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Modbus-rtu/Document/PLSR_document/图片/PLSR单轴状态机图.svg

171 lignes
11 KiB
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  20.       .title { font-size: 42px; font-weight: 700; fill: #123A60; }

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  36. 

  37.   <rect width="2000" height="1250" fill="#F4F8FC"/>

  38.   <text x="1000" y="62" text-anchor="middle" class="title">PLSR 单轴状态机</text>

  39.   <text x="1000" y="94" text-anchor="middle" class="subtitle">每轴独立运行 · 唯一状态入口 · 硬件脉冲发生与状态控制解耦</text>

  40. 

  41.   <rect x="65" y="125" width="1870" height="1050" rx="25" fill="#FFFFFF" stroke="#A7C8E5" stroke-width="2.5" filter="url(#shadow)"/>

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  43.   <!-- 分层背景 -->

  44.   <rect x="95" y="155" width="1810" height="185" rx="18" fill="#F4F7FA"/>

  45.   <rect x="95" y="365" width="1810" height="245" rx="18" fill="#F0F6FC"/>

  46.   <rect x="95" y="635" width="1810" height="210" rx="18" fill="#FFF8F0"/>

  47.   <rect x="95" y="870" width="1810" height="245" rx="18" fill="#F6FAF7"/>

  48.   <text x="115" y="184" class="lane">准备状态</text>

  49.   <text x="115" y="394" class="lane">脉冲活动状态</text>

  50.   <text x="115" y="664" class="lane">保持状态</text>

  51.   <text x="115" y="899" class="lane">终止状态</text>

  52. 

  53.   <!-- 准备状态 -->

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  55.     <rect x="190" y="205" width="330" height="105" rx="20" fill="#E8EDF3" stroke="#93A9BD" stroke-width="2.5"/>

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  57.   </g>

  58.   <text x="355" y="246" text-anchor="middle" class="state-title">UNINITIALIZED</text>

  59.   <text x="355" y="278" text-anchor="middle" class="state-desc">输出安全，模块尚未就绪</text>

  60.   <text x="865" y="246" text-anchor="middle" class="state-title">IDLE</text>

  61.   <text x="865" y="278" text-anchor="middle" class="flag">BUSY=0 · PULSE_ACTIVE=0</text>

  62. 

  63.   <!-- 活动状态 -->

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  69.   <text x="355" y="474" text-anchor="middle" class="state-title" fill="#FFFFFF" style="fill:#FFFFFF">ACCEL</text>

  70.   <text x="355" y="504" text-anchor="middle" class="state-desc" fill="#FFFFFF" style="fill:#FFFFFF">按加速参数提升频率</text>

  71.   <text x="355" y="532" text-anchor="middle" class="flag" fill="#FFFFFF" style="fill:#FFFFFF">BUSY=1 · PULSE_ACTIVE=1</text>

  72.   <text x="865" y="474" text-anchor="middle" class="state-title" fill="#FFFFFF" style="fill:#FFFFFF">RUN</text>

  73.   <text x="865" y="504" text-anchor="middle" class="state-desc" fill="#FFFFFF" style="fill:#FFFFFF">恒频或段内动态调频</text>

  74.   <text x="865" y="532" text-anchor="middle" class="flag" fill="#FFFFFF" style="fill:#FFFFFF">BUSY=1 · PULSE_ACTIVE=1</text>

  75.   <text x="1375" y="474" text-anchor="middle" class="state-title" fill="#FFFFFF" style="fill:#FFFFFF">DECEL</text>

  76.   <text x="1375" y="504" text-anchor="middle" class="state-desc" fill="#FFFFFF" style="fill:#FFFFFF">减速、反向或受控停止</text>

  77.   <text x="1375" y="532" text-anchor="middle" class="flag" fill="#FFFFFF" style="fill:#FFFFFF">BUSY=1 · PULSE_ACTIVE=1</text>

  78. 

  79.   <!-- 保持状态 -->

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  83.   </g>

  84.   <text x="355" y="734" text-anchor="middle" class="state-title">WAIT</text>

  85.   <text x="355" y="765" text-anchor="middle" class="state-desc">等待时间、信号或EXT条件</text>

  86.   <text x="355" y="791" text-anchor="middle" class="flag">BUSY=1 · PULSE_ACTIVE=0</text>

  87.   <text x="865" y="734" text-anchor="middle" class="state-title">PAUSED</text>

  88.   <text x="865" y="765" text-anchor="middle" class="state-desc">保留快照、段号与剩余量</text>

  89.   <text x="865" y="791" text-anchor="middle" class="flag">BUSY=1 · PULSE_ACTIVE=0</text>

  90. 

