6-2 步进电动机实现两轴联动直线运动程序(4)

电动机,dsPIC,自动控制,程序

TB5:

Clr Tx

Clr NXL Clr NXH

TB6:

Bset SR,#C

Mov YBL,W2

Mov YAL,W0

Sub w2,w0,w6 Mov YBH,w2

Mov YAH,w0

Subb w2,w0,w5 Bra n,TB7 Bra z,TB11

bclr DIR,#1 Goto TB8

TB7:

Bset DIR,#1 Mov w6,ACCAL Mov w5,ACCAH Clr ACCAU

Neg A Mov ACCAL,w6 Mov ACCAH,w5 TB8:

Mov w6,ACCAL Mov w5,ACCAH Clr ACCAU

Sftac A,#2 Mov ACCAL, w6 Mov ACCAH, w5 Mov w6, NYL Mov w5, NYH

Sftac A,#2 Mov ACCAL, w0 Mov #68,w1

Mul.uu w0,w1,w2 Clr w4 Clr w5

Ff1l w3,w4 Bra nc,TB9 Ff1l w2,w5 Bra c,TB11 Mov #-16, w4