Delta AH500QS_O_SC快速入门指南

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"Delta_AH500QS_O_SC" 这篇资源是关于Delta AH500QS系列PLC的快速入门手册，旨在帮助用户快速理解和操作这款工业自动化控制器。手册涵盖了从系统架构到程序规划撰写的主要步骤，适合初次接触AH500系列的新手。 第1章简介： 1.1手册内容简介： 手册详细介绍了AH500系列的不同类型的手册，包括硬件手册、操作手册、程序手册、模块手册以及运动控制模块手册，这些手册分别针对不同需求提供全面的指导。此外，还有专门的ISPSoft和PMSoft使用手册，用于辅助用户进行编程和运动控制设置。 1.2系统架构简介： 这部分简述了AH500PLC的基本结构，可能涉及CPU模块、I/O模块、电源模块以及其他扩展模块的组合，以及它们在系统中的相互作用。 1.3主机运作介绍： 这部分将深入解释AH500PLC的运行机制，包括数据处理、通信功能、故障检测和诊断等。 第2章程序规划撰写： 2.1准备工作： 详细列出了开始编程前需要准备的硬件、软件和工具，如PLC模块、电脑、编程软件ISPSoft或PMSoft，以及可能需要的连接线缆和端子。 2.2安装与配线： 这部分介绍了如何正确安装模块和端子，以及各种I/O模块的接线方法，包括电源、数字输入/输出和模拟输入/输出模块。 2.3范例说明和项目建立： 提供了实例来演示编程过程，并指导用户如何创建项目，规划硬件架构，定义全局符号，建立功能块，以及编写主程序。 第3章程序规划撰写（部分重复，可能是误复制）： 3.1COMMGR设定： 讲解了如何启动和配置COMMGR（通信管理器），这是用于设置PLC与电脑或其他设备通信的重要工具。 3.2专案下载： 指导用户如何设定项目通讯参数，下载硬件设定和程序内容到PLC，确保程序能够正确地上传和下载。 3.3程序监视与除错： 这部分介绍了如何监控程序执行情况，以及进行程序和系统的调试，帮助用户查找和解决潜在问题。 总结来说，Delta AH500QS快速入门手册为用户提供了一个逐步学习和实践的平台，从基础的系统了解、硬件安装到程序设计和调试，全方位地支持用户掌握这款PLC的使用。通过这个手册，用户可以快速上手并高效地进行工业自动化系统的开发和维护。

DELTA_AH500运动控制模块手册.pdf

2021-07-14 上传
根据提供的信息，下面将介绍与“DELTA_AH500运动控制模块手册”相关联的知识点。这本手册主要涉及台达AH500系列运动控制模块，一个专门用于控制运动系统的设备，通常用于工业自动化领域。同时，手册中提到的PLC（可...

delta_txz = delta_tx**2+delta_tz**2

2024-05-26 上传
这个式子可以看作是勾股定理的变形，其中delta_tx和delta_tz代表直角三角形的两条直角边的长度，而delta_txz代表斜边的长度。因此可以将delta_tx和delta_tz看作是已知量，然后通过这个式子来计算出斜边的长度。 在...

优化这段代码为8个X：import numpy as npdef gray_relation_analysis(X, Y): # 将X、Y序列进行归一化处理 X0 = np.array([min(X), max(X)]) X1 = (X - X0[0]) / (X0[1] - X0[0]) Y1 = (Y - min(Y)) / (max(Y) - min(Y)) # 求出X1、Y1的均值 x_mean = np.mean(X1) y_mean = np.mean(Y1) # 计算灰色关联度 k = len(X1) delta_x = np.abs(X1 - x_mean) delta_y = np.abs(Y1 - y_mean) # 求出最大值和最小值 delta_x_max = np.max(delta_x) delta_x_min = np.min(delta_x) delta_y_max = np.max(delta_y) delta_y_min = np.min(delta_y) # 计算关联度 r = 0.5 for i in range(k): a = r * (delta_x_max - delta_x[i]) / (delta_x_max - delta_x_min) + (1 - r) * (delta_y_max - delta_y[i]) / (delta_y_max - delta_y_min) print("第%d个元素的关联度为%f" % (i+1, a))# 测试X = np.array([1, 2, 3, 4, 5])Y = np.array([2, 3, 5, 7, 9])gray_relation_analysis(X, Y)

