first commit
This commit is contained in:
commit
4c8173dda7
14
主控制程序/ZeroTorque/Experiment Scope/Experiment Scope.tcmproj
Normal file
14
主控制程序/ZeroTorque/Experiment Scope/Experiment Scope.tcmproj
Normal file
@ -0,0 +1,14 @@
|
||||
<?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
362
主控制程序/ZeroTorque/Experiment Scope/Scope YT Project.tcscope
Normal file
@ -0,0 +1,362 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<ScopeViewSerializable>
|
||||
<Version>1.0.0.6</Version>
|
||||
<Title>Scope YT Project</Title>
|
||||
<LayoutString><?xml version="1.0" encoding="utf-16"?>
|
||||
<Layout>
|
||||
<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" />
|
||||
<DocumentContainer Dock="5">
|
||||
<SplitLayoutSystem WorkingSize="250, 400" SplitMode="0">
|
||||
<ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a">
|
||||
<Controls>
|
||||
<Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" />
|
||||
</Controls>
|
||||
</ControlLayoutSystem>
|
||||
</SplitLayoutSystem>
|
||||
</DocumentContainer>
|
||||
</Layout></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>
|
||||
473
主控制程序/ZeroTorque/SystemTimerCount/Scope YT Project.tcscope
Normal file
473
主控制程序/ZeroTorque/SystemTimerCount/Scope YT Project.tcscope
Normal file
@ -0,0 +1,473 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<ScopeViewSerializable>
|
||||
<Version>1.0.0.6</Version>
|
||||
<Title>Scope YT Project</Title>
|
||||
<LayoutString><?xml version="1.0" encoding="utf-16"?>
|
||||
<Layout>
|
||||
<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" />
|
||||
<DocumentContainer Dock="5">
|
||||
<SplitLayoutSystem WorkingSize="250, 400" SplitMode="0">
|
||||
<ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a">
|
||||
<Controls>
|
||||
<Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" />
|
||||
</Controls>
|
||||
</ControlLayoutSystem>
|
||||
</SplitLayoutSystem>
|
||||
</DocumentContainer>
|
||||
</Layout></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>
|
||||
<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>expectedCyclePerSecond</Name>
|
||||
<IdentHandle>3</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>518256</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>MAIN.expectedCyclePerSecond</SymbolName>
|
||||
<SymbolComment>100Hz</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>-23296</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>-23296</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>-1</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>ifStartTimeCount</Name>
|
||||
<IdentHandle>4</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>BIT</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>518249</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>1</VariableSize>
|
||||
<SymbolName>MAIN.ifStartTimeCount</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>-16711936</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>-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>64</FillMode>
|
||||
<FillColorValue>855638015</FillColorValue>
|
||||
<EndCap>false</EndCap>
|
||||
<StartCap>false</StartCap>
|
||||
<CapSize>3</CapSize>
|
||||
<CapColorValue>-65536</CapColorValue>
|
||||
<SeriesType>Stair</SeriesType>
|
||||
<ShowMin>false</ShowMin>
|
||||
<ShowMax>false</ShowMax>
|
||||
</Style>
|
||||
<SortPriority>-1</SortPriority>
|
||||
</ScopeChannelSerializable>
|
||||
<ScopeChannelSerializable>
|
||||
<Name>ifEndTimeCount</Name>
|
||||
<IdentHandle>5</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>BIT</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>518537</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>1</VariableSize>
|
||||
<SymbolName>MAIN.ifEndTimeCount</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>-14774017</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>-14774017</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>64</FillMode>
|
||||
<FillColorValue>855638015</FillColorValue>
|
||||
<EndCap>false</EndCap>
|
||||
<StartCap>false</StartCap>
|
||||
<CapSize>3</CapSize>
|
||||
<CapColorValue>-65536</CapColorValue>
|
||||
<SeriesType>Stair</SeriesType>
|
||||
<ShowMin>false</ShowMin>
|
||||
<ShowMax>false</ShowMax>
|
||||
</Style>
|
||||
<SortPriority>-1</SortPriority>
|
||||
</ScopeChannelSerializable>
|
||||
</Channels>
|
||||
<SortPriority>-1</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>
|
||||
14
主控制程序/ZeroTorque/SystemTimerCount/SystemTimerCount.tcmproj
Normal file
14
主控制程序/ZeroTorque/SystemTimerCount/SystemTimerCount.tcmproj
Normal file
@ -0,0 +1,14 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<ProjectGuid>{e56a7522-ee8a-4efd-bc6c-526f41496fe1}</ProjectGuid>
|
||||
<AssemblyName>SystemTimerCount</AssemblyName>
|
||||
<Name>SystemTimerCount</Name>
|
||||
<RootNamespace>SystemTimerCount</RootNamespace>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Content Include="Scope YT Project.tcscope">
|
||||
<SubType>Content</SubType>
|
||||
</Content>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -0,0 +1,14 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<ProjectGuid>{ffc8516a-b58d-4531-ad7b-9ff30d4ad54a}</ProjectGuid>
|
||||
<AssemblyName>TwinCAT Measurement Project1</AssemblyName>
|
||||
<Name>Routine Scope</Name>
|
||||
<RootNamespace>TwinCAT Measurement Project1</RootNamespace>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Content Include="Scope YT Project.tcscope">
|
||||
<SubType>Content</SubType>
|
||||
</Content>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -0,0 +1,615 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<ScopeViewSerializable>
|
||||
<Version>1.0.0.6</Version>
|
||||
<Title>Scope YT Project</Title>
|
||||
<LayoutString><?xml version="1.0" encoding="utf-16"?>
|
||||
<Layout>
|
||||
<Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133598985474271739" 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" />
|
||||
<DocumentContainer Dock="5">
|
||||
<SplitLayoutSystem WorkingSize="250, 400" SplitMode="0">
|
||||
<ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a">
|
||||
<Controls>
|
||||
<Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" />
|
||||
</Controls>
|
||||
</ControlLayoutSystem>
|
||||
</SplitLayoutSystem>
|
||||
</DocumentContainer>
|
||||
</Layout></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>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>runDirect</Name>
|
||||
<IdentHandle>1</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT16</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>512998</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>2</VariableSize>
|
||||
<SymbolName>MAIN.runDirect</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>-5952982</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>-5952982</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>849685034</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>sampleVelo</Name>
