寮曡█锛�

鍦ㄥ崐灏�(d菐o)楂旀櫠鍦撳姞宸�锛屾脯閲�锛岀簿瀵嗘縺鍏夊垏鍓诧紝鍔冨埢锛屾帺妯�锛� 澶ф牸寮廎PD锛孫LED锛孭CB绛夋娓ō(sh猫)鍌�锛� 澶ф牸寮忓伐妤�(y猫)鎵撳嵃姗�锛屽ぇ鏍煎紡婵€鍏夊姞宸ヨō(sh猫)鍌�锛孲MT绛夐牁(l菒ng)鍩燂紝鐩撮﹨(q奴)榫嶉杸鍜屽ぇ璺ㄥ害榫嶉杸鐨勫钩鑷虹殑鎳�(y墨ng)鐢ㄨ秺渚嗚秺寤ｆ硾銆傞€欎簺榫嶉杸骞宠嚭寰€寰€澶ч儴鍒嗙敤鐩寸窔闆绘锛屾垨鏃嬭綁(zhu菐n)浼烘湇渚嗛﹨(q奴)鍕曟帶鍒躲€備絾濡備綍鎺у埗濂介€欎簺榫嶉杸骞宠嚭锛屼娇寰楀畠鍗冲揩閫�锛屽張骞虫粦锛屽張鑳藉揩閫熸暣瀹氫互婊胯冻宸ヨ棟鐨勮姹�銆傞偅灏卞緱闇€瑕佺湡姝ｇ殑闆欓﹨(q奴)榫嶉杸绠楁硶渚嗘豢瓒抽€欓鎺у埗瑕佹眰銆傜浉姣旇純浜庡偝绲�(t菕ng)鐨勬墍璎傞緧闁€绠楁硶锛屽熀鏈噰鐢ㄤ富寰炶窡闅ㄧ殑鏂瑰紡渚嗚В姹哄晱椤�銆侫CS閬嬪嫊鎺у埗閲囩敤鐨勬槸浜ゅ弶瑙ｈ€︽柟寮忎締瀵︾従(xi脿n)闆欓﹨(q奴)榫嶉杸鎺у埗锛岀暥鐒剁畻娉曚腑閭勯泦鍚堜簡ACS澶氬勾鍦ㄦ椤炴噳(y墨ng)鐢ㄤ腑鍏朵粬涓€浜涚畻娉曚締鍎�(y艒u)鍖栭洐椹�(q奴)榫嶉杸绠楁硶銆傞€欐ǎ灏嶇敤鎴朵締瑾厤缃�锛岃ō(sh猫)缃紝瑾�(di脿o)瑭﹀氨鐩哥暥绨″寲銆�

鎻愮ず锛氬儏闇€瑕佸緢灏忕殑鍗囩礆灏卞彲浠ヨ畵鐢ㄦ埗鎴惰€佺殑榫嶉杸绯荤当(t菕ng)鏀寔鎴戝€戞柊鐨勬婧栨敮鎸�銆傝Section 1.8

1.1 纭欢閫ｆ帴

涓€鍊嬪畬鏁寸殑榫嶉杸绯荤当(t菕ng)闇€瑕佸皥闁€璨犺铂(z茅)榫嶉杸杌哥殑鍏╁€嬮Μ閬斿拰鍏╁€嬬法纰煎櫒锛氬洜姝�锛岄緧闁€闇€瑕佷娇鐢⊿PiiPlus鐨勫叐鍊嬭桓銆傚叐鍊嬮緧闁€杌稿繀闋堝爆浜庣浉鍚岀殑浼烘湇铏曠悊鍣紙SP锛�锛屽洜姝ゆ湁纰哄畾鐨勪己鏈嶉檺鍒跺瓨鍦ㄣ€傚皪浜庡彧鏈�2鍊嬭桓鐨勪己鏈嶈檿鐞嗗櫒锛�0杌告帶鍒跺叐杌镐箣涓殑longitudinal (average)杌�锛�1杌告帶鍒跺叐杌镐箣涓殑yaw(difference)杌�銆傚皪浜�4杌哥殑浼烘湇铏曠悊鍣�锛屽叐灏嶉緧闁€杌稿垎鍒ユ槸锛岃桓0 (longitudinal)鍜岃桓2 (yaw)锛岃桓1(center of gravity)鍜岃桓3 (yaw)銆�

1.2 闆绘鐨勬蹇楀畾缇�

鈼� MFLAGS (axis) bit 1 (#OPEN) —鍦ㄩ緧闁€妯″紡涓�锛�1锛氶枊鐠�(hu谩n)鎿嶄綔锛屼娇鑳絣ongitudinal鎴栬€厃aw

鈼� MFLAGS (axis) bit 25 (#GANTRY)——1浠ｈ〃浣胯兘榫嶉杸鎿嶄綔

1.3 瑷�(sh猫)缃▼搴�

浠ヤ笅瑷�(sh猫)缃▼搴忛嚌灏嶅叐杌镐己鏈嶈檿鐞嗗櫒銆傞€氶亷閬╃暥?sh霉)鐢疯柗濡甋铏燂紝鎴戝€戝彲浠ュ皣浠ヤ笅瑷�(sh猫)缃▼搴忔噳(y墨ng)鐢ㄤ簬鍏朵粬浼烘湇铏曠悊鍣ㄤ笂銆備互涓嬫搷浣滅殑鍓嶆彁鏄亣瑷�(sh猫)鍏╁€嬮緧闁€棣仈鍜岄﹨(q奴)鍕曞櫒閮芥槸鐩稿悓鐨勩€�

纭欢瑷�(sh猫)缃細

1锛夐€ｆ帴0杌稿拰1杌哥殑棣仈绶ㄧ⒓鍣ㄧ窔绾滃埌绶ㄧ⒓鍣ㄨ几鍏ョ瀛愪笂锛堝彧瑕侀Μ閬旇櫉鍜岀法纰煎櫒铏熷尮閰嶆纰�锛屽摢鍊嬮Μ閬斿皪鎳�(y墨ng)杌�0鎴栬€呰桓1閮芥矑鏈夐棞(gu膩n)绯伙級銆�

2锛夊垎鍒ラ€ｆ帴杌�0鍜岃桓1 鐨勯﹨(q奴)鍕曞櫒杓稿嚭鍒拌桓0鍜岃桓1鐩稿皪鎳�(y墨ng)鐨勯Μ閬斾笂銆�

3锛夎ō(sh猫)缃甋et MFLAGS(0).25 = 0 and MFLAGS(1).25 = 0浠ョ⒑淇濆叐绋甯搁亱杞�(zhu菐n)銆�

      瑷�(sh猫)缃甅FLAGS(0).12 = 0, MFLAGS(0).13 = 0, MFLAGS(1).12 = 0, and MFLAGS(1).13 = 0.

4锛夋墦闁嬭(di脿o)瑭﹀悜?q奴)?锛屾寜鐓ф櫘閫氱崹绔嬭桓鐨勮ō(sh猫)缃柟娉曡ō(sh猫)缃桓0.

      灏嶄簬鍒濆瑾�(di脿o)瑭�锛屼笉瑕佹妸浣嶇疆瑾ゅ樊妤甸檺瑷�(sh猫)缃殑澶皬銆�

5锛変繚瀛樼祼(ji茅)鏋滃埌flash锛岃綁(zhu菐n)鍚戣桓1.

6锛夊皣杌�0鐨勫弮鏁�(sh霉)寰�(f霉)鍒跺埌杌�1銆�

7锛夎烦鍒板墠闈㈢殑瑾�(di脿o)瑭﹀拰鎻涘悜锛岀⒑瑾嶈桓0鐨勫弮鏁�(sh霉)鍙互璁撹桓1閬嬭綁(zhu菐n)鑹ソ锛堢⒑淇濊桓0鏄� Disable鐨勶級

8锛変娇鐢ㄧ祩绔垨鑰呮煡鐪嬬獥鍙�锛岀⒑瑾嶅叐鍊嬬法纰煎櫒宸ヤ綔姝ｇ⒑鑰屼笖璁€鏁�(sh霉)鏂瑰悜鐩稿悓銆傚彲浠ラ€氶亷Disable閫欏叐杌�锛岀敤鎵嬫帹鍕曢€欏叐杌稿埌涓€鍊嬬⒑瀹氳窛闆㈡煡鐪嬬法纰煎櫒鐨勮畝鏇稿拰鏂瑰悜銆傚鏋滅法纰煎櫒妤垫€т笉灏嶏紝鎳�(y墨ng)瑭插湪纭欢涓婇€茶淇敼锛堜氦鎻汚鍜孉-锛�銆�

1.4 榫嶉杸瑾�(di脿o)瑭�

鍒濆瑷�(sh猫)缃槸璁撻Μ閬斿湪闈為緧闁€妯″紡涓嬭(di脿o)瑭�锛屾瘡娆″彧鏈変竴鍊嬭桓浣胯兘銆備笅闈㈡垜鍊戣鍦ㄩ緧闁€妯″紡涓嬭(di脿o)瑭﹂€欏叐鍊嬭桓銆�

鎻愮ず锛氳(di脿o)瑭﹂緧闁€绯荤当(t菕ng)蹇呴爤鍏峰倷浼烘湇鎺у埗鐠�(hu谩n)璺悊璜栥€佹煆寰峰湒銆侀牷鐜囧垎鏋愮殑鐭ヨ瓨锛屽鏋滈渶瑕佸公鍔╄珛鑱�(li谩n)绯�jasonhu@acsmotioncontrol.com.

鍒濆榫嶉杸瑾�(di脿o)瑭︼細

1锛夌敤鎵嬬洝鍙兘鐨勫皣榫嶉杸杌哥殑绲叉潬灏嶅叾锛堥仼鐢ㄤ簬鏌旀€ч緧闁€绯荤当(t菕ng)锛�銆傚鏋滃瓨鍦ㄤ氦鍙夎桓璨犺級锛屽皣鍏舵斁鍦ㄤ腑闁撲綅缃�銆�

2锛夌⒑瑾嶆瘡鍊嬭桓鐨勮(di脿o)瑭﹀弮鏁�(sh霉)鏄浉鍚岀殑銆�

3锛夎畵棣仈浠ョ浉鍚岀殑閫熷害瑕�(gu墨)鍔冮亱鍕曠浉鍚岀殑璺濋洟銆�

4锛夊緸SLVKP闁嬪瑾�(di脿o)绡€(ji茅)瑾�(di脿o)瑭﹀弮鏁�(sh霉)锛屼箣鍚庤(di脿o)瑭LVKI鍜孲LPKP锛堜技涔嶴LVKP闇€瑕佽娓涘皯锛�銆傜偤浜嗛槻姝㈠叐鍊嬮Μ閬旂敱浜庝己鏈嶅弮鏁�(sh霉)涓嶅尮閰嶉€犳垚鐩镐簰鎺掓枼锛屽繀闋堝悓鏅傛敼璁婂叐杌哥殑瑾�(di脿o)瑭﹀弮鏁�(sh霉)銆�

5锛夋檪鍩熻(di脿o)瑭︽垚鍔熺祼(ji茅)鏉熷悗锛屼娇鐢ㄩ牷鐜囬熆鎳�(y墨ng)鍑芥暩(sh霉)鍒嗘瀽鍣紙FRF锛夌⒑瑾嶅悇杌哥殑绌�(w臎n)瀹氭€с€傜⒑淇濅娇鐢ㄩ牷鐜囬熆鎳�(y墨ng)鍑芥暩(sh霉)鍒嗘瀽鍣ㄥ皪鍏╄桓閮介€茶鍒嗘瀽銆傚垵濮嬮緧闁€妯″紡瑾�(di脿o)瑭︾祼(ji茅)鏉熷悗锛屼繚瀛樿(di脿o)瑭﹀弮鏁�(sh霉)浠ヤ究浠婂悗鍦ㄥ洖闆剁▼搴忎腑浣跨敤銆�

鐪熸鐨勯緧闁€瑾�(di脿o)瑭︼細

涓嬩竴姝ユ槸閫插叆鐪熸鐨勯緧闁€瑾�(di脿o)瑭︽ā寮�锛屽劒(y艒u)鍖杔ongitudinal鍜寉aw杌稿弮鏁�(sh霉)銆備竴瀹氳瑷樹綇锛屼竴鏃﹂€插叆榫嶉杸瑾�(di脿o)瑭︽渻鏈変竴浜涜畩鍖�銆�

a锛塅POS(0)涓嶅啀浠ｈ〃杌�0 鐨勭法纰煎櫒锛孎(xi脿n)POS(1)涓嶅啀浠ｈ〃杌�1鐨勭法纰煎櫒銆傛鏅侳POS(0)椤ず鐨勬槸longitudinal鐨勪綅缃�锛屼篃灏辨槸杌�0鍜岃桓1绶ㄧ⒓鍣ㄧ殑骞冲潎鍊笺€侳POS(1)椤ず鐨勬槸yaw杌哥殑浣嶇疆锛屼篃灏辨槸杌�0鍜岃桓1绶ㄧ⒓鍣ㄧ殑宸€笺€�

b锛夎畵杌�0鍋歭ongitudinal杌搁亱鍕�锛岄€欏€嬪懡浠ゆ槸浣滅敤鍦ㄥ叐鍊嬮Μ閬斾笂鐨勩€傝畵杌�1鍋歽aw杌搁亱鍕�锛岀浉鍙嶇殑鍛戒护琚櫦(f膩)閫佺郸鍏╁€嬮Μ閬�銆傦紙鎻愮ず锛氱‖榫嶉杸绯荤当(t菕ng)灏嶄簬鍋忛洟杌搁亱鍕曢熆鎳�(y墨ng)涓嶆槸寰堝ソ锛�

c锛夎桓0鐨勮(di脿o)瑭﹀弮鏁�(sh霉)鎺у埗longitudinal杌�锛岃桓1鐨勪己鏈嶅弮鏁�(sh霉)鎺у埗yaw杌�銆�

d锛夎桓0鐨勯浕娴佹サ闄愰檺鍒剁窔鎬у姏銆傝桓1鐨勯浕娴佸弮鏁�(sh霉)闄愬埗鏃嬭綁(zhu菐n)鍔涚煩銆�

瑷樹綇閫欎簺璁婂寲锛屽啀娆℃鏌ラ浕娴佹サ闄�銆傜壒鍒ヨ娉ㄦ剰锛屾鏌ヨ桓1鐨刋CURV 鍜� XCURI銆傞€欎簺鍙冩暩(sh霉)蹇呴爤琚檺瀹氾紝灏ゅ叾灏嶄簬鍓涙€ч緧闁€绯荤当(t菕ng)銆�

娉ㄦ剰锛氬洜鐐篨RMS浠嶇劧鏄叐鍊嬬崹绔嬮Μ閬旀垨椹�(q奴)鍕曞櫒闆绘祦鐨勬湁鏁堝€肩殑娓│鍊�锛屽畠涓嶈兘琚洿鏀�銆�

灏嶄簬榫嶉杸妯″紡涔嬪悗鐨勭珷绡€(ji茅)COG杌�(center-of-gravity, longitudinal)灏嶆噳(y墨ng)0杌�锛孻aw-axis灏嶄簬1杌搞€�

1锛塂isable 棣仈锛岃ō(sh猫)缃甅FLAGS(0).25 鍜� MFLAGS(1).25 鐐�1.

2锛夎ō(sh猫)缃瓹OG 鍜孻aw瑾�(di脿o)瑭﹀弮鏁�(sh霉)鐨勫垵濮嬪€笺€侰OG鐨勫垵濮嬪€煎彲浠ヨō(sh猫)缃偤闈為緧闁€妯″紡涓嬭桓0鎴栬€呰桓1鐨勫弮鏁�(sh霉)銆傚ぇ澶氭暩(sh霉)鎯呮硜涓嬶紝閫欏彲浠ュ皫(d菐o)鑷翠竴鍊嬬┅(w臎n)瀹氱殑浼烘湇瑾�(di脿o)瑭�銆俌aw鐨勮(di脿o)瑭﹀弮鏁�(sh霉)閫氬父瑕佹瘮閫欎簺鍊煎皬銆�

3锛夊皪浜庣‖榫嶉杸绯荤当(t菕ng)锛屽湪瑾�(di脿o)瑭OG杌告檪锛屾湁鏅傚€欓渶瑕佹墦闁媃aw鎺у埗鐠�(hu谩n)璺�銆�  

      濡備綍鎵撻枊锛�

4锛塃nable 棣仈锛岀敤FRF鍒嗘瀽鍣ㄥ劒(y艒u)鍖朇OG杌歌(di脿o)瑭﹀弮鏁�(sh霉)

5锛夌敤FRF鍒嗘瀽鍣ㄥ劒(y艒u)鍖朰aw杌歌(di脿o)瑭﹀弮鏁�(sh霉)銆�

涓€鏃﹂緧闁€妯″紡瑾�(di脿o)瑭︾祼(ji茅)鏉�锛屼繚瀛樻墍浠ュ弮鏁�(sh霉)鍒癴lash

1.5 鎻涘悜

Commutation startup is required for future controller power-ups.  It can be done in several different ways:

鎻涘悜鍟熷嫊灏囧湪鏈締鐨勬帶鍒跺櫒涓婇浕鏅傚畬鎴愩€傜洰鍓嶆湁骞剧ó鏂规硶瀹屾垚銆�

鈼� 鎻涘悜鍛戒护——鎻涘悜鍛戒护鍙互鐢ㄤ簬鏈€灏忛枆鐠�(hu谩n)甯跺30-40HZ鐨勫皬鍨嬪拰涓瀷榫嶉杸绯荤当(t菕ng)

