说明成果库卡.pptx

08/2008 1 SPS-UP_en.ppt Subprogram SPs make Folgen more transparent. SPs reduce the amount of programming required. SPs can be called as often as required from any Folgen. Why subprograms??? Motion commands, point PLC instructions, macros and other subprograms can be grouped together in a subprogram. 08/2008 2 SPS-UP_en.ppt Subprogram call Boolean expression (condition for performance) Subprogram number (range of values 1...128) Pressing the softkey opens the following inline form: 08/2008 3 SPS-UP_en.ppt Loop command PTP VB=100% VE=0% ACC=100% Wzg=1 SPSTrig=0[1/100s] U REPEAT UP1 N=5 STOP=E1 PTP VB=100% VE=0% ACC=100% Wzg=1 SPSTrig=0[1/100s] Example: Subprogram 1 is to be executed 5 times, but only until there is a signal at input 1 The loop command can be used for controlling repetitions of subprograms and macros. 08/2008 4 SPS-UP_en.ppt Program execution of a MAKRO/UP loop Termination condition 1 met? ‘N=5’ Termination condition 2 met? ‘STOP=E1’ No Yes Execution UP1 No Yes REPEAT UP1 N=5 STOP=E1 PTP VB=100% VE=0% ACC=100% Wzg=1 SPSTrig=0[1/100s] U PTP VB=100% VE=0% ACC=100% Wzg=1 SPSTrig=0[1/100s] 08/2008 5 SPS-UP_en.ppt Loop call 2nd termination condition 1st termination condition Subprogram or macro number Pressing the softkey opens the following inline form: