SYSTEM.ADSRDDEVINFO1344NETIDSTRING(23)19264ItemTypeInputPORTT_AmsPort16256ItemTypeInputRDINFOBOOL8272ItemTypeInputTMOUTTIME322885000ItemTypeInputBUSYBOOL8320ItemTypeOutputERRBOOL8328ItemTypeOutputERRIDUDINT32352ItemTypeOutputDEVNAMESTRING(19)160384ItemTypeOutputDEVVERUDINT32544ItemTypeOutputPouTypeFunctionBlockhide_all_localsTC2_MC2._TCMCGLOBAL6912NCPORT_TCMCUINT1664500ItemTypeInputNCPORT_TCMC_COUPLINGUINT1680500ItemTypeInputNCNETID_TCMCSTRING(23)19296ItemTypeInputNCPORT_TCMC_CAMUINT16288500ItemTypeInputNCPORT_TCMC_CAM_FASTUINT16304500ItemTypeInputNCNETID_TCMC_CAMSTRING(23)192320ItemTypeInputNCPORT_TCMC_SUPERPOSITIONUINT16512501ItemTypeInputNcDeviceInfoTcMainVersionDWORD32544ItemTypeOutputNcDeviceInfoTcSubVersionDWORD32576ItemTypeOutputNcDeviceInfoNcDriverVersionDWORD32608ItemTypeOutputNcDeviceInfoNcVersionDWORD32640ItemTypeOutputNcDeviceInfoNcNameSTRING(19)160672ItemTypeOutputAxisTC2_MC2._ST_NCADS_Axis4128832suppress_warning_0C0228TableTC2_MC2._ST_NCADS_Table3524960suppress_warning_0C0228NCPORT_TCNCCAMMING_TABLEFUNCTIONUINT165312500tTargetPosTimeOutTIME3253446000tADSTimeOutTIME3253761000tStopMonitoringTimeOutTIME325408100NCTOPLC_FEEDBACK_MAXWAITCYCLESINT16544010fbADSRDDEVINFOTC2_SYSTEM.ADSRDDEVINFO13445504DeviceVersionDWORD326848ReadDeviceInfoPouTypeFunctionBlockhideTC2_SYSTEM.E_WATCHDOG_TIME_CONFIGINT16eWATCHDOG_TIME_DISABLED0eWATCHDOG_TIME_SECONDS1eWATCHDOG_TIME_MINUTES2TC2_SYSTEM.E_WATCHDOG_TIME_CONFIGE_WATCHDOG_TIME_CONFIG16TC2_STANDARD.TON256INBOOL864ItemTypeInputPTTIME3296ItemTypeInputQBOOL8128ItemTypeOutputETTIME32160ItemTypeOutputMBOOL8192StartTimeTIME32224PouTypeFunctionBlockPLCTONC_AXIS_REF_CTRLDWORD32PLCTONC_AXIS_REF1024ControlDWordPLCTONC_AXIS_REF_CTRL320NamespaceMCOverrideUDINT3232AxisModeRequestUDINT3264AxisModeDWordUDINT3296AxisModeLRealLREAL64128PositionCorrectionLREAL64192ExtSetPosLREAL64256ExtSetVeloLREAL64320ExtSetAccLREAL64384ExtSetDirectionDINT32448ExtControllerOutputLREAL64512GearRatio1LREAL64576GearRatio2LREAL64640GearRatio3LREAL64704GearRatio4LREAL64768MapStateBOOL8832PlcCycleControlBYTE8840PlcCycleCountBYTE8848NamespaceMCGUID63A84524-72E3-41C8-BEAB-4CCE44690A13showsignature_flag33554688checksuperglobalNCTOPLC_AXIS_REF_STATEDWORD32NCTOPLC_AXIS_REF_OPMODEDWORD32NCTOPLC_AXIS_REF_STATE2_FLAGS32AvoidingCollisionBIT10NamespaceMCGUID303D9411-849C-467F-8A4C-5C8CD0F3DD46showsignature_flag33554688checksuperglobalNCTOPLC_AXIS_REF_STATE232ValueDWORD320FlagsNCTOPLC_AXIS_REF_STATE2_FLAGS320NamespaceMCNamespaceMCGUID669F3788-48FD-42CF-8A59-2DA946853FB6showsignature_flag33554688checksuperglobalNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE8CamActivationPendingBIT10CamDeactivationPendingBIT11CamActiveBIT12CamDataQueuedBIT16CamScalingPendingBIT17NamespaceMCGUIDBA9D9D0F-1A4A-4A27-A19F-3032626A8491showsignature_flag33554688checksuperglobalARRAY [0..7] OF NCTOPLC_AXIS_REF_CAMCOUPLINGSTATENCTOPLC_AXIS_REF_CAMCOUPLINGSTATE6408ARRAY [0..7] OF UINTUINT12808NCTOPLC_AXIS_REF2048StateDWordNCTOPLC_AXIS_REF_STATE320NamespaceMCErrorCodeUDINT3232AxisStateUDINT3264AxisModeConfirmationUDINT3296HomingStateUDINT32128CoupleStateUDINT32160SvbEntriesUDINT32192SafEntriesUDINT32224AxisIdUDINT32256OpModeDWordNCTOPLC_AXIS_REF_OPMODE32288NamespaceMCActPosLREAL64320ModuloActPosLREAL64384ActiveControlLoopIndexUINT16448ControlLoopIndexUINT16464ModuloActTurnsDINT32480ActVeloLREAL64512PosDiffLREAL64576SetPosLREAL64640SetVeloLREAL64704SetAccLREAL64768TargetPosLREAL64832ModuloSetPosLREAL64896ModuloSetTurnsDINT32960CmdNoUINT16992CmdStateUINT161008SetJerkLREAL641024SetTorqueLREAL641088ActTorqueLREAL641152StateDWord2NCTOPLC_AXIS_REF_STATE2321216NamespaceMCStateDWord3DWORD321248TouchProbeStateDWORD321280TouchProbeCounterDWORD321312CamCouplingStateARRAY [0..7] OF NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE641344NamespaceMCCamCouplingTableIDARRAY [0..7] OF