Zeroerr01/Steering_Wheel_Applications
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Zeroerr01 2024-08-23 17:10:05 +08:00
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14
主控制程序/ZeroTorque/Experiment Scope/Experiment Scope.tcmproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<ProjectGuid>{25266813-b8bd-4fca-900e-0b9714878e6a}</ProjectGuid>
<AssemblyName>Experiment Scope</AssemblyName>
<Name>Experiment Scope</Name>
<RootNamespace>Experiment Scope</RootNamespace>
</PropertyGroup>
<ItemGroup>
<Content Include="Scope YT Project.tcscope">
<SubType>Content</SubType>
</Content>
</ItemGroup>
</Project>

362
主控制程序/ZeroTorque/Experiment Scope/Scope YT Project.tcscope Normal file
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<?xml version="1.0" encoding="utf-8"?>
<ScopeViewSerializable>
<Version>1.0.0.6</Version>
<Title>Scope YT Project</Title>
<LayoutString>&lt;?xml version="1.0" encoding="utf-16"?&gt;
&lt;Layout&gt;
&lt;Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133597156560467605" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /&gt;
&lt;DocumentContainer Dock="5"&gt;
&lt;SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"&gt;
&lt;ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a"&gt;
&lt;Controls&gt;
&lt;Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" /&gt;
&lt;/Controls&gt;
&lt;/ControlLayoutSystem&gt;
&lt;/SplitLayoutSystem&gt;
&lt;/DocumentContainer&gt;
&lt;/Layout&gt;</LayoutString>
<Operating>
<RecordTime>6000000000</RecordTime>
<DataFileName>C:\temp</DataFileName>
<RunMode>ClientStart</RunMode>
<StopMode>AutoStop</StopMode>
<ServerUseFileStore>true</ServerUseFileStore>
<Comment></Comment>
<ScopeStopAutoSave>
<UseAutoSave>false</UseAutoSave>
<AutoSavePath>
</AutoSavePath>
<FileNameMask>{SCOPE}_AutoSave_{HH_mm_ss}</FileNameMask>
</ScopeStopAutoSave>
<RestartRecord>false</RestartRecord>
</Operating>
<Charts>
<ScopeChartSerializable>
<Name>Chart</Name>
<GUID>97332cdc-477f-498a-a8da-59f3e238ae5a</GUID>
<Style>
<BackgroundColorValue>-1118482</BackgroundColorValue>
<BorderColorValue>-1973016</BorderColorValue>
<IsSmooth>false</IsSmooth>
<SmoothTime>100</SmoothTime>
<YZoom>true</YZoom>
<StackedYAxes>true</StackedYAxes>
<Legend>false</Legend>
<VisibleToolstrip>true</VisibleToolstrip>
<VisibleTimestrip>true</VisibleTimestrip>
<BaseTime>100000000</BaseTime>
<Comment></Comment>
<ScaleOnZoom>true</ScaleOnZoom>
<AutoStartOnRecord>true</AutoStartOnRecord>
<ButtonSize>
<Width>16</Width>
<Height>16</Height>
</ButtonSize>
<ToolStripFontSize>0</ToolStripFontSize>
<TimeStripFontSize>0</TimeStripFontSize>
<EnabledButtons>RunButton PauseButton Splitter1 DisplaywidthTextBox Splitter2 ScrollBackBig ScrollBackSmall ScrollForwardSmall ScrollForwardBig Splitter3 PositionTextBox Splitter4 UndoButton RedoButton Splitter5 CursorButton PanButton PanXYButton ZoomButton ZoomXYButton UnzoomButton ZoomOutMaxButton OverviewButton Splitter6 MasterLabel</EnabledButtons>
<EnabledTimeLabels>StartTimeLabel Splitter1 EndTimeLabel Splitter2 PositionLabel Splitter3 AbsTimeLabel Splitter4 DateLabel</EnabledTimeLabels>
<ShowName>false</ShowName>
<VisibleOverview>true</VisibleOverview>
<DataPointToolTip>true</DataPointToolTip>
<ExtendTimeStringFormat>true</ExtendTimeStringFormat>
</Style>
<XAxis>
<Style>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Comment></Comment>
</Style>
<SortPriority>-1</SortPriority>
<Invert>false</Invert>
</XAxis>
<YAxes>
<ScopeYAxisSerializable>
<Caption>Axis</Caption>
<Name>Axis</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>0</AxisMin>
<AxisMax>0</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>DualPosDiff</Name>
<IdentHandle>1</IdentHandle>
<Acquisition>
<DataType>INT32</DataType>
<IndexGroup>61472</IndexGroup>
<IndexOffset>516976</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>GVL.DualPosDiff</SymbolName>
<SymbolComment>--- Triansmit PDO ---</SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16744448</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-16744448</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>838893568</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(2)</Caption>
<Name>Axis(2)</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
<AxisMax>1</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>actVelo</Name>
<IdentHandle>2</IdentHandle>
<Acquisition>
<DataType>INT32</DataType>
<IndexGroup>61472</IndexGroup>
<IndexOffset>516980</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>GVL.actVelo</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-65536</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-65536</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>855572480</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(1)</Caption>
<Name>Axis(1)</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
<AxisMax>1</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>actAngle</Name>
<IdentHandle>3</IdentHandle>
<Acquisition>
<DataType>REAL64</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>514416</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.actAngle</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16776961</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-16776961</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>838861055</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
</YAxes>
<XYAxes />
<CursorModule>
<Cursors />
<ShowSelectedOnly>false</ShowSelectedOnly>
<AbsTimeVisible>true</AbsTimeVisible>
