瀹夎椹卞姩
============================

abb 鏈烘鑷傞┍鍔ㄦ枃浠跺垪琛�
+++++++++++++++++++++++++++++++++

abb鏈烘鑷傜殑鏍囧噯椹卞姩鏂囦欢濡備笅鎵€绀�

-- BACKINFO
  -- backinfo.txt 
-- RAPID 
  -- TASK1                 锛堣繍鍔ㄧ浉鍏崇▼搴忥級
    -- PROGMOD 
      - xyz_libconst.mod   锛堝嚱鏁扮敤鍒扮殑甯告暟鍙橀噺锛�
      - xyz_libmotpkt.mod  锛堟暟鎹寘瑙ｆ瀽澶勭悊鍑芥暟锛�
      - xyz_libsock.mod    锛坰ocket 鐩稿叧鍑芥暟锛�
      - xyz_main.mod       锛堢▼搴忚繍琛岃捣鐐癸級
      - xyz_master.mod     锛堟満姊拌噦涓绘帶鍑芥暟涓讳綋锛�
      - xyz_motion.mod     锛堝伐鎺ф満涓绘帶鍑芥暟涓讳綋锛�
    -- SYSMOD
      - user.sys
  -- TASK2                 锛堟満姊拌噦鍙戦€佺姸鎬佺▼搴忥級
    -- PROGMOD
      - xyz_libsock.mod      锛坰ocket 鐩稿叧鍑芥暟锛�
      - xyz_libstapkt.mod    锛堟暟鎹寘瑙ｆ瀽澶勭悊鍑芥暟锛�
      - xyz_status.mod       锛堟満姊拌噦鍙戦€佺姸鎬佸嚱鏁颁富浣擄級
      - xyz_status_task.mod  锛堢▼搴忚繍琛岃捣鐐癸級
    -- SYSMOD
      - user.sys
-- SYSPAR
  - EIO.cfg 
  - SIO.cfg 
  - SYS.cfg 

闄や簡涓婅堪鏂囦欢澶栵紝鍦� SYSPAR 鏂囦欢澶逛笅杩樻湁鍏朵粬鏂囦欢锛岃繖浜涙枃浠朵笉鏄� ABB 绯荤粺鎵€蹇呴』锛屼篃涓嶅繀瀵煎叆鍒版帶鍒跺櫒閲屻€傝繖浜涙枃浠剁殑浣滅敤鏄负浜嗘柟渚� IO 淇″彿鐨勮缃紝鍏蜂綋浣跨敤鏂规硶
浼氬湪鈥滃鍏ョ▼搴忊€濈幆鑺傝鍒般€�

-- SYSPAR
  - eio_d652.cfg         (DSQC 652 IO 鏉垮崱鐨� IO 淇″彿閰嶇疆妯℃澘)
  - eio_local_io.cfg     (Local_IO 鐨� IO 淇″彿閰嶇疆妯℃澘)


璁惧畾鏈烘鑷� IP
+++++++++++++++++++++++++++++++
``MENU``-> ``鎺у埗闈㈡澘``-> ``閰嶇疆``锛屽垏鎹富棰樹负 ``Communication``锛岃繘鍏� ``IP Setting``銆傝嫢鏈夐厤缃紝淇敼濡備笅锛涘鏋滄病鏈変换浣曢厤缃紝鍒欑偣鍑� ``娣诲姞``锛屼慨鏀瑰涓嬶細

- 鈥淚P鈥濊缃负锛�192.168.37.100 
- 鈥淪ubnet鈥濊缃负锛�255.255.255.0 

.. figure:: img/abb_ip_setting.png
  :width: 644px
  :align: center

  ABB 璁惧畾鏈烘鑷� IP锛屽叾涓璉nterface涓嬫媺閫夐」闇€瑕佸拰缃戠嚎瀹為檯鎺ョ嚎涓€鑷�

缃戠粶璁剧疆瀹屾垚鍚庨噸鍚満姊拌噦鐢熸晥銆� 



瀵煎叆绋嬪簭
+++++++++++++++++++++++++++++++++

1. 瀵煎叆绋嬪簭涔嬪墠闇€瑕佸厛澶囦唤 ABB 鏈哄櫒浜烘帶鍒跺櫒閲岀殑绋嬪簭銆傚彲浠ラ€氳繃 RobotStudio 澶囦唤鎴栬€呴€氳繃U鐩樻潵澶囦唤

  - 浣跨敤 RobotStudio 鏉ュ浠芥満鍣ㄤ汉绋嬪簭

    [1] 鍑嗗濂戒竴鍙板畨瑁呬簡RobotStudio鐨勭數鑴戙€� 鐢ㄧ綉绾胯繛鎺ヨ濂� RobotStudio 鐨勭數鑴戝拰ABB鎺у埗鏌滀笂鐨� **X2 鏈嶅姟锛圫ervice锛夊彛** 銆傜數鑴戜娇鐢ㄨ嚜鍔ㄥ彇寰� IP锛圖HCP锛夛紝涓嶈鎵嬪姩璁剧疆锛孹2 鍙ｄ細鑷姩鍒嗛厤 192.168.125.* 鐨� IP 缁欑數鑴戙€�

