瀹夎椹卞姩
============================

涓夎彵 鏈烘鑷傞┍鍔ㄦ枃浠跺垪琛�
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-- mitsubishi
    - fake_motion_server.py (鍐呴儴娴嬭瘯绋嬪簭锛岀敤涓嶅埌)
    - fake_status_server.py (鍐呴儴娴嬭瘯绋嬪簭锛岀敤涓嶅埌)
    - MASTERTEST.prg (鍐呴儴娴嬭瘯绋嬪簭锛岀敤涓嶅埌)
    - ``XYZMOTION.prg`` (宸ユ帶鏈轰富鎺э細鍓嶅彴绋嬪簭)
    - ``XYZSTATUS.prg`` (宸ユ帶鏈轰富鎺э細鍚庡彴绋嬪簭)
    - ``XYZCARTBASIC.prg`` (鏈烘鑷備富鎺э細CartMove鍩虹妯℃澘)
    - ``XYZCARTREPO.prg`` (鏈烘鑷備富鎺э細CartMove浜屾瀹氫綅妯℃澘)
    - ``XYZTRAJASYNC.prg`` (鏈烘鑷備富鎺э細TrajMove寮傛妯℃澘)
    - ``XYZTRAJSYNC.prg`` (鏈烘鑷備富鎺э細TrajMove鍚屾妯℃澘)
    - ``XYZUTILS.prg`` (鏈烘鑷備富鎺э細api鍑芥暟鏂囦欢)

瀹夎涓夎彵杞欢 ``RT ToolBox3`` 
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涓夎彵 ``RT ToolBox3`` 鍙互鍦ㄧ數鑴戜笂鏂逛究杩炴帴鏈哄櫒浜恒€佺▼搴忓鍏ュ鍑恒€佺▼搴忕紪鍐欒繍琛岀瓑銆�

涓夎彵 ``RT ToolBox3`` 杞欢鐨勮幏鍙栵紝璇峰挩璇㈠鎴锋垨鑰呯浉鍏虫彁渚涘晢銆�

浠ヤ笅鎿嶄綔鍩轰簬 ``RT ToolBox3``锛屼笖绀烘暀鍣ㄥ瀷鍙蜂负 R32銆備笉鍚岀ず鏁欏櫒鎿嶄綔鐣ユ湁涓嶅悓锛岃鐢ㄦ埛鏍规嵁鍏蜂綋鎯呭喌鎿嶄綔銆�


璁惧畾鏈烘鑷� IP
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**纭鏈哄櫒浜哄綋鍓岻P鍦板潃**

1. 灏嗘満鍣ㄤ汉鍒囨崲鍒版墜鍔ㄦā寮�
2. 纭繚绀烘暀鍣ㄧ敾闈㈣繑鍥炲埌涓荤晫闈�
   
   杩斿洖鏂规硶锛氭寜绀烘暀鍣ㄧ敾闈㈠彸涓嬭鐨� ``CLOSE`` 鏍囩瀵瑰簲鐨勬寜閽€傚鏋� ``CLOSE`` 鏍囩鍦ㄤ笅涓€涓〉闈腑锛屽垯鍙互鎸� ``FUNCTION`` 鎸夐挳鍒囨崲鍒颁笅涓€涓〉闈€€�


3. 绀烘暀鍣ㄤ笂鎵ц ``F1`` -> 绉诲姩绠ご鍒� ``3.PARAM`` -> ``EXE`` -> 鍦� NAME閫夐」涓緭鍏� NETIP  -> ``EXE`` -> 鍙互鏌ョ湅褰撳墠鏈烘鑷傜綉鍙ｇ殑IP鍦板潃 -> 鎸夌晫闈㈠彸涓嬭 CLOSE閫夐」瀵瑰簲鐨凢鎸夐挳鍏抽棴褰撳墠鏌ヨ椤甸潰

    .. figure:: img/netip.PNG
        :width: 400px
        :align: center

        绀烘暀鍣ㄦ煡鐪婭P鍦板潃      

**浣跨敤 RT ToolBox3銆€鍒涘缓椤圭洰骞朵慨鏀规満鍣ㄤ汉鐨処P鍦板潃**

1. 纭繚鏈哄櫒浜哄拰鐢佃剳澶勪簬缁熶竴IP缃戞
2. 鎵撳紑 ``RT ToolBox3`` -> 鑿滃崟鏍� ``宸ヤ綔鍖篳` -> ``鏂板缓`` -> 閫夋嫨鐩稿簲鏂囦欢澶瑰苟杈撳叆宸ヤ綔鍖哄悕 -> ``OK``
   
    .. figure:: img/create_ws.png
        :width: 497px
        :align: center

        鍒涘缓宸ヤ綔鍖�

3. 鍚庣画璁剧疆濡備笅锛�
   
    .. figure:: img/mit_Step1.png
        :width: 852px
        :align: center

        Step1

    .. figure:: img/mit_Step2.png
        :width: 852px
        :align: center

        Step2

    .. figure:: img/mit_Step3.png
        :width: 852px
        :align: center

        Step3

   褰撴満鍣ㄤ汉IP鍦板潃鍜岀ず鏁欏櫒涓婃煡鐪嬪埌鐨勪竴鑷达紝涓斿伐鎺ф満涔熶笌鍏跺悓涓€缃戞鏃讹紝鍦ㄨ烦鍑虹殑瀵硅瘽妗嗕腑閫夋嫨 ``鍦ㄧ嚎`` 鍗冲彲杩炴帴涓婃満鍣�

    .. figure:: img/online.png
        :width: 558px
        :align: center

        鍦ㄧ嚎
   
   鍚庣画涔熷彲浠ラ€氳繃鑿滃崟鏍忕殑 ``涓婚〉`` -> ``妯″紡`` -> ``鍦ㄧ嚎`` 杩炴帴鏈哄櫒浜�

4. 閫氳璁剧疆锛氬搴旂殑椤圭洰 -> 瀵瑰簲鐨勫伐绋嬪悕 -> ``鍦ㄧ嚎`` -> ``鍙傛暟`` -> ``閫氫俊鍙傛暟`` -> ``Ethernet璁惧畾``锛屽仛濡備笅璁惧畾, 鐒跺悗 ``鍐欏叆`` -> 绛夊緟鎺у埗鍣ㄥ浣嶅拰杞欢閲嶈繛
   
    .. figure:: img/IP-setting1.png
        :width: 1296px
        :align: center

        閫氳璁剧疆1

    .. figure:: img/IP-setting2.png
        :width: 397px
        :align: center

        閫氳璁剧疆2  


   宸ユ帶鏈轰富鎺у拰鏈烘鑷備富鎺т腑锛屾満鍣ㄤ汉鍧囧仛socket client锛堝鎴风锛夛紝宸ユ帶鏈哄仛socket server锛堟湇鍔″櫒锛夈€�

   宸ユ帶鏈轰富鎺х敤鍒癈OM1鍜孋OM2锛屾満姊拌噦涓绘帶鐢ㄥ埌COM3锛屼笉瑕佷慨鏀笴OM鍦板潃銆�

   榛樿璁惧鐢ㄥ埌OPT15/OPT16/OPT17銆傜敤鎴峰鏋滈渶瑕佹眰鏀硅澶囷紝璇疯嚦灏戜粠OPT14寮€濮嬩娇鐢ㄣ€�


瀵煎叆绋嬪簭
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1. 灏哅ax瀹夎璺緞涓� ``/share/robot_code/mitsubishi`` 涓嬫墍鏈夌殑.prg鏂囦欢鎷疯礉鍒� ``RT ToolBox3`` 瑕佷娇鐢ㄧ殑椤圭洰鏂囦欢澶圭殑 ``Program`` 鏂囦欢澶逛笅
   
    .. figure:: img/prg-copy.png
        :width: 730px
        :align: center

        绋嬪簭澶嶅埗鍒� ``RT ToolBox3`` 鐨勯」鐩笅

2. 宸ヤ綔鍖� -> 瀵瑰簲鐨勯」鐩� -> 瀵瑰簲鐨勫伐绋嬪悕 -> ``鍦ㄧ嚎`` -> ``绋嬪簭`` -> 鍙抽敭 ``绋嬪簭绠＄悊`` 
   
    .. figure:: img/prg-manage.png
        :width: 287px
        :align: center

        绋嬪簭绠＄悊

3. 鍦� ``绋嬪簭绠＄悊`` 寮圭獥涓�,璁剧疆浼犻€佹簮涓� ``宸ョ▼`` 锛� 鏂囦欢涓€鏍忎腑鍕鹃€夊搴旂殑涓夎彵绋嬪簭鏂囦欢銆傚湪浼犻€佺洰鏍囦腑閫夋嫨鏈哄櫒浜猴紝鐒跺悗鐐� ``澶嶅埗``銆傜瓑寰呭鍒跺畬鎴愬苟鍏抽棴绐楀彛鍗冲彲銆�
   
    .. figure:: img/prg-copy2.png
        :width: 852px
        :align: center

        绋嬪簭绠＄悊

    .. figure:: img/prg-copy3.png
        :width: 279px
        :align: center

        纭畾


涓夎彵鏈哄櫒浜哄父瑙佹搷浣滄眹鎬�
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鍙互蹇€熸煡闃呭父瑙佹搷浣�

**绀烘暀鍣ㄥ父瑙佹搷浣�**

1. 鍒囨崲鍒版墜鍔ㄦā寮�
   
   灏嗘満鍣ㄤ汉妯″紡寮€鍏冲垏鎹㈠埌鎵嬪姩妗ｏ紝骞舵縺娲荤ず鏁欏櫒鑳岄潰鐨勬潈闄愭寜閽紝浣跨ず鏁欏櫒鏉冮檺鐏负浜殑鐘舵€�

2. 鎵嬪姩鐘舵€佷笅浣胯兘
   
   鎸変綇绀烘暀鍣ㄨ儗闈㈢殑浣胯兘寮€鍏� + ``SERVO`` 鎸夐敭

3. 鍒囨崲鍒拌嚜鍔ㄦā寮�
   
   灏嗘満鍣ㄤ汉妯″紡寮€鍏冲垏鎹㈠埌鑷姩妗ｏ紝骞剁唲鐏ず鏁欏櫒鑳岄潰鐨勬寚绀虹伅

4. 娓呴敊
   
   鎸夌ず鏁欏櫒鐨� ``RESET`` 鎸夐挳

5. 鏌ョ湅鏈哄櫒浜哄綋鍓嶄綅缃�
   
   鎸夌ず鏁欏櫒鐨� ``JOG`` 鎸夐敭

6. 鍒囨崲鑿滃崟鏍�
   
   褰撹彍鍗曟爮閫夐」杈冨锛屾棤娉曞湪涓€涓晫闈腑鏄剧ず瀹屽叏鏃讹紝鍙互鎸夌ず鏁欏櫒鐨� ``FUNCTION`` 杩涜鑿滃崟鏍忓垏鎹�


**RT ToolBox3鎿嶄綔闈㈡澘浠嬬粛**


  .. figure:: img/panel.png
      :width: 618px
      :align: center