UINT1281408ActTorqueDerivativeLREAL641536SetTorqueDerivativeLREAL641600ActPosWithoutPosCorrectionLREAL641792ActAccLREAL641856DcTimeStampUDINT321920NamespaceMCGUID6A65C767-34E5-42BF-AD87-E1A503EAC7BEshowsignature_flag33554688checksuperglobalTC2_MC2.ST_AdsAddress224NetIdSTRING(23)1920PortUINT16192ChannelUINT16208TC2_MC2.MC_AxisStatesINT16MC_AXISSTATE_UNDEFINED0MC_AXISSTATE_DISABLED1MC_AXISSTATE_STANDSTILL2MC_AXISSTATE_ERRORSTOP3MC_AXISSTATE_STOPPING4MC_AXISSTATE_HOMING5MC_AXISSTATE_DISCRETEMOTION6MC_AXISSTATE_CONTINOUSMOTION7MC_AXISSTATE_SYNCHRONIZEDMOTION8TC2_MC2.MC_AxisStatesMC_AXISSTATES16TC2_MC2.ST_AxisOpModes136PositionAreaMonitoringBOOL80TargetPositionMonitoringBOOL88LoopModeBOOL816MotionMonitoringBOOL824PEHTimeMonitoringBOOL832BacklashCompensationBOOL840DelayedErrorReactionBOOL848ModuloBOOL856SimulationAxisBOOL864StopMonitoringBOOL872PositionLagMonitoringBOOL880VelocityLagMonitoringBOOL888SoftLimitMinMonitoringBOOL896SoftLimitMaxMonitoringBOOL8104PositionCorrectionBOOL8112AllowSlaveCommandsBOOL8120AllowExtSetAxisCommandsBOOL8128TC2_MC2.ST_AxisStatus768UpdateTaskIndexBYTE80UpdateCycleTimeLREAL6464CycleCounterUDINT32128NcCycleCounterUDINT32160MotionStateTC2_MC2.MC_AxisStates16192ErrorBOOL8208ErrorIDUDINT32224ErrorStopBOOL8256DisabledBOOL8264StoppingBOOL8272StandStillBOOL8280DiscreteMotionBOOL8288ContinuousMotionBOOL8296SynchronizedMotionBOOL8304HomingBOOL8312ConstantVelocityBOOL8320AcceleratingBOOL8328DeceleratingBOOL8336OperationalBOOL8344ControlLoopClosedBOOL8352HasJobBOOL8360HasBeenStoppedBOOL8368NewTargetPositionBOOL8376InPositionAreaBOOL8384InTargetPositionBOOL8392ProtectedModeBOOL8400HomedBOOL8408HomingBusyBOOL8416MotionCommandsLockedBOOL8424SoftLimitMinExceededBOOL8432SoftLimitMaxExceededBOOL8440MovingBOOL8448PositiveDirectionBOOL8456NegativeDirectionBOOL8464NotMovingBOOL8472CompensatingBOOL8480ExtSetPointGenEnabledBOOL8488ExternalLatchValidBOOL8496CamDataQueuedBOOL8504CamTableQueuedBOOL8512CamScalingPendingBOOL8520CmdBufferedBOOL8528PTPmodeBOOL8536DriveDeviceErrorBOOL8544IoDataInvalidBOOL8552ErrorPropagationDelayedBOOL8560CoupledBOOL8568OpModeTC2_MC2.ST_AxisOpModes136576NcApplicationRequestBOOL8712TC2_MC2.AXIS_REF8384PlcToNcPLCTONC_AXIS_REF102464ItemTypeInputNcToPlcNCTOPLC_AXIS_REF20481088ItemTypeOutputADSTC2_MC2.ST_AdsAddress2243136ItemTypeOutputStatusTC2_MC2.ST_AxisStatus7683392ItemTypeOutputReadStatusPouTypeFunctionBlockhide_all_localsKalmanFilter896NewDataLREAL6464ItemTypeInputQ_covLREAL641282ItemTypeInputR_covLREAL64192100ItemTypeInputOutDataLREAL64256ItemTypeOutputP_covLREAL643201P1_covLREAL64384P2_covLREAL64448KLREAL64512PosteriorLREAL64576Posterior1LREAL64640PrioriLREAL64704aLREAL64768bLREAL64832PouTypeFunctionBlockARRAY [0..99] OF LREALLREAL64000100ARRAY [0..15] OF BOOLBOOL128016VERSION64uiMajorUINT160uiMinorUINT1616uiServicePackUINT1632uiPatchUINT1648OTCIDUDINT32PlcAppSystemInfo2048ObjIdOTCID320TaskCntUDINT3232OnlineChangeCntUDINT3264FlagsDWORD3296AdsPortUINT16128BootDataLoadedBOOL8144OldBootDataBOOL8152AppTimestampDATE_AND_TIME32160KeepOutputsOnBPBOOL8192ShutdownInProgressBOOL8200LicensesPendingBOOL8208BSODOccuredBOOL8216TComSrvPtrITComObjectServer64256AppNameSTRING(63)512512ProjectNameSTRING(63)5121024NamespacePLCGUIDC1C52E30-BC0B-44CA-BF39-E2FE7F2D145Cshowsignature_flag33554688checksuperglobalPlcTaskSystemInfo1024ObjIdOTCID320CycleTimeUDINT3232PriorityUINT1664AdsPortUINT1680CycleCountUDINT3296DcTaskTimeLINT64128LastExecTimeUDINT32192FirstCycleBOOL8224CycleTimeExceededBOOL8232InCallAfterOutputUpdateBOOL8240RTViolationBOOL8248TaskNameSTRING(63)512512NamespacePLCGUID56294066-FFF7-46F3-8206-FA06A30B13BAshowsignature_flag33554688checksuperglobalARRAY [1..1] OF PlcTaskSystemInfoPlcTaskSystemInfo102411_Implicit_KindOfTaskINT16_implicit_cyclic0_implicit_event1_implicit_external2_implicit_freewheeling3_Implicit_Jitter_Distribution48wRangeMaxWORD160wCountJitterNegWORD1616wCountJitterPosWORD1632hide_Implicit_Task_Info896dwVersionDWORD320pszNameSTRING(80)6464nPriorityINT16128KindOf_Implicit_KindOfTask16144bWatchdogBOOL8160bProfilingTaskBOOL8168dwEventFunctionPointerBYTE64192pszExternalEventSTRING(80)64256dwTaskEntryFunctionPointerBYTE64320dwWatchdogSensitivityDWORD32384dwIntervalDWORD32416dwWatchdogTimeDWORD32448dwLastCycleTimeDWORD32480dwAverageCycleTimeDWORD32512dwMaxCycleTimeDWORD32544dwMinCycleTimeDWORD32576diJitterDINT32608diJitterMinDINT32640diJitterMaxDINT32672dwCycleCountDWORD32704wTaskStatusWORD16736wNumOfJitterDistributionsWORD16752pJitterDistribution_Implicit_Jitter_Distribution64768bWithinSPSTimeSlicingBOOL8832byDummyBYTE8840bShouldBlockBOOL8848bActiveBOOL8856dwIECCycleCountDWORD32864hideGlobal_Variables.TcMcGlobalTC2_MC2._TCMCGLOBAL164485120006912Global_Variables.DEFAULT_HOME_POSITIONLREAL1644851286464Global_Variables.DEFAULT_BACKLASHVALUELREAL1644851287264Global_Variables.AMSPORT_LOGGERUINT1644851290816Global_Variables.AMSPORT_EVENTLOGUINT1644851291016Global_Variables.AMSPORT_R0_RTIMEUINT1644851291216Global_Variables.AMSPORT_R0_IOUINT1644851291416Global_Variables