    [2] 鍚姩 RobotStudio锛屼緷娆＄偣鍑� ``鏂囦欢``-> ``鍦ㄧ嚎``-> ``涓€閿繛鎺`銆�

      .. figure:: img/abb_robotstudio_connection.png
        :width: 400px
        :align: center

        RobotStudio 杩炴帴 ABB 鏈烘鑷�

    [3] 鐐瑰嚮 ``鎺у埗鍣�(C)``-> ``澶囦唤``-> ``鍒涘缓澶囦唤``锛屽瓨鍒版寚瀹氫綅缃€�

      .. figure:: img/abb_backup_1.png
        :width: 400px
        :align: center

        ABB RobotStudio澶囦唤绋嬪簭

  - 浣跨敤 U鐩樺浠芥満鍣ㄤ汉绋嬪簭

    [1] 鍑嗗涓€涓枃浠剁郴缁熶负FAT32鏍煎紡鐨刄鐩�(鍏朵粬鏍煎紡鐨勬枃浠剁郴缁熷彲鑳戒笉浼氳ABB鎺у埗鍣ㄨ瘑鍒�)
  
    [2] 灏哢鐩樻彃鍒扮ず鏁欏櫒鐨刄鐩樺彛涓�
  
    [3] 鍦ㄧず鏁欏櫒涓婁緷娆＄偣鍑� ``MENU`` -> ``澶囦唤涓庢仮澶峘` -> ``澶囦唤褰撳墠绯荤粺`` 閫夋嫨澶囦唤璺緞鍒癠鐩樻墍鍦ㄧ殑浣嶇疆鍚庯紝鐐瑰嚮澶囦唤

      .. figure:: img/abb_backup_2.png
        :width: 400px
        :align: center

        abb 绀烘暀鍣ㄥ浠界▼搴�

2. 浣跨敤鏂囦欢姣斿宸ュ叿锛屾瘮杈冨浠界殑鏂囦欢澶瑰拰瑕佸鍏ョ殑 ABB 浠ｇ爜鏂囦欢澶癸紝骞跺鐩稿簲閮ㄥ垎杩涜淇敼鍜屾浛鎹€€�

  鏂囦欢瀵规瘮宸ュ叿鎺ㄨ崘浣跨敤 Meld (涓嬭浇鍦板潃锛歨ttps://meldmerge.org/) 鎴栬€� Beyond Compare (涓嬭浇鍦板潃锛歨ttps://www.beyondcomparepro.com/download)

  **涓轰簡闃叉淇敼澶囦唤鐨勮繃绋嬩腑璇慨鏀瑰叾浠栨枃浠剁牬鍧忓浠斤紝鍙互灏嗗浠芥枃浠堕噸鏂版嫹璐濅竴浠姐€�**

  **淇敼澶囦唤鏂囦欢鐨勬椂鍊欒涓嶈鐩存帴鎷疯礉璇ユ枃妗ｄ腑鐨勯厤缃唴瀹圭墖娈碉紝鐢熸垚鏂囨。鏃惰繖浜涚墖娈电殑鏍煎紡浼氳鏀瑰姩锛岀洿鎺ユ嫹璐濇枃妗ｄ腑鐨勪唬鐮佸埌澶囦唤鏂囦欢锛屼細鍑虹幇澶囦唤鏂囦欢鐢变簬鏍煎紡闂鏃犳硶琚獳BB鎺у埗鍣ㄨ瘑鍒殑闂**

  [1] 鍒犻櫎澶囦唤鏂囦欢澶逛笅鐨� RAPID 鐩綍锛屽苟鎷疯礉 ABB 鏍囧噯鏂囦欢澶逛腑 RAPID 鏂囦欢鐩綍鍒板浠芥枃浠跺す

  [2] 淇敼 backupinfo.txt 涓殑 TASK 鍐呭涓猴細

    .. code-block::

      >>TASK1: (T_ROB1,,)
      PROGMOD\xyz_motion.mod @ 
      SYSMOD\user.sys @ 
      PROGMOD\xyz_libsock.mod @ 
      PROGMOD\xyz_main.mod @ 
      PROGMOD\xyz_libmotpkt.mod @ 
      PROGMOD\xyz_master.mod @ 
      PROGMOD\xyz_libconst.mod @ 