|
||||
<IdentHandle>2</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>512988</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>MAIN.sampleVelo</SymbolName>
|
||||
<SymbolComment>采样速度</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>
|
||||
<ScopeChannelSerializable>
|
||||
<Name>targetVelo</Name>
|
||||
<IdentHandle>3</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>61488</IndexGroup>
|
||||
<IndexOffset>514168</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>GVL.targetVelo</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>-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>
|
||||
</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>dualPosFix</Name>
|
||||
<IdentHandle>4</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>514224</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>GVL.dualPosFix</SymbolName>
|
||||
<SymbolComment> process data</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>-23296</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>-23296</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>855614720</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>irDualPos</Name>
|
||||
<IdentHandle>5</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>REAL64</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>513232</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<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>
|
||||
@ -0,0 +1,14 @@
|
||||
<?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>
|
||||
@ -0,0 +1,615 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<ScopeViewSerializable>
|
||||
<Version>1.0.0.6</Version>
|
||||
<Title>Scope YT Project</Title>
|
||||
<LayoutString><?xml version="1.0" encoding="utf-16"?>
|
||||
<Layout>
|
||||
<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" />
|
||||
<DocumentContainer Dock="5">
|
||||
<SplitLayoutSystem WorkingSize="250, 400" SplitMode="0">
|
||||
<ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a">
|
||||
<Controls>
|
||||
<Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" />
|
||||
</Controls>
|
||||
</ControlLayoutSystem>
|
||||
</SplitLayoutSystem>
|
||||
</DocumentContainer>
|
||||
</Layout></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>
|
||||
<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>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>runDirect</Name>
|
||||
<IdentHandle>6</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT16</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>512998</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>2</VariableSize>
|
||||
<SymbolName>MAIN.runDirect</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>-23296</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>-23296</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>855614720</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>enable</Name>
|
||||
<IdentHandle>7</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>BIT</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>550406</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>1</VariableSize>
|
||||
<SymbolName>MAIN.enable</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>-16711936</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>-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>64</FillMode>
|
||||
<FillColorValue>855638015</FillColorValue>
|
||||
<EndCap>false</EndCap>
|
||||
<StartCap>false</StartCap>
|
||||
<CapSize>3</CapSize>
|
||||
<CapColorValue>-65536</CapColorValue>
|
||||
<SeriesType>Stair</SeriesType>
|
||||
<ShowMin>false</ShowMin>
|
||||
<ShowMax>false</ShowMax>
|
||||
</Style>
|
||||
<SortPriority>-1</SortPriority>
|
||||
</ScopeChannelSerializable>
|
||||
</Channels>
|
||||
<SortPriority>-1</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>
|
||||
78
主控制程序/ZeroTorque/ZeroTorque.sln
Normal file
78
主控制程序/ZeroTorque/ZeroTorque.sln
Normal file
@ -0,0 +1,78 @@
|
||||
|
||||
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}") = "ZeroTorque", "ZeroTorque\ZeroTorque.tsproj", "{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}"
|
||||
EndProject
|
||||
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "Routine Scope", "TwinCAT Measurement Project1\Routine Scope.tcmproj", "{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}"
|
||||
EndProject
|
||||
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "Fitting Scope", "TwinCAT Measurement Project2\Fitting Scope.tcmproj", "{EE167CA7-C964-44C2-A943-8612583D6C56}"
|
||||
EndProject
|
||||
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "Experiment Scope", "Experiment Scope\Experiment Scope.tcmproj", "{25266813-B8BD-4FCA-900E-0B9714878E6A}"
|
||||
EndProject
|
||||
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "newControl", "newControl\newControl.tcmproj", "{DFD57539-9BF9-4B55-A36D-0267A2D1970A}"
|
||||
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
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{5369CD25-192E-4CCF-B8FB-F0D5CE555E35}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
|
||||
{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{FFC8516A-B58D-4531-AD7B-9FF30D4AD54A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{EE167CA7-C964-44C2-A943-8612583D6C56}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{EE167CA7-C964-44C2-A943-8612583D6C56}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{EE167CA7-C964-44C2-A943-8612583D6C56}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{EE167CA7-C964-44C2-A943-8612583D6C56}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{EE167CA7-C964-44C2-A943-8612583D6C56}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{EE167CA7-C964-44C2-A943-8612583D6C56}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{25266813-B8BD-4FCA-900E-0B9714878E6A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{25266813-B8BD-4FCA-900E-0B9714878E6A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{25266813-B8BD-4FCA-900E-0B9714878E6A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{25266813-B8BD-4FCA-900E-0B9714878E6A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{25266813-B8BD-4FCA-900E-0B9714878E6A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{25266813-B8BD-4FCA-900E-0B9714878E6A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{DFD57539-9BF9-4B55-A36D-0267A2D1970A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
|
||||
{1B06F6B8-FDCD-40C8-8CC0-F331ACB723E8}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
4
主控制程序/ZeroTorque/ZeroTorque.sln.~u
Normal file
4
主控制程序/ZeroTorque/ZeroTorque.sln.~u
Normal file
@ -0,0 +1,4 @@
|
||||
Administrator
|
||||
2303186-002
|
||||
7728
|
||||
638508643709001267
|
||||
BIN
主控制程序/ZeroTorque/ZeroTorque.v12.suo
Normal file
BIN
主控制程序/ZeroTorque/ZeroTorque.v12.suo
Normal file
Binary file not shown.