<RecordTimeVisible>true</RecordTimeVisible>
<ChartTimeVisible>true</ChartTimeVisible>
<DeltaValues>false</DeltaValues>
<HexValues>false</HexValues>
</CursorModule>
<Operating>
<DisplayWidth>100000000</DisplayWidth>
</Operating>
<ChartType>XT</ChartType>
<SortPriority>-1</SortPriority>
<AssignedCore>-1</AssignedCore>
<MaxResolution>120000</MaxResolution>
<IsMaster>true</IsMaster>
<MasterChart>00000000-0000-0000-0000-000000000000</MasterChart>
</ScopeChartSerializable>
</Charts>
<TriggerModule>
<TriggerGroups />
</TriggerModule>
<SortPriority>-1</SortPriority>
<ViewDetailLevel>Default</ViewDetailLevel>
</ScopeViewSerializable>

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主控制程序/ZeroTorque/SystemTimerCount/Scope YT Project.tcscope Normal file
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<?xml version="1.0" encoding="utf-8"?>
<ScopeViewSerializable>
<Version>1.0.0.6</Version>
<Title>Scope YT Project</Title>
<LayoutString>&lt;?xml version="1.0" encoding="utf-16"?&gt;
&lt;Layout&gt;
&lt;Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133600409386327832" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /&gt;
&lt;DocumentContainer Dock="5"&gt;
&lt;SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"&gt;
&lt;ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a"&gt;
&lt;Controls&gt;
&lt;Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" /&gt;
&lt;/Controls&gt;
&lt;/ControlLayoutSystem&gt;
&lt;/SplitLayoutSystem&gt;
&lt;/DocumentContainer&gt;
&lt;/Layout&gt;</LayoutString>
<Operating>
<RecordTime>6000000000</RecordTime>
<DataFileName>C:\temp</DataFileName>
<RunMode>ClientStart</RunMode>
<StopMode>AutoStop</StopMode>
<ServerUseFileStore>true</ServerUseFileStore>
<Comment></Comment>
<ScopeStopAutoSave>
<UseAutoSave>false</UseAutoSave>
<AutoSavePath />
<FileNameMask>{SCOPE}_AutoSave_{HH_mm_ss}</FileNameMask>
</ScopeStopAutoSave>
<RestartRecord>false</RestartRecord>
</Operating>
<Charts>
<ScopeChartSerializable>
<Name>Chart</Name>
<GUID>97332cdc-477f-498a-a8da-59f3e238ae5a</GUID>
<Style>
<BackgroundColorValue>-1118482</BackgroundColorValue>
<BorderColorValue>-1973016</BorderColorValue>
<IsSmooth>false</IsSmooth>
<SmoothTime>100</SmoothTime>
<YZoom>true</YZoom>
<StackedYAxes>true</StackedYAxes>
<Legend>false</Legend>
<VisibleToolstrip>true</VisibleToolstrip>
<VisibleTimestrip>true</VisibleTimestrip>
<BaseTime>100000000</BaseTime>
<Comment></Comment>
<ScaleOnZoom>true</ScaleOnZoom>
<AutoStartOnRecord>true</AutoStartOnRecord>
<ButtonSize>
<Width>16</Width>
<Height>16</Height>
</ButtonSize>
<ToolStripFontSize>0</ToolStripFontSize>
<TimeStripFontSize>0</TimeStripFontSize>
<EnabledButtons>RunButton PauseButton Splitter1 DisplaywidthTextBox Splitter2 ScrollBackBig ScrollBackSmall ScrollForwardSmall ScrollForwardBig Splitter3 PositionTextBox Splitter4 UndoButton RedoButton Splitter5 CursorButton PanButton PanXYButton ZoomButton ZoomXYButton UnzoomButton ZoomOutMaxButton OverviewButton Splitter6 MasterLabel</EnabledButtons>
<EnabledTimeLabels>StartTimeLabel Splitter1 EndTimeLabel Splitter2 PositionLabel Splitter3 AbsTimeLabel Splitter4 DateLabel</EnabledTimeLabels>
<ShowName>false</ShowName>
<VisibleOverview>false</VisibleOverview>
<DataPointToolTip>true</DataPointToolTip>
<ExtendTimeStringFormat>true</ExtendTimeStringFormat>
</Style>
<XAxis>
<Style>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Comment></Comment>
</Style>
<SortPriority>-1</SortPriority>
<Invert>false</Invert>
</XAxis>
<YAxes>
<ScopeYAxisSerializable>
<Caption>Axis</Caption>
<Name>Axis</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>0</AxisMin>
<AxisMax>0</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>cycleCounter</Name>
<IdentHandle>1</IdentHandle>
<Acquisition>
<DataType>INT32</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>518252</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>MAIN.cycleCounter</SymbolName>
<SymbolComment>循环计数器</SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16744448</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-16744448</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>855638015</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(1)</Caption>
<Name>Axis(1)</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
<AxisMax>1</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>actCyclePerSecond</Name>
<IdentHandle>2</IdentHandle>
<Acquisition>
<DataType>INT32</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>518260</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>MAIN.actCyclePerSecond</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16776961</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-16776961</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>855638015</FillColorValue>
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<VariableSize>8</VariableSize>
<SymbolName>MAIN.irDualPos</SymbolName>
<SymbolComment>滤波后双编码器差值</SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-65281</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-65281</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>855572735</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
<ScopeChannelSerializable>
<Name>lowSpeedOffset</Name>
<IdentHandle>6</IdentHandle>
<Acquisition>
<DataType>REAL64</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>513304</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.lowSpeedOffset</SymbolName>