      >>TASK2: (STATUS,,)
      SYSMOD\user.sys @ 
      PROGMOD\xyz_libsock.mod @ 
      PROGMOD\xyz_status_task.mod @ 
      PROGMOD\xyz_libstapkt.mod @ 
      PROGMOD\xyz_status.mod @ 
    
    璇蜂笉瑕佺洿鎺ユ嫹璐濅笂杩伴厤缃唴瀹圭墖娈垫潵淇敼澶囦唤鏂囦欢涓殑 backupinfo.txt 銆傝鏍规嵁 ABB 鏍囧噯椹卞姩鏂囦欢涓殑 backupinfo.txt 鏉ヤ慨鏀广€�

  [3] 淇敼 SYS.cfg 涓殑 CAB_TASKS 涓猴細

    .. code-block::

      CAB_TASKS:

      -Name "T_ROB1" -Type "NORMAL" -MotionTask 

      -Name "STATUS" -Task_in_forground "STATUS" -Type "NORMAL"

    璇蜂笉瑕佺洿鎺ユ嫹璐濅笂杩伴厤缃唴瀹圭墖娈垫潵淇敼澶囦唤鏂囦欢涓殑 SYS.cfg 銆傝鏍规嵁 ABB 鏍囧噯椹卞姩鏂囦欢涓殑 SYS.cfg 鏉ヤ慨鏀广€�

  [4] 淇敼 EIO.cfg 鏂囦欢銆傞渶瑕佸湪 EIO.cfg 鏂囦欢涓殑 ``EIO_SIGNAL:`` 鏉＄洰涓嬫坊鍔犲涓嬬殑 IO 淇″彿瀹氫箟

    .. code-block::

      EIO_SIGNAL:

        -Name "output0" -SignalType "DO"

        -Name "output1" -SignalType "DO"

        -Name "output2" -SignalType "DO"

        -Name "output3" -SignalType "DO"

        -Name "output4" -SignalType "DO"

        -Name "output5" -SignalType "DO"

        -Name "output6" -SignalType "DO"

        -Name "output7" -SignalType "DO"

        -Name "output8" -SignalType "DO"

        -Name "output9" -SignalType "DO"

        -Name "output10" -SignalType "DO"

        -Name "output11" -SignalType "DO"

        -Name "output12" -SignalType "DO"

        -Name "output13" -SignalType "DO"

        -Name "output14" -SignalType "DO"

        -Name "output15" -SignalType "DO"

        -Name "input0" -SignalType "DI"

        -Name "input1" -SignalType "DI"

        -Name "input2" -SignalType "DI"

        -Name "input3" -SignalType "DI"

        -Name "input4" -SignalType "DI"

        -Name "input5" -SignalType "DI"

        -Name "input6" -SignalType "DI"

        -Name "input7" -SignalType "DI"

        -Name "input8" -SignalType "DI"

        -Name "input9" -SignalType "DI"

        -Name "input10" -SignalType "DI"

        -Name "input11" -SignalType "DI"

        -Name "input12" -SignalType "DI"

        -Name "input13" -SignalType "DI"

        -Name "input14" -SignalType "DI"

        -Name "input15" -SignalType "DI"

        -Name "GroupDO" -SignalType "GO"

  浠ヤ笂鍙槸瀹氫箟浜嗙▼搴忔墍浣跨敤鐨� IO 淇″彿锛屽苟娌℃湁鎶婅繖浜汭O淇″彿鍜岀墿鐞嗚澶囦笂鐨勪俊鍙峰仛鏄犲皠銆傚鏋滈渶瑕佹妸 IO 淇″彿鏄犲皠鍒板鐞嗚澶囷紝
  鍙互鍦ㄦ瘡涓� IO 淇″彿鐨勫畾涔夊悗闈㈠姞涓� "-Device" 瀛楁骞跺～鍏� IO 璁惧鐨勫悕绉帮紝鍔犱笂 鈥�-DeviceMap鈥� 瀛楁骞跺～鍏ユ槧灏勫埌 IO 璁惧涓婄殑绔彛鍙枫€�
  涓嬮潰鐗囨灞曠ず鐨勬槸 IO 淇″彿鍜� DSQC 652 IO 鏉垮崱鍋氬ソ鏄犲皠鍚庢牱瀛愩€�

  .. code-block::
    
    EIO_SIGNAL:

      -Name "output0" -SignalType "DO" -Device "d652" -DeviceMap "0"

      -Name "output1" -SignalType "DO" -Device "d652" -DeviceMap "1"

      -Name "output2" -SignalType "DO" -Device "d652" -DeviceMap "2"