2
主控制程序/ZeroTorque/ZeroTorque/TrialLicense.tclrs
Normal file
2
主控制程序/ZeroTorque/ZeroTorque/TrialLicense.tclrs
Normal file
@ -0,0 +1,2 @@
|
||||
<?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>
|
||||
2383
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque.tsproj
Normal file
2383
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque.tsproj
Normal file
File diff suppressed because it is too large
Load Diff
2387
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque.tsproj.bak
Normal file
2387
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque.tsproj.bak
Normal file
File diff suppressed because it is too large
Load Diff
30
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/GVLs/GVL.TcGVL
Normal file
30
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/GVLs/GVL.TcGVL
Normal file
@ -0,0 +1,30 @@
|
||||
<?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>
|
||||
@ -0,0 +1,43 @@
|
||||
<?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>
|
||||
537
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/MAIN.TcPOU
Normal file
537
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/POUs/MAIN.TcPOU
Normal file
@ -0,0 +1,537 @@
|
||||
<?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>
|
||||
</Implementation>
|
||||
<LineIds Name="MAIN">
|
||||
<LineId Id="37" Count="0" />
|
||||
<LineId Id="63" Count="1" />
|
||||
<LineId Id="731" Count="0" />
|
||||
<LineId Id="1038" Count="0" />
|
||||
<LineId Id="6" Count="0" />
|
||||
<LineId Id="25" Count="0" />
|
||||
<LineId Id="28" Count="0" />
|
||||
<LineId Id="27" Count="0" />
|
||||
<LineId Id="51" Count="0" />
|
||||
<LineId Id="26" Count="0" />
|
||||
<LineId Id="9" Count="8" />
|
||||
<LineId Id="46" Count="0" />
|
||||
<LineId Id="49" Count="0" />
|
||||
<LineId Id="52" Count="2" />
|
||||
<LineId Id="56" Count="0" />
|
||||
<LineId Id="50" Count="0" />
|
||||
<LineId Id="23" Count="0" />
|
||||
<LineId Id="253" Count="0" />
|
||||
<LineId Id="288" Count="0" />
|
||||
<LineId Id="254" Count="0" />
|
||||
<LineId Id="289" Count="0" />
|
||||
<LineId Id="256" Count="1" />
|
||||
<LineId Id="367" Count="0" />
|
||||
<LineId Id="95" Count="0" />
|
||||
<LineId Id="105" Count="0" />
|
||||
<LineId Id="192" Count="0" />
|
||||
<LineId Id="429" Count="0" />
|
||||
<LineId Id="308" Count="0" />
|
||||
<LineId Id="302" Count="0" />
|
||||
<LineId Id="307" Count="0" />
|
||||
<LineId Id="303" Count="0" />
|
||||
<LineId Id="309" Count="1" />
|
||||
<LineId Id="304" Count="0" />
|
||||
<LineId Id="311" Count="0" />
|
||||
<LineId Id="359" Count="0" />
|
||||
<LineId Id="313" Count="0" />
|
||||
<LineId Id="315" Count="0" />
|
||||
<LineId Id="318" Count="0" />
|
||||
<LineId Id="316" Count="0" />
|
||||
<LineId Id="360" Count="0" />
|
||||
<LineId Id="319" Count="1" />
|
||||
<LineId Id="358" Count="0" />
|
||||
<LineId Id="431" Count="0" />
|
||||
<LineId Id="314" Count="0" />
|
||||
<LineId Id="322" Count="0" />
|
||||
<LineId Id="366" Count="0" />
|
||||
<LineId Id="432" Count="0" />
|
||||
<LineId Id="442" Count="0" />
|
||||
<LineId Id="449" Count="0" />
|
||||
<LineId Id="445" Count="1" />
|
||||
<LineId Id="450" Count="0" />
|
||||
<LineId Id="443" Count="0" />
|
||||
<LineId Id="451" Count="5" />
|
||||
<LineId Id="433" Count="0" />
|
||||
<LineId Id="409" Count="0" />
|
||||
<LineId Id="405" Count="1" />
|
||||
<LineId Id="408" Count="0" />
|
||||
<LineId Id="414" Count="1" />
|
||||
<LineId Id="417" Count="1" />
|
||||
<LineId Id="416" Count="0" />
|
||||
<LineId Id="407" Count="0" />
|
||||
<LineId Id="634" Count="0" />
|
||||
<LineId Id="364" Count="0" />
|
||||
<LineId Id="146" Count="1" />
|
||||
<LineId Id="149" Count="1" />
|
||||
<LineId Id="148" Count="0" />
|
||||
<LineId Id="166" Count="1" />
|
||||
<LineId Id="170" Count="2" />
|
||||
<LineId Id="175" Count="0" />
|
||||
<LineId Id="420" Count="5" />
|
||||
<LineId Id="248" Count="3" />
|
||||
<LineId Id="371" Count="0" />
|
||||
<LineId Id="252" Count="0" />
|
||||
<LineId Id="161" Count="0" />
|
||||
<LineId Id="370" Count="0" />
|
||||
<LineId Id="372" Count="3" />
|
||||
<LineId Id="496" Count="4" />
|
||||
<LineId Id="502" Count="0" />
|
||||
<LineId Id="516" Count="1" />
|
||||
<LineId Id="519" Count="6" />
|
||||
<LineId Id="518" Count="0" />
|
||||
<LineId Id="506" Count="0" />
|
||||
<LineId Id="512" Count="2" />
|
||||
<LineId Id="507" Count="0" />
|
||||
<LineId Id="505" Count="0" />
|
