最新天堂中文在线丨午夜嘿嘿嘿影院丨亚洲国产精品高清久久久丨中文字幕人成乱码熟女app丨www91亚洲丨97成人资源丨成人中文字幕+乱码+中文字幕丨一区二区三区在线 | 日丨日韩免费大片丨亚洲欧美一区二区三区丨国产在线观看a丨亚洲成人第一区丨国内免费视频成人精品丨亚洲综合色网站丨午夜精品美女久久久久av福利丨国产午夜人做人免费视频网站丨国产又黄视频丨97se狼狼狼狼狼亚洲网丨狠狠亚洲婷婷综合色香五月丨中国一级毛片黄丨国产女人十八毛片丨国产色视频在线播放丨国产亚洲精久久久久久无码苍井空丨天天摸日日摸爽爽狠狠丨久久综合香蕉国产蜜臀av

(*****************************************************************************
<FB NAME>       MC_Power_JEC                                                                        
<Description>   運転可 / Operation possible                                                                                        
                                                                                                                          
COPYRIGHT (C) 2016 MITSUBISHI ELECTRIC CORPORATION ALL RIGHT RESERVED  
*****************************************************************************)

PLS(Enable, bEnablePls);
PLF(Enable, bEnablePlf);
(*========================================================================*
* 有効ON
* Enable ON
*========================================================================*)
IF Enable THEN
    (*------------------------------------------------------------------*
    * 初期化処理
    * Initial processing
    *------------------------------------------------------------------*)
    IF bEnablePls THEN
        Status := FALSE;
        Error := FALSE;
        ErrorID := 0;
        
        bBusy := FALSE;
        bLinkReady := FALSE;
        wAxisStatus := 0;
        
        (* 入力ラベル取込 / Input labels transfer *)
        wAxisNo := Axis.AxisNo;
        MOV(((wAxisNo < 1) OR (16 < wAxisNo)), H1100, ErrorID);
        wPosTrqLimit := REAL_TO_INT(Axis.PosTrqLimit *10.0);
        MOV((ErrorID = 0) AND ((wPosTrqLimit < 0) OR (10000 < wPosTrqLimit)), H110E, ErrorID);
        wNegTrqLimit := REAL_TO_INT(Axis.NegTrqLimit *10.0);            
        MOV((ErrorID = 0) AND ((wNegTrqLimit < 0) OR (10000 < wNegTrqLimit)), H110E, ErrorID);
        
        (* リンクデバイスのオフセット計算 / Link device offset calculation *)
        IF (ErrorID = 0) THEN
            wRX3F  := ((wAxisNo - 1) * 64) + H003F;    (* サイクリック通信準備完了 / Cyclic communication ready command *)
            wRWw01 := ((wAxisNo - 1) * 32) + H0001;    (* 制御指令 / Control command *)
            wRWw14 := ((wAxisNo - 1) * 32) + H0014;    (* トルク制限値(正) / Torque limit value(positive) *)
            wRWw15 := ((wAxisNo - 1) * 32) + H0015;    (* トルク制限値(逆) / Torque limit value(negative) *)
            wRWr00 := ((wAxisNo - 1) * 32) + H0000;    (* 制御モード表示 / Control mode display *)
            wRWr02 := ((wAxisNo - 1) * 32) + H0002;    (* 制御ステータス / Control status *)
            wRWr0B := ((wAxisNo - 1) * 32) + H000B;    (* 制御出力2 / Control output 2 *)
            bBusy := TRUE;
        END_IF;
    END_IF;
    
    (*------------------------------------------------------------------*
    * 軸狀態(tài)取得 & 実行條件確認
    * Axis status acquisition & execution condition check
    *------------------------------------------------------------------*)    
    IF bBusy THEN
        (* サイクリック通信狀態(tài)確認 / Cyclic communication status check *)
        bLinkReady := G_stLinkBasic.bnRX[wRX3F];
        IF bLinkReady THEN
            uModeDisp := G_stLinkBasic.unRWr[wRWr00];
            bZeroVelocity:= ((G_stLinkBasic.unRWr[wRWr0B] AND H0008) = H0008);
            (* 軸狀態(tài)取得 / Axis status acquisition *)
            IF ((G_stLinkBasic.unRWr[wRWr02] AND H0008) = H0008) THEN
                wAxisStatus := 1;        (* Errorstop *)
                ErrorID := H1202;    
                ELSIF ((G_stLinkBasic.unRWw[wRWw01] AND H0086) = H0002) THEN
                wAxisStatus := 2;        (* Stopping *)
                ELSIF (((G_stLinkBasic.unRWr[wRWr02] AND H000F) = H0000) OR
                ((G_stLinkBasic.unRWr[wRWr02] AND H000F) = H0001) OR
                ((G_stLinkBasic.unRWr[wRWr02] AND H000F) = H0003)) THEN
                wAxisStatus := 0;        (* Disabled *)
                ELSE
                wAxisStatus := 4;        (* Standstill *)
                IF ((G_stLinkBasic.unRWw[wRWw01] AND H0100)= H0100) THEN
                    CASE WORD_TO_INT(uModeDisp) OF
                        1,    (* Profile position mode *)
                        6:    (* Homing mode *)
                        IF ((G_stLinkBasic.unRWr[wRWr02] AND H0400) = H0000) THEN
                            wAxisStatus := 5;    (* DiscreteMotion *)        
                        END_IF;
                        3,    (* Profile Velocity mode *)
                        4:    (* Profile Torque mode *)
                        IF NOT bZeroVelocity THEN
                            wAxisStatus := 5;    (* DiscreteMotion *)        
                        END_IF;
                        ELSE
                        ;
                    END_CASE;                                
                    ELSE
                    CASE (WORD_TO_INT(uModeDisp)) OF
                        1:
                        IF ((G_stLinkBasic.unRWr[wRWr02] AND H0400) = H0000) THEN
                            wAxisStatus := 5;    (* DiscreteMotion *)
                        END_IF;
                        3,
                        4:
                        wAxisStatus := 6;    (* ContinuousMotion *)
                        6:
                        IF ((G_stLinkBasic.unRWr[wRWr02] AND H0400) = H0000) THEN
                            wAxisStatus := 3;    (* Homing *)
                        END_IF;
                        ELSE
                        ;
                    END_CASE;
                END_IF;        
            END_IF;
              
            (* 実行條件確認 / execution condition check *)
            IF bEnablePls THEN
                CASE wAxisStatus OF
                    2:    (* Stopping *)
                    ErrorID := H1204;
                    ELSE
                    ;    
                END_CASE;
            END_IF;

            (*------------------------------------------------------------------*
            * サーボON実行
            * Servo ON execution
            *------------------------------------------------------------------*)    
            IF (ErrorID =0) AND bEnablePls AND (wAxisStatus = 0) THEN
                G_stLinkBasic.unRWw[wRWw14] := INT_TO_WORD(wPosTrqLimit);    (* トルク制限値(正) / Torque limit value(positive) *)
                G_stLinkBasic.unRWw[wRWw15] := INT_TO_WORD(wNegTrqLimit);    (* トルク制限値(逆) / Torque limit value(negative) *)
                G_stLinkBasic.unRWw[wRWw01] := (G_stLinkBasic.unRWw[wRWw01] AND HFF70) OR H000F;
            END_IF;        
            IF ((G_stLinkBasic.unRWr[wRWr02] AND H006F) = H0027) THEN    (* OperationEnabled *)
                Status := TRUE;
                Error := FALSE;
                ErrorID := 0;
                ELSE
                Status := FALSE;        
            END_IF;
            ELSE
            wAxisStatus := 1;
            ErrorID := H1202;
        END_IF;
    END_IF;
    (*========================================================================*
    * エラー出力
    * Output for [Error]
    *========================================================================*)
    IF (ErrorID <> 0) THEN
        Error := TRUE;
        Status := FALSE;
        bBusy := FALSE;
    END_IF;


    (*========================================================================*
    * 有効OFF
    * Enable OFF
    *========================================================================*)    
    ELSE
    IF bEnablePlf THEN
        G_stLinkBasic.unRWw[wRWw01] := (G_stLinkBasic.unRWw[wRWw01] AND HFF70);    (* DisableOperation *)
    END_IF;
    Status := FALSE;
    Error := FALSE;
END_IF;

看不懂，太深奧

寫的牛！沒有控制的硬件驅(qū)動器手冊，就不知道他為什么這么干   

來個Case語句，不如來個枚舉，又能當注釋，還能隨意添加