施耐德premium atrium sercos運(yùn)動(dòng)控制tsx csy

R?UnityPro_SERCOS(r)$o;TSXCSY85q% G \ TSXCSYxxx; G }r [r[rK G TSXCSY85 TSXCSY85.W zkTRF_RECIPE. zkWRITE_CMD.? paryr4Z41j 2t( _ru4Z421j G pute(ACTION_TRF ptef@(ACTION_TRF= GttrorrrotFD%m(ACTION_TRF= G;f !3oG};}p;f4 !5oG};}};f4 !;;f ..m;f ;f 3pr};f4100[ 4.2+?aop- GtTbRstf@(ACTION_TRF= MveImmeInrporo(ACTION_CMD= eMnnej!t(ACTION_TRF= G SERCOS SERCOS;B. ;*_ ].?"*W ]?t**. ._5- WRITE_PARAM- SAVE_PARAM- 8]SERCOS;k*B.- f.;U f.; zkT_CSY_RINGfIODDT". zkT_CSY_RINGfIODDTm| zkT_CSY_TRF4IODDT|.; zkT_CSY_INDf_IODDT"; zkT_CSY_INDf_IODDT|.;0 zkT_CSY_FOLLOWfIODDT".; zkT_CSY_FOLLOWfIODDT.; zkT_CSY_COORDfIODDT".W0 zkT_CSY_COORDfIODDT|Ww zkT_CSY_CAMfIODDT".; zkT_CSY_CAMfIODDT.; ; fT_GEN_MOD_IODDT.; G ` t >1"+q?~SERCOS(r)TSXCSY85; ;.t"I|TSXCSY85;tTSXCSY84;|ttPTSXCSY;q%Xqq：XCSY84 &|f]TSXCSY85;O ;?8[~)?.~CSY85_CD-ROMe>_UnityPro1.08Xt(SERCOS(r)TSXCSY84/164qNv}_f)f8D* ~.>N+}(}(^1SERCOS(r)1j G];\[_"-.;2c"]k."8SERCOS(r)TSXCSYxxx;

>FSERCOSSERCOSSERCOSSERCOS ro;_4+r45-tM.r;]k].-rtk[EN61491.]t;]/??.Q}j.!U?AktU*[4M5t-bmVGX ]kvsf]F )rjr?}Q[)rj4)]?Q5Xr-r;)]*mySERCOS(r))#8y8y. ]:}W][].),*f-|sQQ}XGO.?])X*. .?I[[31768...300y4PIDN40=."Qt4 .G?; [;"vZ5S*XM.~9S S~M$pS*M$r`/S$#*)m.?[O.G(-WcW|Oy~M.v.[[-;%*jS0X：,!](IDN)tvS3zWs>![_ENZQt mandedPhase .]S0S3.zrX vZ^SERCOS(r)TjE(TSXCSY PremiumPLC[LW-W.FTS/C/MTSXCSY84[TSXCSY85oo.8vf#[oqG8~.TSXCSY164oo.8vf#[poqG16y$.Lexium17SM.[4Aj56A5FLXM-[.8UniLink(?~-~M.jf.5UnityProTSXCSYtUnityProTSXCSY：v? [.xQN3?vDK. 8\ ;

.;M.?EWE-E-jv.j~.W(BPLC-oo.;*^fLj[pXzW_Xo.-M.;D_*fSERCOS(r)#[WX ; v?F?;[Y 0;;W|Z*4`Lexium17S-17HP~M$YSSIk?E(1)XXXXXX}u?aA*SH_I(1)-XXXXXX}?A*_B}_(1)-XXXXXXP[]MXXXXXX`?aEXXXXXXH;XXXXXX_BXXXXXXXXXXXvr WHEEL_STOP)%WXXXXRXXXXTS*zXXXX}mqXXXXUnlink_? ruUXXXq_?a1rUXXX"+QIXXXU.~XXXA*MOVE_ACC-DECXXX0.0 XXXcy_pXX$2>XXdHMzXX.zX.zX3o*TSXCSY84/85/164(Sercos.cfg);(."!DSSV..LexiumHP-LexiumI(AS. ."!SERCOSSERCOS22j };G"

>FTSXCSY;t

~Z 8y}j~.rZ41–4@r9-4y!{]r413–4u[rZ17–20Xmy??2j8;4u_r4Z421–24mGv"7yr1y+r-6qra.TSXCSY85;ft|t：X;yt44 rzrv [~.X ^^?w"r^r|rX@v[*;ftkrX {r?;?]0j;X8SXCSY85;Oy.O+?:.fOQjj~._? rr,r;.(|r.9*[r !;@ng[r{-3Rrt ,r,rQr r;y..(t!rX8r?Qr?r v2;.t(!rXt(?-28):0-X?%.?.rX22 rj.W[rX[[rrr[XUXrG r;(/?404&z_Z40ALLOW?.1-%Qr.m.0.26?~%Qr.m.0.311~!rGV*3FaM..7SF?UnityPro.4?zr;]aTSXCSY84; S3h2?0+;:0jP;f]jL8q?： ?.;.;_XD2?~M.tUnilink(XG @\j.\r\j./8]rGt{]

