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嵌入式PLC的實時使命的完結

    適配卡輸入輸出為動態可加載模塊,適配卡輸入輸出模塊(使命)以100μs為周期的硬件守時中斷,完結各軸方位控制指令和I/O的輸出、各軸方位反應值和I/O的輸入,適配卡輸出值來自于方位伺服使命和PLC控制使命,輸入值來自于適配卡的輸入接口。PLC控制模塊(使命)同樣也是一個動態可加載模塊,它以5ms的軟守時,周期性地從它與總控模塊通訊的RT-FIFO讀取控制信息(如M指令,S指令及T指令),同時從它與適配卡輸入輸出模塊通訊的同享內存中讀取I/O信息,然后進行邏輯處理,最終將成果寫入同享內存供適配卡輸入輸出模塊讀取并輸出。

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