.AMSPORT_R0_NCUINT1644851291616Global_Variables.AMSPORT_R0_NCSAFUINT1644851291816Global_Variables.AMSPORT_R0_NCSVBUINT1644851292016Global_Variables.AMSPORT_R0_ISGUINT1644851292216Global_Variables.AMSPORT_R0_CNCUINT1644851292416Global_Variables.AMSPORT_R0_LINEUINT1644851292616Global_Variables.AMSPORT_R0_PLCUINT1644851292816Global_Variables.AMSPORT_R0_PLC_RTS1UINT1644851293016Global_Variables.AMSPORT_R0_PLC_RTS2UINT1644851293216Global_Variables.AMSPORT_R0_PLC_RTS3UINT1644851293416Global_Variables.AMSPORT_R0_PLC_RTS4UINT1644851293616Global_Variables.AMSPORT_R0_CAMUINT1644851293816Global_Variables.AMSPORT_R0_CAMTOOLUINT1644851294016Global_Variables.AMSPORT_R3_SYSSERVUINT1644851294216Global_Variables.AMSPORT_R3_SCOPESERVERUINT1644851294416Global_Variables.ADSSTATE_INVALIDUINT1644851294616Global_Variables.ADSSTATE_IDLEUINT1644851294816Global_Variables.ADSSTATE_RESETUINT1644851295016Global_Variables.ADSSTATE_INITUINT1644851295216Global_Variables.ADSSTATE_STARTUINT1644851295416Global_Variables.ADSSTATE_RUNUINT1644851295616Global_Variables.ADSSTATE_STOPUINT1644851295816Global_Variables.ADSSTATE_SAVECFGUINT1644851296016Global_Variables.ADSSTATE_LOADCFGUINT1644851296216Global_Variables.ADSSTATE_POWERFAILUREUINT1644851296416Global_Variables.ADSSTATE_POWERGOODUINT1644851296616Global_Variables.ADSSTATE_ERRORUINT1644851296816Global_Variables.ADSSTATE_SHUTDOWNUINT1644851297016Global_Variables.ADSSTATE_SUSPENDUINT1644851297216Global_Variables.ADSSTATE_RESUMEUINT1644851297416Global_Variables.ADSSTATE_CONFIGUINT1644851297616Global_Variables.ADSSTATE_RECONFIGUINT1644851297816Global_Variables.ADSSTATE_STOPPINGUINT1644851298016Global_Variables.ADSSTATE_INCOMPATIBLEUINT1644851298216Global_Variables.ADSSTATE_EXCEPTIONUINT1644851298416Global_Variables.ADSSTATE_MAXSTATESUINT1644851298616Global_Variables.ADSIGRP_SYMTABUDINT1644851298832Global_Variables.ADSIGRP_SYMNAMEUDINT1644851299232Global_Variables.ADSIGRP_SYMVALUDINT1644851299632Global_Variables.ADSIGRP_SYM_HNDBYNAMEUDINT1644851300032Global_Variables.ADSIGRP_SYM_VALBYNAMEUDINT1644851300432Global_Variables.ADSIGRP_SYM_VALBYHNDUDINT1644851300832Global_Variables.ADSIGRP_SYM_RELEASEHNDUDINT1644851301232Global_Variables.ADSIGRP_SYM_INFOBYNAMEUDINT1644851301632Global_Variables.ADSIGRP_SYM_VERSIONUDINT1644851302032Global_Variables.ADSIGRP_SYM_INFOBYNAMEEXUDINT1644851302432Global_Variables.ADSIGRP_SYM_DOWNLOADUDINT1644851302832Global_Variables.ADSIGRP_SYM_UPLOADUDINT1644851303232Global_Variables.ADSIGRP_SYM_UPLOADINFOUDINT1644851303632Global_Variables.ADSIGRP_SYMNOTEUDINT1644851304032Global_Variables.ADSIGRP_IOIMAGE_RWIBUDINT1644851304432Global_Variables.ADSIGRP_IOIMAGE_RWIXUDINT1644851304832Global_Variables.ADSIGRP_IOIMAGE_RISIZEUDINT1644851305232Global_Variables.ADSIGRP_IOIMAGE_RWOBUDINT1644851305632Global_Variables.ADSIGRP_IOIMAGE_RWOXUDINT1644851306032Global_Variables.ADSIGRP_IOIMAGE_ROSIZEUDINT1644851306432Global_Variables.ADSIGRP_IOIMAGE_CLEARIUDINT1644851306832Global_Variables.ADSIGRP_IOIMAGE_CLEAROUDINT1644851307232Global_Variables.ADSIGRP_IOIMAGE_RWIOBUDINT1644851307632Global_Variables.ADSIGRP_DEVICE_DATAUDINT1644851308032Global_Variables.ADSIOFFS_DEVDATA_ADSSTATEUDINT1644851308432Global_Variables.ADSIOFFS_DEVDATA_DEVSTATEUDINT1644851308832Global_Variables.SYSTEMSERVICE_OPENCREATEUDINT1644851309232Global_Variables.SYSTEMSERVICE_OPENREADUDINT1644851309632Global_Variables.SYSTEMSERVICE_OPENWRITEUDINT1644851310032Global_Variables.SYSTEMSERVICE_CREATEFILEUDINT1644851310432Global_Variables.SYSTEMSERVICE_CLOSEHANDLEUDINT1644851310832Global_Variables.SYSTEMSERVICE_FOPENUDINT1644851311232Global_Variables.SYSTEMSERVICE_FCLOSEUDINT1644851311632Global_Variables.SYSTEMSERVICE_FREADUDINT1644851312032Global_Variables.SYSTEMSERVICE_FWRITEUDINT1644851312432Global_Variables.SYSTEMSERVICE_FSEEKUDINT1644851312832Global_Variables.SYSTEMSERVICE_FTELLUDINT1644851313232Global_Variables.SYSTEMSERVICE_FGETSUDINT1644851313632Global_Variables.SYSTEMSERVICE_FPUTSUDINT1644851314032Global_Variables.SYSTEMSERVICE_FSCANFUDINT1644851314432Global_Variables.SYSTEMSERVICE_FPRINTFUDINT1644851314832Global_Variables.SYSTEMSERVICE_FEOFUDINT1644851315232Global_Variables.SYSTEMSERVICE_FDELETEUDINT1644851315632Global_Variables.SYSTEMSERVICE_FRENAMEUDINT1644851316032Global_Variables.SYSTEMSERVICE_MKDIRUDINT1644851316432Global_Variables.SYSTEMSERVICE_RMDIRUDINT1644851316832Global_Variables.SYSTEMSERVICE_REG_HKEYLOCALMACHINEUDINT1644851