{]t{~nQfrrX_]3]_[_2tXxQZ8&zj~.[.o_0\rG TSXCSY

UnityUnity

UnityUnityUnity

（

UnityUnity

X[u[_uK rr[rvr(\G[ r|r^rWr[jrrv^[rXr@,G}m:3 3j G\vTSXCSY85;tX" .W u_ ?paryr4Z41j(_ru4Z421j

>F .W ()SXCSY85]TSXCSY84GOtOWOtXzf.mTjE)8vG38"m%7f48q?,ztf])[rt*X; t(]zGs"yr8["r,2tk%WX5f^?%.;f.FtG!kGG;3}[5!G?;Vqq：fh.(!TSXCSY85fCD:CD f.TjE f?r;rjr*f.t(@X]I ]yt*t(?j;@@X]tf^f[TRF_RECIPE]-.~cQf.r vfffr[?[zJz2yrX：;@f?f!]!k?$rY(?:U4Xqq：{(_t?nr9_qU_)Ga._frUUt4f.M?;-.fY(q}X 9| :.?f"r"][]!]：vO?[]t(/(]MWX.

TRF_RECIPE%r.m..8H%W;~M$.Wpt[(]!]R+s:sH%MW:s|2]oR:s...XMW$/)J%MWr.m.c.10(ACTION_TRF).|^FTFRIPE%..(1,);?~i1?a4;2r3_~.!]{jH%MW100:.s105X

oMW}.0J%MWr.m.c.10|:}%ON0J%MWr.m.c.3jJTRF_RECIPE}2sEsEsEJM$!]!]!]!]

W/2rTSXCSY85>*RZ26900;s4t2r74~M$!2PLC _*Ff4t`605;m5$!?UN_ @_40 2r {ru }U@*62!PARAM_TRF_1PARAM_TRF_1jPARAM_TRF_4= .__| :~?;j.X];}/jM:J"MW}]X.

]? L, |?;Z4i}X|IEC%CH0.3.]?L0|?a3;Z41}u

oW_.90J%MWr.m.c.26|:}OvJ %MWr.m.c.24XJWRITE_CMDu]sEsEsEJM$!]!]!]!] m_??u0]F?`z%rX*?v:?]@K paryr4Z41j R?UnityProm(pTSXCSY85ryrv^r41j8[r49jf.rz8/.rrM$.X0ZQ0TSXCSY85;%|]]-~M$.f.!;.GXr[r,rOyr,2r*v?t,@\~;tQF Vv?r?.rf=?a=_B={= W]{)@??~fctX ?,rW]"sF{B=qTh_B= ZQWr:r!;fr qU_B=fyrrU_B_- {-h_B=fr{- |vryr%Xz5!]]Fp/?aW?1MOD.CMDAXIS8CHANNELSN4

