LD63F600產(chǎn)品描述：
LD63F600
【聯(lián)系人】： 嚴(yán)小姐
【業(yè)務(wù)QQ】： 1093230189
【電 話】： 0592-5709823
【傳 真】： 0592-5709828
【手 機(jī)】： 18030229052 由于搖桿操作采集的對象為搖桿的比例位置狀態(tài)，它采用的是自動對中的設(shè)計(jì)的。因此在控制系統(tǒng)軟件結(jié)構(gòu)上，采用循環(huán)發(fā)送指令的方式。即進(jìn)入無線控制狀態(tài)后，手持操作器就定時(shí)地將采集到的狀態(tài)發(fā)送出來，而不管此時(shí)有沒有操作人員的操作輸入。 [align=center]
圖2 遙控型機(jī)械手控制系統(tǒng)功能框圖 Fig2 Block diagram of the remote control system of the arm[/align]
通信模式選擇 無線數(shù)傳模塊一般具備三種接口模式：TTL電平UART接口，可直接與單片機(jī)或其它芯片的串口管腳相連;標(biāo)準(zhǔn)的RS-232接口;標(biāo)準(zhǔn)的RS-485接口。其中232接口模式與485接口模式通過跳線進(jìn)行切換。西門子的S7-200系列PLC具備一個(gè)或兩個(gè)RS-485標(biāo)準(zhǔn)的接口，因此可以采用后兩種方式，將PLC直接與無線數(shù)傳模塊的485接口相連;或者利用與PLC相配的PC/PPI電纜將PLC的485接口轉(zhuǎn)換為232接口后，再與無線數(shù)傳模塊的232接口相連。 S7-200系列PLC的通訊端口支持多種通訊協(xié)議，此處可以采用的有兩種。一種是西門子的PPI主-從協(xié)議，利用這種協(xié)議主站可以直接對從站，即控制系統(tǒng)中的PLC，發(fā)出指令，控制從站的各端口及功能。這種方式PLC的編程簡單，不需要對原有從站程序進(jìn)行修改。但是PPI協(xié)議不是一個(gè)公開的協(xié)議，在文獻(xiàn)[4]中提到了一種通過串口偵聽獲取PPI協(xié)議從而利用主站編程控制從站的方式。另外一種通訊模式是自由口模式，利用自定義的PLC程序控制S7-200 CPU的通訊端口，使用用戶自己定義的通訊協(xié)議來實(shí)現(xiàn)與外界的通訊。這種模式支持ASCII和二進(jìn)制協(xié)議。自由口模式使用簡單、靈活，但需要對PLC進(jìn)行專門的編程。因?yàn)闊o線遙控所需數(shù)據(jù)量不大，通過比較，選擇了自由口通訊模式，以ASCII碼的形式在手持操作器和PLC之間傳遞命令和反饋信息。在PLC內(nèi)編寫了專門的無線控制程序，實(shí)現(xiàn)無線控制狀態(tài)下的數(shù)據(jù)通信及對機(jī)械手的控制。
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