317232Global_Variables.SYSTEMSERVICE_SENDEMAILUDINT1644851317632Global_Variables.SYSTEMSERVICE_TIMESERVICESUDINT1644851318032Global_Variables.SYSTEMSERVICE_STARTPROCESSUDINT1644851318432Global_Variables.SYSTEMSERVICE_CHANGENETIDUDINT1644851318832Global_Variables.TIMESERVICE_DATEANDTIMEUDINT1644851319232Global_Variables.TIMESERVICE_SYSTEMTIMESUDINT1644851319632Global_Variables.TIMESERVICE_RTCTIMEDIFFUDINT1644851320032Global_Variables.TIMESERVICE_ADJUSTTIMETORTCUDINT1644851320432Global_Variables.TIMESERVICE_TIMEZONINFORMATIONUDINT1644851320832Global_Variables.ADSLOG_MSGTYPE_HINTDWORD1644851321232Global_Variables.ADSLOG_MSGTYPE_WARNDWORD1644851321632Global_Variables.ADSLOG_MSGTYPE_ERRORDWORD1644851322032Global_Variables.ADSLOG_MSGTYPE_LOGDWORD1644851322432Global_Variables.ADSLOG_MSGTYPE_MSGBOXDWORD1644851322832Global_Variables.ADSLOG_MSGTYPE_RESOURCEDWORD1644851323232Global_Variables.ADSLOG_MSGTYPE_STRINGDWORD1644851323632Global_Variables.BOOTDATAFLAGS_RETAIN_LOADEDBYTE164485132408Global_Variables.BOOTDATAFLAGS_RETAIN_INVALIDBYTE164485132418Global_Variables.BOOTDATAFLAGS_RETAIN_REQUESTEDBYTE164485132428Global_Variables.BOOTDATAFLAGS_PERSISTENT_LOADEDBYTE164485132438Global_Variables.BOOTDATAFLAGS_PERSISTENT_INVALIDBYTE164485132448Global_Variables.SYSTEMSTATEFLAGS_BSODBYTE164485132458Global_Variables.SYSTEMSTATEFLAGS_RTVIOLATIONBYTE164485132468Global_Variables.nWatchdogTimeBYTE164485132478Global_Variables.FOPEN_MODEREADDWORD1644851324832Global_Variables.FOPEN_MODEWRITEDWORD1644851325232Global_Variables.FOPEN_MODEAPPENDDWORD1644851325632Global_Variables.FOPEN_MODEPLUSDWORD1644851326032Global_Variables.FOPEN_MODEBINARYDWORD1644851326432Global_Variables.FOPEN_MODETEXTDWORD1644851326832Global_Variables.TCEVENTFLAG_PRIOCLASSWORD1644851330016Global_Variables.TCEVENTFLAG_FMTSELFWORD1644851330216Global_Variables.TCEVENTFLAG_LOGWORD1644851330416Global_Variables.TCEVENTFLAG_MSGBOXWORD1644851330616Global_Variables.TCEVENTFLAG_SRCIDWORD1644851330816Global_Variables.TCEVENTFLAG_AUTOFMTALLWORD1644851331016Global_Variables.TCEVENTSTATE_INVALIDWORD1644851331216Global_Variables.TCEVENTSTATE_SIGNALEDWORD1644851331416Global_Variables.TCEVENTSTATE_RESETWORD1644851331616Global_Variables.TCEVENTSTATE_CONFIRMEDWORD1644851331816Global_Variables.TCEVENTSTATE_RESETCONWORD1644851332016Global_Variables.TCEVENT_SRCNAMESIZEINT1644851332216Global_Variables.TCEVENT_FMTPRGSIZEINT1644851332416Global_Variables.eWatchdogConfigTC2_SYSTEM.E_WATCHDOG_TIME_CONFIG1644851332616Global_Variables.PILREAL1644851332864Global_Variables.DEFAULT_ADS_TIMEOUTTIME1644851333632Global_Variables.MAX_STRING_LENGTHUDINT1644851334032MAIN.iStepINT1644851436816MAIN.rotationBOOL164485143708MAIN.needChangeBOOL164485143718MAIN.referVeloDINT1644851437232MAIN.timer1TC2_STANDARD.TON16448514376256MAIN.sampleVeloDINT1644851440832MAIN.modAngleDINT1644851441232MAIN.actAngleLREAL1644851441664MAIN.rotationSingleINT1644851442416MAIN.runDirectINT1644851442616MAIN.power_doBOOL164485144288MAIN.ifPosModifyFinishBOOL164485144298MAIN.posCountINT1644851443016MAIN.axis1TC2_MC2.AXIS_REF164485144328384MAIN.tarPositionLREAL1644851548064MAIN.oriPosDINT1644851548832MAIN.posSumDINT1644851549232MAIN.tarVelocityLREAL1644851549664MAIN.tarAccLREAL1644851550464MAIN.enableBOOL164485155128MAIN.ifDoneBOOL164485155138MAIN.ifGetTarPosBOOL164485155148MAIN.ifActionBOOL164485155158MAIN.dualPosDiffPreFixDINT1644851551632MAIN.KLREAL1644851552064MAIN.BLREAL1644851552864MAIN.BGainLREAL1644851553664MAIN.BactualLREAL1644851554464MAIN.MLREAL1644851555264MAIN.iGainLREAL1644851556064MAIN.iLimitLREAL1644851556864MAIN.veloLimitLREAL1644851557664MAIN.dualGainLREAL1644851558464MAIN.irDualPosFixLREAL1644851559264MAIN.tarVeloDINT1644851560032MAIN.speedLimitDINT1644851560432MAIN.posiDiffLREAL1644851560864MAIN.sumPosDiffLREAL1644851561664MAIN.gainAccLREAL1644851562464MAIN.filter1KalmanFilter16448515632896MAIN.filter2KalmanFilter16448515744896MAIN.irDualPosLREAL1644851585664MAIN.irActVeloLREAL1644851586464MAIN.accMaxUDINT1644851587232MAIN.accMinUDINT1644851587632MAIN.accGainLREAL1644851588064MAIN.speedGainDINT1644851588832MAIN.deadSpeedZoneDINT1644851589232MAIN.dampGainLREAL1644851589664MAIN.deadZoneLREAL1644851590464MAIN.startDeadZoneLREAL1644851591264MAIN.lowSpeedOffsetALREAL1644851592064MAIN.lowSpeedOffsetBLREAL1644851592864MAIN.highSpeedOffsetALREAL1644851593664MAIN.highSpeedOffsetBLREAL1644851594464MAIN.iINT1644851595216MAIN.zeroCountINT1644851595416MAIN.ifModifyFinishBOOL164485159568GVL.ActTorqueINT6147251595816MAIN.offsetListARRAY [0..99] OF LREAL164485159606400MAIN.offsetSumLREAL1644851676064MAIN.offsetMeanLREAL1644851676864GVL.DualPosDiffDINT6147251698432GVL.actVeloDINT6147251698832GVL.loadPosDINT6147251699232GVL.motorPosDINT6147251699632GVL.actPositionDINT6147251700032GVL.siOperationModeSINT614885159578GVL.targetTorINT6148851700416GVL.uiCtrlUINT6148851700616GVL.targetVeloDINT6148851700832GVL.targetPosDINT6148851701232GVL.udiProVeloUDINT6148851701632GVL.udiProAccUDINT6148851702032GVL.udiProDecUDINT6148851702432GVL.arrCtrlARRAY [0..15] OF BOOL16448517028128GVL.arrStatusARRAY [0..15] OF 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Create TComObj PREOP10300400020300000000f000000000000064100008033000010304000000000000000000000000000000000000000000000053796e63556e69743a20274e432d5461736b2031205341462700000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000a00000009400000009000000000000000000000001200203040000003000010300000000013202030400000020000403000000000232020304000000300004030000000003320203080000000100020300000000000000000432020304000000932f00000000000005320203040000000c000000000000000632020304000000b02f00000000000007320203040000001f0000000000000009b202030400000000000000Create EtherCAT SyncUnit NC-Task 1 SAF (set to PREOP)Init10\IO: Create TComObj 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Axis 1 createdInit10\IO: Create TComObj 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Axis 1 createdInit10\IO: Create TComObj PREOP500512400100000013000000456e6300000000000000000000000000000000000000000000000000000000008000000000010000000000000000f03f000000000000f03f000000000000000000000000008076400000000002000000ffffffff0000000000000000000000007b14ae47e17a843f9a9999999999b93f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000280001002800010000000000010002030000000000000000000000000000000000000000000000000000000000000000000000000000000001000000000000000000000000000000000000000000000000000000ffff0f000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000Encoder Enc createdInit10\IO: Create TComObj 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Drive createdInit10\IO: Create TComObj 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Ctrl createdInit10\IO: Create TComObj PREOP10300100500800000000f00000000000006410000101000050080200000000000000000000000000000000000000000000005a65726f546f7271756520496e7374616e636500000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ac000000a00000000900000000000000000000000300500809000000506f72745f38353100000000000000000c0050080b0000005a65726f546f72717565000000000000040050080200000053030000000000000b0050080400000010005008000000000d0050080400000099f2426600000000050050080400000011000101000000000f8050080400000000000000000000001c805008040000000000010000000000060050080400000030000302Create Object ZeroTorque InstanceInit10\IO: Create TComObj 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Object NC-Task 1 SAF - Device 3 (EtherCAT) 1Init11\IO: Create TComObj 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Object ZeroTorque Instance - Device 3 (EtherCAT) 1Init11\IO: Create TComObj SAFEOP10306000020100000000f00000000000006420000302100000050400000000000000000000000000000000000000000000004e432d5461736b203120534146202d204465766963652033202845746865724341542920496e666f00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000fc000000f00000000a000000000000000000000020200003040000000000000000000000212000030400000030000403000000003020000304000000100004030000000031200003040000003000040300000000011000020400000000000000000000000210000204000000040000000000000062000201400000000000000000000000b800000040060000200000000000000000000000030000000000000000000000d800000000050000200000000000000000000000030000000000000063000201000000000000000015a1000310000000d41d8cd98f00b204e9800998ecf8427e0000000016a10003100000002b6789f1fdc159750490965f945d572eCreate Object NC-Task 1 SAF - Device 3 (EtherCAT) InfoInit11\IO: Create TComObj SAFEOP10302200000300000000f0000000000000641000040310000005040000000000000000000000000000000000000000000000496d61676500000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000090000000840000000500000000000000000000002600000320000000d00000005001000001000000000000000000000300000000000000000000000000000000020000030400000000000002000000002020000304000000100000050000000015a1000310000000370f1156b22b6f1e1a920e00e57741940000000016a1000310000000955590d4983aa9b799a08f0bd841a574Create