RunErrTSXCSY

度

在正確位置上的帶

0,1,2,4,9,10, 5Z|vc;XM1?I.(;>X*Xt~IQNz80pL>~;4s>2m OkOW3ym1; m; }_X ._2?X35r48V0F4__ I/O.9]W. -}Qr-Qs04 m.)?445Z44]~KwqUz wzpp LpaUXa0&-Fm&MAST[FAST-XU\5(mI/OG!`zUcy]O0DmR_MK5m*mjv]cpW A_La;?/?AVXap09?z"]_A%;$vUy~T?AXv]DXv]9UaQ~.5_QkvXUr0;?BM9T{X]~$r59kv29TXQ]M$r59QkXv2/?W :?w?r% ODd8;2IE}? Od8;0IQ0aBQv]?W s?aW_{zGG. GWtyFB? FnW/Wts/Wy/ %ispisWiir .pG2sy/is %FisWssr]W XvkXv1]W!] nrNzTXQv%Xv%`?Y?!QXQv]${QXv%$hQXv%{4{FH100%WE@125%WE@150%WE@175%[Xa@200%X .?._.;.!j]-_mVj]Mr^/^8;par]^1/1r ?r?j]cr?mj]?*1c_B*1*;01}M1 ?r?*c_r?*m@j]?*360c_B*60;01}MW1rf4 1rft.M$.j]|507%;!^4Gf-.-.f;j~M._1j= 1*Gf5.1j= .f^8;par]^1/1rF?ar?*mmc_*?o0W?ar?*mmc_*?;}MjW1000] 7?r?!?j1jA?100mmXPOovmm a ?;m8_?/r]@Q*?a*1000c_B*1000_*;01}!?$1m$10j10002pap t(Z425jN?O)s.r?.r? OyYtZSF;f=%=trf%]r?=:=*4=r?=:=*4=qq：.~O|r2t]t_PO]W;;AEt`*pa[]O};@%.m_*]}b?q]tj-LfX^ ;2pt\.,W,?*-.%X固定 ]az%y=p}^GXaN"2G"zxXzsy(;} z"pG"zxJw2a%*!]~R?XIv*_?4P8c*z%y(%*y^kazN"N7"zxX~4J2(QXv]~*JS.*Qv%p%s=p(*NX%y3 s9s%%KF4JSwrsH：2t:y)2QsOQ:]]|OQO%;]+15X^.360;]Q*0j:|4r,_r5F(0,x0);(1,x1);(2,x2);...;(359,x359);(360,x0)OG$cr]Ot;%^O;}jQt|OQX]*RXI?v*_?48rc*Rmm5Xz%yl%D*ykz"N7"zx*Jw2(:XQv*JSw*Xv1%]z%ypD*^NX s9s%%KF*Jws8_ru4Z421j rOr)r6Xr!rXvW[j.%r[X.?};tTSXCSY85;o{vFmu"2[3;X.my7Oyt(XGa8qGNvz7;r^s"syr-Oy"+3 sr;Xrf2t[.kkjr2o]IIX/=d?=I.II/. raPZ|"7 +r-6yt1.000000e+0001.000000e+000備故障備故障備故障備故障備故障 aJ?.rj41j165XQN^IrX 6yrW1jtk}.]]rW _r1?rr]1jIaz%_XzN zxzY?Xz zxIaz%8_";Y!81"&.rZXzN"2zxIaz%8"2!r8"hV"JSJ2aXzNR$(0z5p0"rxsJ?@-@v+rxv~$s 1*vdQ_?a]"u0"JS_Q1 1?aYQ]"u0"J.Q%1?a{YdQQ"u0"JSXQ?{Y?QDQ"u0"JS9X0"2L8J?~2(`2531 " ;8?QQ{?9r?rm?)2(s+OQ+1(?a+?4P*rX9 0j10002atXo:Q100000?aQQ~-:N~ky2p.ccQv]HQI% p?Dydvra ]rkU%8{rLq/s+._zk%J~XQv]1+r_1(?a+d?>4WWQ%x%;%__knDh_Ba Nt{+Ia%8+r0r-oG2%q r*r?)!r?.!]?AW{Q;]Q?`0~.,` _r]r?r,ft8k*pGWQr\8xkf4Gc?1/1r]x.r?$_m18r;1mmXO-?\f8,?j*!f?fm.f*c8af*re^8POrpa*vm*r?8_rvrevr?\fr?G-aB58S1+r?$1m8;?1jr].* 1m f!??51rev=1rvf!??G^]=1000/1r?$1000mm%r?U1j44j ;_"}}pute(ACTION_TRF+?aop-

>jF4@j \f pte:tftACTION_TRF=269006 GvcQfOjX"teFfz(ACTION_TRF=GtnrpErrrPitFD%Vm(ACTION_TRF=G;Ff!3oG0L}m_}F!5oG0L}m_}F}}} z_m@ zB Ap};f100[

