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DX200梯形图编辑手册

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安川机器人DX200梯形图编辑手册，里面讲的比较详细，关于怎么操作，编辑等

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MANUAL NO.

HW1481795

Part Number: 165558-1CD

Revision: 0

DX200

OPERATOR’S MANUAL

FOR LADDER EDITOR

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain

for future reference.

MOTOMAN INSTRUCTIONS

MOTOMAN- INSTRUCTIONS

DX200 INSTRUCTIONS

DX200 OPERATOR’S MANUAL

DX200 MAINTENANCE MANUAL

The DX200 operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

1/55

165558-1CD

HW1481795

Ladder Editor

MANDATORY

• This manual explains the ladder editing program of the DX200

system. Read this manual carefully and be sure to understand its

contents before handling the DX200.

• General items related to safety are listed in Chapter 1 of the DX200

instructions. To ensure correct and safe operation, carefully read

the section before reading this manual.

CAUTION

• Some drawings in this manual are shown with the protective covers

or shields removed for clarity. Be sure all covers and shields are

replaced before operating this product.

• The drawings and photos in this manual are representative

examples and differences may exist between them and the

delivered product.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in

specifications. If such modification is made, the manual number will

also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed

on the back cover. Be sure to tell the representative the manual

number listed on the front cover.

• YASKAWA is not responsible for incidents arising from unauthorized

modification of its products. Unauthorized modification voids your

product’s warranty.

2/55

iii

165558-1CD

HW1481795

Ladder Editor

Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or

inspection of the DX200.

In this manual, the Notes for Safe Operation are classified as “WARNING,”

“CAUTION,” “MANDATORY,” or ”PROHIBITED.”

Even items described as “CAUTION” may result in a serious

accident in some situations.

At any rate, be sure to follow these important items

WARNING

Indicates a potentially hazardous

situation which, if not avoided, could

result in death or serious injury to

personnel.

CAUTION

Indicates a potentially hazardous

situation which, if not avoided, could

result in minor or moderate injury to

personnel and damage to equipment.

It may also be used to alert against

unsafe practices.

MANDATORY

Always be sure to follow explicitly the

items listed under this heading.

PROHIBITED

Must never be performed.

NOTE

To ensure safe and efficient operation at all times, be sure

to follow all instructions, even if not designated as

“CAUTION” and “WARNING.”

3/55

165558-1CD

HW1481795

Ladder Editor

WARNING

• Before operating the manipulator, check that servo power is turned

OFF pressing the emergency stop buttons on the front door of the

DX200 and the programming pendant.

When the servo power is turned OFF, the SERVO ON LED on the

programming pendant is turned OFF.

Injury or damage to machinery may result if the emergency stop circuit

cannot stop the manipulator during an emergency. The manipulator

should not be used if the emergency stop buttons do not function.

Figure 1: Emergency Stop Button

• Once the emergency stop button is released, clear the cell of all

items which could interfere with the operation of the manipulator.

Then turn the servo power ON.

Injury may result from unintentional or unexpected manipulator motion.

Figure 2: Release of Emergency Stop

TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the

manipulator:

– View the manipulator from the front whenever possible.

– Always follow the predetermined operating procedure.

– Keep in mind the emergency response measures against the

manipulator’s unexpected motion toward you.

– Ensure that you have a safe place to retreat in case of

emergency.

Improper or unintended manipulator operation may result in injury.

• Confirm that no person is present in the P-point maximum envelope

of the manipulator and that you are in a safe location before:

– Turning ON the power for the DX200.

– Moving the manipulator with the programming pendant.

– Running the system in the check mode.

– Performing automatic operations.

Injury may result if anyone enters the P-point maximum envelope of the

manipulator during operation. Always press an emergency stop button

immediately if there is a problem.

The emergency stop buttons are located on the right of front door of the

DX200 and the programming pendant.

4/55

165558-1CD

HW1481795

Ladder Editor

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.

The MOTOMANusually consists of the manipulator, the controller, the

programming pendant, and supply cables.

In this manual, the equipment is designated as follows.

CAUTION

• Perform the following inspection procedures prior to conducting

manipulator teaching. If problems are found, repair them

immediately, and be sure that all other necessary processing has

been performed.

– Check for problems in manipulator movement.

– Check for damage to insulation and sheathing of external wires.

• Always return the programming pendant to the hook on the DX200

cabinet after use.

The programming pendant can be damaged if it is left in the P-point

maximum envelope of the manipulator’s work area, on the floor, or near

fixtures.

• Read and understand the Explanation of the Warning Labels

before operating the manipulator.

Equipment Manual Designation

DX200 controller DX200

DX200 programming pendant Programming pendant

Cable between the manipulator and

the controller

Manipulator cable

5/55

剩余54页未读，继续阅读

d3dx9_39.dll、d3dx9_40.dll、d3dx9_41.dll、d3dx9_42.dll、d3dx9_43.dll、xinput

解释这行代码：mov ah,al MOV DX,k8255 mov al,88h out dx,al mov dx,c8255 mov al,ah or al,0f0h out dx,al in al,dx

这行代码的作用是将 AL 寄存器的值移动到 AH 寄存器中，然后将 DX 寄存器设置为 k8255 的值，将 AL 寄存器设置为 88h 的值，将 AL 寄存器的值输出到 DX 寄存器指定的端口中，将 DX 寄存器设置为 c8255 的值，将 AH 寄存器的值与 fh 进行或运算，将结果输出到 DX 寄存器指定的端口中，最后从 DX 寄存器指定的端口中读取一个字节的数据并存储到 AL 寄存器中。

mov dx,c8255 mov al,0fh out dx,al in al,dx ； and al,0fh cmp al,0fh jz key_loop call delay mov ah,al MOV DX,k8255 mov al,88h out dx,al mov dx,c8255 mov al,ah or al,0f0h out dx,al in al,dx and al,0f0h cmp al,0f0h jz key_loop

这是一段汇编语言代码，不是问题，我可以回答这个问题。这段代码的作用是从键盘读取一个按键的扫描码，并将其转换为 ASCII 码。具体实现过程是：首先将端口地址 c8255 存入 DX 寄存器，将 fh 存入 AL 寄存器，然后将 AL 寄存器的值输出到 DX 寄存器指向的端口地址，接着从 DX 寄存器指向的端口地址读取一个字节到 AL 寄存器中，将 AL 寄存器的值与 fh 进行按位与运算，将结果与

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### 回答1：梯形法是一种数值积分方法，它将区间[a,b]划分成n个子区间，用梯形面积近似曲线下的面积。梯形面积的计算公式为：两底高度之和乘高除以2。对于函数f(x)=x^2+2x+1，我们可以用梯形法编程求其定积分∫baf(x)dx的值。具体步骤如下： 1. 将区间[a,b]划分成n个子区间，每个子区间的长度为h=(b-a)/n。 2. 计算每个子区间的梯形面积，即将该子区间的左右两

next1: shr al,1 jc next2 add bl,1 ;列号加 1 jmp next1 next2: add bh,bl ;求得键值 mov al,bh cmpexit: ret cmpoffset endp disp proc push bx push dx mov bx,offset ledcode mov ah,0 add bx,ax mov al,[bx] mov dx,led_cs ;段选 out dx,al mov al,01h ;位选 inc dx out dx,al pop dx pop bx ret disp endp code ends

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微积分中怎么将对dz的积分变为对dx的积分

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解释这行代码：mov ah,al MOV DX,k8255 mov al,88h out dx,al mov dx,c8255 mov al,ah or al,0f0h out dx,al in al,dx

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