鈼� 姝ラ€叉ā寮忔彌鍚�——鍦ㄥぇ鍨嬮緧闁€绯荤当(t菕ng)鎳�(y墨ng)鐢ㄤ腑鎺ㄨ枽浣跨敤閫欑ó鏂规硶

鈼� 闇嶇埦鎻涘悜——閫欑ó鏂规硶鍏锋湁榄鎬�锛岄仼鐢ㄤ簬浠讳綍绯荤当(t菕ng)銆備絾鏄浉灏嶄簬涔嬪墠鐨勫叐绋柟娉曠簿搴︾暐浣�銆�

鎻涘悜鍛戒护锛�

闂�(gu膩n)浜庢彌鍚戝懡浠ょ殑瑭崇窗浠嬬垂璜嬪弮鑰僑PiiPlus Setup Guide銆備竴瀹氳娉ㄦ剰锛屽湪榫嶉杸绯荤当(t菕ng)涓娇鐢ㄦ彌鍚戝懡浠ゆ檪锛屼竴瀹氳鍒嗗垾灏嶆瘡鍊嬮Μ閬斿垎鍒ヤ娇鐢�锛屽洜姝ら€欎竴鍛戒护蹇呴爤鍦ㄩ潪榫嶉杸妯″紡涓嬩娇鐢ㄣ€傞€欐槸淇濆瓨涓€绲勯潪榫嶉杸妯″紡涓嬭(di脿o)瑭﹀弮鏁�(sh霉)鐨勫師鍥犱箣涓€銆傜暥浣跨敤鎻涘悜鍛戒护鏅傦紝鎺ㄨ枽鐨勬搷浣滄椹熷涓嬶細

1锛�Disable棣仈閫插叆闈為緧闁€妯″紡(MFLAGS(0).#GANTRY = 0, MFLAGS(1).#GANTRY= 0)

2锛�涓嬭級闈為緧闁€妯″紡涓嬬殑瑾�(di脿o)瑭﹀弮鏁�(sh霉)

3锛�Enable杌�0锛屼娇鐢ㄦ彌鍚戝懡浠ら€茶鑷嫊鎻涘悜銆傜祼(ji茅)鏉熷悗disable 杌�0

4锛�杌�1閲嶅京(f霉)浠ヤ笂姝ラ

姝ラ€叉ā寮忔彌鍚戯細

姝ラ€叉ā寮忔彌鍚戞槸璁撹桓浠ラ枊鐠�(hu谩n)姝ラ€叉ā寮忛亱鍕曠洿鍒版壘鍒癷ndexes鐨勯亷绋嬨€備竴鏃ndexes琚壘鍒�锛屾彌鍚戠浉浣嶅緸flash涓彇鍥�銆傜暥浣跨敤姝ラ€叉ā寮忔彌鍚戞檪锛屾帹钖︿娇鐢ㄤ互涓嬫椹燂細

1锛�Disable 棣仈锛岄€插叆闈為緧闁€妯″紡(MFLAGS(0).#GANTRY = 0, MFLAGS(1).#GANTRY = 0)

2锛�浠ユ閫叉ā寮忛亱琛岃桓0锛堟暣鍊嬮亷绋嬩腑鍙湁杌�0鏄兘鍕曠殑锛夛紝鐩村埌闄愪綅闁嬮棞(gu膩n)琚Ц鐧�(f膩)(鎴栬€呭仠姝㈣鐧�(f膩)鐝�(xi脿n))銆傚弽鍚戦亱琛岀洿鍒拌桓0鍜岃桓1鐨刬ndex琚壘鍒�銆�

3锛�Disable 杌�0锛岀郸杌�0鍜岃桓1涓嬭級鎻涘悜鐩镐綅銆�

闇嶇埦鍌虫劅鍣ㄦ彌鍚戯細

闇嶇埦鍌虫劅鍣ㄦ彌鍚戠殑瑭崇窗浠嬬垂璜嬪弮闁盨PiiPlus ACSPL+ Programmer’s Guide.

