Historically, these were defined by macros which built a Program Control Table (PCT), but are nowadays defined in TRANSACTION definitions within the resource definition on-line (RDO) database.
从历史上看，通过宏命令来定义事务id，这些宏命令创建程序控制表(Program Control Table, PCT)，但是目前是在在线资源定义数据库(resource definition on - line, RDO)内部的TRANSACTION定义中定义事务id。
For the software system, we adopt assemble language to deal with datum and control program, so as to realize the on-line and real time control.
软件部分利用汇编语言对算法以及一些控制程序进行编程，实现在线实时控制。
Servo control program is written and PID controller is designed, the parameters are adjusted on-line.
编写伺服控制程序并设计PID控制器，在线调整控制参数。
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