>"Z+OFueF4U@t(ACTION_TRF= putet?;fjTSXCSY85;X/;;;__I4_|5_-$/`ACTION_TRF=26900(%MWr.m.c.10).f]]]m7[f?@Tf.:wXZv?mt(t`X;;v;I]X\y;xtGrWX;:ru_/$?(?X tvMWrf21j!]%MWr.m.c.10(ACTION_TRF)=%MDr.m.c.11(param_trf_1)=%MDr.m.c.13(param_trf_2)=%MDr.m.c.15(param_trf_3)=%MDr.m.c.17(param_trf_4)= t!]D:"f0:.X_k_:"o@f -sJ@Table_length=6+r]+m%J*Frr][ m%J.syr1G~Xyr]o$!s_Js"sv_]a$&3SX;s|^I%CH3.211.2rYz5%-Oy?~%MW100 f26900mTRFRECIPEt,t`%MDWxy.i.4%Mfxy.i.6jxF·Return_trf_1F0PREMIUM|aCSY85Dpn{5_?% ·ernf2t{W.f:fDt"m. 8DT3)/`ACTION_TRF=26900(%MWr.m.c.10)]W%_f \v8H :f}F^;% y_..2y_r8*.3y_r8*sR% Xr[z.Yr[z.Zr[z.$syKxJs;+8：\;rID-tk*Z][Xv?GetAxisIDzttwr_I?WRITE_CMD.Xf :"(Q,f_my"tj,cy]X\fs_Oyp4_8|sa_8H%MWi:^DS_%X[DS_%Y[DS__ZrX[FOLy\!:k*"17A219yJXs:%B!]F8}4!]F8}4!]F8}4S;f1F3oL}}_k_pG85o0}} FUgfUB 0FVT.o@G101VT.P.@AGx~`1004cp_EOz5z180!]rW8f!]rW8f!]rW8f!]rW8f(1)j=6+r]Of^3yrYpa_8Sj=9GPO^02yrYpa_8Sj=8X：.*yIf?,\]j[jX.fs.y tXmy?.S?j%(XCoord,YCoord,\^::X Oy8If:.:.Z.fDX\y;xtGrWXt ?t? |t`Fv2Tvr]*n$y2pa_]-Mz<2sIrorPt'm(ACTION_TRF= ]ff?v ]fmv%:X] ^ND_TRF_RECIPE%CH3.21IF%M4ANDNOT%MW3.21:X3TRF_RECIPE%CH3.21(0,0);RESET%M4;a]+0fPLC_?ff|v%?G xf};?(Oy-.;pxf;O^Qft.Gor`-BG3h,OG^!:|mXft?f$.:W/Xt] f*f]!2]0s?}f*Gs!]_S_X]F1s*vSYDU@_D%_]XSCSY85_x,8mv;G}v.4ms+$_aqQ QSvAxV*F$v4NvA;?81~50TjE/TSXCSY85m(VXyZ_?.yo82 t ?f |DtFs"yk%S_% !3oL;mp;4 xf;f?3o;nfmpGSXf\f.^.c)DfWcx%c;T!tUX |*Of41|^XYt] f*f]!21soR?_}4*3GmpParW1=s]S_G@_%X%]4s0.:@Y%_U@D%ParW2=s]SX;@ s@f%_U_D_v1-vQ4JB87ra_qQ15XParW3=3;@G]50-200;D(w})_X-Q10PO&$9KQQ-}8vvQ-(o$KK(*cGccS_%vcGc?_xSv?ALXRvXrpALPW_?8?~s4y_oRA;c^P?ayFAp481~1;TjE/TSXCSY85p48(V(4yZBsyo8] ParF1=ParF2=lracc1^}Blracc2}B *n_x.BW.4lracc1>(%(Pn)-Oy(Pn-1)_W8NTyT).lracc1(-lracc2^FPPn-1_lracc2-Pn_lracc1;-T~Pn-1-_f_G;xy_%aC8POlracc1>2*lracc28}Xlracc1=2*lracc2af8Plracc2>2*lracc18}Xlracc2=2*lracc1t ?f |DtF.lracc1[lracc2Q)s"syk%kW.FZO=GS]r 3oG0L;S_]rqq：1_t`?~TSXCSY85;jEt]tk8x.G e*f@G(.]KF_Q450-200vYYX3°pol其中Kf=80qq]Gcpmp__%8vh8fd?X 0 9000!5oL;mp;4 xf;?f?5o;mfkmGXf\f.%^!.c)cfW%xc;vtX]3o};rx4};vo$*@]CjBAp8} Btj |*Of42|YYXt] of|f]]22soR?_}4*5G}_}ParW1=s:!]SGj@%]X]F1s.:@_%;U@_D%]ParW2=s]_5}@_%X%4Fs4_]vvJr ParW3=5;@G]50-2008(Nw&})_XQ*00O&$9KQQQ8vvQ-(o$KKF*GccmS_%8vcGcc~x8R;PvArIpA;Pr_?8?~1syr?;YcPoaycFA;L81~15TjE/TSXCSY85_?>48({(yZB.yo2 ParF1=ParF2=lracc1W_lracc2q}_ *?v)x,BW.4lracc1>((Pn)-Oy(Pn-1)D?RN_TByBlracc1_(-lracc2FPPn-1_lracc2-Pn_lracc1;-T~Pn-1-D?_G@sy;49Xc^v]O^aC8POlracc1>lracc2/0.668}Xlracc1=lracc2/0.66f8lracc2>lracc1/0.668}Xlracc2=lracc1/0.66t ?f tBlracc1[lracc2OQ4@s"yk%kW.FZO=GS]r 5oG0};S_]rx4_t`?~TSXCSY85;TjE't`]tk8x.!@;G xf;?fmfm[mkG：1@z%srxfWX |*Of10FYXt] f*f]!210s?f!;p;ParW1=s]S_G@_X]45s0.:G@Y%3@_D%ParW2=s@X s9@Y4%3_%_Xv-vQf4JB87ra_qQ15X~D180a_m01~~UT180_}?01~1XPORvAfrA;ParW_?8? s4yr$AYc48y+ccAGFAp481~50TjE/TSXCSY85ug_m?8>p48(V(4yZ_ParF1=lracc;t ?f tBlracc)4V@s"yk%svrRv@}180_}0_}kW.FZO=GS]r ;S x4_t`?~TSXCSY85;TjE't`]tk8x. 9000f |*Oy 9000YY坐標(biāo)（從軸 ?mf Of ..m@;f xfO?fmfkm..F:%(Pn-%q% fG4[f\O??f410X：1@z%srxfWX |*Of11FYYt] f*f]!211s?}f*zvbm}}_ParW1=s]X s0S%;D@%]F%G01~.~1%T4G01~PORvAfrA;ParW_?8 s4yr$AYc48y+ccAGFAp481~50TjE/TSXCSY85ug_m?8>p48(V(4yZ_ParF1=Radiusbt ?f ts"yk%svrRv@}gbD~%Pn-1-PnWgbQ~;S x4_t`?~TSXCSY85;TjE't`]tk8x"z949504.5048QQ5Xo.m@; xfO?fmfkm..F:%(Pn-%q% fG4[：O:t;v?m$X：1@z%srxfWX |*Of12FCCXt] f*f]! s?4v[_}mGParW1=s]X s0S%;D@%]F%G01~.~1%T4G01~PORvAfrA;ParW_?8 s4yr$AYc48y+ccAGFAp481~50TjE/TSXCSY85ug_m?8>p48(V(4yZ_ParF1=ParF2= pYm_ pYm_iXCSY85D>U@n8?WAfOv t ?f tsvrRv@};S m0MCx4_t`?~TSXCSY85;TjE't`]tk8x"z949506.5068QQ5Xp;F4100[ xf;?$srcp:rRt*.m:.?x;NvQyS,.Xqxf;?P0.|rAfq：.~yc8yr?.!]ParW4_?81~%;?.jav*?X:?81~:?$c?X;L?81~;0TjE/TSXCSY85_?8|j(4XyrZ.?Xqqt100?;.jc_Ozt`101?jzX |m|rY?YXt] f*f]!2]101so_4yp4xQV?cOy08y4_4Xyrx +?aop-j }0?at?fGX"GTaRslFU@(ACTION_TRF=MvImItroF+r_Bo(ACTION_CMD=GtmCstte]qNr_(ACTION_TRF=

>"Z+OFGTabelFf4@(ACTION_TRF= ;fj;4, m;rU@Qt(at;rt$f\0f t?5 )@ B2?] vNMF0rf421j4!]%MWr.m.c.10(ACTION_TRF)=%MDr.m.c.11(param_trf_1)=%MDr.m.c.13(param_trf_2)=%MDr.m.c.15(param_trf_3)=0.0s|s15q_Bs2.s5@u %MDr.m.c.17(param_trf_4)=!zs!]r_TRF_RECIPE]:]m#").4k4"U F32msJ]T_n=4 xf%sm#!param_trf_3Q4yX4s"syxJ"Brr [.5cyf(param_trf_3=0.0)__aXo5+%#Uzv*8FM "r?%.~r|y%WW.j%J.f0,49pG;f40W1162o._m@;4115-124,64z.Bm;F12,%Js]r?tkr%_?.f4,50!3oGL;_pG;f41W2,55!5o_Gf425-4,58@;m_pG;f410_|%^Q|f%%XYY000:y*0:y* DGymk_P1ky0pp DGymk_P3ky0pp1 Dp_yXkPP51Gy00k p4y p4yYY坐標(biāo)（從軸0 2000 oveImInrpoF+_Bop(ACTION_CMD= fj;, tftm;crQtt;]@tv:)fX ]?"+cy.qf4?ryS;j -:&:U_{rr{-] MoveImmedInterpo]vMWF;Z40!]%MWr.m.c.26(ACTION_CMD)=%MDr.m.c.27(param_cmd_1)=ruID4601j%MDr.m.c.29(param_cmd_2)=8O.(aa_cd)G-(Qs @q_Oy %MDr.m.c.31(param_cmd_3)= &3._[param_cmd_2Qt.40j008@.00%-; Z40_WRITE_CMDqq：6rI8?]t-5001000150020005001000150020002500300035004000Y坐標(biāo)（從軸^ *DY|^f$(param_cmd_2=10) p *~6|^f_Xp4rmm\_Q*0j008@.00%-^ ：:;j.jY.zW$Mx.zWX%rt)~.~vWj;Xt f]v s`.~f1W2-10}!ParF1[ParF2OkmQ_stopf4`p$$._(ID)U@_(7n]!t. fj;P, ftm;rU@Qt(at;rt$f\0f ]?fS9!] 'MW0rf421j4!]%MWr.m.c.10(ACTION_TRF)=%MDr.m.c.11(param_trf_1)=%MDr.m.c.13(param_trf_2)=%MDr.m.c.15(param_trf_3)=%MDr.m.c.17(param_trf_4)= %MDr.m.c.6(return_trf_2)="+&3 ]\:]]?BTRF_RECIPE%CHr.m.c(0,t f] s`1`3U@;M5SERCOSB5 >G8]SERCOS;*."}}SERCOS B0Wb8SERCOS;k*_B0.?z IODDTf4

>jFSERCOSSERCOSSERCOSSERCOSSERCOS B.W .-%"]TSXCSY85_k*IODDTz"B.?zk*m*Bm.W*WRITE_PARAM-SAVE_PARAM-WRITE_CMD

"v+OFSERCOSSERCOSSERCOSSERCOS]TSXCSY85;tIODDT IODDT)`;._"00b;4_]24.TSXCSY85;7fqzsQ7IODDT I/OI]..f myIODDT?"+u.8.?-9}_/LX.Wsf ".Wm];k*)$8 .?"%?.*X"*) !c@QXm*?r;!]-_;X.0t_L50. .?[;v$*?m;.,..]&;[mm] 1PLC1~RUN[STOP;L;]%I-I50-|:%|V1PLC1~RUN;%;%Q-Q-%qeXqqO-|STOP;L8.6Ip\8t$vQ;O r*.?.;;X (mX e|vPLC-|/)Wbkm5*W m*^|+"?.MF _!J WT_}J WT_4X] X!] V_AQX!] O_PR4:,*?Oy4_Of4_%MW.G!]X.v 9z; Pf ?}};_.;/;4Q-:f!]5.O

