#5、控制系統(tǒng)的軟件設(shè)計(jì)5.1接口程序初始化a、8255A初始化程序INTT:MOVDX,8255A控制端口MOVAL,86HOUTDX,ALMOVAL,05HOUTDX,ALb、40H類(lèi)型中斷服務(wù)程序MOVDX,8255AINAL,DXIRET5.2步進(jìn)電機(jī)驅(qū)動(dòng)程序5.2.1電機(jī)的控制電路原理及控制字節(jié)拍通電相控制字正轉(zhuǎn)反轉(zhuǎn)二進(jìn)制十六進(jìn)制18A0000000101H27AB0000001103H36B0000001002H45BC0000011006H54C0000010004H63CD0000010105H72D0000011006H81DA0000011107H表5-1設(shè)電機(jī)總的運(yùn)行步數(shù)放在R4,轉(zhuǎn)向標(biāo)志存放在程序狀態(tài)寄存器用戶(hù)標(biāo)志位F1（D5）中，當(dāng)F1為0時(shí),電機(jī)正轉(zhuǎn)，為1時(shí)則反轉(zhuǎn)。正轉(zhuǎn)時(shí)P1端口的輸出控制字01H,03H,02H,06H,04H,05H存放在片內(nèi)數(shù)據(jù)存儲(chǔ)單元20H~27H中，28H中存放結(jié)束標(biāo)志00H，在29H~2EH的存儲(chǔ)單元內(nèi)反轉(zhuǎn)時(shí)P1端口的輸出控制字01H,05H,04H,06H,02H,03H,在2DH單元內(nèi)存放結(jié)束標(biāo)志00H。5.2.2電機(jī)正反轉(zhuǎn)及轉(zhuǎn)速控制程序

保護(hù)現(xiàn)場(chǎng)1r設(shè)步長(zhǎng)計(jì)數(shù)器11置正轉(zhuǎn)詁制字指釧I*反轉(zhuǎn)梓制字指針

,+,—II輸出崔制字II延時(shí)，控制辛地址指針+1〈是結(jié)*標(biāo)志〉—工1N恢復(fù)控制字首指針1L1恢復(fù)現(xiàn)場(chǎng)圖5^2步進(jìn)電動(dòng)機(jī)的控制程序框圖PUSHA1r保護(hù)現(xiàn)場(chǎng)返回；MOVR4,#N；設(shè)步長(zhǎng)計(jì)數(shù)器CLRC；ORLC,D5H；轉(zhuǎn)向標(biāo)志為1轉(zhuǎn)移JCROTE；MOVR0,#20；正轉(zhuǎn)控制字首址指針AJMPLOOP；ROTE:MOVR0,#27H；反轉(zhuǎn)控制字首地址LOOP:MOVA,@R0；MOVP1,A；輸出控制字ACALLDELAY；延時(shí)INCR0；指針加1MOVA,#00H；ORLA,@R0；JZTRL；LOOP1:DJNZR4,LOOP；步數(shù)步為0轉(zhuǎn)移POPA；恢復(fù)現(xiàn)場(chǎng)RET；；返回TPL:MOVA,RO；CLRA；SUBBA,#06H；MOVR0,A；恢復(fù)控制字首指針

AJMPLOOP1；DELAY:MOVR2,#M；DELAY1:MOVA,#M1；LOOP:DECA；JNZLOOP；DJNZR2,DELAY1；RET；5.3圓弧插補(bǔ)程序的設(shè)計(jì)5.3.1逐點(diǎn)比較法判斷其是否相等為判據(jù)。若Ix<Ye判斷其是否相等為判據(jù)。若Ix<Yee則以X是否等于X作為終點(diǎn)判據(jù)；若IX|>Y|,則以Y是否eee等于Y作為終點(diǎn)判據(jù)。e第一象限逆圓弧插補(bǔ)程序算法如圖:第一象限逆圓弧插補(bǔ)程序算法如圖:圖5-3第一象限逆圓插補(bǔ)程序框圖5.3.2程序設(shè)計(jì)和直線(xiàn)插補(bǔ)程序設(shè)計(jì)一樣，也在內(nèi)存中開(kāi)辟存儲(chǔ)單元用以存放有關(guān)數(shù)據(jù)。在RAM數(shù)據(jù)區(qū)分別存放懂點(diǎn)坐標(biāo)X和Y,其初始值為起點(diǎn)坐標(biāo)值，其后依據(jù)坐標(biāo)計(jì)算結(jié)果而變化，存放終點(diǎn)坐標(biāo)值X，Y以ee及存放偏差F飛存儲(chǔ)單元。m

第一象限逆圓弧插補(bǔ)程序如下:XLEQU18HMOVR0,#1CHXHEQU19HMOVR7,#02HYLEQU28HLCALLMULT2YHEQU29HADD:CLRCXLEQU1AHMOVA,FLeADDCA,1CHXHeEQU1BHMOVFL,AYLEQU2AHMOVA,FHeADDCA,1DHYHeEQU2BHMOVFH,AFLEQU2CHCLRCFHEQU2DHMOVA,YLORG2400HADDA,#01HMAIN:MOVSP,#60H;MOV28H,AMOV70H,#08H;MOVA,YHMOVXL,#80H;XLADDCA,#OOHMOVXH,#OCH;XHMOVYH,ACLRCMOVYL,#80H;eMOVA,FLMOVYH,#0CH;ADDA,#01HeMOVFL,AMOVXL,#OOH;eMOVA,FLMOVXH,#OOH;ADDCA,#00HeMOVFH,AMOVYL,#OOH;YLAJMPLP2MOVYH,#OOH;YHLP1:MOVA,70HMOVFL,#OOH;FLSETBACC.0MOVFH,#OOH;FHMOV70H,ALP3:MOVA,FHLCALLMOTRJNBACC.7,LP1MOVR1,#18HMOVA,70HMOVR0,#1CHSETBACC.2MOVR7,#02HCLRACC.0LCALLMULT2LCALLMOTRSUB:CLRCMOVR1,#28HMOVA,FLSUBBA,1CHADDCMOVFL,AMOVMOVA,FLINCSUBBA,1DHINCMOVFH,ADJNZCLRCPOPMOVA,XLPOPSUBBA,#01HRETMOVXL,AENDMOVA,XHSUBBA,#00HMOVXH,ACLRCMOVA,FLADDA,#01HMOVFL,AMOVA,FLADDCA,#00HMOVFH,ALP2:MOVA,YHCJNEA,YH,LP3AeMOVA,YLCJNEA,YL,LP3AeLP3A:AJMPLP3ORG2500HMULT2:PUSHPSWPUSHAPUSHBCLRCMOVR2,#00HSH1:MOVA,@R1MOVB,#02HMULABPOPPSWA,R2@RO,AR0R1R7,SH1BPSW參考文獻(xiàn)尹志強(qiáng).機(jī)電一體化系統(tǒng)設(shè)計(jì)課程設(shè)計(jì)指導(dǎo)書(shū).一北京:機(jī)械工業(yè)出版社.2007鄭堤，唐可洪.機(jī)電一體化設(shè)計(jì)基礎(chǔ).一北京:機(jī)械工業(yè)出版社.1997張訓(xùn)文.機(jī)電一體化系統(tǒng)設(shè)計(jì)與應(yīng)用[M].—北京：北京理工大學(xué)出版社.2006張立勛等?機(jī)電一體化系統(tǒng)設(shè)計(jì)