2023-06-11 上传
a = r * (delta_x_max - delta_x) / (delta_x_max - delta_x_min) + (1 - r) * (delta_y_max - delta_y) / (delta_y_max - delta_y_min) print("元素的关联度为：") for i in range(k): print("%.8f" % a[i]) #...

void LCD_DrawLine(u16 x1, u16 y1, u16 x2, u16 y2) { u16 t; int xerr=0,yerr=0,delta_x,delta_y,distance; int incx,incy,uRow,uCol; delta_x=x2-x1; //计算坐标增量 delta_y=y2-y1; uRow=x1; uCol=y1; if(delta_x>0)incx=1; //设置单步方向 else if(delta_x==0)incx=0;//垂直线 else {incx=-1;delta_x=-delta_x;} if(delta_y>0)incy=1; else if(delta_y==0)incy=0;//水平线 else{incy=-1;delta_y=-delta_y;} if( delta_x>delta_y)distance=delta_x; //选取基本增量坐标轴 else distance=delta_y; for(t=0;t<=distance+1;t++ )//画线输出 { _LCD_DrawPoint(uRow,uCol);//画点 xerr+=delta_x ; yerr+=delta_y ; if(xerr>distance) { xerr-=distance; uRow+=incx; } if(yerr>distance) { yerr-=distance; uCol+=incy; } } } 逐行注释

2023-06-08 上传
if(delta_x>delta_y) distance=delta_x; // 如果x坐标增量大于y坐标增量，基本增量坐标轴的长度选择x坐标增量 else distance=delta_y; // 否则选择y坐标增量 for(t=0;t;t++ ) // 循环绘制线条 { _LCD_...

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90*du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180*du, 365*du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3*du, 63*du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60*du, 120*du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230*du, 326*du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1 * T2 * T3 * T4; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i), 1) * delta_a; end for i = 1:4 delta_T = delta_T + diff(T, a(i), 1) * delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, alpha(i), 1) * delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, d(i), 1) * delta_d; end delta_theta = 0.02*du; for i = 1:4 delta_T = delta_T + diff(T, theta(i), 1) * delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, beta(i), 1) * delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;错误使用 diff 差分阶数 N 必须为正整数标量。 出错 ceshi (line 21) delta_T = delta_T + diff(T, a(i), 1) * delta_a; 怎么使用这个查分结束N ，一直报错

2023-06-02 上传
delta_T = delta_T + diff(T, alpha(i), 1, delta_alpha); delta_T = delta_T + diff(T, d(i), 1, delta_d); delta_T = delta_T + diff(T, theta(i), 1, delta_theta); delta_T = delta_T + diff(T, beta(i), 1,...

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90du+0.02, 0, 0.023, 0.08]; beta = zeros(1, 4)+0; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180du, 365du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3du, 63du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60du, 120du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230du, 326du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1T2T3T4; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i))*delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, d(i))delta_d; end delta_theta = 0.02du; for i = 1:4 delta_T = delta_T + diff(T, theta(i))*delta_theta; end delta_beta = 0.0; for i = 1:4 delta_T = delta_T + diff(T, beta(i))*delta_beta; end q = [theta(1), 0, theta(3), theta(4)]; T = Needle.fkine(q); pos = T(1:3, 4); euler = tr2eul(T, 'ZYX')/du; delta_pos = delta_T(1:3, 4); delta_euler = tr2eul(delta_T, 'ZYX')/du;上段代码显示错误使用 diff 差分阶数 N 必须为正整数标量。 出错 ceshi2 (line 28) delta_T = delta_T + diff(T, a(i))*delta_a;

2023-06-02 上传
delta_T = delta_T + diff(T, 1, a(i))*delta_a; end delta_alpha = 0.003; for i = 1:4 delta_T = delta_T + diff(T, 1, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff...

