KUKA 通信子程序 p00.src 注释

KUKA 通信子程序 p00.src 注释

DEF P00 (COMMAND :IN,PGNO_FUNCT :IN,P_ID[] :OUT,E_NO :IN ) DECL P00_COMMAND COMMAND DECL FUNCT_TYPE PGNO_FUNCT DECL CHAR P_ID[] INT E_NO

E6AXIS AK_AXIS STRUC E6AXIS REAL A1,A2,A3,A4,A5,A6,E1,E2,E3,E4,E5,E6 $OPERATE.SRC REAL AX_DIST SWITCH COMMAND CASE #INIT_EXT INIT_EXT ( ) CASE #EXT_PGNO

EXT_PGNO (PGNO_FUNCT ) CASE #CHK_HOME CHK_HOME ( ) CASE #EXT_ERR EXT_ERR (P_ID[],E_NO ) ENDSWITCH END

;******************************** ; 函数：初始化外部接口

;********************************

DEF INIT_EXT ( ) BOOL ERROR INT N

PGNO_ERROR=0

;******************************** ;CHECK HOME

;******************************** ;******************************** ;INIT PGNO_REQ UND APPL_RUN ;******************************** IF (PGNO_REQ>0) THEN $OUT[PGNO_REQ]=FALSE ENDIF

IF (PGNO_REQ<0) THEN $OUT[-PGNO_REQ]=TRUE ENDIF

IF (APPL_RUN>0) THEN $OUT[APPL_RUN]=FALSE ENDIF

IF PLC_ENABLE AND (ERR_TO_PLC>0) THEN $OUT[ERR_TO_PLC]=FALSE ENDIF

IF REFLECT_PROG_NR==1 THEN FOR N=0 TO PGNO_LENGTH-1 $OUT[PGNO_FBIT_REFL+N]=FALSE ENDFOR ENDIF

$LOOP_MSG[]=\ ;******************* REPEAT

;*********************************************************** ERROR=FALSE REPEAT

IF ($I_O_ACTCONF==FALSE) THEN ERROR=TRUE P00_MSG (13) ENDIF

UNTIL ($I_O_ACTCONF==TRUE) SWITCH PGNO_TYPE

;********************************************************* CASE 1,2 ;bci-coding,bcd-coding

;********************************************************* ;***** CHECK PGNO_LENGTH ***** IF (PGNO_LENGTH<1) THEN ERROR=TRUE ;pgno_length P00_MSG (2) ENDIF

IF (PGNO_TYPE==1) THEN ;bci-coding IF (PGNO_LENGTH>16) THEN ERROR=TRUE ;pgno_length P00_MSG (2) ENDIF ENDIF

IF (PGNO_TYPE==2) THEN ;bcd-coding SWITCH PGNO_LENGTH CASE 4,8,12,16 DEFAULT

ERROR=TRUE ;pgno_length P00_MSG (3) ENDSWITCH ENDIF

;***** CHECK PGNO_FBIT ***** IF (PGNO_FBIT<1) THEN

ERROR=TRUE ;pgno_fbit P00_MSG (4) ENDIF

;***** CHECK PGNO_REQ ***** IF (PGNO_REQ==0) THEN ERROR=TRUE ;pgno_req P00_MSG (7) ENDIF

IF (PGNO_REQ>0) THEN ;active high $OUT[PGNO_REQ]=FALSE ;reset WAIT SEC 0.2 ;delay for plc ENDIF

IF (PGNO_REQ<0) THEN ;active low $OUT[PGNO_REQ*(-1)]=TRUE ;reset WAIT SEC 0.2 ;delay for plc ENDIF

;********************************************************* CASE 3 ;one out of n

;********************************************************* ;***** CHECK PGNO_LENGTH ***** IF (PGNO_LENGTH<1) THEN ERROR=TRUE ;pgno_length P00_MSG (2) ENDIF

IF (PGNO_LENGTH>16) THEN ERROR=TRUE ;pgno_length P00_MSG (2) ENDIF

;***** CHECK PGNO_FBIT ***** IF (PGNO_FBIT<1) THEN ERROR=TRUE ;pgno_fbit P00_MSG (4) ENDIF

;********************************************************* DEFAULT ;PGNO_TYPE wrong type

;********************************************************* ERROR=TRUE ;pgno_type P00_MSG (1) ENDSWITCH

;*********************************************************** UNTIL (ERROR==FALSE) END

DEF EXT_PGNO (FUNCT )

;******************************** ; Function: communication program ; for external mode

