程序原理图01.docx

程序原理图01.docx

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程序原理图01

部分硬件接线原理图

附图1行走电动机的主接线原理图

附图2除尘电机的控制电路原理图

A1.2程序语句表

LDSM0.0

CALLSBR0

LDSM0.0

CALLSBR1

LDM1.2

TONT32,300

LDT32

RM1.4,1

MOVD&VB1098,VD5010

MOVB0,VB5004

RM1.2,1

LDSM0.0

CALLSBR7

CALLSBR18

LDSM0.1

RV1108.3,1

RM10.0,1

RM10.2,2

LDNI0.0

LDI0.0

AV1108.2

OLD

ANV1108.3

CALLSBR15

LDI0.0

AV1108.2

AV1108.3

EU

CALLSBR13,VB1102,VB1103

LDM10.0

AV1108.2

CALLSBR8

LDI0.0

ANV1108.2

AV1108.3

EU

CALLSBR12,VB1102,VB1103

LDM10.1

ANV1108.2

CALLSBR14

LDNM10.1

AI0.0

ANV1108.2

CALLSBR9

LDSM0.0

LPS

AV3300.1

AV1111.3

SV4010.2,1

LPP

AV3300.0

AV1111.3

SV4010.3,1

LDM6.7

AI0.0

AV3300.1

ANV4010.2

=M7.6

RM7.7,1

RM8.0,8

RM6.0,5

LDM7.6

ANI2.0

ANI3.0

ANM0.0

=Q0.0

=V1009.7

RV1010.0,1

RV1010.3,2

LDI0.0

AM6.7

AV4010.2

=M7.7

RM7.6,1

RM8.0,8

RM6.0,5

LDM7.7

ANI3.1

ANI2.0

ANM0.1

=Q0.1

=V1010.0

RV1009.7,1

RV1010.3,2

LDI0.0

AM6.7

ANV4010.3

AV3300.0

=M8.0

RM8.1,7

RM7.6,2

RM6.0,5

LDM8.0

ANI3.6

ANI2.3

ANM0.4

=Q1.0

RV1010.4,1

RV1009.7,1

RV1010.0,1

=V1010.3

LDI0.0

AM6.7

AV4010.3

=M8.1

RM8.0,1

RM7.6,2

RM8.2,6

RM6.0,5

LDM8.1

ANI3.7

ANI2.3

ANM0.5

=Q1.1

RV1009.7,1

RV1010.0,1

RV1010.3,1

=V1010.4

LDM6.7

LPS

AQ0.0

TONT54,600

LRD

AQ0.1

TONT55,600

LRD

AQ1.0

TONT56,600

LPP

AQ1.1

TONT57,600

LDSM0.0

LPS

AT54

ANI3.0

SM0.0,1

RQ0.0,1

RM7.6,1

SV1013.0,1

LRD

AT55

ANI3.1

SM0.1,1

RM7.7,1

RQ0.1,1

SV1013.1,1

LRD

AT56

ANI3.6

SM0.4,1

RM8.0,1

RQ1.0,1

SV1013.4,1

LPP

AT57

ANI3.7

SM0.5,1

RM8.1,1

RQ1.1,1

SV1013.5,1

LDSM0.0

LPS

AI3.0

RQ0.0,1

=V1014.4

RV1009.7,1

RM7.6,1

LRD

AI3.1

RQ0.1,1

=V1014.5

RV1010.0,1

RM7.7,1

RV3300.1,1

RV4010.2,1

LRD

AI3.6

RQ1.0,1

=V1015.0

RV1010.3,1

RM8.0,1

LPP

AI3.7

RQ1.1,1

=V1015.1

RV1010.4,1

RM8.1,1

RV3300.0,1

RV4010.3,1

LDI0.0

AM6.7

AI3.3

AW=AIW0,0

=M8.2

RM8.0,2

RM6.0,5

RM8.3,5

RM7.6,2

LDM8.2

ANI2.2

ANV4010.0

ANM0.2

=Q0.2

=V1010.1

RV1010.2,6

LDI0.0

AM6.7

AV4010.0

=M8.3

RM8.0,3

RM6.0,5

RM8.4,4

RM7.6,2

LDM8.3

ANI2.2

ANM0.3

=Q0.3

=V1010.2

RV1010.1,1

RV1010.3,5

LDI0.0

AM6.7

ANV4010.1

AI4.1

AW=AIW2,0

=M8.4