<SymbolComment>低速偏置</SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16711936</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>false</Visible>
<MarkColorValue>-16711936</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>838926080</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>1</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(3)</Caption>
<Name>Axis(3)</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
<AxisMax>1</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>udiProAcc</Name>
<IdentHandle>7</IdentHandle>
<Acquisition>
<DataType>UINT32</DataType>
<IndexGroup>61488</IndexGroup>
<IndexOffset>514184</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>GVL.udiProAcc</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-8355840</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-8355840</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>847282176</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
</YAxes>
<XYAxes />
<CursorModule>
<Cursors />
<ShowSelectedOnly>false</ShowSelectedOnly>
<AbsTimeVisible>true</AbsTimeVisible>
<RecordTimeVisible>true</RecordTimeVisible>
<ChartTimeVisible>true</ChartTimeVisible>
<DeltaValues>false</DeltaValues>
<HexValues>false</HexValues>
</CursorModule>
<Operating>
<DisplayWidth>100000000</DisplayWidth>
</Operating>
<ChartType>XT</ChartType>
<SortPriority>-1</SortPriority>
<AssignedCore>-1</AssignedCore>
<MaxResolution>120000</MaxResolution>
<IsMaster>true</IsMaster>
<MasterChart>00000000-0000-0000-0000-000000000000</MasterChart>
</ScopeChartSerializable>
</Charts>
<TriggerModule>
<TriggerGroups />
</TriggerModule>
<SortPriority>-1</SortPriority>
<ViewDetailLevel>Default</ViewDetailLevel>
</ScopeViewSerializable>

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主控制程序/ZeroTorque/TwinCAT Measurement Project2/Fitting Scope.tcmproj Normal file
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<ProjectGuid>{ee167ca7-c964-44c2-a943-8612583d6c56}</ProjectGuid>
<AssemblyName>TwinCAT Measurement Project2</AssemblyName>
<Name>Fitting Scope</Name>
<RootNamespace>TwinCAT Measurement Project2</RootNamespace>
</PropertyGroup>
<ItemGroup>
<Content Include="Scope YT Project.tcscope">
<SubType>Content</SubType>
</Content>
</ItemGroup>
</Project>

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主控制程序/ZeroTorque/TwinCAT Measurement Project2/Scope YT Project.tcscope Normal file
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@ -0,0 +1,615 @@
<?xml version="1.0" encoding="utf-8"?>
<ScopeViewSerializable>
<Version>1.0.0.6</Version>
<Title>Scope YT Project</Title>
<LayoutString>&lt;?xml version="1.0" encoding="utf-16"?&gt;
&lt;Layout&gt;
&lt;Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133599059070841222" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" FloatingIndexInWindowGroup="0" FloatingSplitPath="0" /&gt;
&lt;DocumentContainer Dock="5"&gt;
&lt;SplitLayoutSystem WorkingSize="250, 400" SplitMode="0"&gt;
&lt;ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a"&gt;
&lt;Controls&gt;
&lt;Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" /&gt;
&lt;/Controls&gt;
&lt;/ControlLayoutSystem&gt;
&lt;/SplitLayoutSystem&gt;
&lt;/DocumentContainer&gt;
&lt;/Layout&gt;</LayoutString>
<Operating>
<RecordTime>6000000000</RecordTime>
<DataFileName>C:\temp</DataFileName>
<RunMode>ClientStart</RunMode>
<StopMode>AutoStop</StopMode>
<ServerUseFileStore>true</ServerUseFileStore>
<Comment></Comment>
<ScopeStopAutoSave>
<UseAutoSave>false</UseAutoSave>
<AutoSavePath>
</AutoSavePath>
<FileNameMask>{SCOPE}_AutoSave_{HH_mm_ss}</FileNameMask>
</ScopeStopAutoSave>
<RestartRecord>false</RestartRecord>
</Operating>
<Charts>
<ScopeChartSerializable>
<Name>Chart</Name>
<GUID>97332cdc-477f-498a-a8da-59f3e238ae5a</GUID>
<Style>
<BackgroundColorValue>-1118482</BackgroundColorValue>
<BorderColorValue>-1973016</BorderColorValue>
<IsSmooth>false</IsSmooth>
<SmoothTime>100</SmoothTime>
<YZoom>true</YZoom>
<StackedYAxes>true</StackedYAxes>
<Legend>false</Legend>
<VisibleToolstrip>true</VisibleToolstrip>
<VisibleTimestrip>true</VisibleTimestrip>
<BaseTime>100000000</BaseTime>
<Comment></Comment>
<ScaleOnZoom>true</ScaleOnZoom>
<AutoStartOnRecord>true</AutoStartOnRecord>
<ButtonSize>
<Width>16</Width>
<Height>16</Height>
</ButtonSize>
<ToolStripFontSize>0</ToolStripFontSize>
<TimeStripFontSize>0</TimeStripFontSize>
<EnabledButtons>RunButton PauseButton Splitter1 DisplaywidthTextBox Splitter2 ScrollBackBig ScrollBackSmall ScrollForwardSmall ScrollForwardBig Splitter3 PositionTextBox Splitter4 UndoButton RedoButton Splitter5 CursorButton PanButton PanXYButton ZoomButton ZoomXYButton UnzoomButton ZoomOutMaxButton OverviewButton Splitter6 MasterLabel</EnabledButtons>
<EnabledTimeLabels>StartTimeLabel Splitter1 EndTimeLabel Splitter2 PositionLabel Splitter3 AbsTimeLabel Splitter4 DateLabel</EnabledTimeLabels>
<ShowName>false</ShowName>
<VisibleOverview>true</VisibleOverview>
<DataPointToolTip>true</DataPointToolTip>
<ExtendTimeStringFormat>true</ExtendTimeStringFormat>
</Style>
<XAxis>
<Style>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Comment></Comment>
</Style>
<SortPriority>-1</SortPriority>
<Invert>false</Invert>
</XAxis>
<YAxes>
<ScopeYAxisSerializable>
<Caption>Axis</Caption>
<Name>Axis</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>0</AxisMin>
<AxisMax>0</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>tarAcc</Name>
<IdentHandle>1</IdentHandle>
<Acquisition>
<DataType>REAL64</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>553088</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.tarAcc</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-65536</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-65536</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>855572480</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(1)</Caption>
<Name>Axis(1)</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
<AxisMax>1</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>actVelo</Name>
<IdentHandle>2</IdentHandle>
<Acquisition>
<DataType>INT32</DataType>
<IndexGroup>61472</IndexGroup>
<IndexOffset>514152</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>GVL.actVelo</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16777088</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-16777088</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>838860928</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
<ScopeChannelSerializable>
<Name>tarVelocity</Name>
<IdentHandle>3</IdentHandle>
<Acquisition>
<DataType>REAL64</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>553080</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.tarVelocity</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-8355712</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-8355712</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>847282304</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(2)</Caption>
<Name>Axis(2)</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
<AxisMax>1</AxisMax>
<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
<SubDivisions>5</SubDivisions>
<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>actPosition</Name>
<IdentHandle>4</IdentHandle>
<Acquisition>
<DataType>INT32</DataType>
<IndexGroup>61472</IndexGroup>
<IndexOffset>514164</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>GVL.actPosition</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-4419697</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-4419697</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
<XOffset>0</XOffset>
<XScaleFactor>1</XScaleFactor>
<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>851218319</FillColorValue>
<EndCap>false</EndCap>
<StartCap>false</StartCap>
<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
<ScopeChannelSerializable>
<Name>tarPosition</Name>
<IdentHandle>5</IdentHandle>
<Acquisition>
<DataType>REAL64</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>553072</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.tarPosition</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
<Oversample>0</Oversample>
<UseTaskSampletime>true</UseTaskSampletime>
<ForceOversampling>false</ForceOversampling>
<IsArray>false</IsArray>
<ArrayLength>0</ArrayLength>
<ContextMask>0</ContextMask>
<TimeOffset>0</TimeOffset>
</Acquisition>
<Style>
<ColorValue>-16776961</ColorValue>
<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-16776961</MarkColorValue>
<MarkSize>3</MarkSize>
<TimeShift>0</TimeShift>
<ScaleFactor>1</ScaleFactor>
<Comment></Comment>
<AutoMarks>true</AutoMarks>
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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 2013
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
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Administrator
2303186-002
7728
638508643709001267

BIN
主控制程序/ZeroTorque/ZeroTorque.v12.suo Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcLicenseInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2011/11/TcLicenseInfo"><LicenseInfo><SystemId>{77353BF4-C0E3-6619-B74B-B0FC2E1ED42E}</SystemId><IssueTime>2024-05-07T01:53:00</IssueTime><ExpireTime>2024-05-15T00:00:00</ExpireTime><LicenseKey>3edff9850496b8ffc5883df104db9cf26c4b334b369990f0b237b697326961552c3a54b0d0e1023c64317497d2d63eadd1deadfb05c6918cd29e8ec293c783fd6952bd0d498fc3272f5c106880ad5287bca8575b43ddcf2d9e15836d421c664de484e19e3478b2208b6c8998e102db76dd8bfcdc5cf543ceaef8466310e1093bc394d999d0b0bc55cf59aa8f4211913e7b9c7be1d86cecd536842a2623bb0ecdb98d6e25cbd1a050fce4333c659730216b19098f32be3ab50676837c5c3e03c22f3d90252b06d2acd2375deb2de2bbaeda3bdb033d9f5e64404e335e267e738800711b852095b2bc4aff9cc069312c09ccb10217a3e099368e7fade1b9d1ad8c</LicenseKey><License><LicenseId>{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}</LicenseId><Name>TC3 ADS</Name><OrderNo>TC1000</OrderNo></License><License><LicenseId>{3FF18E97-7754-401B-93FB-70544DE28A13}</LicenseId><Name>TC3 IO</Name><OrderNo>TC1100</OrderNo></License><License><LicenseId>{66689887-CCBD-452C-AC9A-039D997C6E66}</LicenseId><Name>TC3 PLC</Name><OrderNo>TC1200</OrderNo></License><License><LicenseId>{A19036CF-A53B-4E3A-99FF-023EF5C4798B}</LicenseId><Name>TC3 NC PTP Axis</Name><Instances>10</Instances></License><License><LicenseId>{520DE751-9DB6-47CB-8240-BD5C466E7E64}</LicenseId><Name>TC3 NC PTP</Name><OrderNo>TF5000</OrderNo></License></LicenseInfo></TcLicenseInfo>

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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4020.12">
<GVL Name="GVL" Id="{7c7b61cc-6b58-4663-a078-bed601700d1d}">
<Declaration><![CDATA[{attribute 'qualified_only'}
VAR_GLOBAL
(*--- Triansmit PDO ---*)
DualPosDiff AT%I* :DINT;
ActTorque AT%I* :INT;
actVelo AT%I* :DINT;
loadPos AT%I* :DINT;
motorPos AT%I* :DINT;
actPosition AT%I* :DINT;
(*--- Receive PDO ---*)
targetTor AT%Q* :INT;
targetVelo AT%Q* :DINT;
targetPos AT%Q* :DINT;
uiCtrl AT%Q* :UINT;
siOperationMode AT%Q* :SINT;
udiProVelo AT%Q* :UDINT;
udiProAcc AT%Q* :UDINT;
udiProDec AT%Q* :UDINT;
(*--- Control word bit ---*)
arrCtrl :ARRAY [0..15] OF BOOL;
(*--- Status word bit ---*)
arrStatus :ARRAY [0..15] OF BOOL;
(* process data*)
dualPosFix :DINT;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4020.12">
<POU Name="KalmanFilter" Id="{763c175d-3aac-48bd-87db-ce7ad9f53403}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK KalmanFilter
VAR_INPUT
NewData :LREAL;//预测值
Q_cov :LREAL:=2;//系统协方差，越大越相信预测
R_cov :LREAL:=100;//测量协方差，越大越相信旧测量值
END_VAR
VAR_OUTPUT
OutData :LREAL;//真实值
END_VAR
VAR
P_cov :LREAL:=1;//k时刻先验协方差
P1_cov :LREAL;//k时刻后验协方差
P2_cov :LREAL;//k-1时刻后验协方差
K :LREAL;//卡尔曼增益
Posterior:LREAL;//k时刻后验状态估计
Posterior1:LREAL;//k-1时刻后验状态估计
Priori :LREAL;//k时刻先验状态估计
a :LREAL;
b :LREAL;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[Priori:=Posterior1;
P_cov:=P2_cov+Q_cov;
K:=P_cov/(P_cov+R_cov);
Posterior:=Priori+K*(NewData-Priori);
P1_cov:=(1-K)*P_cov;
Posterior1:=Posterior;
P2_cov:=P1_cov;
OutData:=Posterior;]]></ST>
</Implementation>
<LineIds Name="KalmanFilter">
<LineId Id="21" Count="9" />
<LineId Id="9" Count="0" />
</LineIds>
</POU>
</TcPlcObject>

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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4020.12">
<POU Name="MAIN" Id="{a546c014-ca17-4895-adf6-7f1646fc96ea}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM MAIN
VAR
iStep :INT;
timer1 :TON;
referVelo :DINT;
sampleVelo :DINT;//采样速度
modAngle :DINT;
actAngle :LREAL;
rotation :BOOL;//旋转方向
rotationSingle :INT;//旋转标志位
runDirect :INT;
needChange :BOOL;
(*--- CSP ---*)
axis1: AXIS_REF;
power_do : BOOL;
tarPosition : LREAL;
oriPos : DINT;//原始位置保存
posSum : DINT;
posCount :INT;
ifPosModifyFinish : BOOL;
tarVelocity : LREAL := 0;
tarAcc : LREAL := 50000;
enable : BOOL:=TRUE;
ifDone :BOOL;
ifGetTarPos :BOOL :=TRUE;
K :LREAL := 0.3;
B :LREAL := 0.5;
BGain :LREAL := 1;
Bactual :LREAL;
M :LREAL := 0.5;
iGain :LREAL := 0.001;
iLimit :LREAL := 50000;
veloLimit :LREAL := 500;
dualGain :LREAL := 0.3;
irDualPosFix :LREAL;
dualPosDiffPreFix :DINT;
tarVelo :DINT := 0;
posiDiff :LREAL;
sumPosDiff :LREAL := 0;
gainAcc : LREAL := 15;
ifAction :BOOL := FALSE;
(*--- For kalman filter ---*)
filter1: KalmanFilter;
filter2: KalmanFilter;
irDualPos : LREAL;//滤波后双编码器差值
irActVelo: LREAL;
(*--- Limit ---*)
speedLimit: DINT := 350;
accMax: UDINT := 3000;
accMin: UDINT := 200;
(*--- Gain ---*)
accGain :LREAL :=3;
speedGain :DINT :=50;
dampGain :LREAL :=1.5;
(*--- DeadZone ---*)
deadZone :LREAL :=200;//驱动变速死区
startDeadZone :LREAL :=150;//启动死区
deadSpeedZone :DINT :=50;//速度归零死区
(*--- Offset ---*)
lowSpeedOffsetA :LREAL :=872.783;//正低速偏置
lowSpeedOffsetB :LREAL :=860.311;//负低速偏置
highSpeedOffsetA :LREAL :=772.06430;//正高速偏置
highSpeedOffsetB :LREAL :=751.81464;//负高速偏置
(*--- Offset Auto Modify---*)
i : INT;
offsetList :ARRAY [0..99] OF LREAL;
zeroCount :INT := 0;
offsetSum :LREAL := 0;
offsetMean :LREAL := 0;
ifModifyFinish :BOOL := FALSE;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[timer1(IN:= , PT:= T#0.5S, Q=> , ET=> );
CASE iStep OF
0:
GVL.uiCtrl:=6;//0x0006
oriPos := GVL.actPosition;
tarPosition := oriPos;
1:
GVL.udiProAcc:=1000;
GVL.udiProDec:=1000;
iStep:=2;
timer1.IN:=TRUE;
2:
GVL.siOperationMode:=3;
IF GVL.siOperationMode=3 THEN
iStep:=10;//跳入使能
END_IF
10: //使能
//6
IF GVL.uiCtrl = 0 THEN
GVL.uiCtrl:=6;//0x002F
END_IF
IF timer1.Q THEN
IF GVL.uiCtrl = 6 THEN
GVL.uiCtrl:=47;//0x002F
iStep:=15;//跳入运行
END_IF
timer1.IN:=FALSE;
END_IF
11://零力运行
IF (GVL.actVelo > 45000) THEN
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(-(DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003816)+DINT_TO_LREAL(GVL.actVelo)*0.08359+highSpeedOffsetA));
ELSIF (GVL.actVelo < -45000) THEN
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT((DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003500)+DINT_TO_LREAL(GVL.actVelo)*0.07837+highSpeedOffsetB));
ELSE
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(DINT_TO_LREAL(GVL.actVelo)*0.0624 + lowSpeedOffsetA));
END_IF
filter1(NewData:= GVL.dualPosFix, Q_cov:=, R_cov:= , OutData=> );
irDualPos:=filter1.OutData;
sampleVelo := GVL.actVelo/257;//重新标定参考速度
(*--- 重新设置静态偏置---*)
IF (ABS(sampleVelo)) < 5 AND ifModifyFinish = FALSE THEN
offsetList[zeroCount] := irDualPos;
zeroCount:=zeroCount + 1;
ELSE
zeroCount:=0;
END_IF
IF zeroCount >= 100 THEN
offsetSum := 0;
FOR i := 0 TO 99 BY +1 DO
offsetSum := offsetSum + offsetList[i];
offsetList[i] := 0;
END_FOR;
offsetMean := offsetSum / 100;
zeroCount := 0;
lowSpeedOffsetA := lowSpeedOffsetA + offsetMean;
offsetSum := 0;
ifModifyFinish:=TRUE;
END_IF
(*--- 完成设置静态偏置---*)
IF runDirect = 0 AND ifModifyFinish = TRUE THEN//处于零位置稳态
IF (irDualPos - startDeadZone) > 0 THEN
runDirect := -1;
ifModifyFinish := FALSE;
ELSIF (irDualPos + startDeadZone) < 0 THEN
runDirect := 1;
ifModifyFinish := FALSE;
END_IF
ELSIF (irDualPos - deadZone) > 0 THEN
runDirect := -1;
ELSIF (irDualPos + deadZone) < 0 THEN
runDirect := 1;
ELSIF ABS(irDualPos) <100 THEN//当从动态进入稳态时
runDirect := 0;
END_IF
(*--- 加速度和速度设定---*)
IF runDirect <> 0 THEN
GVL.udiProAcc:=LREAL_TO_UDINT(ABS(irDualPos)*accGain);
GVL.udiProDec:=LREAL_TO_UDINT(ABS(irDualPos)*accGain);
GVL.targetVelo:=sampleVelo+speedGain*runDirect;
ELSE
GVL.udiProAcc:=LREAL_TO_UDINT(DINT_TO_LREAL(ABS(sampleVelo))*dampGain);
GVL.udiProDec:=LREAL_TO_UDINT(DINT_TO_LREAL(ABS(sampleVelo))*dampGain);