;******************************** DECL FUNCT_TYPE FUNCT INT I,J,K,L,M,N BOOL P_RECV BOOL P_CALC J=1 K=0 L=1

P_RECV=FALSE P_CALC=FALSE IF (APPL_RUN>0) THEN $OUT[APPL_RUN]=FALSE ENDIF

SWITCH FUNCT ;******************* CASE #PGNO_ACKN ;******************* IF (PGNO_REQ>0) THEN $OUT[PGNO_REQ]=FALSE ENDIF

IF (PGNO_REQ<0) THEN $OUT[PGNO_REQ*(-1)]=TRUE ENDIF

IF (APPL_RUN>0) THEN $OUT[APPL_RUN]=TRUE ENDIF

;******************* CASE #PGNO_GET ;*******************

IF REFLECT_PROG_NR==1 THEN FOR N=0 TO PGNO_LENGTH-1 $OUT[PGNO_FBIT_REFL+N]=FALSE ENDFOR ENDIF

SWITCH PGNO_TYPE ;******************* CASE 1,2

;******************* IF (PGNO_VALID>0) THEN

WAIT FOR $IN[PGNO_VALID]==FALSE ENDIF

IF (PGNO_VALID==0) THEN WAIT FOR $EXT_START==FALSE ENDIF

IF (PGNO_VALID<0) THEN

WAIT FOR $IN[PGNO_VALID*(-1)]==TRUE ENDIF

IF (PGNO_REQ>0) THEN $OUT[PGNO_REQ]=TRUE ENDIF

IF (PGNO_REQ<0) THEN $OUT[PGNO_REQ*(-1)]=FALSE ENDIF

IF (PGNO_VALID>0) THEN REPEAT

IF REFLECT_PROG_NR==1 THEN FOR I=0 TO PGNO_LENGTH-1 IF $IN[PGNO_FBIT+I]==TRUE THEN $OUT[PGNO_FBIT_REFL+I]=TRUE ELSE

$OUT[PGNO_FBIT_REFL+I]=FALSE ENDIF ENDFOR ENDIF

$LOOP_MSG[]=\ UNTIL $IN[PGNO_VALID]==TRUE

$LOOP_MSG[]=\ ENDIF

IF (PGNO_VALID==0) THEN REPEAT

IF REFLECT_PROG_NR==1 THEN FOR I=0 TO PGNO_LENGTH-1 IF $IN[PGNO_FBIT+I]==TRUE THEN $OUT[PGNO_FBIT_REFL+I]=TRUE ELSE

$OUT[PGNO_FBIT_REFL+I]=FALSE ENDIF ENDFOR ENDIF

$LOOP_MSG[]=\ UNTIL $EXT_START==TRUE

$LOOP_MSG[]=\ ENDIF

IF (PGNO_VALID<0) THEN REPEAT

IF REFLECT_PROG_NR==1 THEN FOR I=0 TO PGNO_LENGTH-1 IF $IN[PGNO_FBIT+I]==TRUE THEN $OUT[PGNO_FBIT_REFL+I]=TRUE ELSE

$OUT[PGNO_FBIT_REFL+I]=FALSE ENDIF ENDFOR ENDIF

$LOOP_MSG[]=\ UNTIL $IN[PGNO_VALID*(-1)]==FALSE

$LOOP_MSG[]=\ ENDIF PGNO=0

SWITCH PGNO_TYPE ;******************* CASE 1

;******************* FOR I=0 TO PGNO_LENGTH-1 IF $IN[PGNO_FBIT+I] THEN IF REFLECT_PROG_NR==1 THEN $OUT[PGNO_FBIT_REFL+I]=TRUE ENDIF