% 输出末端位姿误差 fprintf('末端位姿误差：\n'); fprintf('Delta x: %.6f mm\n', delta_pos_mm(1)); fprintf('Delta y: %.6f mm\n', delta_pos_mm(2)); fprintf('Delta z: %.6f mm\n', delta_pos_mm(3)); fprintf('Delta roll: %.6f deg\n', delta_rpy(1)); fprintf('Delta pitch: %.6f deg\n', delta_rpy(2)); fprintf('Delta yaw: %.6f deg\n', delta_rpy(3));这一部分能够改一下啊直接输出数值不要有%.6f这些东西

2023-06-02 上传
delta_T = delta_T4 * delta_T3 * delta_T2 * delta_T1; delta_pos = delta_T(1:3, 4); % 提取位置误差 delta_pos_mm = delta_pos * 1000; % 将位置误差转换为毫米单位 delta_rpy = tr2rpy(delta_T, 'deg'); % 计算...

clear all; clc; du = pi/180; L1(1) = Link('theta', 90*du+0.02, 'a', 0+0.001, 'alpha', 0+0.003, 'qlim', [180, 365], 'modified'); L1(2) = Link('d', 0+0.001, 'a', 185+0.0079, 'alpha', 0+0.001, 'qlim', [3*du, 63*du], 'modified'); L1(3) = Link('d', 90+0.005, 'a', 0+0.005, 'alpha', pi/2+0.005, 'qlim', [60*du, 120*du], 'modified'); L1(4) = Link('theta', 0, 'a', 120+0.12, 'alpha', pi/2, 'qlim', [230, 326], 'modified'); L1(3).theta = L1(3).theta + 0.023; L1(4).theta = L1(4).theta + 0.08; Needle = SerialLink(L1, 'name', 'Needle'); a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [0+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 90+0.005, 0+0.005, 0]; theta = [90*du+0.02, 0, L1(3).theta, L1(4).theta]; beta = zeros(1, 4); T1 = DH(1, a(1), alpha(1), d(1), theta(1)+beta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)+beta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)+beta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)+beta(4)); T = T1*T2*T3*T4; delta_T = diff(T, a)*delta_a; delta_T = diff(T, alpha)*delta_alpha; delta_T = diff(T, d)*delta_d; delta_T = diff(T, theta)*delta_theta; delta_T = diff(T, beta)*delta_beta; delta_a = 0.001; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, a(i))*delta_a; end delta_alpha = 0.003; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, alpha(i))*delta_alpha; end delta_d = 0.005; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, d(i))*delta_d; end delta_theta = 0.02*du; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, theta(i))*delta_theta; end delta_beta = 0.0; delta_T = zeros(4, 4); for i = 1:4 delta_T = delta_T + diff(T, beta(i))*delta_beta; end q = [90*du, 0, L1(3).theta, L1(4).theta]; T = Needle.fkine(q); pos = T(1:3, 4) euler = tr2eul(T, 'ZYX')/du delta_pos = delta_T(1:3, 4) delta_euler = tr2eul(delta_T, 'ZYX')/du这段代码运行不出来显示T超出数组元素

2023-06-02 上传
delta_T = delta_T + diff(T, alpha(i))*delta_alpha; end delta_d = 0.005; for i = 1:4 delta_T = delta_T + diff(T, d(i))*delta_d; end delta_theta = 0.02*du; for i = 1:4 delta_T = delta_T + ...