||||
<LineId Id="526" Count="1" />
|
||||
<LineId Id="547" Count="0" />
|
||||
<LineId Id="591" Count="2" />
|
||||
<LineId Id="557" Count="0" />
|
||||
<LineId Id="577" Count="9" />
|
||||
<LineId Id="562" Count="0" />
|
||||
<LineId Id="503" Count="0" />
|
||||
<LineId Id="563" Count="1" />
|
||||
<LineId Id="652" Count="0" />
|
||||
<LineId Id="677" Count="5" />
|
||||
<LineId Id="1249" Count="1" />
|
||||
<LineId Id="683" Count="2" />
|
||||
<LineId Id="687" Count="16" />
|
||||
<LineId Id="1251" Count="0" />
|
||||
<LineId Id="704" Count="2" />
|
||||
<LineId Id="1079" Count="0" />
|
||||
<LineId Id="708" Count="0" />
|
||||
<LineId Id="962" Count="2" />
|
||||
<LineId Id="1148" Count="0" />
|
||||
<LineId Id="965" Count="2" />
|
||||
<LineId Id="1149" Count="0" />
|
||||
<LineId Id="968" Count="3" />
|
||||
<LineId Id="1161" Count="0" />
|
||||
<LineId Id="972" Count="1" />
|
||||
<LineId Id="1162" Count="0" />
|
||||
<LineId Id="974" Count="2" />
|
||||
<LineId Id="1086" Count="0" />
|
||||
<LineId Id="1078" Count="0" />
|
||||
<LineId Id="1124" Count="0" />
|
||||
<LineId Id="1114" Count="1" />
|
||||
<LineId Id="1117" Count="1" />
|
||||
<LineId Id="1116" Count="0" />
|
||||
<LineId Id="1112" Count="0" />
|
||||
<LineId Id="1122" Count="0" />
|
||||
<LineId Id="1125" Count="0" />
|
||||
<LineId Id="1127" Count="0" />
|
||||
<LineId Id="1129" Count="1" />
|
||||
<LineId Id="1128" Count="0" />
|
||||
<LineId Id="1131" Count="0" />
|
||||
<LineId Id="1134" Count="1" />
|
||||
<LineId Id="1138" Count="0" />
|
||||
<LineId Id="1133" Count="0" />
|
||||
<LineId Id="1146" Count="0" />
|
||||
<LineId Id="1150" Count="3" />
|
||||
<LineId Id="1155" Count="2" />
|
||||
<LineId Id="1160" Count="0" />
|
||||
<LineId Id="1163" Count="0" />
|
||||
<LineId Id="1168" Count="0" />
|
||||
<LineId Id="1165" Count="0" />
|
||||
<LineId Id="1169" Count="1" />
|
||||
<LineId Id="1176" Count="0" />
|
||||
<LineId Id="1171" Count="3" />
|
||||
<LineId Id="1164" Count="0" />
|
||||
<LineId Id="1154" Count="0" />
|
||||
<LineId Id="1076" Count="0" />
|
||||
<LineId Id="1139" Count="0" />
|
||||
<LineId Id="1141" Count="0" />
|
||||
<LineId Id="1143" Count="1" />
|
||||
<LineId Id="1142" Count="0" />
|
||||
<LineId Id="1119" Count="0" />
|
||||
<LineId Id="1099" Count="0" />
|
||||
<LineId Id="1105" Count="0" />
|
||||
<LineId Id="1100" Count="4" />
|
||||
<LineId Id="653" Count="0" />
|
||||
<LineId Id="1068" Count="0" />
|
||||
<LineId Id="1087" Count="1" />
|
||||
<LineId Id="1107" Count="0" />
|
||||
<LineId Id="1089" Count="4" />
|
||||
<LineId Id="369" Count="0" />
|
||||
<LineId Id="33" Count="1" />
|
||||
<LineId Id="55" Count="0" />
|
||||
<LineId Id="36" Count="0" />
|
||||
<LineId Id="58" Count="0" />
|
||||
<LineId Id="61" Count="1" />
|
||||
<LineId Id="60" Count="0" />
|
||||
<LineId Id="7" Count="0" />
|
||||
<LineId Id="2" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
17
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/PlcTask.TcTTO
Normal file
17
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/PlcTask.TcTTO
Normal file
@ -0,0 +1,17 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.0.36">
|
||||
<Task Name="PlcTask" Id="{f64e0946-b71f-488e-b037-fc48a7a872c9}">
|
||||
<!--CycleTime in micro seconds.-->
|
||||
<CycleTime>10000</CycleTime>
|
||||
<Priority>20</Priority>
|
||||
<PouCall>
|
||||
<Name>MAIN</Name>
|
||||
</PouCall>
|
||||
<TaskFBGuid>{3a9e7f1a-1ec4-4947-a01b-a9fb6649f7a5}</TaskFBGuid>
|
||||
<Fb_init>{bc0bbf97-e8fa-430a-982a-31ec2530381c}</Fb_init>
|
||||
<Fb_exit>{a888598b-78e6-43f1-8eb5-11c5959640d3}</Fb_exit>
|
||||
<CycleUpdate>{279d01ce-f96d-4606-aff9-7d831d061938}</CycleUpdate>
|
||||
<PostCycleUpdate>{1540b719-5b4e-426d-98eb-8c080aaf78ba}</PostCycleUpdate>
|
||||
<ObjectProperties />
|
||||
</Task>
|
||||
</TcPlcObject>
|
||||
129
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.plcproj
Normal file
129
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.plcproj
Normal file
@ -0,0 +1,129 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<FileVersion>1.0.0.0</FileVersion>
|
||||
<SchemaVersion>2.0</SchemaVersion>
|
||||
<ProjectGuid>{1b06f6b8-fdcd-40c8-8cc0-f331acb723e8}</ProjectGuid>
|
||||
<SubObjectsSortedByName>True</SubObjectsSortedByName>
|
||||
<Name>ZeroTorque</Name>
|
||||
<ProgramVersion>3.1.4020.4</ProgramVersion>
|
||||
<Application>{30661dd2-f26f-4975-9075-0128944e2589}</Application>
|