RM7.6,2

RM8.5,3

RM6.0,5

RM8.0,4

LDM8.4

ANI2.5

ANM0.6

=Q1.2

=V1010.5

RV1010.0,5

RV1010.6,2

LDI0.0

AM6.7

AV4010.1

=M8.5

RM8.6,2

RM8.0,5

RM6.0,5

RM7.6,2

LDM8.5

ANI2.5

ANM0.7

=Q1.3

=V1010.6

RV1010.0,6

LDSM0.0

LPS

AQ0.2

TONT58,600

LRD

AQ0.3

TONT59,600

LRD

AQ1.2

TONT60,600

LRD

AQ1.3

TONT61,600

LRD

AQ0.4

TONT62,600

LRD

AQ0.5

TONT63,600

LRD

AQ1.4

TONT101,600

LPP

AQ1.5

TONT102,600

LDSM0.0

LPS

AT58

ANI3.0

SM0.2,1

RM8.2,1

RQ0.2,1

SV1013.2,1

LRD

AT59

ANI3.1

SM0.3,1

RM8.3,1

RQ0.3,1

SV1013.3,1

LRD

AT60

ANI3.6

SM0.6,1

RM8.4,1

RQ1.2,1

SV1013.6,1

LRD

AT61

ANI3.7

SM0.7,1

RM8.5,1

RQ1.3,1

SV1013.7,1

LRD

AT62

ANI3.2

SM9.0,1

RM8.6,1

RQ0.4,1

SV1014.0,1

LRD

AT63

ANI3.3

SM9.1,1

RM8.7,1

RQ0.5,1

SV1014.1,1

LRD

AT101

ANI4.0

SM9.2,1

RM6.0,1

RQ1.4,1

SV1014.2,1

LPP

AT102

ANI4.1

SM9.3,1

RM6.1,1

RQ1.5,1

SV1014.3,1

LDSM0.0

LPS

AI3.4

RQ0.2,1

=V1014.6

RV1010.1,1

RM8.2,1

RV4010.0,1

LRD

AI3.5

RQ0.3,1

=V1014.7

RV1010.2,1

RM8.3,1

LRD

AI4.2

RQ1.2,1

=V1015.2

RV1010.5,1

RM8.4,1

RV4010.1,1

LPP

AI4.3

RQ1.3,1

=V1015.3

RV1010.6,1

RM8.5,1

LDSM0.0

LPS

AI3.2

RQ0.4,1

=V1015.4

RV1010.7,1

RM8.6,1

LRD

AI3.3

RQ0.5,1

=V1015.5

RV1011.0,1

RM8.7,1

RV4010.0,1

LRD

AI4.0

RQ1.4,1

=V1015.6

RV1011.1,1

RM6.0,1

LPP

AI4.1

RQ1.5,1

=V1015.7

RV1011.2,1

RM6.1,1

RV4010.1,1

LDI0.0

AM6.7

AI3.5

AV4010.0

=M8.6

RM7.6,2

RM8.0,6

RM8.7,1

RM6.0,5

LDM8.6

ANI2.1

ANM9.0

AI3.5

=Q0.4

=V1010.7

RV1011.0,3

LDI0.0

AM6.7

AI3.4

AW=AIW0,0

=M8.7

RM7.6,2

RM8.0,7

RM6.0,5

LDM8.7

ANI2.1

ANM9.1

=Q0.5

=V1011.0

RV1010.7,1

RV1011.1,2

LDI0.0

AM6.7

AI4.3

AV4010.1

=M6.0

RM7.6,2

RM8.0,8

RM6.1,4

LDM6.0

ANI2.4

ANM9.2

AI4.3

=Q1.4

=V1011.1

RV1010.7,1

RV1011.0,1

RV1011.2,1

LDI0.0

AM6.7

AI4.2

AW=AIW2,0

=M6.1

RM7.6,2

RM8.0,8

RM6.0,1

RM6.2,3

LDM6.1

ANI2.4

ANM9.3

=Q1.5

=V1011.2

RV1010.7,1

RV1011.0,2

LDSM0.0

LPS

AV4010.0

AQ0.4

TONT108,100

LPP

AV4010.1

AQ1.4

TONT109,100

LDSM0.0

LPS

AT108

SM10.2,1

LPP

AT109

SM10.3,1

LDI0.0

LPS

AM10.2

ANI2.6

ANI1.7

=Q0.6

=V1011.3

=Q0.7

=V1011.5

LPP

AM10.3

ANI2.7

ANI1.7

=Q1.6

=V1011.4

=Q0.7

=V1011.

