cx.c

贝加莱PLC程序 电机互相拖动 初学者学习的例子

#include<bur/plc.h>
#include <bur/plctypes.h>
#include<can_lib.h>

_LOCAL CANopen_typ CANopen_01;
_LOCAL CANread_typ CANread_01;
_GLOBAL USINT data_read[8];
_GLOBAL UDINT error_var;
_LOCAL CANwrite_typ CANwrite_01;
_GLOBAL UINT V1;
_GLOBAL UINT V2;
_GLOBAL BOOL START1;
_GLOBAL BOOL STOP1;
_GLOBAL BOOL START2;
_GLOBAL BOOL STOP2;




_INIT void init()
{
    CANopen_01.enable = 1;                  /* enable functionblock CANopen */
    CANopen_01.baud_rate = 25;              /* define baud rate - 250KB/s */
    CANopen_01.cob_anz = 5;                 /* define number of communication objects */
    CANopen_01.device = 0;                  /* define CAN device */     
    CANopen_01.info = 0;                  /* define CAN info */
    CANopen(&CANopen_01);                   /* activate CANopen */

  if (CANopen_01.status != 0)
        error_var = 1;
  V1 = 0;
  V2 = 0;
  START1 = 0;
  START2 = 0;
  STOP1 = 0;
  STOP2 = 0;
}

_CYCLIC void cyclic ()
{
  if(CANopen_01.status == 0)               /* start CANread only if CANopen_01 had no error */
    {   CANread_01.enable = 1;              /* enable functionblock CANread */
        CANread_01.us_ident = CANopen_01.us_ident;  /* define Ident number for CANread */
        CANread_01.can_id = 100;            /* set can_id number for receiving */
        CANread_01.data_adr = (UDINT) &data_read;   /* define address where received data is saved to */
        CANread(&CANread_01);               /* activate CANread */
  if(CANopen_01.status == 0)               /* start CANwrite only if CANopen_01 had no error */
    {   CANwrite_01.enable = 1;             /* enable CANwrite */
        CANwrite_01.us_ident = CANopen_01.us_ident;     /* define Ident number for CANwrite */
        CANwrite_01.can_id = 100;           /* set can_id number for transmission */
        CANwrite_01.data_adr = (UDINT) &(data[0]);  /* define data to send */
        CANwrite_01.data_lng = 8;           /* define length of data */
        CANwrite(&CANwrite_01);             /* activate  CANwrite */
  if (CANread_01.status != 0)          /* in case of an error in function CANread - */
            error_var = 2;              /* set error_var = 2 */
      else
            error_var = 3;
    }
}