TRIO 龙门程序

DIM gentry_axis_0,gentry_axis_1,axis_y,gentry_offset_0,gentry_offset_1,gentry_master,gentry_axis_fe AS INTEGER

*gentry_axis_0 龙门0轴   gentry_axis_1龙门1轴  axis_y 龙门y轴   gentry_offset_0龙门0轴偏差轴（虚拟）gentry_offset_1龙门1轴偏差轴（虚拟）

*gentry_master 龙门虚拟主轴   gentry_axis_fe  龙门虚拟偏差

*设置各轴号

gentry_axis_0 = 0
gentry_axis_1 = 1
axis_y = 2
gentry_offset_0 = 7
gentry_offset_1 = 8
gentry_master = 5
gentry_axis_fe = 3


DIM dist,max,link_dist AS INTEGER
'================VR================
dist = 50
link_dist = 51


DIM i AS INTEGER


DIM tablestart,points AS INTEGER






*设置各轴的单位

UNITS AXIS(gentry_axis_0) = 2000
UNITS AXIS(gentry_axis_1) = 2000
UNITS AXIS(axis_y) = 2000
UNITS AXIS(gentry_axis_fe) = 2000
UNITS AXIS(gentry_master) = 2000
UNITS AXIS(gentry_offset_0) = 2000
UNITS AXIS(gentry_offset_1) = 2000

*REP_DIST 设置各轴的最大重复距离 FS_LIMITRS_LIMIT（ 限位距离  ）FE_LIMIT（ 最大编码器反馈和发送指令偏差）
FOR i = 0 TO 7
    BASE(i)
    REP_DIST =1000000000
    FS_LIMIT=10000000000
    RS_LIMIT=-10000000000
    FE_LIMIT = 10
    CANCEL(2)
NEXT i
SPEED AXIS(gentry_master) = 10
ACCEL AXIS(gentry_master) = 10000
DECEL AXIS(gentry_master) = 10000


BASE(0,1,2,3)
DEFPOS(0,0,0,0,0,0,0,0,0)'clear axis pos
WAIT IDLE



*龙门偏差轴
BASE(gentry_axis_fe)

ATYPE = 85

*ATYPE = 85  是两轴编码器反馈偏差值 gentry_axis_1-gentry_axis_0

AXESDIFF(gentry_axis_0,gentry_axis_1)



*让龙门偏差0,1轴跟随两轴偏差，0虚拟偏差轴 0.5倍，1虚拟偏差轴是-0.5偏差
CONNECT(0.5,gentry_axis_fe) AXIS(gentry_offset_0)

CONNECT(-0.5,gentry_axis_fe) AXIS(gentry_offset_1)

*龙门0,1偏差虚拟轴叠加到 gentry_axis_0，gentry_axis_1 两轴上 输出到gentry_axis_0，gentry_axis_1

ADDAX(gentry_offset_0) AXIS(gentry_axis_0)
ADDAX(gentry_offset_1) AXIS(gentry_axis_1)

*龙门实际轴gentry_axis_0，gentry_axis_1 跟随虚拟龙门主轴
CONNECT(1,gentry_master) AXIS(gentry_axis_0)
CONNECT(1,gentry_master) AXIS(gentry_axis_1)

*龙门轴闭环启动
SERVO AXIS(gentry_axis_0) = ON
SERVO AXIS(gentry_axis_1) = ON
SERVO AXIS(gentry_axis_fe) = ON

*开启
WDOG = ON