杩愯绋嬪簭
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閫氳璇存槑
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  宸ユ帶鏈哄拰 Efort 鏈烘鑷傜殑閫氳鏂瑰紡涓� TCP/IP , 宸ユ帶鏈轰綔涓� TCP/IP 鐨勬湇鍔＄锛屾満姊拌噦浣滀负 TCP/IP 鐨勫鎴风銆�


杩愯宸ユ帶鏈轰富鎺�
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1. 浠ョ鐞嗗憳鐧诲綍鍚庯紝鐐瑰嚮 ``绋嬪簭`` 鏍囩鏍忥紝鏌ョ湅褰撳墠绋嬪簭閫夋嫨鐨勬槸鍚︽槸涓轰富绋嬪簭 ``robot``

  .. figure:: img/motion_run_1.png
    :width: 600px
    :align: center

  濡傛灉涓嶆槸涓荤▼搴忥紝鍒欑偣鍑诲彸涓婅鐨勭▼搴忔寜閽紝鍦ㄥ脊鍑虹殑绐楀彛涓€夋嫨 ``robot`` 骞剁偣鍑� ``纭`` 銆�
  涓嬪浘鏄剧ず鐨勫綋鍓嶉€変腑涓虹浜屼釜杞� PLC 绋嬪簭锛屽鏋滆鍒囨崲鍒� ``robot`` 闇€瑕佺偣鍑� ``softplc2`` 鐒跺悗鍦ㄥ脊鍑虹殑鐣岄潰涓紝閫変腑 ``robot`` 鎵€鍦ㄧ殑涓€鏍忥紝鐒跺悗鐐瑰嚮 ``纭`` 鍒囨崲鎹㈠埌 ``robot``

  .. figure:: img/motion_run_2.png
    :width: 600px
    :align: center

2. 鍦ㄧず鏁欏櫒涓婏紝鐐瑰嚮 ``鏂囦欢`` 鏍囩鏍忥紝閫変腑 ``XYZ_MOTION.XPL`` 鐒跺悗鐐瑰嚮搴曢儴鐨� ``鎵撳紑`` , 鍦ㄥ脊鍑虹殑鎻愮ず鐣岄潰涓婄偣鍑� ``鏄痐` 鍔犺浇 ``XYZ_MOTION.XPL`` 绋嬪簭

  绋嬪簭鍔犺浇瀹屾垚鍚庝細鑷姩璺冲埌 ``绋嬪簭`` 鏍囩鏍�

  .. figure:: img/motion_run_3.png
    :width: 600px
    :align: center

3. 灏嗙ず鏁欏櫒鐨勬棆閽垏鍒� ``Auto`` 锛� 鍦ㄥ脊鍑虹殑鑷姩杩愯鐣岄潰鐐瑰嚮 ``纭畾`` 

4. 鎸変笅鎺у埗鏌滀笂缁胯壊闂儊鐨� ``SERVO ON`` 鎸夐挳

5. 鎸変笅绀烘暀鍣ㄤ笂鐨� ``PWR`` 鎸夐敭锛岀劧鍚庢寜涓嬬ず鏁欏櫒涓婄殑杩愯寤哄紑濮嬭繍琛岀▼搴�

鏈烘鑷備富鎺ц繍琛�
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1. 浠ョ鐞嗗憳鐧诲綍鍚庯紝鐐瑰嚮 ``绋嬪簭`` 鏍囩鏍忥紝鏌ョ湅褰撳墠绋嬪簭閫夋嫨鐨勬槸鍚︽槸涓轰富绋嬪簭 ``robot``

  .. figure:: img/motion_run_1.png
    :width: 600px
    :align: center

  濡傛灉涓嶆槸涓荤▼搴忥紝鍒欑偣鍑诲彸涓婅鐨勭▼搴忔寜閽紝鍦ㄥ脊鍑虹殑绐楀彛涓€夋嫨 ``robot`` 骞剁偣鍑� ``纭`` 銆�
  涓嬪浘鏄剧ず鐨勫綋鍓嶉€変腑涓虹浜屼釜杞� PLC 绋嬪簭锛屽鏋滆鍒囨崲鍒� ``robot`` 闇€瑕佺偣鍑� ``softplc2`` 鐒跺悗鍦ㄥ脊鍑虹殑鐣岄潰涓紝閫変腑 ``robot`` 鎵€鍦ㄧ殑涓€鏍忥紝鐒跺悗鐐瑰嚮 ``纭`` 鍒囨崲鎹㈠埌 ``robot``

  .. figure:: img/motion_run_2.png
    :width: 600px
    :align: center

2. 鍦ㄧず鏁欏櫒涓婏紝鐐瑰嚮 ``鏂囦欢`` 鏍囩鏍忥紝閫変腑 ``XYZ_MASTER.XPL`` 鐒跺悗鐐瑰嚮搴曢儴鐨� ``鎵撳紑`` , 鍦ㄥ脊鍑虹殑鎻愮ず鐣岄潰涓婄偣鍑� ``鏄痐` 鍔犺浇 ``XYZ_MASTER.XPL`` 绋嬪簭

  绋嬪簭鍔犺浇瀹屾垚鍚庝細鑷姩璺冲埌 ``绋嬪簭`` 鏍囩鏍�

  .. figure:: img/master_run_3.png
    :width: 600px
    :align: center

3. 杩涘叆 main 鍑芥暟锛屾牴鎹」鐩墍闇€鐨勬祦绋嬩互鍙婃墍鎻愪緵鐨勬ā鏉夸慨鏀� main 鍑芥暟锛屼篃鍙互鐩存帴淇敼妯℃澘鍑芥暟锛岀劧鍚庡湪 main 鍑芥暟涓皟鐢ㄤ慨鏀瑰悗鐨勬ā鏉垮嚱鏁般€�

4. 灏嗙ず鏁欏櫒鐨勬棆閽垏鍒� ``Auto`` 锛� 鍦ㄥ脊鍑虹殑鑷姩杩愯鐣岄潰鐐瑰嚮 ``纭畾``

5. 鎸変笅鎺у埗鏌滀笂缁胯壊闂儊鐨� ``SERVO ON`` 鎸夐挳

6. 鎸変笅绀烘暀鍣ㄤ笂鐨� ``PWR`` 鎸夐敭锛岀劧鍚庢寜涓嬬ず鏁欏櫒涓婄殑杩愯寤哄紑濮嬭繍琛岀▼搴