LDQ0.0

OQ0.1

OQ0.6

OQ0.2

OQ0.3

OQ0.4

OQ0.5

OQ0.6

=Q2.5

LDQ1.0

OQ1.1

OQ1.6

OQ1.2

OQ1.3

OQ1.4

OQ1.5

OQ1.6

=Q2.6

LDI0.0

LPS

AV1108.0

=V1009.0

LRD

=V1009.2

LPP

AV1108.2

=V1009.1

LDSM0.0

LPS

AI2.0

=V1011.6

LRD

AI2.1

=V1011.7

LRD

AI2.2

=V1012.0

LRD

AI2.3

=V1012.1

LRD

AI2.4

=V1012.2

LRD

AI2.5

=V1012.3

LRD

AI2.6

=V1012.4

LRD

AI2.7

=V1012.5

LRD

AI1.7

=V1012.6

LPP

AI4.4

=V1012.7

LDSM0.0

RL21.0,4

RL40.2,3

RL18.0,6

LDSM0.0

RM10.1,1

LDSM0.0

LPS

MOVBLB0,LB19

AENO

ANDB2#1000000,LB19

AENO

LPS

AB=LB19,2#1000000

SL18.1,1

SV3300.0,1

RL21.2,1

LPP

AB=LB19,0

SL21.2,1

SV3300.1,1

LPP

MOVBLB1,LB20

AENO

ANDB2#1000000,LB20

AENO

LPS

AB=LB20,2#1000000

SL18.2,1

LPP

AB=LB20,0

SL21.3,1

LDSM0.0

LPS

AL18.4

AL21.2

SV4010.0,1

LPP

AL18.4

AL18.1

SV4010.1,1

LDSM0.0

LPS

AL21.2

AV1111.3

SV4010.2,1

LPP

AL18.1

AV1111.3

SV4010.3,1

LDSM0.0

LPS

MOVBLB0,LB17

AENO

ANDB2#111111,LB17

AENO

LPS

AB>=LB17,0

AB<=LB17,36

SL18.3,1

LRD

AB>=LB17,39

AB<=LB17,49

SL18.4,1

LPP

AB=LB17,0

SL40.0,1

SL18.3,1

SL18.1,1

LPP

MOVBLB1,LB16

AENO

ANDB2#111111,LB16

AENO

LPS

AB>=LB16,0

AB<=LB16,36

SL18.0,1

LRD

AB>=LB16,39

AB<=LB16,49

SL18.5,1

LPP

AB=LB16,0

SL40.1,1

SL18.2,1

SL18.0,1

LDSM0.0

LPS

AL18.4

AL21.2

SV4010.0,1

LPP

AL18.4

AL18.1

SV4010.1,1

LDL18.3

AL18.0

AB=LB17,LB16

LPS

AL21.3

AL18.1

SL40.2,1

LRD

AL18.2

AL21.2

SL40.3,1

LPP

LDL21.3

AL21.2

LDL18.2

AL18.1

OLD

ALD

SL40.4,1

LDL18.5

CALLSBR20,LB17,LB38

LDL18.4

CALLSBR20,LB16,LB39

LDL18.4

AL18.5

AB=LB38,LB39

LPS

AL21.3

AL18.1

SL40.2,1

LRD

AL18.2

AL21.2

SL40.3,1

LPP

LDL21.3

AL21.2

LDL18.2

AL18.1

OLD

ALD

SL40.4,1

LDL18.3

AL18.5

AB=LB38,LB17

LPS

AL21.3

AL18.1

SL40.2,1

LRD

AL18.2

AL21.2

SL40.3,1

LPP

LDL21.3

AL21.2

LDL18.2

AL18.1

OLD

ALD

SL40.4,1

LDL18.4

AL18.0

AB=LB39,LB16

LPS

AL21.3

AL18.1

SL40.2,1

LRD

AL18.2

AL21.2

SL40.3,1

LPP

LDL21.3

AL21.2

LDL18.2

AL18.1

OLD

ALD

SL40.4,1

LDL18.3

AL18.0

BTILB17,LW10

AENO

BTILB16,LW12

AENO

MOVWLW10,LW14

-ILW12,LW14

LDL18.0

AL18.4

BTILB39,LW10

AENO

BTILB16,LW12

AENO

MOVWLW10,LW14

-ILW12,LW14

LDL18.5

AL18.3

BTILB17,LW10

AENO

BTILB38,LW12

AENO

MOVWLW10,LW14

-ILW12,LW14

LDL18.5

AL18.4

BTILB39,LW10

AENO

BTILB38,LW12

AENO

MOVWLW10,LW14

-ILW12,LW14

LDL18.3

AL18.0

LDL18.5

AL18.4

OLD

LDL18.5

AL18.3

OLD

LDL18.0

AL18.4

OLD

LPS

AW

ASM1.2

SL21.0,1

LPP

AW>LW14,0

SL21.1,1

LDSM1.2

AL21.0

INVWLW14

INCWLW14

+I0,LW14

LDL18.3

AL18.0

LDL18.5

AL18.4

OLD

LDL18.5

AL18.3

OLD

LDL18.4

AL18.0

OLD

ITDLW14,LD26

AENO

DTRLD26,LD30

LDL18.3

AL18.0

LDL18.5

AL18.4

OLD

LDL18.5

AL18.3

OLD

LDL18.4

AL18.0

OLD

AL21.0

LPS

LDL18.1

AL18.2

LDL21.2

AL21.3

OLD

ALD

MOVRLD30,LD22

*R1.6,LD22

LPP

LPS

AL18.1

AL21.3

MOVRLD30,LD22

AENO

*R1.6,LD22

AENO

+R1.2,LD22

LPP

AL21.2

AL18.2

MOVRLD30,LD22

AENO

*R1.6,LD22

AENO

-R1.2,LD22

LDL18.3

AL18.0

LDL18.5

AL18.4

OLD

LDL18.5

AL18.3

OLD

LDL18.4

AL18.0

OLD

AL21.1

LPS

LDL18.1

AL18.2

LDL21.2

AL21.3

OLD

ALD

MOVRLD30,LD22

*R1.6,LD22

LPP

LPS

AL18.1

AL21.3

MOVRLD30,LD22

AENO

*R1.6,LD22

AENO

-R1.2,LD22

LPP

AL21.2

AL18.2

MOVRLD30,LD22

AENO

*R1.6,LD22

AENO

+R1.2,LD22

LDL18.3

AL18.0

LDL18.5

AL18.4

OLD

LDL18.5

AL18.3

OLD

LDL18.4

AL18.0

OLD

LDL21.1

OL21.0

ALD

MOVRLD22,LD34

-R1.6,LD34

LDL18.3

AL18.0

LDL18.5

AL18.4

OLD

LDL18.5

AL18.3

OLD

LDL18.4

AL18.0

OLD

MOVRLD34,LD2

AENO

/R23.0,LD2

AENO

*R100.0,LD2

AENO

ROUNDLD2,LD6

LDSM0.0

DTILD6,VW4000

LDL18.1

AL18.3

SV3300.0,1

LDL21.2

AL18.3

SV3300.1,1

LDL21.0

AM7.0

SQ2.1,1

SV1009.3,1

SQ2.0,1

RV1009.6,1

RV1009.4,1

RV1009.5,1

RQ2.2,1

RQ2.3,1

RQ2.4,1

LDL21.1

AM7.0

SQ2.2,1

SV1009.5,1

SQ2.0,1

RV1009.6,1

RV1009.4,1

RV1009.3,1

RQ2.1,1

RQ2.3,1

RQ2.4,1

LDL40.2

AM7.0

SQ2.1,1

SQ2.3,1

SQ2.0,1

SV1009.4,1

RQ2.2,1

RQ2.4,1

LDL40.3

AM7.0

SQ2.2,1

SQ2.4,1

SV1009.6,1

SQ2.0,1

RQ2.1,1

RQ2.3,1