Image Image (set to SAFEOP)Init12\IO: Set State TComObj SAFEOP102560100008030400000000000000EtherCAT SyncUnit NC-Task 1 SAF (set to SAFEOP)Init12\IO: Set State TComObj SAFEOP10256010000005040000002c0000003000000002000000000000000000000010000005040000001000040300000000011000020400000080841e00NC Task 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Set State TComObj SAFEOP OP102560200004030800000000000000Image Image (set to OP)Init16\IO: Set State TComObj SAFEOP OP102560300004030800000000000000Image Image-Info (set to OP)Init16\IO: Set State TComObj SAFEOP OP102560100008030800000000000000EtherCAT SyncUnit NC-Task 1 SAF (set to OP)Init16\IO: Set State TComObj SAFEOP OP102560100003020800000000000000Set Object NC-Task 1 SAF - Device 3 (EtherCAT) 1 to OPInit16\IO: Set State TComObj SAFEOP OP102560200003020800000000000000Set Object NC-Task 1 SAF - Device 3 (EtherCAT) Info to OPInit16\IO: Set State TComObj SAFEOP OP102560100004030800000000000000Image Image (set to OP)Init16\IO: Set State TComObj SAFEOP OP1025903100010330000103Set Objects (2) to OP20000Init28\IO: Download 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Create TComObj PREOP10300400020300000000f000000000000064100008033000010304000000000000000000000000000000000000000000000053796e63556e69743a20274e432d5461736b2031205341462700000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000a00000009400000009000000000000000000000001200203040000003000010300000000013202030400000020000403000000000232020304000000300004030000000003320203080000000100020300000000000000000432020304000000932f00000000000005320203040000000c000000000000000632020304000000b02f00000000000007320203040000001f0000000000000009b202030400000000000000Create EtherCAT SyncUnit NC-Task 1 SAF (set to PREOP)Init10\IO: Create TComObj 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Axis 1 createdInit10\IO: Create TComObj 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Axis 1 createdInit10\IO: Create TComObj PREOP500512400100000013000000456e6300000000000000000000000000000000000000000000000000000000008000000000010000000000000000f03f000000000000f03f000000000000000000000000008076400000000002000000ffffffff0000000000000000000000007b14ae47e17a843f9a9999999999b93f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000280001002800010000000000010002030000000000000000000000000000000000000000000000000000000000000000000000000000000001000000000000000000000000000000000000000000000000000000ffff0f000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000Encoder Enc createdInit10\IO: Create TComObj 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Drive createdInit10\IO: Create TComObj 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Ctrl createdInit10\IO: Create TComObj PREOP10300100500800000000f00000000000006410000101000050080200000000000000000000000000000000000000000000006765744461746120496e7374616e636500000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000a80000009c0000000900000000000000000000000300500809000000506f72745f38353100000000000000000c00500808000000676574446174610000000000040050080200000053030000000000000b0050080400000010005008000000000d0050080400000075ef426600000000050050080400000011000101000000000f8050080400000000000000000000001c805008040000000000010000000000060050080400000030000302Create Object getData InstanceInit10\IO: Create TComObj 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Object NC-Task 1 SAF - Device 3 (EtherCAT) 1Init11\IO: Create TComObj 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Object getData Instance - Device 3 (EtherCAT) 1Init11\IO: Create TComObj SAFEOP10306000020100000000f00000000000006420000302100000050400000000000000000000000000000000000000000000004e432d5461736b203120534146202d204465766963652033202845746865724341542920496e666f00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000fc000000f00000000a000000000000000000000020200003040000000000000000000000212000030400000030000403000000003020000304000000100004030000000031200003040000003000040300000000011000020400000000000000000000000210000204000000040000000000000062000201400000000000000000000000b800000040060000200000000000000000000000030000000000000000000000d800000000050000200000000000000000000000030000000000000063000201000000000000000015a1000310000000d41d8cd98f00b204e9800998ecf8427e0000000016a10003100000002b6789f1fdc159750490965f945d572eCreate