  91.   <!-- 终止状态 -->

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  97.   <text x="350" y="994" text-anchor="middle" class="state-title">COMPLETED</text>

  98.   <text x="350" y="1025" text-anchor="middle" class="state-desc">正常结束，DONE=1并锁存</text>

  99.   <text x="350" y="1053" text-anchor="middle" class="flag">BUSY=0 · PULSE_ACTIVE=0</text>

  100.   <text x="865" y="994" text-anchor="middle" class="state-title">STOPPED</text>

  101.   <text x="865" y="1025" text-anchor="middle" class="state-desc">命令或限位停止，DONE=0</text>

  102.   <text x="865" y="1053" text-anchor="middle" class="flag">停止原因锁存</text>

  103.   <text x="1380" y="994" text-anchor="middle" class="state-title">ERROR</text>

  104.   <text x="1380" y="1025" text-anchor="middle" class="state-desc">不可恢复运行错误，DONE=0</text>

  105.   <text x="1380" y="1053" text-anchor="middle" class="flag">禁止新脉冲并锁存错误</text>

  106. 

  107.   <!-- 主运行链 -->

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  109.   <text x="606" y="244" text-anchor="middle" class="label">初始化成功</text>

  110. 

  111.   <path d="M865 310 L865 355 L355 355 L355 422" class="blue"/>

  112.   <text x="610" y="345" text-anchor="middle" class="label">合法START：校验并建立快照</text>

  113. 

  114.   <path d="M520 490 L692 490" class="blue"/>

  115.   <text x="606" y="478" text-anchor="middle" class="label">达到目标频率</text>

  116. 

  117.   <path d="M1030 490 L1202 490" class="blue"/>

  118.   <text x="1116" y="478" text-anchor="middle" class="label">需要减速或反向</text>

  119. 

  120.   <path d="M1375 430 L1375 405 L865 405 L865 422" class="blue dash"/>

  121.   <text x="1120" y="395" text-anchor="middle" class="label">下一同向段或继续运行</text>

  122. 

  123.   <!-- WAIT -->

  124.   <path d="M700 500 L610 500 L610 748 L528 748" class="orange"/>

  125.   <text x="625" y="675" class="label">段完成且等待条件未满足</text>

  126.   <path d="M355 690 L355 558" class="orange dash"/>

  127.   <text x="340" y="632" text-anchor="end" class="label">条件满足，进入下一段</text>

  128. 

  129.   <!-- PAUSE -->

  130.   <path d="M1375 550 L1375 640 L865 640 L865 682" class="orange"/>

  131.   <text x="1120" y="629" text-anchor="middle" class="label">PAUSE减速到0</text>

  132.   <path d="M700 748 L620 748 L620 615 L470 615 L470 558" class="orange dash"/>

  133.   <text x="635" y="735" text-anchor="middle" class="label">RESUME</text>

  134. 

  135.   <!-- 正常完成 -->

  136.   <path d="M355 805 L355 942" class="green"/>

  137.   <text x="340" y="880" text-anchor="end" class="label">等待后正常结束</text>

  138.   <path d="M700 535 L650 535 L650 830 L350 830 L350 942" class="green"/>

  139.   <text x="500" y="820" text-anchor="middle" class="label">最后一段正常完成</text>

  140. 

  141.   <!-- 停止汇总入口 -->

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  144.   <text x="865" y="902" text-anchor="middle" class="note-text">STOP_DECEL到0 / STOP_IMMEDIATE收尾</text>

  145.   <path d="M865 918 L865 942" class="orange"/>

  146. 

  147.   <!-- 错误与复位 -->

  148.   <rect x="1210" y="850" width="340" height="68" rx="14" fill="#FDEEEF" stroke="#C64545" stroke-width="2"/>

  149.   <text x="1380" y="877" text-anchor="middle" class="note-title">任意状态不可恢复错误</text>

  150.   <text x="1380" y="902" text-anchor="middle" class="note-text">参数、定时器、计数或非法转换</text>

  151.   <path d="M1380 918 L1380 942" class="red"/>

  152.   <path d="M1555 1010 L1850 1010 L1850 170 L1030 170 L1030 245" class="red dash"/>

  153.   <text x="1450" y="158" text-anchor="middle" class="label">RESET_ERROR成功：仅回IDLE，不自动续跑</text>

  154. 

  155.   <!-- 说明与图例 -->

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  157.   <text x="1722" y="242" text-anchor="middle" class="state-title" style="font-size:23px">转换原则</text>

  158.   <text x="1605" y="282" class="note-text">1. 每个周期只执行一次转换</text>

  159.   <text x="1605" y="320" class="note-text">2. 高优先级事件先于普通事件</text>

  160.   <text x="1605" y="358" class="note-text">3. 状态切换不直接产生脉冲</text>

  161.   <text x="1605" y="396" class="note-text">4. 硬件安全收尾后确认终态</text>

  162.   <text x="1605" y="434" class="note-text">5. 终态原因和错误均需锁存</text>

  163.   <text x="1605" y="472" class="note-text">6. 零任务直接进入完成态</text>

  164.   <line x1="1605" y1="505" x2="1655" y2="505" stroke="#2F78B7" stroke-width="4"/>

  165.   <text x="1670" y="512" class="note-text">正常运行</text>

  166.   <line x1="1605" y1="535" x2="1655" y2="535" stroke="#D97925" stroke-width="4"/>

  167.   <text x="1670" y="542" class="note-text">等待/暂停/停止</text>

  168. 

  169.   <text x="1000" y="1145" text-anchor="middle" class="subtitle">COMPLETED 或 STOPPED 收到下一次合法 START：清除旧完成标志，重新校验并建立运行快照</text>

  170. </svg>