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1、KCURRENT.data.set1383HPWMPRD.set600VMIN.set0EC00HVMAX.set1400HISMAX•set1199HISQREF1NIT•setOIOOOHKENCODER.set3ENCPULSES.set4096KSPEED.set0BE7HSPEEDSTEP28.set28《7—1三相永磁同步伺服电动机磁场定14速度控制程序》.includen240x.h".bssTI.PERIODS,!•bssKI，1.bssKPI,1•bssKCOR，1•bssKISPEEDJ•bssKPISPEED,1•bssKCORS
2、PEEDJ•bssTMP,1.bssIA，1.bssIB，1.bssIC，1•bssSIN，1.bssCOS,1•bssDEC_MS，24.bssCMP_1，1•bssCMP一2,1•bssCMP_O,1•bssFIRST_TOG,1.bssSEC.TOG,1.bssTETA_E,1•bssISALFA,1•bssISBETAJ•bssVSAL_REF,1•bssVSBE_REF,1.bssISDREF,1.bssISQREF,1.bssISD,1.bssISQ,1•bssVSDREF,1.bssVSQREFJ.bssEPIQ,1.bssEPID,1.
3、bssXIQJ.bssXID，1•bssN，1•bssN_REF，1•bssEPISPEED,1•bssXISPEEDJ.bssF,1•bssINITPHASEJ•bssTETA_M，1.bssISQREFMINJ.bssISQREFMAXJ.bssSECTOR，1•bssINDEX,!.bssUPI，1.bssELPI，1•bssENCODEROLDJ•bssENCINCRJ•bssSPEEDTMPJ•bssSPEEDSTEP,1•bssWAITTIME,!•textCLRCCNFSETCOVMSPM0SETCSXMLARAR0,#DEC_MSLAR
4、AR1，#(24-1)LACC#ANGLES_LARPAROTBLR*+，ARlADD#1BANZINIT_TBL,AROLARAR4,#79HLDP#0E0HSPLK#68H,WDCRSFLK#O284H,SCSR1LDP#OE1HSPLK#0900H,ADCTRLlSPLK#0001H，MAXCONVSPLK#0010H，CHSELSEQlLACCMCRAINIT_TBLOR#()FD8HSACLMCRALDP#0SPLK#19200,Tl.PERIODSSPLK#7AH,KISPLK#999H,KPISPLK#OCCH，KCORSPLK#7AH，
5、KISPEEDSPLK#6800H,KPISPEEDSPLK#12H,KCORSPEEDLACC#ISMAXSACLISQREFMAXNEGSACL1SQREFM1NLACC#0SACLISQREFSACLISDREFSACLN_REFSACLINDEXSACLXIDSACLXIQSACLXISPEEDSACLUPISACLELPISACLINITPHASELACC#()A00()HSACLWAITTIMELDP#0E8HSPLK#0666H，ACTRASPLK#300,CMPRlSPLK#300,CMPR2SPLK#300,CMPR3SPLK#01F
6、4H,DBTCONASPLK#8200H,COMCONASPLK#PWMPRD,T1PRSPLK#O,T1CNTSPLK#0840H,T1CONSPLK#0000H，T2CNTSPLK#0FFFFH，T2PRSPLK#9870H,T2CONSPLK#0FFFH，EVAIFRASPLK#000FH，EVAIFRBSPLK#000FH,EVAIFRCSPLK#0200H，EVAIMRASPLK#0000H，EVAIMRBSPLK#0000H，EVAIMRCLDP#0HLACC#0FFHSACLIFRLACC#000001OBSACLIMRCLRCINTM•
7、，•中断向量定义略——-----參•主程序略……-----_C_INT2MAR*，AR4MARSST#1，*-SST#0,*-SACHSACLLDP#0E0HLACCPIVRLDP#0E8HSPLK#0200H，EVAIFRALDP#OE1HSPLK#2000H，ADCTRL2CONVERSIONBITADCTRL2,3BCNDCONVERSION,TCLACCRESULTOJOLDP井0SACHIALDP#OE1HLACCRESULT1,10LDP#0SACHIBLACLINITPHASEBCNDRUN,NEQLACC#0FC00HSACLTETA一
8、ELACC#ISQREFINITSACLISQREFLACC#0SACLISDREFSACLT