|vv.;;LPLC處理 通訊模

m*29*tIMmvZfF ]`zW*zk_0487L*_W.EXCH_S*,J,87mL*JEX_PTZIvJz]zL._5* ^.];;D]%;tGa O?Jz EXCH_STS)`5*X EXCH_RPTW, |??F重新配置（15）調(diào)整（位2） JEXCH_STS(%MWr.m.c.0)-EXCH_RPT(%MWr.m.c.1)_?]F+V*0?]* |J_" !"^Zm+V*1}] |}`0j_X .}!;mX+V*2]!] .`];Z!] a];X`MW:?r*0X +V*15?.|.;Z4cW>p!].ZW/$XqFr|8ms;L|?8Ac;4hXqq.6IODDTfT_GEN_MOD;_O*-,JJ(%MWr.m.MOD)-EXCH_RPT S1F?WRITE_PARAM]PLCPLC10I/O模塊器1PLCz.Qj.W..|`*?r*1XS2FZfI/O;-,@]X I/O模塊器10PCLK.;;]%; (%MWr.m.c.1.2)zJ0=`1=*.X;"]M..,PJ%41=P*u%441=P*a%441=Pa%441=

?CS P5ZGPP*P>qq;\[;8\;. d50j =s,? TSXCSY85;"G32{(Q]_4FSERCOS(r)%CHr.m.1j%CHr.m.9j%CHr.m.13j%CHr.m.17j%CHr.m.21j%CHr.m.25j2a .r;-~.;*GMF TSXCSYWRITE_CMD(Get/Set)0 r;-~.]r;-M.|_.\Xr;]@f);?]8r;-.!Xqq;TSXCSY85\?f/.Xr;] f""o.!]0$%*8?r;?,!]U@[t(X%|m.)?0.zb,!]r?^p%|.9}u;~M ;|%.]-?AWq-{WUW]X]*~.(]?|vfUniLink Q/ 30We}40?b};_Q5"C"f]M.?

r\.Q!M.!X.;f4![.f[ :^_..?5*{_BW_-?QO0?0"r;!]]M.!]b8v5"S"["P"f]f!]]}? r;M??!Xr;jM.?j*;_R?^]XWRITE_PARAM- ,|0z.j;;*]XDAMIODDTPr;]-WRIT_PARAMF];|!].vG|Qx.?]TSXCSY84;*IODDT746yy];vOy*helfT_CSY_IND_74*^X.READ_

an)FPIODDTSercos_Channelk*_Z!X.WRITE_

WRITE_PARAM)F]IODDTSercos_Channelk*_Z] IODDTv??~o1.;!]F?`zr 5*U??*0XA@[zS SAVE_PARAM- ,|?Q[:]SAE_PRAM;]/]t.:QXA:p[}%]:x.?]TSXCSY84;*IODDT4X6yy];Oy*hnWfT_CSY_IND_74*^X.

(ercs_hane)Q]IODDTSercos_Channelk*_Z!]AM.

SrsCnnl)F:]a!X IODDT_v??Mo1;;!*F?`zr 1*???*0XO@z a9;}0joo.}jW:j"W]^$X.?]TSXCSY84-TSXCSY164;*IODDTf4X.}r};Oy*nlWfT_CSY_IND^.~kr;Oy*Serco_Channel_coordf*T_CSY_COORD_74*^X.

h)]IODDTeros_anel4r5k*}X (Sco_hne_co).krX

MW}0Sercos_ChannelIODDT_ACTION_CMDJ(%MWr.m.c.26).}%s|FWRITE_CMD}u2zszszsM$!]!]!]!]r_

0kru_Z8otykr0A2!]?-_B57DoG]r*IODDT:O,}_%O?Sercos_F!]!]!]!]!]!]* IODDTv??;}0]F?`zr XU8? RA]@zDra*|^1F:

Li1;_4[#:3.|=RingIODDT*f4;kjLi1;v4_TSXCSY85 Z4 MW8S3*IFNOTRing.CMD_IN_PROGRTHENRing.ACTION_CMD:=409;|^2F

.]Xt 0r5IFNOTRing.CMD_IN_PROGRTHENRing.ACTION_CMD:=2545;Ring.PARAM_CMD_3:=51.5; /Az=51.5 <55IFNOTRing.CMD_IN_PROGRTHENRing.ACTION_CMD:=1551; 4*POWRITE_CMDL?Uc0v28SNv01sAZIFNOTRing.CMD_IN_PROGRANDNOTRing.CMD_ERRTHENBAUD_RATE:=Ring.RETURN/AZ0s1|

P5RAZ|^?r ?}"MOVEabsoluteimmediate"v_B5?_L1?a105.2|fIOD;kjL1;_4_Z43F 4*POWRITE_CMD<0MW8?$2IFNOTAxis_3.CMD_IN_PROGRTHENAxis_3.ACTION_CMD:=Axis_3.PARAM_CMD_1:= !]1F?$=Axis_3.PARAM_CMD_3:= /F?=Axis_3.PARAM_CMD_4:= /4F_B=|^