||||
<TypeSystem>{9cea75cc-1224-4652-ae20-c29019682d81}</TypeSystem>
|
||||
<Implicit_Task_Info>{b2bd9461-063e-4864-b10e-fda06112df91}</Implicit_Task_Info>
|
||||
<Implicit_KindOfTask>{004f52db-f686-46bc-aa89-72c5c61d5e3a}</Implicit_KindOfTask>
|
||||
<Implicit_Jitter_Distribution>{c9d602d5-8514-4b8e-aefd-657ba7849071}</Implicit_Jitter_Distribution>
|
||||
<LibraryReferences>{cfaa02b9-f003-4e81-86b6-764330845a4d}</LibraryReferences>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="GVLs\GVL.TcGVL">
|
||||
<SubType>Code</SubType>
|
||||
<LinkAlways>true</LinkAlways>
|
||||
</Compile>
|
||||
<Compile Include="PlcTask.TcTTO">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="POUs\KalmanFilter.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="POUs\MAIN.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Folder Include="DUTs" />
|
||||
<Folder Include="GVLs" />
|
||||
<Folder Include="VISUs" />
|
||||
<Folder Include="POUs" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<PlaceholderReference Include="Tc2_MC2">
|
||||
<DefaultResolution>Tc2_MC2, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_MC2</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc2_Standard">
|
||||
<DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_Standard</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc2_System">
|
||||
<DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_System</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc3_Module">
|
||||
<DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc3_Module</Namespace>
|
||||
</PlaceholderReference>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="ZeroTorque.tmc">
|
||||
<SubType>Content</SubType>
|
||||
</None>
|
||||
</ItemGroup>
|
||||
<ProjectExtensions>
|
||||
<PlcProjectOptions>
|
||||
<XmlArchive>
|
||||
<Data>
|
||||
<o xml:space="preserve" t="OptionKey">
|
||||
<v n="Name">"<ProjectRoot>"</v>
|
||||
<d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
|
||||
<v>{8F99A816-E488-41E4-9FA3-846536012284}</v>
|
||||
<o>
|
||||
<v n="Name">"{8F99A816-E488-41E4-9FA3-846536012284}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
<v>{29BD8D0C-3586-4548-BB48-497B9A01693F}</v>
|
||||
<o>
|
||||
<v n="Name">"{29BD8D0C-3586-4548-BB48-497B9A01693F}"</v>
|
||||
<d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
|
||||
<v>Rules</v>
|
||||
<o>
|
||||
<v n="Name">"Rules"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
</d>
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
<v>{40450F57-0AA3-4216-96F3-5444ECB29763}</v>
|
||||
<o>
|
||||
<v n="Name">"{40450F57-0AA3-4216-96F3-5444ECB29763}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" ckt="String" cvt="String">
|
||||
<v>ActiveVisuProfile</v>
|
||||
<v>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</v>
|
||||
</d>
|
||||
</o>
|
||||
<v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
|
||||
<o>
|
||||
<v n="Name">"{192FAD59-8248-4824-A8DE-9177C94C195A}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
<v>{F66C7017-BDD8-4114-926C-81D6D687E35F}</v>
|
||||
<o>
|
||||
<v n="Name">"{F66C7017-BDD8-4114-926C-81D6D687E35F}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
<v>{246001F4-279D-43AC-B241-948EB31120E1}</v>
|
||||
<o>
|
||||
<v n="Name">"{246001F4-279D-43AC-B241-948EB31120E1}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" ckt="String" cvt="String">
|
||||
<v>GlobalVisuImageFilePath</v>
|
||||
<v>%APPLICATIONPATH%</v>
|
||||
</d>
|
||||
</o>
|
||||
</d>
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
</Data>
|
||||
<TypeList>
|
||||
<Type n="Hashtable">System.Collections.Hashtable</Type>
|
||||
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
|
||||
<Type n="String">System.String</Type>
|
||||
</TypeList>
|
||||
</XmlArchive>
|
||||
</PlcProjectOptions>
|
||||
</ProjectExtensions>
|
||||
</Project>
|
||||
37
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tmc
Normal file
37
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tmc
Normal file
File diff suppressed because one or more lines are too long
37
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tpy
Normal file
37
主控制程序/ZeroTorque/ZeroTorque/ZeroTorque/ZeroTorque.tpy
Normal file
File diff suppressed because one or more lines are too long
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
9
主控制程序/ZeroTorque/ZeroTorque/_Boot/TargetDescription.xml
Normal file
9
主控制程序/ZeroTorque/ZeroTorque/_Boot/TargetDescription.xml
