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銆€銆€ATYPE(6)=0 '瑷�(sh猫)鐐鸿櫅鎿桓'杌�6鏄犲皠鍒癦CAN鎿�(ku貌)灞曟ā濉奍D鐐�2鐨勬摯(ku貌)灞曟澘鐨勮桓鎺ュ彛1涓夾XIS_ADDRESS (6)=2+(32*1)ATYPE(6)=8 'ZCAN鎿�(ku貌)灞曡桓椤炲瀷鐨勮剤娌栬桓'涓€鑸剤娌栫暥(d膩ng)閲忚ō(sh猫)缃偤闆绘(j墨)閬�(y霉n)鍕�1mm鎴�1搴﹂渶瑕佺殑鑴堟矕鏁�(sh霉)UNITS(6)=100 '鑴堟矕鐣�(d膩ng)閲�100SPEED(6)=100 '閫熷害100units/sACCEL(6)=1000 '鍔犻€熷害1000units/s^2DECEL(6)=1000 '娓涢€熷害1000units/s^2
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銆€銆€05銆乑CAN鎿�(ku貌)灞曟ā濉婂父瑕嬪晱椤屽垎鏋�
銆€銆€甯歌鍟忛1锛欳AN鎿�(ku貌)灞曟ā濉婄殑Power[浜甝銆丷un[浜甝銆丄larm[浜甝鍜屾帶鍒跺櫒閫氳▕涓嶄笂锛孯TSys杌熶欢鍦ㄣ€愭帶鍒跺櫒銆�-銆愭帶鍒跺櫒鐙€鎱�(t脿i)銆�-銆怹can绡€(ji茅)榛�(di菐n)銆戠晫闈篃鐪嬩笉鍒版摯(ku貌)灞曟ā濉婄殑淇℃伅銆�
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A銆佸弮鑰冪浜岀瘈(ji茅)鐨勬帴绶氬収(n猫i)瀹�锛屾帓鏌ユ帴绶氱殑闆绘簮鏄惁姝e父(ZIO妯″鐨勪富闆绘簮鏄惁24V锛孖O绔瓙鐨勯浕婧愭槸鍚�24V)锛岄€氶亷钀敤琛ㄦ帓鏌ュ皫(d菐o)绶氭槸鍚︽帴绶氳壇濂�锛屾槸鍚︽湁鎺ヨЦ涓嶈壇鐨勬儏娉�锛孋AN閫氳▕绶氱簻鏄惁浣跨敤闆欑禐灞忚斀绶�锛屽睆钄藉堡鍙潬鎺ュ湴锛屾摯(ku貌)灞曟澘鏄惁宸蹭娇鐢ㄩ洐闆绘簮渚涢浕銆�
B銆佹帶鍒跺櫒绔槸鍚︽帴120姝愰浕闃�锛屾渶鍚庨潰涓€鍊嬫摯(ku貌)灞曟ā濉婃挜纰奸枊闂�(gu膩n)8鏄惁鎾ュ埌ON銆傚叐绔殑CAN鐨勫湴瑕佸湪鍚屼竴鍊嬪湴锛氳淇濊瓑鎺у埗鍣ㄧ殑涓婚浕婧愮殑鍏叡绔拰ZCAN鎿�(ku貌)灞曟ā濉奪IO妯″鐨勪富闆绘簮鐨凣ND鎺ュ埌涓€璧风(淇楃ū鈥滃叡闆垛€�)锛屽悓涓€鈥滃湴鈥濋浕鍕互闃叉CAN鑺墖鐕掑銆�
C銆佹湁浜涙摯(ku貌)灞曟ā濉�(渚嬪ZIO3232MT)闇€瑕佹妸鎾ョ⒓闁嬮棞(gu膩n)7鎾ヤ笂鍘绘墠浣胯兘锛屽彲浠ユ妸鎾ョ⒓闁嬮棞(gu膩n)7鎾ュ埌ON锛岀劧鍚庢柗闆婚噸鍟熸煡鐪�銆�
D銆佹挜纰奸枊闂�(gu膩n)鏄惁瑷�(sh猫)缃纰猴紝娌掓湁鍜屾湰楂斿強鍏朵粬鎿�(ku貌)灞曟ā濉婃湁IO鍦板潃鐨勬矕绐�?锛熸ⅱ閰濄劅^RTSys杌熶欢榛�(di菐n)鎿娿€愭帶鍒跺櫒銆�-銆愭帶鍒跺櫒鐙€鎱�(t脿i)銆�-銆怹can绡€(ji茅)榛�(di菐n)銆戝彲鏌ョ湅鍒板悇鍊媄CAN鎿�(ku貌)灞曟ā濉婄殑IO璧峰绶ㄨ櫉绛変俊鎭�銆�
E銆佹槸鍚﹀瓨鍦ㄥ共鎿炬簮锛屾妸鎺у埗鍣ㄥ拰鎿�(ku貌)灞曟ā濉婄殑鎵€鏈塈O绔瓙鍙婅桓鎺ュ彛绛夊叾浠栨帴绶氱瀛愭帓閮芥嫈涓嬩締锛屽叾浠栫劇闂�(gu膩n)鐨勮ō(sh猫)鍌欏厛鏂烽浕锛岀劧鍚庢柗闆婚噸鍟熺湅鐪嬫槸鍚﹀彲浠ラ€氳▕涓�銆�
銆€銆€F銆佹帶鍒跺櫒鐨凜AN鏄惁鏄富绔ā寮�(CANIO_ADDRESS鐨刡it5鏈夎缃�1锛屼緥濡傦細CANIO_ADDRESS=32 )锛孋AN閫氳▕鐨勬尝鐗圭巼鍜屾摯(ku貌)灞曟ā濉婃槸鍚︿竴鑷�?锛熸ⅱ閰濄劅^RTSys杌熶欢榛�(di菐n)鎿娿€愭帶鍒跺櫒銆�-銆愭帶鍒跺櫒鐙€鎱�(t脿i)銆�-銆愰€氳▕閰嶇疆銆戝彲鏌ョ湅鍒板悇鍊婥AN涓荤珯瑷�(sh猫)缃瓑瑭崇窗(x矛)淇℃伅銆�
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