鎻涘悜閬庣▼绲�(ji茅)鏉熷悗鍙互閫插叆榫嶉杸鎿嶄綔妯″紡銆備絾鏄�锛屽皪浜庡ぇ鍌炬枩鍋忕疆绯荤当(t菕ng)閫欎笉鏄渶濂界殑鏂规硶锛屽洜鐐洪€欐ǎ鍙兘閫犳垚yaw杌镐笉绌�(w臎n)瀹�銆傚ぇ澶氭暩(sh霉)鎯呮硜涓�锛岀暥闈為緧闁€妯″紡瑾�(di脿o)瑭﹀弮鏁�(sh霉)鍙敤鏅�锛屾帹钖﹀厛鍦ㄩ潪榫嶉杸妯″紡涓嬪洖闆堕Μ閬旂劧鍚庡湪閫插叆榫嶉杸鎿嶄綔妯″紡

1.6 鍥為浂鍜屽偩鏂滃皪榻�

鍥為浂鐨勬柟娉曟湁寰堝锛屽湪閫欓噷鎴戝€戝彧闂�(gu膩n)娉ㄦ洿閫氱敤鐨勫叐绋柟娉曪細闄愪綅闁嬮棞(gu膩n)鍥為浂鍜岀祼(ji茅)鏉熷仠姝㈠洖闆�銆傚皪浜庨€欏叐绋柟娉曟垜鍊戦兘鍋囪ō(sh猫)杌�0鍜岃桓1涓婇兘瀛樺湪indeses锛岃€屼笖鍥為浂閬庣▼宸茬稉(j墨ng)鎴愬姛瀹屾垚銆�

闄愪綅闁嬮棞(gu膩n)鍥為浂锛�

闄愪綅闁嬮棞(gu膩n)鍥為浂鏄皣鍏╅浕姗熼亱鍕曞埌闄愪綅闁嬮棞(gu膩n)鐒跺悗閫€鍥炲埌index鐨勯亷绋�銆侷ndex琚敤浣滄柊鍧愭骞抽潰鐨勫垵濮嬮粸?锛涗簱鎲фⅱ鏍介偠鍫妯″紡涓嬫垨鑰呴潪榫嶉杸妯″紡涓嬪畬鎴�锛屾帹钖︿娇鐢ㄩ潪榫嶉杸妯″紡銆傜暥鍦ㄩ潪榫嶉杸妯″紡涓嬩娇鐢ㄩ檺浣嶉枊闂�(gu膩n)鍥為浂鏅�锛屾帹钖︽寜鐓т互涓嬫椹燂細

1锛�Disable闄愪綅闁嬮棞(gu膩n)鐨勯粯瑾嶉熆鎳�(y墨ng)

2锛�璁撳叐鍊嬮Μ閬斿悓鏅傛湞鐩稿悓鏂瑰悜鍚屾閬嬭

3锛�涓€鏃﹂亣鍒颁竴鍊嬮檺浣嶉枊闂�(gu膩n)锛屽仠姝㈢浉鎳�(y墨ng)鐨勯Μ閬�銆備竴鏃﹀叐鍊嬮檺浣嶉枊闂�(gu膩n)閮借鐧�(f膩)鐝�(xi脿n)鍙嶅悜骞堕噸缃甶ndex妯欏織銆�

4锛�涓€鏃﹁桓0鍜岃桓1鐨刬ndexes閮借瑙哥櫦(f膩)锛屽仠姝㈤亱鍕曘€�

5锛�鐢╥ndexes瑷�(sh猫)缃悇杌哥殑闆堕粸浣嶇疆

     SET FPOS(0) = FPOS(0) – ( IND(0) – OFFSET(0) )

     SET FPOS(1) = FPOS(1) – ( IND(1) – OFFSET(1) )

绲�(ji茅)鏉熷仠姝㈠洖闆讹細

鏈鍋滄鍥為浂鏄亱鍕曞叐鍊嬮Μ閬斿埌鐗╃悊鏈鐒跺悗杩斿洖index鐨勯亷绋�銆傞€氶亷鐩�(ji膩n)娓綅缃宸彲浠ュ垽鏂蜂粈涔堟檪鍊欐湯绔仠姝㈣瑙哥櫦(f膩)銆傚皪浜庨€欑ó鏂规硶锛岃鎯冲叿鏈夐妫掓€�锛屽繀闋堝厛閫氶亷浠ヤ竴鍊嬬浉浼肩殑閬嬪嫊瑕�(gu墨)鍔冩脯瑭﹂亱鍕曟鑷虹殑鏈€澶т綅缃宸紙灏ゅ叾鏄湁鏂滃亸缃瓨鍦ㄦ檪锛夈€傚彇涓€鍊嬬暐寰ぇ涓€榛炵殑鍊间綔鐐洪杸闄愪締鍒ゆ柗鏈鍋滄鏄惁琚Ц鐧�(f膩)銆傞€欑ó鏂规硶鍙互鍦ㄩ緧闁€妯″紡鍜岄潪榫嶉杸妯″紡涓嬩娇鐢�锛屾帹钖﹀湪闈為緧闁€妯″紡涓嬩娇鐢ㄣ€�

鍦ㄩ潪榫嶉杸妯″紡涓嬩娇鐢ㄦ湯绔仠姝㈠洖闆舵檪锛屾帹钖︿娇鐢ㄤ互涓嬫椹�銆�

1锛�娓涘皯鍏╄桓 鐨勮几鍑洪浕娴佷互闃叉鎼嶅偡璨犺級鎴栬€呭嚭鐝�(xi脿n)纭檺浣嶃€傦紙娓涘皯XCURI and XCURV锛�

2锛� 绶╂參浠ョ浉鍚屾柟鍚戠Щ鍕曞叐杌�

3锛�涓€鏃︿綅缃宸杸闄愯瓒呭嚭锛屽仠姝㈢浉鎳�(y墨ng)杌哥殑閬嬪嫊銆備竴鏃﹀叐杌搁兘鍋滄锛屽弽鍚戦亱鍕曪紝寰�(f霉)浣峣ndex妯欏織銆�

4锛�涓€鏃﹀叐杌哥殑index閮借瑙哥櫦(f膩)锛屽仠姝㈤亱鍕曘€�

5锛�閲嶆柊瑷�(sh猫)缃几鍑洪浕娴侊紙閲嶈ō(sh猫)XCURI 鍜孹CURV锛�

6锛�鐢╥ndex绲︽瘡鍊嬪懆瑷�(sh猫)缃浂浣�

     SET FPOS(0) = FPOS(0) – ( IND(0) – OFFSET(0) )

     SET FPOS(1) = FPOS(1) – ( IND(1) – OFFSET(1) )

閫插叆鐪熸鐨勯緧闁€妯″紡锛�

寰炵従(xi脿n)鍦ㄩ枊濮�锛屾垜鍊戦€插叆鐪熸鐨勯緧闁€妯″紡鎿嶄綔銆傞€插叆榫嶉杸鐪熸鐨勯緧闁€妯″紡闇€瑕佹寜鐓т互涓嬫椹熴€�

1锛�Disable 杌�0鍜岃桓1

2锛�瑷�(sh猫)缃甅FLAGS(0).#GANTRY and MFLAGS(1).#GANTRY锛屼互鍏佽ū榫嶉杸妯″紡鎿嶄綔

3锛�涓嬭級榫嶉杸妯″紡瑾�(di脿o)瑭﹀弮鏁�(sh霉)鍜屽畨鍏ㄥ弮鏁�(sh霉)銆�

鑷嫊鏂滃皪榻�

涓嶄娇鐢ㄤ换浣曢澶栬ō(sh猫)鍌欏鐝�(xi脿n)鑷嫊瀵皪榻婄殑绨″柈鏂规硶鏄洠(ji膩n)鎺aw杌哥殑椹�(q奴)鍕曢浕娴�銆傜悊璜栦笂渚嗚锛岀暥浜ゅ弶杌搁潪甯稿畬缇庣殑鍨傜洿鏅傦紝Yaw杌稿彧闇€瑕佹渶灏忕殑椹�(q奴)鍕曢浕娴�銆傚櫔鑱插晱椤屾渻浣垮皪鏈€灏忛浕娴佺殑鎼滅储鎴愮偤涓嶅彲鑳�锛屽洜姝わ紝閫欏€嬮亷绋嬪彧鎼滅储涓€鍊嬮浕娴佺殑闁€闄愬€�銆傞浕娴侀杸闄愰伕鎿囧繀闋堝ぇ浜庝换浣曞櫔鑱查€犳垚鐨勯浕娴佹尝鍕曞€�銆備竴鍊嬪ソ鐨勮睛娉曟槸鐢ㄤ竴鍊嬭純灏忕殑闁€闄愰枊濮嬮亱琛岃嚜鍕曟枩灏嶅叾澶氭銆傚鏋滅祼(ji茅)鏋滀笉鏄竴鑷寸殑锛屽鍔犻杸闄愬€奸噸鏂伴枊濮�銆傞€欏€嬮杸闄愬€艰姣旈Μ閬旂殑鏈夋晥闆绘祦鍊煎皬涓€浜�銆傞浕娴佹悳绱㈣鍦ㄦ璨犳柟鍚戜笂閮介€茶锛岀暥闁€闄愬€煎鍔犱簡锛孻aw 杌稿弽楗嬩綅缃琚繚瀛�銆傚叐鍊嬩綅缃弽楗嬬殑涓粸灏囪瑾嶇偤鏄痀aw杌搁﹨(q奴)鍕曢浕娴佹渶灏忎綅缃�銆�

鍦ㄤ娇鐢╕aw杌搁﹨(q奴)鍕曢浕娴佽嚜鍕曞畬鎴愬灏嶉綂鏅�锛屾帹钖︿娇鐢ㄤ互涓嬫椹�銆�

1锛�鏈濅竴鍊嬫柟鍚戞參鎱㈤亱鍕昚aw杌�

2锛�鐩�(ji膩n)鎺ч﹨(q奴)鍕曢浕娴�锛屼竴鏃﹂浕娴佽秴閬庨杸闄愬€硷紝瀛樺劜闆绘祦鍙嶉浣嶇疆銆�

3锛�鍙嶅悜閬嬪嫊Yaw杌哥洿鍒伴浕娴侀杸闄愬啀娆¤秴閬庨杸闄�锛屽瓨鍎插弽楗嬩綅缃�銆�

4锛�鍏╁€嬪弽楗嬩綅缃殑骞冲潎鍊兼槸Yaw杌哥殑鍋忕疆锛岄€欏€嬪亸缃皣鏈冭鐢ㄥ埌銆傝ō(sh猫)缃甕aw杌稿弽楗嬩綅缃瓑浜庣暥鍓嶅弽楗嬩綅缃笡鍘籝aw杌稿亸缃�銆�

4锛�瀛樺劜Yaw鍋忕疆鍒癴lash涓€傚皣渚嗙殑鍥為浂绋嬪簭鍙互寰濬lash涓笅杓�锛屽埌鏅傚€欏彧闇€瑕佹椹�4灏卞彲浠ュ畬鎴愬洖闆�銆�

1.7 瀹夊叏鑰冩叜

鍥犵偤鍏╁€嬮Μ閬斾箣闁撳瓨鍦ㄨ€﹀悎锛岄緧闁€骞宠嚭姣斿柈杌搁Μ閬旂郴绲�(t菕ng)闇€瑕佹洿澶氱殑淇濊鎺у埗锛� ACS鍏徃鍦ㄩ緧闁€鎺у埗鏀寔涓姞鍏ヤ簡澶у鏁�(sh霉)椤嶅鐨勪繚璀峰姛鑳�锛屼絾鏄皪浜庝娇鐢ㄨ€呬締瑾悊瑙ｉ€欎簺淇濊鐗归粸鍜岀悊瑙ｄ粬鍊戞渻濡備綍褰遍熆绲傜鐢ㄦ埗鏄緢閲嶈鐨�銆�

Enable/Disable  榫嶉杸棣仈

鐣跺叐鍊嬮Μ閬旀槸鍦ㄩ緧闁€妯″紡涓嬫檪锛屼粬鍊戞湰璩�(zh矛)涓婅鐣跺仛涓€鍊嬪ぇ棣仈銆傚鏋滃叾涓竴鍊嬮Μ閬旇Enable 锛屽彟涓€鍊嬩篃鏈冭Enable銆傚鏋滃叾涓竴鍊嬭disable,鍙︿竴鍊嬩篃鏈冭disable銆�

闆绘祦淇濊鍙冩暩(sh霉)

鐝�(xi脿n)鍦ㄩ浕娴佷繚璀峰弮鏁�(sh霉)XCURI 鍜孹CURV鏈変簡涓嶅悓鐨勬剰缇�銆傜敱浜庨€欎簺鍘熷洜锛屽湪绯荤当(t菕ng)寰為潪榫嶉杸妯″紡閫插叆榫嶉杸妯″紡鏅傛湁蹇呰鏇存敼涓€浜涢€欎簺鍙冩暩(sh霉)鐨勫€笺€俋RMS 淇濊鍊间繚鎸佷笉璁�銆�

鈼� COG杌革細XCURI and XCURV鏈冨垎鍒ラ檺鍒堕枒缃拰宄板€兼檪鐨勭窔鎬у姏鐭┿€侰OG杌搁浕娴佽几鍑哄皣琚钩鍧囦綔鐢ㄥ湪鍏╁€嬮Μ閬斾笂銆�

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