1. 电机描述

 在X轴上有多段直线电机，如下图有9个，从X1到X9.

2.codesys程序结构

 

程序名称：Pou_two_motors

动作名称：ACT_move

把这个程序搞到任务配置里面

通过ethercat总线命名一下这些电机，方便调用。

3.程序内容

PROGRAM POU_two_motors
VAR
	MC_Power0,MC_Power1: MC_Power;
	MC_MoveAbsolute0,MC_MoveAbsolute1: MC_Moveabsolute;
	AcPos,TarPos,Acc,Dcc,Jerk,speed: LREAL;
	Direction: SM3_Basic.MC_Direction;
	MotorNum,step: INT;
END_VAR

speed:=100;Acc:=speed*10;Dcc:=speed*10;Jerk:=speed*100;

IF (140*4<Axis_X4.fActPosition AND_THEN Axis_X4.fActPosition<140*5) THEN	
	AcPos:=Axis_X4.fActPosition;
	MotorNum:=4;
END_IF
IF (140*5<Axis_X5.fActPosition AND_THEN Axis_X5.fActPosition<140*6) THEN	
	AcPos:=Axis_X5.fActPosition;
	MotorNum:=5;
END_IF

IF TarPos>AcPos THEN
		Direction:=MC_Direction.positive;
	ELSE
		Direction:=MC_Direction.negative;
END_IF

ACT_move();

CASE step OF
	1:
	TarPos:=140*5;	
	MC_Power0.bRegulatorOn:=TRUE;
	IF MC_Power0.status  THEN
		MC_MoveAbsolute0.Execute:=TRUE;
	END_IF
	//IF MC_MoveAbsolute0.Done=1 AND_THEN Acpos>TarPos-1 THEN
	IF MC_MoveAbsolute0.Done=1  THEN
		MC_MoveAbsolute0.Execute:=FALSE;
		MC_Power0.bRegulatorOn:=FALSE;
		step:=2;
	END_IF
	2:
	TarPos:=140*6-20;
	MC_Power1.bRegulatorOn:=TRUE;
	IF MC_Power1.status  THEN
		MC_MoveAbsolute1.Execute:=TRUE;
	END_IF
	IF MC_MoveAbsolute1.Done=1  THEN
		MC_MoveAbsolute1.Execute:=FALSE;
		step:=3;
	END_IF
	3:
	TarPos:=140*5;
	MC_Power1.bRegulatorOn:=TRUE;
	IF MC_Power1.status  THEN
		MC_MoveAbsolute1.Execute:=TRUE;
	END_IF
	//IF MC_MoveAbsolute1.Done=1 AND_THEN Acpos<TarPos+1 THEN
	IF MC_MoveAbsolute1.Done=1 THEN
		MC_Power1.bRegulatorOn:=FALSE;
		MC_MoveAbsolute1.Execute:=FALSE;
		step:=4;
	END_IF
	4:
	TarPos:=140*4+20;	
	MC_Power0.bRegulatorOn:=TRUE;
	IF MC_Power0.status  THEN
		MC_MoveAbsolute0.Execute:=TRUE;
	END_IF
	IF MC_MoveAbsolute0.Done=1  THEN
		MC_MoveAbsolute0.Execute:=FALSE;
		step:=1;
	END_IF
END_CASE

 程序功能块是这么调用的

4.注意事项

1.该程序可以完成从X4到X5电机往返来回切换；

2.同一电机切换的时候不能下使能，切换电机上一个电机要下使能

MC_Power0.bRegulatorOn:=FALSE;

3.这个在切换电机的时候，会停止后再运行，速度越快越明显。