两轴示教程序.bas

是关于trio公司的TRIO BASIC语言的！对于trio basic中几个难理解的运动控制命令进行举例分析

BASE(0,1)'基本轴队列

CANCEL
CANCEL
CANCEL '取消0轴运动
CANCEL AXIS(1)
CANCEL AXIS(1)
CANCEL AXIS(1)'取消1轴运动
SERVO=1 '0轴闭环
SERVO=1AXIS(1)'1轴闭环
WDOG=1 '伺服使能
DATUM(2)'0轴零点搜寻
DATUM(2)AXIS(1)'0轴零点搜寻
WA(1000)
IF IN(1)=0 THEN'开关量输入通道1做位示教开关
SERVO=0
SERVO=0AXIS(1)
WDOG=0'伺服使能关
FOR i=0 TO 5 '对两轴位置进行人工定义
IF IN(0)=0 THEN
WAIT UNTIL IN(0)=1
TABLE(i,MPOS)
TABLE(7+i,MPOS AXIS(1))

WA(2000)
ENDIF
NEXT i
SERVO=1
SERVO=1AXIS(1)
WDOG=1
DATUM(2)
DATUM(2)AXIS(1)
WA(1000)
ENDIF
SERVO=1
SERVO=1AXIS(1)
WDOG=1
IF IN(1)=0 THEN

DATUM(2)
DATUM(2)AXIS(1)
ENDIF
FOR i=0 TO 5 '示教开始
MOVEABS(TABLE(i),TABLE(i+7))
NEXT i