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Zbasic 编程手册 V3.2.5
DRIVE_READ -- 参数读取......................................................................................................................480
DRIVE_WRITE -- 参数写入....................................................................................................................482
第十七章 简易例程...................................................................................................................................................486
常用操作.............................................................................................................................................................486
IO 操作....................................................................................................................................................... 486
SP 指令连续插补....................................................................................................................................... 486
字符串与数据相互转化............................................................................................................................ 487
手轮.............................................................................................................................................................487
飞剪应用.....................................................................................................................................................488
位置比较输出.............................................................................................................................................488
掉电保存.....................................................................................................................................................488
机械手应用.................................................................................................................................................488
编码器读取.................................................................................................................................................489
自定义 G 代码............................................................................................................................................490
模块通讯.............................................................................................................................................................493
CAN 通讯................................................................................................................................................... 493
触摸屏通讯.................................................................................................................................................494
自定义网口通讯.........................................................................................................................................498
控制器之间通讯.........................................................................................................................................499
自定义串口通讯和字符串使用................................................................................................................ 499
总线初始化.........................................................................................................................................................500
EtherCAT 初始化程序...............................................................................................................................500
Rtex 初始化程序........................................................................................................................................501
第十八章 错误与调试...............................................................................................................................................502
18.1 常见问题列表.............................................................................................................................................502
18.1.1 问题排查..........................................................................................................................................502
18.2 解决办法.....................................................................................................................................................504
18.2.1 手动运动调试................................................................................................................................. 504
18.2.2 断点调试..........................................................................................................................................505
18.2.3 示波器抓取......................................................................................................................................506
18.2.4 寄存器查看......................................................................................................................................506
18.2.5 在线发送命令................................................................................................................................. 507
18.2.6 打印程序信息................................................................................................................................. 507
18.2.7 IO 口快速检测................................................................................................................................ 508
18.2.8 轴参数状态判断............................................................................................................................. 508
18.3 常见问题解答.............................................................................................................................................510
附录Ⅰ 错误码列表...................................................................................................................................................514
附录Ⅱ MODBUS 协议............................................................................................................................................ 523
MODBUS 简介...................................................................................................................................................523
MODBUS 功能码及数据编址.......................................................................................................................... 524
附录Ⅲ ETHERCAT 通讯.........................................................................................................................................526
EtherCAT 总线优势........................................................................................................................................... 526
EtherCAT 时钟同步概念................................................................................................................................... 526
控制器和从站的 EtherCAT 通讯...................................................................................................................... 528
常用数据字典功能.............................................................................................................................................530
附录Ⅳ RTEX 总线................................................................................................................................................... 536
RTEX 总线简介................................................................................................................................................. 536
RTEX 总线优势................................................................................................................................................. 536
RTEX 总线通讯................................................................................................................................................. 537
附录Ⅴ CAN 总线..................................................................................................................................................... 545
CAN 总线简介................................................................................................................................................... 545