KUKA 通信子程序 p00src 注释.docx

1、KUKA 通信子程序 p00src 注释 KUKA 通信子程序 p00.src 注释DEFP00 (COMMAND:IN,PGNO_FUNCT:IN,P_ID:OUT,E_NO:IN )DECL P00_COMMANDCOMMANDDECL FUNCT_TYPEPGNO_FUNCTDECL CHARP_IDINTE_NOE6AXIS AK_AXISSTRUC E6AXIS REAL A1,A2,A3,A4,A5,A6,E1,E2,E3,E4,E5,E6$OPERATE.SRCREAL AX_DISTSWITCHCOMMANDCASE #INIT_EXTINIT_EXT ( )CASE #EXT

2、_PGNOEXT_PGNO (PGNO_FUNCT)CASE #CHK_HOMECHK_HOME ( )CASE #EXT_ERREXT_ERR (P_ID,E_NO )ENDSWITCHEND;*;函数：初始化外部接口;*DEFINIT_EXT ( )BOOL ERRORINT NPGNO_ERROR=0;*;CHECK HOME;*;*;INIT PGNO_REQ UND APPL_RUN;*IF (PGNO_REQ0) THEN$OUTPGNO_REQ=FALSEENDIFIF (PGNO_REQ0) THEN$OUTAPPL_RUN=FALSEENDIFIF PLC_ENABLE AN

3、D (ERR_TO_PLC0) THEN$OUTERR_TO_PLC=FALSEENDIFIF REFLECT_PROG_NR=1 THENFOR N=0 TO PGNO_LENGTH-1$OUTPGNO_FBIT_REFL+N=FALSEENDFORENDIF$LOOP_MSG=;*REPEAT;*ERROR=FALSEREPEATIF ($I_O_ACTCONF=FALSE) THENERROR=TRUEP00_MSG (13)ENDIFUNTIL ($I_O_ACTCONF=TRUE)SWITCHPGNO_TYPE;*CASE 1,2 ;bci-coding,bcd-coding;*;*

4、 CHECK PGNO_LENGTH *IF (PGNO_LENGTH16) THENERROR=TRUE ;pgno_lengthP00_MSG (2)ENDIFENDIFIF (PGNO_TYPE=2) THEN ;bcd-codingSWITCHPGNO_LENGTHCASE 4,8,12,16DEFAULTERROR=TRUE ;pgno_lengthP00_MSG (3)ENDSWITCHENDIF;* CHECK PGNO_FBIT *IF (PGNO_FBIT0) THEN ;active high$OUTPGNO_REQ=FALSE ;resetWAIT SEC 0.2 ;de

5、lay for plcENDIFIF (PGNO_REQ0) THEN ;active low$OUTPGNO_REQ*(-1)=TRUE ;resetWAIT SEC 0.2 ;delay for plcENDIF;*CASE 3 ;one out of n;*;* CHECK PGNO_LENGTH *IF (PGNO_LENGTH16) THENERROR=TRUE ;pgno_lengthP00_MSG (2)ENDIF;* CHECK PGNO_FBIT *IF (PGNO_FBIT0) THEN$OUTAPPL_RUN=FALSEENDIFSWITCHFUNCT;*CASE #PG

6、NO_ACKN;*IF (PGNO_REQ0) THEN$OUTPGNO_REQ=FALSEENDIFIF (PGNO_REQ0) THEN$OUTAPPL_RUN=TRUEENDIF;*CASE #PGNO_GET;*IF REFLECT_PROG_NR=1 THENFOR N=0 TO PGNO_LENGTH-1$OUTPGNO_FBIT_REFL+N=FALSEENDFORENDIFSWITCHPGNO_TYPE;*CASE 1,2;*IF (PGNO_VALID0) THENWAIT FOR$INPGNO_VALID=FALSEENDIFIF (PGNO_VALID=0) THENWA

