更新KUKA程序

KUKA/KRC/R1/System/sps.sub

@@ -0,0 +1,87 @@
+&ACCESS RVP
+&COMMENT PLC on control
+DEF  SPS ( )
+  ;FOLD DECLARATIONS
+  ;FOLD BASISTECH DECL
+  ;Automatik extern
+  DECL STATE_T STAT
+  DECL MODUS_T MODE
+  ;ENDFOLD (BASISTECH DECL)
+  ;FOLD USER DECL
+  ; Please insert user defined declarations
+
+  ;ENDFOLD (USER DECL)
+  ;ENDFOLD (DECLARATIONS)
+  ;FOLD INI
+  ;FOLD BASISTECH INIT
+  BasisTech_PLC_INIT()
+  ;ENDFOLD (BASISTECH INIT)
+  ;FOLD AUTOEXT INIT
+  INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()
+  INTERRUPT ON 91
+  INTERRUPT DECL 92 WHEN $PRO_MOVE==TRUE DO RESET_LINESEL()
+  INTERRUPT ON 92
+  $LOOP_MSG[]="                                                            "
+  MODE=#SYNC
+  $H_POS=$H_POS
+  ;Automatik extern
+  IF $MODE_OP==#EX THEN
+    CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
+  ENDIF
+  ;ENDFOLD (AUTOEXT INIT)
+  ;FOLD BACKUPMANAGER PLC INIT
+  BM_ENABLED = FALSE
+  BM_OUTPUTVALUE = 0
+  ;ENDFOLD (BACKUPMANAGER PLC INIT)
+  ;FOLD USER INIT
+  ; Please insert user defined initialization commands
+
+  ;ENDFOLD (USER INIT)
+  ;ENDFOLD (INI)
+
+  LOOP
+    WAIT FOR NOT($POWER_FAIL)
+	;FOLD BASISTECH PLC
+	   BasisTech_PLC_LOOP()
+	;ENDFOLD (BASISTECH PLC)
+    ;FOLD BACKUPMANAGER PLC
+    IF BM_ENABLED THEN
+      BM_OUTPUTSIGNAL = BM_OUTPUTVALUE
+    ENDIF
+    ;ENDFOLD (BACKUPMANAGER PLC)
+    ;FOLD USER PLC
+    ;Make your modifications here
+
+    ;ENDFOLD (USER PLC)
+  ENDLOOP
+  ;FOLD ;%{H}
+  ;FOLD
+END
+  ;ENDFOLD
+
+
+DEF  RESET_OUT ( )
+  INT N
+  MsgLoop(" ")
+  IF REFLECT_PROG_NR == 1 THEN
+    FOR N = 0 TO PGNO_LENGTH - 1
+      $OUT[PGNO_FBIT_REFL + N] = FALSE
+    ENDFOR
+  ENDIF
+  IF (PGNO_REQ>0) THEN
+    $OUT[PGNO_REQ]=FALSE
+  ELSE
+    IF (PGNO_REQ<0) THEN
+      $OUT[-PGNO_REQ]=TRUE
+    ENDIF
+  ENDIF
+END
+
+DEF RESET_LINESEL()
+  $LINE_SEL_OK=FALSE
+END
+;FOLD USER SUBROUTINE
+; Integrate your user defined subroutines
+
+;ENDFOLD (USER SUBROUTINE)
+;ENDFOLD