Object NC-Task 1 SAF - Device 3 (EtherCAT) 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NC-Task 1 SAF (set to SAFEOP)Init12\IO: Set State TComObj SAFEOP102601310001033000010310000705100001051100000350000102Set Objects (6) to SAFEOP20000Init14\IO: Create TComObj 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Set State TComObj SAFEOP OP102560200004030800000000000000Image Image (set to OP)Init16\IO: Set State TComObj SAFEOP OP102560300004030800000000000000Image Image-Info (set to OP)Init16\IO: Set State TComObj SAFEOP OP102560100008030800000000000000EtherCAT SyncUnit NC-Task 1 SAF (set to OP)Init16\IO: Set State TComObj SAFEOP OP102560100003020800000000000000Set Object NC-Task 1 SAF - Device 3 (EtherCAT) 1 to OPInit16\IO: Set State TComObj SAFEOP OP102560200003020800000000000000Set Object NC-Task 1 SAF - Device 3 (EtherCAT) Info to OPInit16\IO: Set State TComObj SAFEOP OP102560100004030800000000000000Image Image (set to OP)Init16\IO: Set State TComObj SAFEOP OP1025903100010330000103Set Objects (2) to OP20000Init28\IO: Download 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THEN + IF actAngle <= 5 AND rotationSingle = 4 THEN + rotationSingle := 5; + END_IF + targetVelo:=-(ABS(LREAL_TO_DINT(actAngle*1.5)))-30; + ELSIF actAngle >= 180 THEN + IF rotationSingle = 5 THEN//切换模式 + rotation := 0; + rotationSingle := 0; + targetVelo:=0; + ELSE + IF actAngle >= 355 THEN + rotationSingle := 4; + END_IF + targetVelo:=-(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))-30; + END_IF + END_IF +END_IF +sampleVelo := targetVelo * 257;]]> + + + + + + + + + + + + + + \ No newline at end of file diff --git a/参数标定程序/GetData/GetData/getData/PlcTask.TcTTO b/参数标定程序/GetData/GetData/getData/PlcTask.TcTTO new file mode 100644 index 0000000..ac73106 --- /dev/null +++ b/参数标定程序/GetData/GetData/getData/PlcTask.TcTTO @@ -0,0 +1,17 @@ + + + + + 10000 + 20 + + MAIN + + {71cafd4f-a188-46b5-bae8-a74b8a53cc96} + {91eddb28-fc27-49f1-a1b2-11d42e639d50} + {77bd5827-6228-4e58-ab6a-271dce175b2f} + {8bfa1632-795f-4646-93a4-0b95e03f8100} + {b2053fab-24ad-4729-bb28-e6b5a9f4cc70} + + + \ No newline at end of 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Internal0589824MAIN.rotation8BOOL4103080MAIN.rotationSingle16INT4103088MAIN.modAngle32DINT4103168MAIN.sampleVelo32DINT4103200MAIN.actAngle64LREAL4103232Constants.bLittleEndian8BOOL1TcVarGlobal4103304Constants.RuntimeVersion64VERSIONuiMajor3uiMinor5uiServicePack6uiPatch0TcVarGlobal4103312Constants.CompilerVersion64VERSIONuiMajor3uiMinor5uiServicePack8uiPatch40TcVarGlobal4103376Constants.bSimulationMode8BOOL0TcVarGlobal4103440Constants.bFPUSupport8BOOL1TcVarGlobal4103448Constants.nRegisterSize16WORD64TcVarGlobal4103456Constants.nPackMode16UINT8TcVarGlobal4103472Constants.RuntimeVersionNumeric32DWORD50660864TcVarGlobal4103488Constants.CompilerVersionNumeric32DWORD50661416TcVarGlobal4103520TwinCAT_SystemInfoVarList._AppInfo2048PlcAppSystemInfono_initTcVarGlobal4103552TwinCAT_SystemInfoVarList._TaskInfo1024PlcTaskSystemInfo11no_initTcVarGlobal4105600TwinCAT_SystemInfoVarList.__PlcTask896_Implicit_Task_InfodwVersion2TcVarGlobal4106624ApplicationNamePort_851ChangeDate2024-05-14T04:58:29GeneratedCodeSize28672GlobalDataSize8192 \ No newline at end of file diff --git a/参数标定程序/GetData/GetData/getData/getData.tpy b/参数标定程序/GetData/GetData/getData/getData.tpy new file mode 100644 index 0000000..62dd1fa --- /dev/null +++ b/参数标定程序/GetData/GetData/getData/getData.tpy @@ -0,0 +1 @@ +C:\Users\Administrator\Desktop\TwinCAT运动控制\GetData\GetData\getData\getData.plcproj2024-05-13T14:05:13tc2_standard, 3.3.1.0 (beckhoff automation gmbh)tc2_system, 3.4.15.0 (beckhoff automation gmbh)tc3_module, 3.3.12.0 (beckhoff automation gmbh)172.18.138.230.1.1851getDataIntel X863.5.8.03.4.0.03.4.0.0Intel X8610485760128000128000128000128000VERSION64uiMajorUINT160uiMinorUINT1616uiServicePackUINT1632uiPatchUINT1648OTCIDUDINT32PlcAppSystemInfo2048ObjIdOTCID320TaskCntUDINT3232OnlineChangeCntUDINT3264FlagsDWORD3296AdsPortUINT16128BootDataLoadedBOOL8144OldBootDataBOOL8152AppTimestampDATE_AND_TIME32160KeepOutputsOnBPBOOL8192ShutdownInProgressBOOL8200LicensesPendingBOOL8208BSODOccuredBOOL8216TComSrvPtrITComObjectServer64256AppNameSTRING(63)512512ProjectNameSTRING(63)5121024NamespacePLCGUIDC1C52E30-BC0B-44CA-BF39-E2FE7F2D145Cshowsignature_flag33554688checksuperglobalPlcTaskSystemInfo1024ObjIdOTCID320CycleTimeUDINT3232PriorityUINT1664AdsPortUINT1680CycleCountUDINT3296DcTaskTimeLINT64128LastExecTimeUDINT32192FirstCycleBOOL8224CycleTimeExceededBOOL8232InCallAfterOutputUpdateBOOL8240RTViolationBOOL8248TaskNameSTRING(63)512512NamespacePLCGUID56294066-FFF7-46F3-8206-FA06A30B13BAshowsignature_flag33554688checksuperglobalARRAY [1..1] OF PlcTaskSystemInfoPlcTaskSystemInfo102411_Implicit_KindOfTaskINT16_implicit_cyclic0_implicit_event1_implicit_external2_implicit_freewheeling3_Implicit_Jitter_Distribution48wRangeMaxWORD160wCountJitterNegWORD1616wCountJitterPosWORD1632hide_Implicit_Task_Info896dwVersionDWORD320pszNameSTRING(80)6464nPriorityINT16128KindOf_Implicit_KindOfTask16144bWatchdogBOOL8160bProfilingTaskBOOL8168dwEventFunctionPointerBYTE64192pszExternalEventSTRING(80)64256dwTaskEntryFunctionPointerBYTE64320dwWatchdogSensitivityDWORD32384dwIntervalDWORD32416dwWatchdogTimeDWORD32448dwLastCycleTimeDWORD32480dwAverageCycleTimeDWORD32512dwMaxCycleTimeDWORD32544dwMinCycleTimeDWORD32576diJitterDINT32608diJitterMinDINT32640diJitterMaxDINT32672dwCycleCountDWORD32704wTaskStatusWORD16736wNumOfJitterDistributionsWORD16752pJitterDistribution_Implicit_Jitter_Distribution64768bWithinSPSTimeSlicingBOOL8832byDummyBYTE8840bShouldBlockBOOL8848bActiveBOOL8856dwIECCycleCountDWORD32864hideMAIN.DualPosDiffDINT6147251202832MAIN.actVeloDINT6147251287232MAIN.actPositionDINT6147251287632MAIN.targetVeloDINT6148851288032MAIN.siOperationModeSINT614885128848MAIN.rotationBOOL164485128858MAIN.rotationSingleINT1644851288616MAIN.udiProAccUDINT6148851288832MAIN.udiProDecUDINT6148851289232MAIN.modAngleDINT1644851289632MAIN.sampleVeloDINT1644851290032MAIN.actAngleLREAL1644851290464Constants.bLittleEndianBOOL164485129138Constants.RuntimeVersionVERSION1644851291464Constants.CompilerVersionVERSION1644851292264Constants.bSimulationModeBOOL164485129308Constants.bFPUSupportBOOL164485129318Constants.nRegisterSizeWORD1644851293216Constants.nPackModeUINT1644851293416Constants.RuntimeVersionNumericDWORD1644851293632Constants.CompilerVersionNumericDWORD1644851294032TwinCAT_SystemInfoVarList._AppInfoPlcAppSystemInfo164485129442048TwinCAT_SystemInfoVarList._TaskInfoARRAY [1..1] OF PlcTaskSystemInfo164485132001024TwinCAT_SystemInfoVarList.__PlcTask_Implicit_Task_Info16448513328896 \ No newline at end of file diff --git a/参数标定程序/GetData/showData/Scope YT Project.tcscope b/参数标定程序/GetData/showData/Scope YT Project.tcscope new file mode 100644 index 0000000..b1440e7 --- /dev/null +++ b/参数标定程序/GetData/showData/Scope YT Project.tcscope @@ -0,0 +1,361 @@ + + + 1.0.0.6 + Scope YT Project + <?xml version="1.0" encoding="utf-16"?> +<Layout> + <Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133601291514716614" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /> + <DocumentContainer Dock="5"> + <SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"> + <ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a"> + <Controls> + <Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" /> + </Controls> + </ControlLayoutSystem> + </SplitLayoutSystem> + </DocumentContainer> +</Layout> + + 6000000000 + C:\temp + ClientStart + AutoStop + true + + + false + + {SCOPE}_AutoSave_{HH_mm_ss} + + false + + + + Chart + 97332cdc-477f-498a-a8da-59f3e238ae5a + + + + -1 + false + + + + Axis + Axis + + + + DualPosDiff + 1 + + INT32 + 61472 + 512028 + 851 + 4 + MAIN.DualPosDiff + 双编码器差值 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(1) + Axis(1) + + + + actVelo + 2 + + INT32 + 61472 + 512872 + 851 + 4 + MAIN.actVelo + 实际速度 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 0 + + + Axis(2) + Axis(2) + + + + actAngle + 3 + + REAL64 + 16448 + 512904 + 851 + 8 + MAIN.actAngle + 实际角度 + true + 0 + true + 172.18.138.230.1.1 + 100000 + false + 0 + true + false + false + 0 + 0 + 0 + + + -1 + + + 1 + + + + + + false + true + true + true + false + false + + + 972973000 + + XT + -1 + -1 + 120000 + true + 00000000-0000-0000-0000-000000000000 + + + + + + -1 + Default + \ No newline at end of file diff --git a/参数标定程序/GetData/showData/showData.tcmproj b/参数标定程序/GetData/showData/showData.tcmproj new file mode 100644 index 0000000..004f581 --- /dev/null +++ b/参数标定程序/GetData/showData/showData.tcmproj @@ -0,0 +1,14 @@ + + + + {e7616055-c07c-4344-b233-ff550d8bf36f} + showData + showData + showData + + + + Content + + + \ No newline at end of file

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