中型PLC常用指令_MC_Jog指令

haoayou · 发表于 2024-7-10 18:16:53

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<h3 style="margin-top:8px"> MC_Jog指令</h3>MC_Jog：根据指定目标速度执行微动移动 （1）指令格式 <table><tbody><tr style=";height:44px" class="firstRow"><td width="70" valign="top" style="border: 1px solid black; background: rgb(217, 217, 217); padding: 0px;"> 指令</td><td width="36" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">名称</td><td width="327" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;"> 图形表现</td><td width="134" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;"> ST 表现</td></tr><tr style=";height:161px"><td width="70" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;">    MC_Jog’</td><td width="36" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">  轴点动指令</td><td width="327" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> <img width="313" height="119" src="https://technology.invt.com.cn/pc/ueditor/themes/default/images/spacer.gif" style="background:url(https://technology.invt.com.cn/pc/ueditor/lang/zh-cn/images/localimage.png) no-repeat center center;border:1px solid #ddd"/> </td><td width="134" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">MC_Jog(Axis:= , JogForward:= , JogBackward:= , Velocity:= , Acceleration:= , Deceleration:= , Jerk:= ,Busy=> , CommandAborted=> , Error=> ,ErrorId=> );</td></tr></tbody></table> （2）相关变量² 输入输出变量 <table><tbody><tr style=";height:22px" class="firstRow"><td width="100" valign="top" style="border: 1px solid black; background: rgb(217, 217, 217); padding: 0px;">输入输出变量</td><td width="80" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">名称</td><td width="77" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">数据类型</td><td width="80" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">有效范围</td><td width="69" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">初始值</td><td width="160" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">描述</td></tr><tr style=";height:44px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> Axis</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 轴</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> AXIS_REF</td><td width="80" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> -</td><td width="69" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> -</td><td width="160" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">映射到轴，即AXIS_REF_SM3 的一个实例</td></tr></tbody></table> ² 输入变量 <table><tbody><tr style=";height:22px" class="firstRow"><td width="100" valign="top" style="border: 1px solid black; background: rgb(217, 217, 217); padding: 0px;">输入变量</td><td width="74" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">名称</td><td width="78" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">数据类型</td><td width="86" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">有效范围</td><td width="66" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">初始值</td><td width="162" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">描述</td></tr><tr style=";height:66px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> JogForward</td><td width="74" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 正向有效</td><td width="78" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> BOOL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> TRUE，FALSE</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> FALSE</td><td width="162" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">设置为 TRUE 则开始正向移动；设置为FALSE 则停止正向移动</td></tr><tr style=";height:66px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> JogBackward</td><td width="74" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 负向有效</td><td width="78" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> BOOL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> TRUE，FALSE</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> FALSE</td><td width="162" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">设置为 TRUE 则开始反向移动；设置为FALSE 则停止反向移动</td></tr><tr style=";height:44px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> Velocity</td><td width="74" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 目标速度</td><td width="78" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> LREAL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 正数或“0”</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 0</td><td width="162" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">指定目标速度。单位：[ 指令单位/s]</td></tr><tr style=";height:44px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> Acceleration</td><td width="74" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 加速度</td><td width="78" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> LREAL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 正数或“0”</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 0</td><td width="162" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">指定加速度。单位：[ 指令单位/s]</td></tr><tr style=";height:44px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> Deceleration</td><td width="74" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 减速度</td><td width="78" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> LREAL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 正数或“0”</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 0</td><td width="162" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">指定减速度。单位：[ 指令单位/s]</td></tr><tr style=";height:22px"><td width="100" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;">Jerk</td><td width="74" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">跃度</td><td width="78" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">LREAL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">数据范围</td><td width="66" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">0</td><td width="162" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">曲线加减速的斜率变化值</td></tr></tbody></table> ² 输出变量 <table><tbody><tr style=";height:22px" class="firstRow"><td width="104" valign="top" style="border: 1px solid black; background: rgb(217, 217, 217); padding: 0px;">输出变量</td><td width="77" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">名称</td><td width="84" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">数据类型</td><td width="86" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">有效范围</td><td width="58" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">初始值</td><td width="159" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">描述</td></tr><tr style=";height:44px"><td width="104" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> Busy</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 指令正在执行</td><td width="84" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> BOOL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> TRUE，FALSE</td><td width="58" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> FALSE</td><td width="159" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">当前指令正在执行中，置为TRUE</td></tr><tr style=";height:22px"><td width="104" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;">CommandAborted</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">指令被中断</td><td width="84" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">BOOL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">TRUE，FALSE</td><td width="58" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">FALSE</td><td width="159" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">当前指令被中断，置为 TRUE</td></tr><tr style=";height:42px"><td width="104" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;"> Error</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 错误</td><td width="84" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> BOOL</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> TRUE，FALSE</td><td width="58" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> FALSE</td><td width="159" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> 异常发生时，置为 TRUE</td></tr></tbody></table>  <table><tbody><tr style=";height:22px" class="firstRow"><td width="104" valign="top" style="border: 1px solid black; background: rgb(217, 217, 217); padding: 0px;">输出变量</td><td width="77" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">名称</td><td width="84" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">数据类型</td><td width="86" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">有效范围</td><td width="58" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">初始值</td><td width="159" valign="top" style="border-top: 1px solid black; border-right: 1px solid black; border-bottom: 1px solid black; border-image: initial; border-left: none; background: rgb(217, 217, 217); padding: 0px;">描述</td></tr><tr style=";height:23px"><td width="104" valign="top" style="border-right: 1px solid black; border-bottom: 1px solid black; border-left: 1px solid black; border-image: initial; border-top: none; padding: 0px;">ErrorID</td><td width="77" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">错误代码</td><td width="84" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">SMC_ERROR</td><td width="86" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;"> </td><td width="58" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">0</td><td width="159" valign="top" style="border-top: none; border-left: none; border-bottom: 1px solid black; border-right: 1px solid black; padding: 0px;">发生异常时，输出错误代码</td></tr></tbody></table> （3）功能说明根据指定 Velocity（目标速度）执行点动运行。需要正向运行时，将 JogForward（正向运行有效）置为 TRUE；需要反向运行时，将 JogBackward（负向运行有效）置为 TRUE。同时将 JogForward（正向运行有效）和 JogBackward（负向运 行有效）置为 TRUE，将不会有运动发生。如果 MC_Jog 指令的指令速度设置值超过轴参数中的点动最高速度，则以点动最高速度执行。（4）时序图 在启动 JogForward（正向运行有效）或 JogBackward（负向运行有效）的同时，Busy（执行中）变为 TRUE；在 JogForward（正向运行有效）或 JogBackward（负向运行有效）的下降沿开始减速并停止轴的同时，Busy（执行中）变为 FALSE。利用其它指令中止本指令时，CommandAborted（执行中断）变为 TRUE，Busy（执行中）变为 FALSE。² 时序操作说明 <img src="/upload/article/20230619/1687141896784239.png" title="1687141896784239.png" alt="image.png"/>

中型PLC常用指令_MC_Jog指令

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