      -Name "output3" -SignalType "DO" -Device "d652" -DeviceMap "3"

      -Name "output4" -SignalType "DO" -Device "d652" -DeviceMap "4"

      -Name "output5" -SignalType "DO" -Device "d652" -DeviceMap "5"

      -Name "output6" -SignalType "DO" -Device "d652" -DeviceMap "6"

      -Name "output7" -SignalType "DO" -Device "d652" -DeviceMap "7"

      -Name "output8" -SignalType "DO" -Device "d652" -DeviceMap "8"

      -Name "output9" -SignalType "DO" -Device "d652" -DeviceMap "9"

      -Name "output10" -SignalType "DO" -Device "d652" -DeviceMap "10"

      -Name "output11" -SignalType "DO" -Device "d652" -DeviceMap "11"

      -Name "output12" -SignalType "DO" -Device "d652" -DeviceMap "12"

      -Name "output13" -SignalType "DO" -Device "d652" -DeviceMap "13"

      -Name "output14" -SignalType "DO" -Device "d652" -DeviceMap "14"

      -Name "output15" -SignalType "DO" -Device "d652" -DeviceMap "15"

      -Name "input0" -SignalType "DI" -Device "d652" -DeviceMap "0"

      -Name "input1" -SignalType "DI" -Device "d652" -DeviceMap "1"

      -Name "input2" -SignalType "DI" -Device "d652" -DeviceMap "2"

      -Name "input3" -SignalType "DI" -Device "d652" -DeviceMap "3"

      -Name "input4" -SignalType "DI" -Device "d652" -DeviceMap "4"

      -Name "input5" -SignalType "DI" -Device "d652" -DeviceMap "5"

      -Name "input6" -SignalType "DI" -Device "d652" -DeviceMap "6"

      -Name "input7" -SignalType "DI" -Device "d652" -DeviceMap "7"

      -Name "input8" -SignalType "DI" -Device "d652" -DeviceMap "8"

      -Name "input9" -SignalType "DI" -Device "d652" -DeviceMap "9"

      -Name "input10" -SignalType "DI" -Device "d652" -DeviceMap "10"

      -Name "input11" -SignalType "DI" -Device "d652" -DeviceMap "11"

      -Name "input12" -SignalType "DI" -Device "d652" -DeviceMap "12"

      -Name "input13" -SignalType "DI" -Device "d652" -DeviceMap "13"

      -Name "input14" -SignalType "DI" -Device "d652" -DeviceMap "14"

      -Name "input15" -SignalType "DI" -Device "d652" -DeviceMap "15"

      -Name "GroupDO" -SignalType "GO" -Device "d652" -DeviceMap "0-15"
    
  濡傛灉闇€瑕侀厤缃殑 ABB 鏈哄櫒浜轰娇鐢ㄧ殑鏄� DSQC 652 IO 鏉垮崱锛岃涓嶈鐩存帴鎷疯礉涓婅堪閰嶇疆鍐呭鐗囨鏉ヤ慨鏀瑰浠芥枃浠朵腑鐨� EIO.cfg 銆傝€屾槸鏍规嵁 ABB 鏍囧噯椹卞姩鏂囦欢涓殑 eio_d652.cfg 鏉ヤ慨鏀广€�
  濡傛灉闇€瑕侀厤缃殑 ABB 鏈哄櫒浜轰娇鐢ㄧ殑鏄� Local_IO 鏉垮崱锛岃鏍规嵁 ABB 鏍囧噯椹卞姩鏂囦欢涓殑 eio_local_io.cfg 鏉ヤ慨鏀� EIO.cfg 鏂囦欢銆備慨鏀规椂璇蜂竴瀹氭敞鎰忔牸寮忥紝姣忎釜 IO 淇″彿鐨勫畾涔変箣闂翠細鏈夌┖琛岋紝 
  EIO.cfg 鏂囦欢鐨勬渶鍚庝竴琛屼篃闇€瑕佹湁绌鸿銆�

  鍏充簬 IO 璁惧鐨勫悕绉板彲浠ュ湪 EIO.cfg 鏂囦欢鍜岃澶囩浉鍏崇殑鏉＄洰涓嬫煡鐪嬨€備互涓嬩唬鐮佸睍绀� ABB 鏈哄櫒浜轰笂甯哥敤鐨勪袱绉� IO 璁惧锛�
  涓€绉嶆槸 ``DEVICENET_DEVICE:`` 鏉＄洰涓嬪畾涔夐€氳繃 DeviceNet 閫氫俊鐨� DSQC 652 IO 鏉垮崱锛�
  涓€绉嶆槸 ``ETHERNETIP_DEVICE`` 鏉＄洰涓嬪畾涔夌殑 ABB Local I/O Device銆�
  鍦ㄨ澶囦俊鎭腑 鈥�-Name鈥� 鍚庣殑鍚嶅瓧鏄� IO 淇″彿闇€瑕佹槧灏勫埌鐨� 鈥�-Device鈥� 鐨勮澶囧悕銆�

  .. code-block::

    DEVICENET_DEVICE:

      -Name "d652" -VendorName "ABB Robotics" -ProductName "24 VDC I/O Device"\
      -Label "DSQC 652 24 VDC I/O Device" -Address 10 -ProductCode 26\
      -DeviceType 7 -ConnectionType "COS" -OutputSize 2 -InputSize 2
    
    ETHERNETIP_DEVICE:

      -Name "Local_IO" -VendorName "ABB Robotics" -ProductName "DSQC1030"\
      -Label "ABB Local I/O Device" -Address "192.168.125.100" -VendorId 75\
      -ProductCode 29 -DeviceType 12 -OutputAssembly 100 -InputAssembly 101\
      -ConfigurationAssembly 102 -InputConnectionType "POINT2POINT"\
      -ConnectionPriority "SCHEDULE" -OutputSize 2 -InputSize 2\
      -ConfigurationSize 8\
      -ConfigurationData00 "01 02 09 10 01 08 10 01 00 00 00 00 00 00 00 00"\
      -O2T_RPI 40000 -T2O_RPI 40000

3. 鏇挎崲淇敼瀹屾垚鍚庯紝闇€瑕佹妸淇敼鍚庣殑澶囦唤鎭㈠鍒版帶鍒跺櫒涓€�

  - 浣跨敤 RobotStudio 鎭㈠澶囦唤 
    
    [1] 鎸夌収鈥滃鍏ョ▼搴忊€濅腑鈥滀娇鐢� RobotStudio 鏉ュ浠芥満鍣ㄤ汉绋嬪簭鈥濈殑鍓嶄袱姝ュ皢 RobotStudio 鍜屾満鍣ㄤ汉杩炴帴

    [2] 杩炴帴鍚庣偣鍑� ``鎺у埗鍣�(C)``-> ``澶囦唤``-> ``浠庡浠戒腑鎭㈠``锛岄€夋嫨淇敼鍚庣殑澶囦唤鏂囦欢

      .. figure:: img/abb_restore_1.png
        :width: 400px
        :align: center

        RobotStudio鎭㈠澶囦唤
    
    [3] 鐐瑰嚮纭畾鍚庯紝鏈哄櫒浜哄皢鑷姩閲嶅惎杩涜澶囦唤鎭㈠銆�

  - 浣跨敤U鐩樻仮澶嶅浠�

    [1] 灏嗕慨鏀圭殑澶囦唤绋嬪簭鎷疯礉鍒癠鐩樹腑

    [2] 灏哢鐩樻彃鍒扮ず鏁欏櫒鐨刄鐩樺彛涓�

    [3] 鍦ㄧず鏁欏櫒涓婁緷娆＄偣鍑� ``MENU`` -> ``澶囦唤涓庢仮澶峘` -> ``鎭㈠绯荤粺`` 閫夋嫨U鐩樹腑淇敼鍚庣殑澶囦唤鏂囦欢璺緞锛岀偣鍑� ``纭畾``

      .. figure:: img/abb_restore_2.png
        :width: 400px
        :align: center

        U鐩樻仮澶嶅浠�

    [4] 鐐瑰嚮 ``鎭㈠`` 鏈哄櫒浜哄皢鑷姩閲嶅惎杩涜澶囦唤鎭㈠.


閰嶇疆 IO 淇″彿
+++++++++++++++++++++++++++++++++++++++++++++++

濡傛灉鍦ㄥ鍏ョ▼搴忕殑姝ラ涓 EIO.cfg 鏂囦欢涓殑 IO 淇″彿鍜� IO 鏉垮崱鍋氫簡鏄犲皠锛岄偅涔堝氨涓嶉渶瑕佸湪閰嶇疆 IO 淇″彿銆傚彟澶栧鏋滃彧鏄� **鏈烘鑷備富鎺�**锛岃繘琛� **鏍囧畾** 鎿嶄綔锛屼篃鍙互涓嶆妸IO淇″彿鏄犲皠鍒扮墿鐞嗚澶囦笂銆�
鏈楠ら€傚悎 EIO.cfg 鏂囦欢鍙畾涔変簡 IO 淇″彿锛屾病鏈夋妸 IO 淇″彿鏄犲皠鍒� IO 鏉垮崱涓婏紝鎴栬€呬慨鏀瑰凡缁忔槧灏勫ソ鐨� IO 淇″彿銆�

- 浣跨敤 RobotStudio 閰嶇疆 IO 淇″彿锛�**寤鸿**锛�

  [1] 鐢ㄧ綉绾胯繛鎺ヨ濂� RobotStudio 鐨勭數鑴戝拰鎺у埗鏌滀笂鐨� **X2 鏈嶅姟锛圫ervice锛夊彛** 銆傜數鑴戜娇鐢ㄨ嚜鍔ㄥ彇寰� IP锛圖HCP锛夛紝涓嶈鎵嬪姩璁剧疆锛孹2 鍙ｄ細鑷姩鍒嗛厤 192.168.125.* 鐨� IP 缁欑數鑴戙€�

  [2] 鍚姩 RobotStudio锛屼緷娆＄偣鍑� ``鏂囦欢``-> ``鍦ㄧ嚎``-> ``涓€閿繛鎺`銆�

  [3] 鐐瑰嚮 ``鎺у埗鍣�(C)`` 涓殑 ``璇锋眰鍐欐潈闄恅`锛岀劧鍚庡湪绀烘暀鍣ㄤ笂鐐瑰嚮 ``鍚屾剰``銆�

    .. figure:: img/abb_io_setting_robostudio_1.png
      :width: 400px
      :align: center

      RobotStudio 璇锋眰鍐欐潈闄�

  [4] 閫夋嫨 ``閰嶇疆`` 涓殑 ``I/O System``, 鐒跺悗鍗曞嚮绫诲瀷鏍忛噷鐨� ``Signal``锛屽紑濮嬮厤缃俊鍙�

      .. figure:: img/abb_io_setting_robostudio_2.png
        :width: 600px
        :align: center

        RobotStudio 閰嶇疆 I/O System

  [5] 寮€濮� IO 淇″彿鍜岀‖浠朵箣闂寸殑鏄犲皠銆�
  
    - IO 淇″彿鍜屾暟瀛楅噺杈撳嚭绔彛鐨勬槧灏勩€備笅闈互 IO 淇″彿 鈥渙utput0鈥� 鍜� DSQC 652 IO 鏉垮崱涓轰緥鍋氳鏄�:

      鍙屽嚮 鈥淣ame鈥� 涓€鏍忎腑鐨� 鈥渙utput0鈥� 锛屽脊鍑� 鈥渙utput0鈥� 鐨勯厤缃晫闈€€�
      
      鍦� 鈥淎ssign to Device鈥� 涓€夋嫨姝� IO 淇″彿 浣跨敤鐨� IO 鏉垮崱銆�
      
      鍦� 鈥淒evice Mapping鈥� 涓緭鍏ュ叿浣撴槧灏勫埌IO鏉垮崱涓婄殑绔彛銆�
      
      鍗曞嚮閰嶇疆鐣岄潰搴曢儴鐨勨€滅‘瀹氣€濆畬鎴愰厤缃€�

      瀹屾垚鍚庡嵆鍙皢 鈥渙utput0鈥� 鏄犲皠鍒� DSQC 652鏁板瓧閲忚緭鍑虹殑0鍙风鍙ｄ笂銆傛寜鐓ф鏂规硶瀹屾垚 鈥渙utput0鈥� 鍒� 鈥渙utput15鈥� 杩欏崄鍏釜鏁板瓧閲忚緭鍑� IO 淇″彿鐨勯厤缃€�

    .. figure:: img/abb_io_setting_robostudio_3.png
      :width: 400px
      :align: center

      RobotStudio 娣诲姞 鈥渙utput0鈥� 绔彛

    - IO 淇″彿鍜屾暟瀛楅噺杈撳叆绔彛鐨勬槧灏勶紝涓嬮潰浠� IO 淇″彿 input0 鍜� DSQC 652 IO 鏉垮崱涓轰緥鍋氳鏄�:

      鍙屽嚮 鈥淣ame鈥� 涓€鏍忎腑鐨� 鈥渋nput0鈥� 锛屽脊鍑� 鈥渋nput0鈥� 鐨勯厤缃晫闈€€�
      
      鍦� 鈥淎ssign to Device鈥� 涓€夋嫨姝� IO 淇″彿浣跨敤鐨� IO 鏉垮崱銆�
      
      鍦� 鈥淒evice Mapping鈥� 涓緭鍏ュ叿浣撴槧灏勫埌 IO 鏉垮崱涓婄殑绔彛銆�

      鍗曞嚮閰嶇疆鐣岄潰搴曢儴鐨勨€滅‘瀹氣€濆畬鎴愰厤缃€�

      瀹屾垚鍚庡嵆鍙皢 鈥渋nput0鈥� 鏄犲皠鍒� DSQC 652 鏁板瓧閲忚緭鍏ョ殑0鍙风鍙ｄ笂銆傛寜鐓ф鏂规硶瀹屾垚 鈥渋nput0鈥� 鍒� 鈥渋nput15鈥� 杩欏崄鍏釜鏁板瓧閲忚緭鍏� IO 淇″彿鐨勯厤缃€�

      .. figure:: img/abb_io_setting_robostudio_4.png
        :width: 400px
        :align: center

        RobotStudio 娣诲姞 鈥渋nput0鈥� 绔彛

    - GroupDO淇″彿閰嶇疆

      鍙屽嚮 鈥淣ame鈥� 涓€鏍忎腑鐨� 鈥淕roupDO鈥� 锛屽脊鍑� 鈥淕roupDO鈥� 鐨勯厤缃晫闈€€�

      鍦� 鈥淎ssign to Device鈥� 涓€夋嫨姝� GroupDO 淇″彿 浣跨敤鐨� IO 鏉垮崱銆�
      
      鍦� 鈥淒evice Mapping鈥� 涓緭鍏ュ叿浣撴槧灏勫埌 IO 鏉垮崱涓婄鍙ｇ殑鑼冨洿銆�

      鍗曞嚮閰嶇疆鐣岄潰搴曢儴鐨勨€滅‘瀹氣€濆畬鎴愰厤缃€�
    
        .. figure:: img/abb_io_setting_robostudio_5.png
          :width: 400px
          :align: center
    
          RobotStudio 娣诲姞 鈥淕roupDO鈥� 绔彛

    鍙互瀹屾垚鎵€鏈変俊鍙风殑閰嶇疆鍚庡啀閲嶅惎鎺у埗鍣紝杩欐牱鍙互鑺傜渷鏃堕棿銆傚彟澶栦俊鍙烽厤缃畬鎴愬悗蹇呴』閲嶅惎鎺у埗鍣ㄦ墠鑳界敓鏁堛€�

- 浣跨敤绀烘暀鍣ㄨ瀹�
  
  [1] 鍗曞嚮绀烘暀鍣ㄥ乏涓婅鐨勪富鑿滃崟鎸夐挳锛岃繘鍏� ``鎺у埗闈㈡澘`` 锛堥鍏堝皢鏈烘鑷傝繍琛屾ā寮忓垏鎹㈣嚦鎵嬪姩妯″紡锛屽湪鑷姩鎴栨墜鍔ㄥ叏閫熸ā寮忎笅鏃犳硶瀵逛俊鍙疯繘琛岄厤缃搷浣滐級銆�
  
    .. figure:: img/abb_io_setting_pedent_1.png
      :width: 400px
      :align: center

      绀烘暀鍣ㄤ富鑿滃崟

  [2] 閫夋嫨鈥滈厤缃€濄€�

    .. figure:: img/abb_io_setting_pedent_2.png
      :width: 400px
      :align: center

      绀烘暀鍣ㄩ厤缃�

  [3] 鍙屽嚮 鈥淪ignal鈥� 锛堟垨閫変腑 鈥淪ignal鈥� 锛岀劧鍚庡崟鍑荤ず鏁欏櫒鍙充笅瑙掔殑鈥滄樉绀哄叏閮ㄢ€濓級銆�

    .. figure:: img/abb_io_setting_pedent_3.png
      :width: 400px
      :align: center

      绀烘暀鍣ㄤ俊鍙�

  [4] 寮€濮� IO 淇″彿鍜岀‖浠朵箣闂寸殑鏄犲皠銆�
  
  - IO 淇″彿鍜屾暟瀛楅噺杈撳嚭绔彛鐨勬槧灏勩€備笅闈互 IO 淇″彿 鈥渙utput0鈥� 鍜� DSQC 652 IO 鏉垮崱涓轰緥鍋氳鏄�:

    鍦� 鈥淪ignal鈥� 涓壘鍒� 鈥渙utput0鈥� 骞堕€変腑锛岀劧鍚庣偣鍑� ``缂栬緫`` 鍒囨崲鍒� 鈥渙utput0鈥� 鐨勯厤缃晫闈€€�
    
    鍦� 鈥淎ssign to Device鈥� 涓€夋嫨姝� IO 淇″彿浣跨敤鐨� IO 鏉垮崱銆�
    
    鍦� 鈥淒evice Mapping鈥� 涓緭鍏ュ叿浣撴槧灏勫埌 IO 鏉垮崱涓婄殑绔彛銆�
    
    鍗曞嚮閰嶇疆鐣岄潰搴曢儴鐨勨€滅‘瀹氣€濆畬鎴愰厤缃€�

  .. figure:: img/abb_io_setting_pedent_5.png
    :width: 400px
    :align: center

    绀烘暀鍣ㄦ坊鍔� 鈥渙utput0鈥� 绔彛

  - IO 淇″彿鍜屾暟瀛楅噺杈撳叆绔彛鐨勬槧灏勶紝涓嬮潰浠� IO 淇″彿 鈥渋nput0鈥� 鍜� DSQC 652 IO 鏉垮崱涓轰緥鍋氳鏄�:

    鍦� 鈥淪ignal鈥� 涓壘鍒� 鈥渋nput0鈥� 骞堕€変腑锛岀劧鍚庣偣鍑� ``缂栬緫`` 鍒囨崲鍒� 鈥渋nput0鈥� 鐨勯厤缃晫闈€€�
    
    鍦� 鈥淎ssign to Device鈥� 涓€夋嫨姝� IO 淇″彿 浣跨敤鐨� IO 鏉垮崱銆�
    
    鍦� 鈥淒evice Mapping鈥� 涓緭鍏ュ叿浣撴槧灏勫埌 IO 鏉垮崱涓婄殑绔彛銆�

    鍗曞嚮閰嶇疆鐣岄潰搴曢儴鐨勨€滅‘瀹氣€濆畬鎴愰厤缃€�

  .. figure:: img/abb_io_setting_pedent_6.png
    :width: 400px
    :align: center

    绀烘暀鍣ㄦ坊鍔� 鈥渋nput0鈥� 绔彛

  - GroupDO淇″彿閰嶇疆

      鍦� 鈥淪ignal鈥� 涓壘鍒� 鈥淕roupDO鈥� 骞堕€変腑锛岀劧鍚庣偣鍑� ``缂栬緫`` 鍒囨崲鍒� 鈥淕roupDO鈥� 鐨勯厤缃晫闈€€�

      鍦� 鈥淎ssign to Device鈥� 涓€夋嫨姝� GroupDO 淇″彿 浣跨敤鐨� IO 鏉垮崱銆�
      
      鍦� 鈥淒evice Mapping鈥� 涓緭鍏ュ叿浣撴槧灏勫埌 IO 鏉垮崱涓婄鍙ｇ殑鑼冨洿銆�

      鍗曞嚮閰嶇疆鐣岄潰搴曢儴鐨勨€滅‘瀹氣€濆畬鎴愰厤缃€�

  .. figure:: img/abb_io_setting_pedent_7.png
    :width: 400px
    :align: center

    绀烘暀鍣ㄦ坊鍔� GroupDO 绔彛


鍥涜酱鏈烘鑷傞渶瑕佽繘琛岀殑鎿嶄綔
+++++++++++++++++++++++++++++++++++

鍥涜酱鏈烘鑷傝繍琛屽墠锛岄渶瑕佹敞閲� RAPID 浠ｇ爜涓満姊拌噦 Move 鍛戒护鍓嶅悗鐨勶細 ``SingArea \Wrist`` 锛� ``ConfL \On``锛� ``ConfL \Off`` 浠ｇ爜銆�

渚嬪锛�

.. code-block::

  ! ConfL \On;
  ! SingArea \Wrist;
  MoveL target, gMotSpeed, gMotZone, gMotTool \WObj := gMotWobj;
  ! ConfL \Off;


鍏酱鏈烘鑷傚畬鎴愭媶鐮佸灈椤圭洰闇€瑕佽繘琛岀殑鎿嶄綔
+++++++++++++++++++++++++++++++++++

鍏酱鏈烘鑷�(姣斿ABB 6700)杩愯鎷嗙爜鍨涗换鍔″墠锛屽彲浠ラ€氳繃閿佸畾鏈哄櫒浜哄洓杞翠娇寰楁満鍣ㄤ汉閫氳繃濂囧紓鐐�. 棣栧厛闇€瑕佷慨鏀� RAPID 浠ｇ爜涓満姊拌噦 Move 鍛戒护鍓嶅悗鐨勶細 ``SingArea \Wrist``浠ｇ爜銆傚皢 ``SingArea \Wrist``鏀规垚 ``SingArea \LockAxis4`` .

渚嬪锛�

.. code-block::

  ConfL \On;
  SingArea \LockAxis4;
  MoveL target, gMotSpeed, gMotZone, gMotTool \WObj := gMotWobj;
  ConfL \LockAxis4;

鍚屾椂鍦╩ax涓渶瑕佸皢鍥涜酱鐨勮蒋闄愪綅璁句负+/-175, 灏嗗伐浣滅┖闂磋皟鏁村埌绔栫洿鍚戜笂,浠ュ強寮€鍚瑙夋ā鍧椾腑z杞存柟鍚戜慨姝�.