Normal file
@ -0,0 +1,9 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<TcTargetDesc>
|
||||
<TargetVersion>
|
||||
<Version>3</Version>
|
||||
<Revision>1</Revision>
|
||||
<Build>4020</Build>
|
||||
<Subbuild>28</Subbuild>
|
||||
</TargetVersion>
|
||||
</TcTargetDesc>
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
@ -0,0 +1 @@
|
||||
В$жрВ╗G[╧█╬ г└
|
||||
Binary file not shown.
Binary file not shown.
529
主控制程序/ZeroTorque/newControl/Scope YT Project.tcscope
Normal file
529
主控制程序/ZeroTorque/newControl/Scope YT Project.tcscope
Normal file
@ -0,0 +1,529 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<ScopeViewSerializable>
|
||||
<Version>1.0.0.6</Version>
|
||||
<Title>Scope YT Project</Title>
|
||||
<LayoutString><?xml version="1.0" encoding="utf-16"?>
|
||||
<Layout>
|
||||
<Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133601315748742721" 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" />
|
||||
<DocumentContainer Dock="5">
|
||||
<SplitLayoutSystem WorkingSize="250, 400" SplitMode="0">
|
||||
<ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a">
|
||||
<Controls>
|
||||
<Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" />
|
||||
</Controls>
|
||||
</ControlLayoutSystem>
|
||||
</SplitLayoutSystem>
|
||||
</DocumentContainer>
|
||||
</Layout></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>false</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>oriPos</Name>
|
||||
<IdentHandle>1</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>515488</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>MAIN.oriPos</SymbolName>
|
||||
<SymbolComment>原始位置保存</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>-16711681</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>-16711681</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>838926335</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>actPosition</Name>
|
||||
<IdentHandle>2</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>61472</IndexGroup>
|
||||
<IndexOffset>517000</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>-5952982</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>-5952982</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>849685034</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>tarVelocity</Name>
|
||||
<IdentHandle>3</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>REAL64</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>515496</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>
|
||||
<ScopeChannelSerializable>
|
||||
<Name>sampleVelo</Name>
|
||||
<IdentHandle>4</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>INT32</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>514408</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>MAIN.sampleVelo</SymbolName>
|
||||
<SymbolComment>采样速度</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(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>
|
||||
<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>irDualPos</Name>
|
||||
<IdentHandle>5</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>REAL64</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>515856</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<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>-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>
|
||||
<ScopeChannelSerializable>
|
||||
<Name>irDualPosFix</Name>
|
||||
<IdentHandle>6</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>REAL64</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>515592</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>8</VariableSize>
|
||||
<SymbolName>MAIN.irDualPosFix</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>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 />
|
||||
</TriggerModule>
|
||||
<SortPriority>-1</SortPriority>
|
||||
<ViewDetailLevel>Default</ViewDetailLevel>
|
||||
</ScopeViewSerializable>
|
||||
14
主控制程序/ZeroTorque/newControl/newControl.tcmproj
Normal file
14
主控制程序/ZeroTorque/newControl/newControl.tcmproj
Normal file
@ -0,0 +1,14 @@
|
||||
<?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>
|
||||
54
参数标定程序/GetData/GetData.sln
Normal file
54
参数标定程序/GetData/GetData.sln
Normal file
@ -0,0 +1,54 @@
|
||||
|
||||
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
|
||||
EndGlobal
|
||||
BIN
参数标定程序/GetData/GetData.v12.suo
Normal file
BIN
参数标定程序/GetData/GetData.v12.suo
Normal file
Binary file not shown.
