6-2 步进电动机实现两轴联动直线运动程序(2)

电动机,dsPIC,自动控制,程序

mov W0, [++W14]

clr W14 MOV #0x0001, w0

MOV w0, OC7CON BSET OC7CON, #1 MOV #0x0009, w0

MOV w0, OC8CON BSET OC8CON, #1 Mov #0xFFFC,w0

Mov w0,TRISG Mov #0x5544,w0

Mov w0,IPC8 Clr IFS2 Clr Testx Clr Testy

Bset SR,#C

Mov XBL,W2 Mov XAL,W0

Sub w2,w0,w6 Mov XBH,w2

Mov XAH,w0

Subb w2,w0,w5

Bra n,TB1

Bra z,TB5

bclr DIR,#0

Goto TB2

TB1:

Bset DIR,#0

Mov w6,ACCAL Mov w5,ACCAH

Clr ACCAU

Neg A

Mov ACCAL,w6

Mov ACCAH,w5

TB2:

Mov w6,ACCAL Mov w5,ACCAH

Clr ACCAU

Sftac A,#2

Mov ACCAL, w6

Mov ACCAH, w5

Mov w6, NXL

Mov w5, NXH

Sftac A,#2