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Continuation of program example in Exercise 3-1 Interrupt processing, data latch)
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37 Fsc On,0,0,1
38 *Loop_002
39 M_Timer(2)=0
'Start force sense control
40 PCHK=P_Fbc
41 *Loop_003
42 Dly 0.05
43 PNow=P_Fbc
44 M10=Zone2(PNow,PCHK,PCHK,0.2)
45 If M_Timer(2) >= 15000 Then *XERR
46 If M10=1 Then *Loop_003 Else *Loop_002
47 *Loop_End1
48 Act 1=0
49 Fsc Off
50 M3=P2.Z-P_Fbc.Z
51 MTRGF=5
52 If M3>=5 Then *Finish
'OK
53 '-------------------
54 '-----
55 P_FsMod0 = (+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)(0,0)
'Force control mode (all axes
disabled)
56 Def MoTrg 1 ,P_FsCurD.Z > 30
57 Def Act 1,M_MoTrg=1 GoTo *XERR
58 SetMoTrg 1
59 Act 1=1
60 '-----
61 PNow=P_Fbc
62 PNow.Z=PNow.Z-(5-M3)
63 Cnt 0
64 Fine 0.1
65 Fsc On,0,0,0
66 Spd MSpeed
67 Mvs PNow
68 Dly 0.05
69 Fine 0
70 Fsc Off
71 Spd M_NSpd
72 Act 1=0
73 SetMoTrg 0
74 MTRGF=P_FsCurD.Z
75 *Finish
76 PTRG=P Fbc
Содержание MELFA BFP-A3614
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