2301
参数标定程序/GetData/GetData/GetData.tsproj
Normal file
2301
参数标定程序/GetData/GetData/GetData.tsproj
Normal file
File diff suppressed because it is too large
Load Diff
2290
参数标定程序/GetData/GetData/GetData.tsproj.bak
Normal file
2290
参数标定程序/GetData/GetData/GetData.tsproj.bak
Normal file
File diff suppressed because it is too large
Load Diff
9
参数标定程序/GetData/GetData/_Boot/TargetDescription.xml
Normal file
9
参数标定程序/GetData/GetData/_Boot/TargetDescription.xml
Normal file
@ -0,0 +1,9 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
|
||||
<TcTargetDesc>
|
||||
<TargetVersion>
|
||||
<Version>3</Version>
|
||||
<Revision>1</Revision>
|
||||
<Build>4020</Build>
|
||||
<Subbuild>28</Subbuild>
|
||||
</TargetVersion>
|
||||
</TcTargetDesc>
|
||||
File diff suppressed because one or more lines are too long
BIN
参数标定程序/GetData/GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.app
Normal file
BIN
参数标定程序/GetData/GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.app
Normal file
Binary file not shown.
@ -0,0 +1 @@
|
||||
<EFBFBD>u\_<><5F> <1D>w<EFBFBD><10>ׂb<D782>
|
||||
BIN
参数标定程序/GetData/GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc
Normal file
BIN
参数标定程序/GetData/GetData/_Boot/TwinCAT RT (x64)/Plc/Port_851.crc
Normal file
Binary file not shown.
Binary file not shown.
81
参数标定程序/GetData/GetData/getData/POUs/MAIN.TcPOU
Normal file
81
参数标定程序/GetData/GetData/getData/POUs/MAIN.TcPOU
Normal file
@ -0,0 +1,81 @@
|
||||
<?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>
|
||||
<LineIds Name="MAIN">
|
||||
<LineId Id="134" Count="1" />
|
||||
<LineId Id="62" Count="0" />
|
||||
<LineId Id="91" Count="8" />
|
||||
<LineId Id="137" Count="0" />
|
||||
<LineId Id="101" Count="0" />
|
||||
<LineId Id="136" Count="0" />
|
||||
<LineId Id="103" Count="26" />
|
||||
<LineId Id="138" Count="0" />
|
||||
<LineId Id="2" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
17
参数标定程序/GetData/GetData/getData/PlcTask.TcTTO
Normal file
17
参数标定程序/GetData/GetData/getData/PlcTask.TcTTO
Normal file
@ -0,0 +1,17 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.0.36">
|
||||
<Task Name="PlcTask" Id="{06884504-b397-4436-8025-4793238d66e9}">
|
||||
<!--CycleTime in micro seconds.-->
|
||||
<CycleTime>10000</CycleTime>
|
||||
<Priority>20</Priority>
|
||||
<PouCall>
|
||||
<Name>MAIN</Name>
|
||||
</PouCall>
|
||||
<TaskFBGuid>{71cafd4f-a188-46b5-bae8-a74b8a53cc96}</TaskFBGuid>
|
||||
<Fb_init>{91eddb28-fc27-49f1-a1b2-11d42e639d50}</Fb_init>
|
||||
<Fb_exit>{77bd5827-6228-4e58-ab6a-271dce175b2f}</Fb_exit>
|
||||
<CycleUpdate>{8bfa1632-795f-4646-93a4-0b95e03f8100}</CycleUpdate>
|
||||
<PostCycleUpdate>{b2053fab-24ad-4729-bb28-e6b5a9f4cc70}</PostCycleUpdate>
|
||||
<ObjectProperties />
|
||||
</Task>
|
||||
</TcPlcObject>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
84
参数标定程序/GetData/GetData/getData/getData.plcproj
Normal file
84
参数标定程序/GetData/GetData/getData/getData.plcproj
Normal file
@ -0,0 +1,84 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<FileVersion>1.0.0.0</FileVersion>
|
||||
<SchemaVersion>2.0</SchemaVersion>
|
||||
<ProjectGuid>{f041efa9-16a2-439a-b568-be80a5fd27bf}</ProjectGuid>
|
||||
<SubObjectsSortedByName>True</SubObjectsSortedByName>
|
||||
<Name>getData</Name>
|
||||
<ProgramVersion>3.1.4020.4</ProgramVersion>
|
||||
<Application>{46cd33bb-2f07-4aea-8821-75b27da85462}</Application>
|
||||
<TypeSystem>{fe6ea545-8c12-447d-9e8b-207345584fa4}</TypeSystem>
|
||||
<Implicit_Task_Info>{b6b389d6-990f-4b06-b6f9-a0bff23e1a78}</Implicit_Task_Info>
|
||||
<Implicit_KindOfTask>{30d46678-82f2-4afe-b2c5-c0e84e45a122}</Implicit_KindOfTask>
|
||||
<Implicit_Jitter_Distribution>{8cb5cdc4-c35d-4cdc-bdea-0444e2663006}</Implicit_Jitter_Distribution>
|
||||
<LibraryReferences>{fb39c030-287a-488a-ba87-a69ca9009bda}</LibraryReferences>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Compile Include="PlcTask.TcTTO">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="POUs\MAIN.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<Folder Include="DUTs" />
|
||||
<Folder Include="GVLs" />
|
||||
<Folder Include="VISUs" />
|
||||
<Folder Include="POUs" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<PlaceholderReference Include="Tc2_Standard">
|
||||
<DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_Standard</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc2_System">
|
||||
<DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_System</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc3_Module">