0+r?~102.5%5!.rt.|f4T_CSY_FOLLOW w;.!.r 0W8Y_aIFNOTFollow.CMD_IN_PROGRTHENFollow.ACTION_CMD:=537;Follow.PARAM_CMD_3:=102.5; //]3r?=102.5 4*POWRITE_CMDUc<vNvsE2s*IFNOTFollow.CMD_IN_PROGRANDNOTTHENSLAVE_POSITION:=Follow.RETU?sE2 ~?Pr;*.jtTSXCSY85;tzf_OT.}2r8V}?*Serco_Channel_T_CSY_INDf^O;.?jTSXCSY85;xQN;?jfIODDXvSercos_module.

_l) t;.

c_hnl Serco_ChannelIODDT Z;UX IODDT6_s??M1.;;DG!F?`zP5r X*vW?0Xn*Jv%v; b8SERCOS;_*B0.W }\]SERCOS;k*_.-"zkT_CSY_CMD4_IODDT"WU _ m5W_UzkT_CSY_RING4IODDT"*_zk 4 m*_zkT_CSY_TRF4IODDT*zkT_CSY_IND4IODDT"WUzkT_CSY_IND4IODDT5WU "_w m*.w * m*wUzkT_CSY_CAM4IODDT*W; 4 m*W

>"Z+OF .;w0 zO"*Z\xf4_IODDT?TSX_CSY_85XD_A1f ?93^.? 19_0.8?!X".WPZPm_0P~aP?vRvPQPQmOoPM/PM$`MW1PPrcPcPPjP

Q?~TSX_CSY_85;T_CSY_CMDIODDT"*W"*.m.UX?PUo_mPUo_m

ZsQ4vB?~TSX_CSY_85

T_CSY_CMDIODDT". | j\?~TSXCSY85;T_CSY_CMDIODDT.",f.W.?z(;\.XD_A1f ?+3.?1X0.r/?!\?jM

r/EXCH_STSZ4(%MWr.m.c.0)*?P,

r/EXCH_RPT,J?(%MWr.m.c.1)P!%v

\]WRITE_CMDt*_749._/0J., 0vDsssM$!]!]!]!]SERCOSSERCOS LWw0 O,".;..\Qf_IODDTB?~TSX_CSY_85; Z40XOD_R1f ?93^.? 1_0.8rsXSERCOSSERCOSSERCOSSERCOS".W

v?~5XP4RAMP{^PSTOPP$_qPmL;P?!P`X@8?P+?vCvrPM$z}PQQcP!O0P~M$LPM$`MW3PM$`MW2PM$`MW1PM$P$.P_MZcPPNP??`?YP]AP]jP$s_JP`c}PPPP"*.

*.rOYrYmU?vy_PUoHOLD_9?PUoHALTu_9?q \?"]XPv2JzJDzJ+:JSX.H ; j\?|*.X+fW,.?z(X;;\.WD_A1f ?+3.?1X0.r/?!\?jM,

s\v|_?EXCH_STS..),)m}m*%$>XP5ZGPP*P`TRF_RECIPEP>s\,J?EXCH_PT...),(m}*%PZJP241=5P*u%v41=P%v41=P 0vP>Z%v41=.J \v.?FLTx,READ_STS(IODDT_VAR1)PC2M$PC2_cPC2PPa2F(-(pPcP?.W}P&.VZPf4VZP.V P7.Pa.4Z0

\]WRITE_CMDt*_7_9._/0J. 0vDsssM$!]!]!]!]

Z\~.~41j16v?READ_PARAM-WRITE_PARAM7]!],(IODDT_VAR1)e_Ov?SAVE_PARAM-RESTORE_PARAM]SERCOSring%pcc*Uz .W; j\v?41j32_TSXCSY85;T_CSY_TRFIODDT.>j,?z(9f.X;;\,OD_R1f ?_+.?1nX.;/?!\?j][d,.

\.TRF_RECIPE^`P`MTRF_RECIPE\v.~TRF_RECIPE],?XP \]TRF_RECIPE]t*.X,.m}?TRF_RECIPE]D>XPTRF_RECIPEvPTRF_RECIPEsEPTRF_RECIPEsEPTRF_RECIPEsEP MPTRF_RECIPE]_!PTRF_RECIPE]_!PTRF_RECIPE]_!PTRF_RECIPE]_! 5;0 zO"*Z\xf4_IODDT?TSX_CSY_85;Z41M16XD_A1f ?93^.? 19_0.8?!X".

Q?"WPZRAMPr{w^PSTOPP`8Pm_0P~aP`0X~rP?vRvPM.z}PQPQmOoPM/PM$`MW3PM$`MW2PM$`MW1PMPPM;cPPrcP~a`?_!Pr]`AP]jPsoJGPPvxPPPcPPjPSERCOSSERCOSP".