clear all; clc; du = pi/180; a = [0+0.001, 185+0.0079, 0+0.005, 120+0.12]; alpha = [pi/2+0.003, 0+0.001, pi/2+0.005, pi/2]; d = [0+0.001, 0+0.0079, 90+0.005, 0+0.12]; theta = [90*du+0.02, 0, 0.023, 0.08]; L1(1) = Link('d', d(1), 'a', a(1), 'alpha', alpha(1), 'qlim', [180*du, 365*du], 'modified'); L1(2) = Link('d', d(2), 'a', a(2), 'alpha', alpha(2), 'qlim', [3*du, 63*du], 'modified'); L1(3) = Link('d', d(3), 'a', a(3), 'alpha', alpha(3), 'qlim', [60*du, 120*du], 'modified'); L1(4) = Link('d', d(4), 'a', a(4), 'alpha', alpha(4), 'qlim', [230*du, 326*du], 'modified'); Needle = SerialLink(L1, 'name', 'Needle'); % 输入四个关节角度值 theta = [30*du, 45*du, 60*du, 75*du]; % 计算正解得到末端位姿 T1 = DH(1, a(1), alpha(1), d(1), theta(1)); T2 = DH(2, a(2), alpha(2), d(2), theta(2)); T3 = DH(3, a(3), alpha(3), d(3), theta(3)); T4 = DH(4, a(4), alpha(4), d(4), theta(4)); T = T1 * T2 * T3 * T4; % Step 2：利用微分变换原理计算机器人各个连杆机构之间的微小原始偏差 delta_a = 0.001; % a参数的微小偏差 delta_alpha = 0.001; % alpha参数的微小偏差 delta_d = 0.001; % d参数的微小偏差 delta_theta = 0.001; % theta参数的微小偏差 delta_T1 = DH(1, a(1)+delta_a, alpha(1), d(1), theta(1)) - T1; delta_T2 = DH(2, a(2)+delta_a, alpha(2), d(2), theta(2)) - T2; delta_T3 = DH(3, a(3)+delta_a, alpha(3), d(3), theta(3)) - T3; delta_T4 = DH(4, a(4)+delta_a, alpha(4), d(4), theta(4)) - T4; % Step 3：计算误差矩阵 delta_T = delta_T1 * delta_T2 * delta_T3 * delta_T4; % Step 4：将误差矩阵转化为误差值 delta_x = delta_T(1,4); delta_y = delta_T(2,4); delta_z = delta_T(3,4); % 输出末端位姿误差 fprintf('末端位姿误差：\n'); fprintf('Delta x: %.6f mm\n', delta_x*1000); fprintf('Delta y: %.6f mm\n', delta_y*1000); fprintf('Delta z: %.6f mm\n', delta_z*1000);为什么我得到位姿矩阵为0，derta_T各行各列都是0

2023-06-02 上传
应该先将 `delta_T1` 乘以 `delta_T2`，然后再将结果乘以 `delta_T3`，最后再将结果乘以 `delta_T4`。修改后的代码如下： ``` delta_T = delta_T4 * delta_T3 * delta_T2 * delta_T1; ``` 另外，你的位姿矩阵为0的...

优化这段代码：import math # 定义一个测试栅格划的经纬度 test_lon = 114 test_lat = 22.5 # 划定栅格划分范围 min_lon = 113.75194 max_lon = 114.624187 min_lat = 22.447837 max_lat = 22.864748 # 定义栅格大小(单位m) accuracy = 500 # 计算栅格的经纬度增加量大小 delta_lon = accuracy * 360 / (2 * math.pi * 6371004 * math.cos((min_lat + max_lat) * math.pi / 360)) delta_lat = accuracy * 360 / (2 * math.pi * 6371004) # 计算栅格的经纬度编号 lon_col = (test_lon - (min_lon - delta_lon / 2)) // delta_lon lat_col = (test_lat - (min_lat - delta_lat / 2)) // delta_lat # 计算栅格的中心点经纬度 half_delta_lon = delta_lon / 2 half_delta_lat = delta_lat / 2 hb_lon = lon_col * delta_lon + min_lon - half_delta_lon hb_lat = lat_col * delta_lat + min_lat - half_delta_lat print(lon_col, lat_col, hb_lon, hb_lat, delta_lon, delta_lat)

2023-06-11 上传
accuracy = 500 def get_grid_center_point(lon, lat, accuracy): """ 将给定的经纬度划分到以accuracy为大小的栅格中，然后计算出栅格的中心点经纬度。 :param lon: 经度 :param lat: 纬度 :param accuracy: ...
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