ERRSWITCH = 3

'全部信息输出

BASE(0,1,2,3)

'选择 X Y Z U，G01 里面有指定，不能随意修改

RAPIDSTOP(2)

WAIT IDLE

DPOS = 0,0,0,0

ATYPE=1,1,1,1

'脉冲方式步进或伺服

UNITS = 100,100,100,100

'脉冲当量，每 MM100 脉冲

SPEED = 200,200,200,200

ACCEL = 2000,2000,2000,2000

DECEL = 2000,2000,2000,2000

MERGE = ON

'启动连续插补

CORNER_MODE = 2

'启动拐角减速

DECEL_ANGLE = 15 * (PI/180)

STOP_ANGLE = 45 * (PI/180)

G_INIT()

'G 初始化

WHILE 1

'循环运动

IF IN(0) = ON THEN

'输入 0 有效启动运动

'走一个方框

G91 '相对位置

G01 X100 Y0

'运动轨迹

G01 X0 Y100

G01 X-100 Y0

G01 X0 Y-100

WAIT IDLE

'等待运动停止

DELAY(100)

'延时

ENDIF

WEND

END

'使得本文件自动运行时退出，避免重复执行后方的 SUB 文件

'相对位置模式

GLOBAL SUB G_INIT()

DIM coor_rel

coor_rel = 1

'相对位置模式

END SUB

GLOBAL GSUB G01(X Y Z U)

TRACE "G01 entered, distance:" sub_para(0),sub_para(1),sub_para(2),sub_para(3)'调试输出

IF coor_rel THEN

MOVE(sub_para(0),sub_para(1),sub_para(2),sub_para(3))

'相对位置

ELSE

LOCAL xdis, ydis, zdis, udis

IF sub_ifpara(0) THEN

'判断是否有参数传入 SUB

xdis = sub_para(0)

ELSE

xdis = ENDMOVE_BUFFER(0)

ENDIF

IF sub_ifpara(1) THEN

ydis = sub_para(1)

ELSE

ydis = ENDMOVE_BUFFER(1)

ENDIF

IF sub_ifpara(2) then

zdis = sub_para(2)

ELSE

zdis = ENDMOVE_BUFFER(2)

ENDIF

IF sub_ifpara(3) then

udis = sub_para(3)

ELSE

udis = ENDMOVE_BUFFER(3)

ENDIF

MOVEABS(xdis,ydis,zdis,udis)

'绝对位置

ENDIF

END SUB

'绝对位置模式

GLOBAL GSUB G90()

TRACE "G90 entered"

coor_rel = 0

END SUB

'相对

GLOBAL GSUB G91()

TRACE "G91 entered"

coor_rel = 1

END SUB

'延时

GLOBAL GSUB G04(P)

TRACE "G04 entered"

IF sub_ifpara(0) THEN

DELAY (sub_para(0))

ELSE

ENDIF

END SUB

GLOBAL GSUB G00(X Y Z U)

TRACE "G00 entered, distance:" sub_para(0),sub_para(1),sub_para(2),sub_para(3)'调试输出

IF coor_rel THEN

MOVE(sub_para(0),sub_para(1),sub_para(2),sub_para(3))

ELSE

LOCAL xdis, ydis, zdis, udis

IF sub_ifpara(0) THEN

xdis = sub_para(0)

ELSE

xdis = ENDMOVE_BUFFER(0)

ENDIF

IF sub_ifpara(1) then

ydis = sub_para(1)

ELSE

ydis = ENDMOVE_BUFFER(1)

ENDIF

IF sub_ifpara(2) THEN

zdis = sub_para(2)

ELSE

zdis = ENDMOVE_BUFFER(2)

ENDIF

IF sub_ifpara(3) THEN

udis = sub_para(3)

ELSE

udis = ENDMOVE_BUFFER(3)

ENDIF

MOVEABS(xdis,ydis,zdis,udis)

ENDIF

END SUB