ZsQ4vB?~TSX_CSY_85

T_CSY_INDIODDT".$@p$@rpoxxYrmo$@o}$@Gp*}.UX?vOyOrPUoHOLDq9?PUoHALT}9?SERCOSSERCOSSERCOSSERCOS ZsQ4vB?~TSX_CSY_85

".P Q?~TSX_CSY_85;T_CSY_INDIODDT"]Pv2JzJDzJ+:JSX.H Q?~TSX_CSY_85;T_CSY_INDIODDT2r-1Z* 5W; j\v?41j16_TSXCSY85;T_CSY_INDIODDTW",f.W?z+Z;w\.WD_A1f ?+3.?1X0.r/?!\?jM,

s\v|_?EXCH_STS..),)m}m*%$>XP5ZGPP*P>s\,J?EXCH_PT...),(m}*%PZJP241=5P*u%v41=P%v41=P>Z%v41=.J \v.?FLTx,READ_STS(IODDT_VAR1)PC2M$PC2_cPC2PPa2F(-(pPcP?.W}P7.Pa.4Z0.

\]TRF_RECIPE]t*.X,.m}?TRF_RECIPE]D>XPTRF_RECIPE]v5PTRF_RECIPE7sEPTRF_RECIPE7sEPTRF_RECIPE7sEP MWPTRF_RECIPE]_!PTRF_RECIPE]_!PTRF_RECIPE]_!PTRF_RECIPE]_!

\]WRITE_CMDt*_749._/0J., 0vDsssM$!]!]!]!]

\~.4!],(IODDT_VAR1)e_Ov?SAVE_PARAM-RESTORE_PARAM]"h4aYMBM. @k Ww0 O".\fIODDTB?~Z421M24_TSX_CSY_85;XD_A1f ?93^.? 19_0.8?!X".

Q"]PZRAMPr{w^PSTOPP`8Pm_0P~aP`0X~rP?vRvPM.z}PQPQmOoPM/PM$`MW3PM$`MW2PM$`MW1PMPPM;cPPrcP~a`?_!Pr]`AP]jPsoJGPcPPjPP".

ZsQ4vB?~TSX_CSY_85;T_CSY_FOLLOWIODDT.Yrmo.UX?vOyOrPUoHOLDq9?PUoHALT}9? ZsQ4vB?~TSX_CSY_85.

T_CSY_FOLLOWIODDT"P ~"]Pv0!JXzJ+D`zJ"0JK.8H *U j\v?421j24_TSXCSY85;T_CSY_FOLLOWm.Wj?4(+fWXZ;\~.WXOD_R1f ?_+.?1nX.;/?!\?jM,

s\vm|?EXCH_STSW..,(}m*%>XP`ZGPP`XP`ps\,J?EXCH_PTW...,(}m*%PZJP41=5P!%v41=P%v41=P>Z%v41=.J \v.?FLTx,READ_STS(IODDT_VAR1)PC2MPC2r2PC2PPa2F(-(aPcP2W}2PU$_Pa.4Z0

\]WRITE_CMDt*_749._/0J., 0vDsssM$!]!]!]!]

\~.4!],(IODDT_VAR1)e_Ov?SAVE_PARAM-RESTORE_PARAM]r]j168NNs>_r1_r1=XJ"6&zwzy/s}??W9-?10r*)=?8ra*1c?9-?10ra*)+WGX?9ra*1c?8-?10ra*)+`GX?8-?9ra*1c?10ra*)+XQ>?8-?9ra*)c?10ra*1+XQ<P0=P0=1=P0=Y? YW?P PvkSYP 0_P +__r1_r1_r1_r2SERCOSSERCOSSERCOSSERCOS_r2_XJ"Z6&?qz4wzO(<l?W9-?10r*)=?8ra*1c?9-?10ra*)?0]0?9ra*1c?8-?10ra*)?G]?8-?9ra*1c?10ra*)+XQ>?8-?9ra*)c?10ra*1+XQ<P0=P0=1=P0=6 !M_?P Uvk_P !qP ?Y_r2_r2_r2u_r3_r3_XJ"Z6&?qz4wzO(<l?W9-?10r*)=?8ra*1c?9-?10ra*)?0]0?9ra*1c?8-?10ra*)?G]?8-?9ra*1c?10ra*)+XQ>?8-?9ra*)c?10ra*1+XQ<P0=P0=1=P Y? YW?P PvkSYP 0_P +__r3_r3_r3_r4_r4=XJ"6&zwzy/s}??W9-?10r*)=?8ra*1c?9-?10ra*)+WGX?9ra*1c?8-?10ra*)+`GX?8-?9ra*1c?10ra*)+XQ>?8-?9ra*)c?10ra*1+XQ<P0=P0=1=P Y? YW?P PvkSYP 0_P +__r4_r4_r4_r5_r5_XJ"Z6&qz4wzXOs}??W9-?10r*)=?8ra*1c?9-?10ra*)?0]0?9ra*1c?8-?10ra*)?G]?8-?9ra*1c?10ra*)+XQ>?8-?9ra*)c?10ra*1+XQ<P0=P0=1=P