另一方面对受控五杆机构的上位机控制程序建立，为智能化实现给定轨迹奠定了基础，也使得PMAC功能得到了进一步的发挥和运用。
The establishment of upper computer software provides a valuable experience for later intelligently realizing trick, and also make the function of PMAC be used further.
本文介绍了立体车库的PLC控制系统总体设计、控制程序设计、PLC与上位机接口的通信方案设计、计算机从PLC读取数据的程序设计等。
The main description is on designs such as overall scheme, control program, communication interface between PLC and upper computer, data read program.
完成硬件设计之后，本文给出了实验系统的软件设计，包括交换机控制程序、改进的时隙产生程序和界面友好的上位机管理程序。
Complished the hardware design, this paper presents the software design including control program, modified time slot generating program and friendly upper-computer manager program.
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