PGNO=PGNO+J ENDIF J=J*2 ENDFOR

;******************* CASE 2

;*******************

FOR I=0 TO PGNO_LENGTH-1 STEP 4 N=0 J=1

FOR M=I TO I+3

IF $IN[PGNO_FBIT+M] THEN N=N+J

IF REFLECT_PROG_NR==1 THEN $OUT[PGNO_FBIT_REFL+M]=TRUE ENDIF ENDIF J=J*2 ENDFOR IF (N>9) THEN PGNO_ERROR=2

PGNO=0 EXIT ELSE

PGNO=PGNO+N*L L=L*10 ENDIF ENDFOR ENDSWITCH

IF (PGNO_ERROR<>2) THEN IF (PGNO_PARITY>0) THEN P_RECV=$IN[PGNO_PARITY] FOR I=0 TO PGNO_LENGTH-1

P_CALC=P_CALC EXOR $IN[PGNO_FBIT+I] ENDFOR

IF (P_RECV<>P_CALC) THEN PGNO=0 PGNO_ERROR=1 ELSE

PGNO_ERROR=0 ENDIF ENDIF

IF (PGNO_PARITY<0) THEN P_RECV=$IN[PGNO_PARITY*(-1)] FOR I=0 TO PGNO_LENGTH-1

P_CALC=P_CALC EXOR $IN[PGNO_FBIT+I] ENDFOR

IF (P_RECV<> NOT (P_CALC)) THEN PGNO=0 PGNO_ERROR=1 ELSE

PGNO_ERROR=0 ENDIF ENDIF ENDIF

;******************* CASE 3

;******************* IF PGNO>0 THEN

WAIT FOR $IN[PGNO_FBIT+PGNO-1]==FALSE ENDIF K=0 REPEAT

FOR I=0 TO PGNO_LENGTH-1 IF $IN[PGNO_FBIT+I] THEN

IF K==0 THEN K=I+1 ELSE

PGNO_ERROR=0 K=0 ENDIF ENDIF ENDFOR

UNTIL ((K<>0) OR (PGNO_ERROR==0)) PGNO=K ENDSWITCH

;*********************************************************** CASE #PGNO_FAULT

;*********************************************************** IF PGNO_ERROR==1 THEN P00_MSG (10) ENDIF

IF PGNO_ERROR==2 THEN P00_MSG (12) ENDIF

IF PGNO_ERROR==0 THEN IF (PGNO_TYPE==3) THEN P00_MSG (15) ELSE

P00_MSG (11) ENDIF ENDIF

PGNO_ERROR=0 IF (PGNO_REQ>0) THEN $OUT[PGNO_REQ]=FALSE ENDIF

IF (PGNO_REQ<0) THEN $OUT[PGNO_REQ*(-1)]=TRUE ENDIF WAIT SEC 0.5 ENDSWITCH END

DEF CHK_HOME ( ) BOOL H

DECL MSG_T P_MSG DECL MSG_T EMPTY_MSG IF ($I_O_ACTCONF==TRUE) THEN

EMPTY_MSG={MSG_T: VALID FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL[] \

\

P_MSG={MSG_T: VALID FALSE,RELEASE FALSE,TYP #QUIT,MODUL[] \\ $MSG_T=P_MSG WAIT SEC 1.0 REPEAT H=TRUE

IF ($IN_HOME==FALSE) THEN H=FALSE

$MSG_T.VALID=TRUE REPEAT HALT

IF (($MODE_OP==#T1) OR ($MODE_OP==#T2)) THEN $MSG_T.RELEASE=TRUE $MSG_T=EMPTY_MSG RETURN ENDIF

UNTIL $IN_HOME==TRUE ELSE H=TRUE ENDIF

UNTIL ((H==TRUE) OR ($I_O_ACTCONF==FALSE)) ENDIF END

DEF EXT_ERR (P_ID,E_NO :IN ) ;****************************** ;Function : ext. error messages ; for package P00

;****************************** CHAR P_ID[] INT E_NO,M

;********* MODUL-/FEHLER-NUMMER AUSWERTEN ******** I=1

FOUND=FALSE IF (E_NO==0) THEN IF PLC_ENABLE THEN ERR=0 WAIT SEC 0.2

IF (ERR_TO_PLC >0) THEN $OUT[ERR_TO_PLC]=FALSE WAIT SEC 0.2 ENDIF ENDIF

ELSE

IF PLC_ENABLE THEN FOUND=FALSE

;****************************** ; APPLIKATIONS-FEHLER AUSWERTEN ;****************************** I=1 REPEAT

IF (E_NO==P[I].ERR) THEN IF (P_ID[1]==P[I].PKG[1]) THEN IF (P_ID[2]==P[I].PKG[2]) THEN IF (P_ID[3]==P[I].PKG[3]) THEN FOUND=TRUE ERR=P[I].OUT F_WRITE ( ) ENDIF ENDIF ENDIF ENDIF I=I+1

UNTIL (I>MAXERR_A) OR FOUND ;*************************** ; $STOPMESS-FEHLER AUSWERTEN ;*************************** I=128

IF (P_ID[1]==\ IF (P_ID[2]==\ IF (P_ID[3]==\ M=MBX_REC(1,MLD) IF M==0 THEN REPEAT

IF (MLD.MESSNO==P[I].ERR) THEN FOUND=TRUE ERR=P[I].OUT F_WRITE ( ) ENDIF I=I+1

UNTIL (I>MAXERR_C+128-1) OR FOUND ENDIF ENDIF ENDIF ENDIF

IF (ERR_TO_PLC >0) THEN $OUT[ERR_TO_PLC]=TRUE

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