|
||||
<DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc3_Module</Namespace>
|
||||
</PlaceholderReference>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="getData.tmc">
|
||||
<SubType>Content</SubType>
|
||||
</None>
|
||||
</ItemGroup>
|
||||
<ProjectExtensions>
|
||||
<PlcProjectOptions>
|
||||
<XmlArchive>
|
||||
<Data>
|
||||
<o xml:space="preserve" t="OptionKey">
|
||||
<v n="Name">"<ProjectRoot>"</v>
|
||||
<d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
|
||||
<v>{40450F57-0AA3-4216-96F3-5444ECB29763}</v>
|
||||
<o>
|
||||
<v n="Name">"{40450F57-0AA3-4216-96F3-5444ECB29763}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" ckt="String" cvt="String">
|
||||
<v>ActiveVisuProfile</v>
|
||||
<v>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</v>
|
||||
</d>
|
||||
</o>
|
||||
<v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
|
||||
<o>
|
||||
<v n="Name">"{192FAD59-8248-4824-A8DE-9177C94C195A}"</v>
|
||||
<d n="SubKeys" t="Hashtable" />
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
</d>
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
</Data>
|
||||
<TypeList>
|
||||
<Type n="Hashtable">System.Collections.Hashtable</Type>
|
||||
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
|
||||
<Type n="String">System.String</Type>
|
||||
</TypeList>
|
||||
</XmlArchive>
|
||||
</PlcProjectOptions>
|
||||
</ProjectExtensions>
|
||||
</Project>
|
||||
1
参数标定程序/GetData/GetData/getData/getData.tmc
Normal file
1
参数标定程序/GetData/GetData/getData/getData.tmc
Normal file
File diff suppressed because one or more lines are too long
1
参数标定程序/GetData/GetData/getData/getData.tpy
Normal file
1
参数标定程序/GetData/GetData/getData/getData.tpy
Normal file
File diff suppressed because one or more lines are too long
361
参数标定程序/GetData/showData/Scope YT Project.tcscope
Normal file
361
参数标定程序/GetData/showData/Scope YT Project.tcscope
Normal file
@ -0,0 +1,361 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<ScopeViewSerializable>
|
||||
<Version>1.0.0.6</Version>
|
||||
<Title>Scope YT Project</Title>
|
||||
<LayoutString><?xml version="1.0" encoding="utf-16"?>
|
||||
<Layout>
|
||||
<Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="133601291514716614" 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" />
|
||||
<DocumentContainer Dock="5">
|
||||
<SplitLayoutSystem WorkingSize="250, 400" SplitMode="0">
|
||||
<ControlLayoutSystem WorkingSize="250, 400" Guid="e3627557-a720-4c2a-9af0-d310b5d3d828" Collapsed="0" SelectedControl="97332cdc-477f-498a-a8da-59f3e238ae5a">
|
||||
<Controls>
|
||||
<Control Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" />
|
||||
</Controls>
|
||||
</ControlLayoutSystem>
|
||||
</SplitLayoutSystem>
|
||||
</DocumentContainer>
|
||||
</Layout></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>512028</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>MAIN.DualPosDiff</SymbolName>
|
||||
<SymbolComment>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>-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>512872</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>4</VariableSize>
|
||||
<SymbolName>MAIN.actVelo</SymbolName>
|
||||
<SymbolComment>实际速度</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>actAngle</Name>
|
||||
<IdentHandle>3</IdentHandle>
|
||||
<Acquisition>
|
||||
<DataType>REAL64</DataType>
|
||||
<IndexGroup>16448</IndexGroup>
|
||||
<IndexOffset>512904</IndexOffset>
|
||||
<TargetPort>851</TargetPort>
|
||||
<VariableSize>8</VariableSize>
|
||||
<SymbolName>MAIN.actAngle</SymbolName>
|
||||
<SymbolComment>实际角度</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>1</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>972973000</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>
|
||||
14
参数标定程序/GetData/showData/showData.tcmproj
Normal file
14
参数标定程序/GetData/showData/showData.tcmproj
Normal file
@ -0,0 +1,14 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<PropertyGroup>
|
||||
<ProjectGuid>{e7616055-c07c-4344-b233-ff550d8bf36f}</ProjectGuid>
|
||||
<AssemblyName>showData</AssemblyName>
|
||||
<Name>showData</Name>
|
||||
<RootNamespace>showData</RootNamespace>
|
||||
</PropertyGroup>
|
||||
<ItemGroup>
|
||||
<Content Include="Scope YT Project.tcscope">
|
||||
<SubType>Content</SubType>
|
||||
</Content>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
Loading…
Reference in New Issue
Block a user