GVL.targetVelo:=0;
END_IF
(*--- 限幅 ---*)
IF GVL.targetVelo>speedLimit THEN
GVL.targetVelo:=speedLimit;
ELSIF GVL.targetVelo<-speedLimit THEN
GVL.targetVelo:=-speedLimit;
END_IF
IF GVL.udiProAcc>accMax THEN
GVL.udiProAcc:=accMax;
END_IF
IF GVL.udiProDec>accMax THEN
GVL.udiProDec:=accMax;
END_IF
IF GVL.udiProAcc<accMin THEN
GVL.udiProAcc:=accMin;
END_IF
IF GVL.udiProDec<accMin THEN
GVL.udiProDec:=accMin;
END_IF
12://按角度变速正向运行
//计算当前角度
modAngle:= ABS(GVL.actPosition MOD 524288);
actAngle:= (DINT_TO_LREAL(modAngle)/524288)*360;
//控制关节变速运动
GVL.targetVelo:=(ABS(LREAL_TO_DINT((actAngle-180)*1.5)))+30;
13://按角度变速反向运行
//计算当前角度
modAngle:= ABS(GVL.actPosition MOD 524288);
actAngle:= (DINT_TO_LREAL(modAngle)/524288)*360;
//控制关节变速运动
GVL.targetVelo:=-(ABS(LREAL_TO_DINT((actAngle-180)*1.5)))-30;
14://按角度变速正反向运行
//计算当前角度
modAngle:= ABS(GVL.actPosition MOD 524288);
actAngle:= (DINT_TO_LREAL(modAngle)/524288)*360;
IF rotation = 0 THEN
IF actAngle < 180 THEN
IF rotationSingle = 2 THEN//切换模式
rotation := 1;
rotationSingle := 3;
GVL.targetVelo:=0;
ELSE
IF actAngle <= 5 THEN
rotationSingle := 1;
END_IF
GVL.targetVelo:=(ABS(LREAL_TO_DINT(actAngle*1.5)))+30;
END_IF
ELSIF actAngle >= 180 THEN
IF actAngle >= 355 AND rotationSingle = 1 THEN
rotationSingle := 2;
END_IF
GVL.targetVelo:=(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))+30;
END_IF
ELSE
IF actAngle < 180 THEN
IF actAngle <= 5 AND rotationSingle = 4 THEN
rotationSingle := 5;
END_IF
GVL.targetVelo:=-(ABS(LREAL_TO_DINT(actAngle*1.5)))-30;
ELSIF actAngle >= 180 THEN
IF rotationSingle = 5 THEN//切换模式
rotation := 0;
rotationSingle := 0;
GVL.targetVelo:=0;
ELSE
IF actAngle >= 355 THEN
rotationSingle := 4;
END_IF
GVL.targetVelo:=-(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))-30;
END_IF
END_IF
END_IF
//控制关节变速运动
//GVL.targetVelo:=(ABS(LREAL_TO_DINT((actAngle-180)*1.5)))+30;
15://二阶阻抗系统模拟
(*--- 双编码器差值插补---*)
IF GVL.actVelo > 45000 THEN
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(-(DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003665)+DINT_TO_LREAL(GVL.actVelo)*0.08170+highSpeedOffsetA));
ELSIF GVL.actVelo < -45000 THEN
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT((DINT_TO_LREAL(GVL.actVelo)*DINT_TO_LREAL(GVL.actVelo)*0.0000003247)+DINT_TO_LREAL(GVL.actVelo)*0.07503+highSpeedOffsetB));
ELSIF GVL.actVelo > 0 THEN
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(DINT_TO_LREAL(GVL.actVelo)*0.06254 + lowSpeedOffsetA));
ELSE
GVL.dualPosFix:=GVL.DualPosDiff - (LREAL_TO_DINT(DINT_TO_LREAL(GVL.actVelo)*0.06284 + lowSpeedOffsetB));
END_IF
filter1(NewData:= GVL.dualPosFix, Q_cov:=, R_cov:= , OutData=> );
irDualPos:=filter1.OutData;
(*--- 重新设置静态偏置---*)
IF (ABS(GVL.actVelo)) < 200 AND ifModifyFinish = FALSE THEN
offsetList[zeroCount] := irDualPos;
zeroCount:=zeroCount + 1;
ELSE
zeroCount:=0;
END_IF
IF zeroCount >= 100 THEN
offsetSum := 0;
FOR i := 0 TO 99 BY +1 DO
offsetSum := offsetSum + offsetList[i];
offsetList[i] := 0;
END_FOR;
offsetMean := offsetSum / 100;
zeroCount := 0;
lowSpeedOffsetA := lowSpeedOffsetA + offsetMean;
lowSpeedOffsetB := lowSpeedOffsetB + offsetMean;
offsetSum := 0;
ifModifyFinish:=TRUE;
END_IF
(*--- 开始方向解算---*)
IF runDirect = 0 AND ifModifyFinish = TRUE THEN//处于零位置稳态
IF (irDualPos - startDeadZone) > 0 THEN
runDirect := -1;
ifAction := TRUE;
ifModifyFinish := FALSE;
ELSIF (irDualPos + startDeadZone) < 0 THEN
runDirect := 1;
ifAction := TRUE;
ifModifyFinish := FALSE;
END_IF
ELSIF (irDualPos - deadZone) > 0 THEN
runDirect := -1;
ifAction := TRUE;
ELSIF (irDualPos + deadZone) < 0 THEN
runDirect := 1;
ifAction := TRUE;
ELSIF ABS(irDualPos) <100 THEN//当从动态进入稳态时
runDirect := 0;
END_IF
(*--- 开始导纳控制解算---*)
sampleVelo := GVL.actVelo/257;
IF runDirect = 0 THEN//调整阻尼曲线
Bactual := B + BGain * EXP(-ABS(oriPos - GVL.actPosition)/257);
ELSE
Bactual := B;
END_IF
//添加积分项并限幅
posiDiff := (oriPos - DINT_TO_LREAL(GVL.actPosition))/257;
sumPosDiff := sumPosDiff + posiDiff;
IF sumPosDiff < -iLimit THEN
sumPosDiff := -iLimit;
ELSIF sumPosDiff > iLimit THEN
sumPosDiff := iLimit;
END_IF
//调整外力曲线
IF irDualPos < 500 AND irDualPos >= 0 THEN
irDualPosFix := irDualPos * irDualPos /500;
ELSIF irDualPos >= -500 AND irDualPos < 0 THEN
irDualPosFix := -irDualPos * irDualPos /500;
END_IF
(*--- 运动状态判断---*)
IF ifAction = TRUE AND runDirect = 0 AND ABS(sampleVelo) < 20 AND ABS(posiDiff) < 10 THEN
ifAction := FALSE;
END_IF
(*--- 导纳控制---*)
IF ifAction = TRUE THEN
tarAcc := (-irDualPosFix * dualGain + iGain * sumPosDiff + K * posiDiff + Bactual*DINT_TO_LREAL(tarVelo - sampleVelo))/M;
tarVelocity := tarVelocity + tarAcc * 0.01;
ELSE//重置位置信息，去零漂
tarAcc := 500;
tarVelocity := 0;
IF sampleVelo = 0 AND ifPosModifyFinish = FALSE THEN
posCount := posCount + 1;
posSum := posSum + GVL.actPosition;
IF posCount = 100 THEN
oriPos := posSum / 100;
ifPosModifyFinish := TRUE;
END_IF
ELSE
posCount := 0;
posSum := 0;
END_IF
END_IF
IF tarVelocity > veloLimit THEN
tarVelocity := veloLimit;
ELSIF tarVelocity <= -veloLimit THEN
tarVelocity := -veloLimit;
END_IF
tarAcc := tarAcc * gainAcc;
(*--- 限幅 ---*)
IF tarAcc>accMax THEN
tarAcc:=accMax;
ELSIF tarAcc<=-LREAL_TO_DINT(accMax) THEN
tarAcc:=-LREAL_TO_DINT(accMax);
END_IF
GVL.udiProAcc := LREAL_TO_UDINT(ABS(tarAcc));
GVL.udiProDec := LREAL_TO_UDINT(ABS(tarAcc));
(*--- 限幅 ---*)
GVL.targetVelo := LREAL_TO_DINT(tarVelocity);
IF GVL.targetVelo>speedLimit THEN
GVL.targetVelo:=speedLimit;
ELSIF GVL.targetVelo<-speedLimit THEN
GVL.targetVelo:=-speedLimit;
END_IF
1000:
GVL.targetVelo:=0;
IF (ABS(gvl.actVelo)<1000) AND timer1.IN=FALSE THEN
timer1.IN:=TRUE;
END_IF
IF timer1.Q THEN
timer1.IN:=FALSE;
iStep:=0;//停滞档
END_IF
END_CASE]]></ST>
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<ColorValue>-65536</ColorValue>
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<Comment></Comment>
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<FillMode>0</FillMode>
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<EndCap>false</EndCap>
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<CapSize>3</CapSize>
<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>0</SortPriority>
</ScopeYAxisSerializable>
<ScopeYAxisSerializable>
<Caption>Axis(3)</Caption>
<Name>Axis(3)</Name>
<Style>
<Visible>true</Visible>
<Enabled>false</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
<Ticks>10</Ticks>
<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>-1</AxisMin>
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<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
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<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
<Channels>
<ScopeChannelSerializable>
<Name>irDualPos</Name>
<IdentHandle>5</IdentHandle>
<Acquisition>
<DataType>REAL64</DataType>
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<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.irDualPos</SymbolName>
<SymbolComment>滤波后双编码器差值</SymbolComment>
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<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
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</Acquisition>
<Style>
<ColorValue>-16744448</ColorValue>
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<Visible>true</Visible>
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<Comment></Comment>
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<EndCap>false</EndCap>
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<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
<ScopeChannelSerializable>
<Name>irDualPosFix</Name>
<IdentHandle>6</IdentHandle>
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<DataType>REAL64</DataType>
<IndexGroup>16448</IndexGroup>
<IndexOffset>515592</IndexOffset>
<TargetPort>851</TargetPort>
<VariableSize>8</VariableSize>
<SymbolName>MAIN.irDualPosFix</SymbolName>
<SymbolComment></SymbolComment>
<IsSymbolBased>true</IsSymbolBased>
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<UseLocalServer>true</UseLocalServer>
<AmsNetIdString>172.18.138.230.1.1</AmsNetIdString>
<SampleTime>100000</SampleTime>
<Disabled>false</Disabled>
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<ForceOversampling>false</ForceOversampling>
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<ColorValue>-16776961</ColorValue>
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<Visible>true</Visible>
<MarkColorValue>-16776961</MarkColorValue>
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<Comment></Comment>
<AutoMarks>true</AutoMarks>
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<XBitMask>18446744073709551615</XBitMask>
<FillMode>0</FillMode>
<FillColorValue>838861055</FillColorValue>
<EndCap>false</EndCap>
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<CapColorValue>-65536</CapColorValue>
<SeriesType>Line</SeriesType>
<ShowMin>false</ShowMin>
<ShowMax>false</ShowMax>
</Style>
<SortPriority>-1</SortPriority>
</ScopeChannelSerializable>
</Channels>
<SortPriority>2</SortPriority>
</ScopeYAxisSerializable>
</YAxes>
<XYAxes />
<CursorModule>
<Cursors />
<ShowSelectedOnly>false</ShowSelectedOnly>
<AbsTimeVisible>true</AbsTimeVisible>
<RecordTimeVisible>true</RecordTimeVisible>
<ChartTimeVisible>true</ChartTimeVisible>
<DeltaValues>false</DeltaValues>
<HexValues>false</HexValues>
</CursorModule>
<Operating>
<DisplayWidth>375000000</DisplayWidth>
</Operating>
<ChartType>XT</ChartType>
<SortPriority>-1</SortPriority>
<AssignedCore>-1</AssignedCore>
<MaxResolution>120000</MaxResolution>
<IsMaster>true</IsMaster>
<MasterChart>00000000-0000-0000-0000-000000000000</MasterChart>
</ScopeChartSerializable>
</Charts>
<TriggerModule>
<TriggerGroups />
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<SortPriority>-1</SortPriority>
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<?xml version="1.0" encoding="utf-8"?>
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<ProjectGuid>{dfd57539-9bf9-4b55-a36d-0267a2d1970a}</ProjectGuid>
<AssemblyName>newControl</AssemblyName>
<Name>newControl</Name>
<RootNamespace>newControl</RootNamespace>
</PropertyGroup>
<ItemGroup>
<Content Include="Scope YT Project.tcscope">
<SubType>Content</SubType>
</Content>
</ItemGroup>
</Project>

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Microsoft Visual Studio Solution File, Format Version 12.00
# Visual Studio 2013
VisualStudioVersion = 12.0.21005.1
MinimumVisualStudioVersion = 10.0.40219.1
Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "GetData", "GetData\GetData.tsproj", "{3301A664-164F-45E3-8328-6C1428ACCC1E}"
EndProject
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "showData", "showData\showData.tcmproj", "{E7616055-C07C-4344-B233-FF550D8BF36F}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7)
Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{3301A664-164F-45E3-8328-6C1428ACCC1E}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{E7616055-C07C-4344-B233-FF550D8BF36F}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{E7616055-C07C-4344-B233-FF550D8BF36F}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{E7616055-C07C-4344-B233-FF550D8BF36F}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{E7616055-C07C-4344-B233-FF550D8BF36F}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{E7616055-C07C-4344-B233-FF550D8BF36F}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{E7616055-C07C-4344-B233-FF550D8BF36F}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F041EFA9-16A2-439A-B568-BE80A5FD27BF}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<TcTargetDesc>
<TargetVersion>
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4020.12">
<POU Name="MAIN" Id="{029892a6-0f34-45e5-8091-4b3788a64910}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM MAIN
VAR
(*--- Triansmit PDO ---*)
DualPosDiff AT%I* :DINT;//双编码器差值
actVelo AT%I* :DINT;//实际速度
actPosition AT%I* :DINT;//实际位置
(*--- Receive PDO ---*)
targetVelo AT%Q* :DINT;//目标速度
siOperationMode AT%Q* :SINT;//运动模式
udiProAcc AT%Q* :UDINT;//目标加速度
udiProDec AT%Q* :UDINT;//目标减速度
(*--- User ---*)
modAngle: DINT;//角度取余
actAngle: LREAL;//实际角度
rotation :BOOL;//旋转方向
rotationSingle :INT;//旋转标志位
sampleVelo: DINT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[siOperationMode := 3;
udiProAcc:=50000;
udiProDec:=50000;
//计算当前角度
modAngle:= ABS(actPosition MOD 524288);//角度取余
actAngle:= (DINT_TO_LREAL(modAngle)/524288)*360;//实际角度
IF rotation = FALSE THEN
IF actAngle < 180 THEN
IF rotationSingle = 2 THEN//切换模式
rotation := TRUE;
rotationSingle := 3;
targetVelo:=0;
ELSE
IF actAngle <= 5 THEN
rotationSingle := 1;
END_IF
targetVelo:=(ABS(LREAL_TO_DINT(actAngle*1.5)))+30;
END_IF
ELSIF actAngle >= 180 THEN
IF actAngle >= 355 AND rotationSingle = 1 THEN
rotationSingle := 2;
END_IF
targetVelo:=(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))+30;
END_IF
ELSE
IF actAngle < 180 THEN
IF actAngle <= 5 AND rotationSingle = 4 THEN
rotationSingle := 5;
END_IF
targetVelo:=-(ABS(LREAL_TO_DINT(actAngle*1.5)))-30;
ELSIF actAngle >= 180 THEN
IF rotationSingle = 5 THEN//切换模式
rotation := 0;
rotationSingle := 0;
targetVelo:=0;
ELSE
IF actAngle >= 355 THEN
rotationSingle := 4;
END_IF
targetVelo:=-(ABS(LREAL_TO_DINT((360-actAngle)*1.5)))-30;
END_IF
END_IF
END_IF
sampleVelo := targetVelo * 257;]]></ST>
</Implementation>
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<?xml version="1.0" encoding="utf-8"?>
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参数标定程序/GetData/showData/Scope YT Project.tcscope Normal file
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<ScopeViewSerializable>
<Version>1.0.0.6</Version>
<Title>Scope YT Project</Title>
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<Comment></Comment>
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<ScopeChartSerializable>
<Name>Chart</Name>
<GUID>97332cdc-477f-498a-a8da-59f3e238ae5a</GUID>
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<BackgroundColorValue>-1118482</BackgroundColorValue>
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<Comment></Comment>
<ScaleOnZoom>true</ScaleOnZoom>
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<ColorValue>-13676721</ColorValue>
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<GridColorValue>-13676721</GridColorValue>
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<Comment></Comment>
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<SortPriority>-1</SortPriority>
<Invert>false</Invert>
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<Caption>Axis</Caption>
<Name>Axis</Name>
<Style>
<Visible>true</Visible>
<Enabled>true</Enabled>
<ColorValue>-13676721</ColorValue>
<UseGrid>true</UseGrid>
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<LineWidth>1</LineWidth>
<AutoScale>true</AutoScale>
<AxisMin>0</AxisMin>
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<ScaleFactor>0</ScaleFactor>
<ShowCursorValue>true</ShowCursorValue>
<GridColorValue>-13676721</GridColorValue>
<GridLineWidth>1</GridLineWidth>
<UseSubGrid>false</UseSubGrid>
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<Logarithmic>false</Logarithmic>
<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
</Style>
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<IdentHandle>1</IdentHandle>
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<TargetPort>851</TargetPort>
<VariableSize>4</VariableSize>
<SymbolName>MAIN.DualPosDiff</SymbolName>
<SymbolComment>双编码器差值</SymbolComment>
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<FileHandle>0</FileHandle>
<UseLocalServer>true</UseLocalServer>
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<SolidLine>true</SolidLine>
<Marks>false</Marks>
<LineWidth>1</LineWidth>
<Antialias>true</Antialias>
<Offset>0</Offset>
<BitMask>18446744073709551615</BitMask>
<ShowCursorValue>true</ShowCursorValue>
<Visible>true</Visible>
<MarkColorValue>-65536</MarkColorValue>
<MarkSize>3</MarkSize>
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<Comment></Comment>
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<Name>Axis(1)</Name>
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<ColorValue>-13676721</ColorValue>
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<Comment></Comment>
<ShowName>false</ShowName>
<Precision>6</Precision>
<ScaleMode>AutoGrowOnly</ScaleMode>
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参数标定程序/GetData/showData/showData.tcmproj Normal file
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