對連續(xù)32位 M變量，可以讀取連續(xù)32bit M變量并轉(zhuǎn)成對用DINT，或者將DINT數(shù)據(jù)存儲到連續(xù)32bit M變量

2.操作流程

2.1變量定義

2.2JBI和LUA代碼

使用如下JBI和lua代碼:

2.3JBI代碼

NOP

//D變量的值轉(zhuǎn)化M的值

SET I000 528

SET D002 1987

SET B000 2

TIMER T=1 S

WAIT B000 = 0

//M變量的值轉(zhuǎn)化D的值

SET I000 528

SET B000 1

TIMER T=1 S

WAIT B000 = 0

END

2.4LUA代碼

sleep(1)

--32位M變量轉(zhuǎn)成DINT數(shù)據(jù)

function M32bitToDint(startbit)

    local mout = 0

    local mbit = 0

    for i = 32, 1, -1 do

        mbit = get_robot_io_status("M" .. (startbit + i - 1))

        mout = mout | mbit

        mout = mout<<1

    end

    mout = mout>>1

    mout = string.pack("I", mout)

    return string.unpack("i", mout)

end

--DINT數(shù)據(jù)轉(zhuǎn)成32位M變量

function DintToM32(data, startbit)

    local mout = 0

    mout = string.pack("i", data)

    mout = string.unpack("I", mout)

    for i = 1, 32, 1 do

        if (mout & 1) > 0 then

            set_robot_io_status("M" .. (startbit+i-1), 1)

        else

            set_robot_io_status("M" .. (startbit+i-1), 0)

        end

        mout = mout >> 1

    end

end

sleep(0.3)

local startbit

local D001

local D002

local B000

while true do

    B000 = get_global_variable("B000")

    if (B000 == 1) then

        startbit = get_global_variable("I000")

        D001 = M32bitToDint(startbit)

        set_global_variable("D001", D001)

        set_global_variable("B000", 0)

    end

    if (B000 == 2) then

        startbit = get_global_variable("I000")

        D002 = get_global_variable("D002")

        DintToM32(D002, startbit)

        set_global_variable("B000", 0)

    end

    sleep(0.5)

end

3.附錄：

使用U盤或FTP升級導入JBI和LUA

EC機器人FTP文件傳輸-技術(shù)文檔-艾利特機器人

TS2023057E-EC系列使用u盤導入jbi和lua-Elite應(yīng)用技術(shù)文檔 (1).pdf