7、IT FOR$EXT_START=FALSEENDIFIF (PGNO_VALID0) THEN$OUTPGNO_REQ=TRUEENDIFIF (PGNO_REQ0) THENREPEATIF REFLECT_PROG_NR=1 THENFOR I=0 TOPGNO_LENGTH-1IF $INPGNO_FBIT+I=TRUE THEN$OUTPGNO_FBIT_REFL+I=TRUEELSE$OUTPGNO_FBIT_REFL+I=FALSEENDIFENDFORENDIF$LOOP_MSG=Wait for PGNO_VALID=TrueUNTIL$INPGNO_VALID=TRUE$L

8、OOP_MSG=ENDIFIF (PGNO_VALID=0) THENREPEATIF REFLECT_PROG_NR=1 THENFOR I=0 TOPGNO_LENGTH-1IF $INPGNO_FBIT+I=TRUE THEN$OUTPGNO_FBIT_REFL+I=TRUEELSE$OUTPGNO_FBIT_REFL+I=FALSEENDIFENDFORENDIF$LOOP_MSG=Wait for $EXT_START=TrueUNTIL$EXT_START=TRUE$LOOP_MSG=ENDIFIF (PGNO_VALID9) THENPGNO_ERROR=2PGNO=0EXITE

9、LSEPGNO=PGNO+N*LL=L*10ENDIFENDFORENDSWITCHIF (PGNO_ERROR2) THENIF (PGNO_PARITY0) THENP_RECV=$INPGNO_PARITYFOR I=0 TOPGNO_LENGTH-1P_CALC=P_CALC EXOR $INPGNO_FBIT+IENDFORIF (P_RECVP_CALC) THENPGNO=0PGNO_ERROR=1ELSEPGNO_ERROR=0ENDIFENDIFIF (PGNO_PARITY0) THENP_RECV=$INPGNO_PARITY*(-1)FOR I=0 TOPGNO_LEN

10、GTH-1P_CALC=P_CALC EXOR $INPGNO_FBIT+IENDFORIF (P_RECV NOT (P_CALC) THENPGNO=0PGNO_ERROR=1ELSEPGNO_ERROR=0ENDIFENDIFENDIF;*CASE 3;*IF PGNO0 THENWAIT FOR$INPGNO_FBIT+PGNO-1=FALSEENDIFK=0REPEATFOR I=0 TOPGNO_LENGTH-1IF $INPGNO_FBIT+I THENIF K=0 THENK=I+1ELSEPGNO_ERROR=0K=0ENDIFENDIFENDFORUNTIL (K0) OR

11、 (PGNO_ERROR=0)PGNO=KENDSWITCH;*CASE #PGNO_FAULT;*IF PGNO_ERROR=1 THENP00_MSG (10)ENDIFIF PGNO_ERROR=2 THENP00_MSG (12)ENDIFIF PGNO_ERROR=0 THENIF (PGNO_TYPE=3) THENP00_MSG (15)ELSEP00_MSG (11)ENDIFENDIFPGNO_ERROR=0IF (PGNO_REQ0) THEN$OUTPGNO_REQ=FALSEENDIFIF (PGNO_REQ0) THEN$OUTPGNO_REQ*(-1)=TRUEEN

12、DIFWAIT SEC 0.5ENDSWITCHENDDEFCHK_HOME ( )BOOL HDECL MSG_T P_MSGDECL MSG_T EMPTY_MSGIF ($I_O_ACTCONF=TRUE) THENEMPTY_MSG=MSG_T: VALID FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL ,KEY ,PARAM_TYP #VALUE,PARAM ,DLG_FORMAT ,ANSWER 0P_MSG=MSG_T: VALID FALSE,RELEASE FALSE,TYP #QUIT,MODUL P00,KEY MoveHomeInT1,PARAM_TYP #KEY,PARAM ,DLG_FORMAT ,ANSWER 0$MSG_T=P_MSGWAIT SEC 1.0REPEATH=TRUEIF ($IN_HOME=FALSE) THENH=FALSE$MSG_T.VALID=TRUEREPEATHALTIF ($MODE_OP=#T1) OR ($MODE_OP=#T2) THEN$MSG_T.RELEASE=TRUE$MSG_T=EMPTY_MSGRETURNENDIFUNTIL $IN_HOME=TR