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\u4e2a\u63a7\u5236\u5355\u5143\uff08CU\uff09\u5e26\u8d77\u5347\u548c\u5927\u8f66\u54042 \u4e2a\u9a71\u52a8\u5668\u3002\u7531\u4e8e\u6bcf\u4e2a\u9a71\u52a8\u5668\u5728\u5404\u4e2a\u5de5\u4f5c\u6a21\u5f0f\u4e0b\u90fd\u662f\u91c7\u7528\u5e26\u7f16\u7801\u5668\u7684\u95ed\u73af\u63a7\u5236\u6a21\u5f0f\uff0c\u6240\u4ee5\u6bcf\u4e2a\u9a71\u52a8\u5668\u5728\u5207\u6362\u63a7\u5236\u65f6\u4e5f\u9700\u8981\u80fd\u591f\u91c7\u96c6\u5230\u76f8\u5e94\u7535\u673a\u7684\u7f16\u7801\u5668\u4fe1\u53f7\uff0c\u8fd9\u5c31\u9700\u8981\u6bcf\u4e2a\u9a71\u52a8\u5668\u90fd\u5e262 \u4e2a\u7f16\u7801\u5668\u6a21\u5757\uff08SMC30\uff09\uff0c\u4f8b\u5982\u8d77\u53471 \u53f7\u9a71\u52a8\u5668\u5e262 \u4e2a\u7f16\u7801\u5668\u6a21\u5757\u5206\u522b\u63a5\u6536\u5bf9\u5e94\u76841 \u53f7\u8d77\u5347\u7535\u673a\u548c1 \u53f7\u5927\u8f66\u7535\u673a\u7684\u7f16\u7801\u5668\u4fe1\u53f7\u30024 \u5207\u6362\u65b9\u5f0f4.1 CDS \u914d\u7f6e\u7531\u4e8e\u8d77\u53472 \u53f7\u7535\u673a\u6b63\u5e38\u5de5\u4f5c\u65f6\u662f\u529b\u77e9\u8ddf\u968f\u6a21\u5f0f\uff0c\u4f46\u8d77\u53472 \u53f7\u7535\u673a\u5355\u4e2a\u5de5\u4f5c\u65f6\u662f\u5de5\u4f5c\u5728\u901f\u5ea6\u63a7\u5236\u6a21\u5f0f\uff0c\u8fd9\u5c31\u9700\u8981\u901a\u8fc7CDS \u6765\u5207\u6362\u9a71\u52a8\u5668\u7684\u9884\u8bbe\u63a7\u5236\u6e90\u3002\u8d77\u53472 \u53f7\u9a71\u52a8\u5668\u7684CDS \u914d\u7f6e\u5982\u88682 \u6240\u793a\u3002CDS \u4e2d\u7684\u63a7\u5236\u6e90\u53c2\u6570\u53ef\u4ee5\u901a\u8fc7\u547d\u4ee4\u5207\u6362\u6570\u636e\u7ec4\u6765\u5207\u6362\uff0c\u8d77\u53472 \u53f7\u9a71\u52a8\u5668\u7684\u90e8\u5206\u63a7\u5236\u6e90\u53c2\u6570\u5982\u88683 \u6240\u793a\u30024.2 DDS \u914d\u7f6e\u9a71\u52a8\u5668\u9a71\u52a8\u6570\u636e\u7ec4\u7684\u914d\u7f6e\u548c\u9009\u62e9\u4ee5\u8d77\u53471 \u53f7\u9a71\u52a8\u5668\u4e3a\u4f8b\uff0c\u89c1\u88684\u3002\u6839\u636e\u6574\u673a\u7684\u4e0d\u540c\u5de5\u51b5\uff1a\u5305\u62ec\u7a7a\u8f7d\u6216\u5e26\u7bb1\u72b6\u6001\uff0c\u6b63\u5e38\u53cc\u9a71\u52a8\u6216\u5355\u4e2a\u9a71\u52a8\u6a21\u5f0f\u4e0b\uff0c\u4e3b\u53d8\u538b\u5668\u4f9b\u7535\u6216\u53ea\u6709\u8f85\u52a9\u53d8\u538b\u5668\u4f9b\u7535\u72b6\u6001\uff0c\u9a71\u52a8\u8d77\u53471 \u53f7\u7535\u673a\u6216\u9a71\u52a8\u5927\u8f66\u7535\u673a\u6a21\u5f0f\u4e0b\u5171\u5206\u4e3a\u4e0b\u521716 \u4e2a\uff08P0180=16\uff09\u9a71\u52a8\u6570\u636e\u7ec4\uff0c\u7528\u4e8e\u9009\u62e9\u6570\u636e\u7ec4\u76844 \u4e2a\u53c2\u6570P820~P823 \u5206\u522b\u4f9d\u636e\u4e0b\u5217\u529f\u80fd\u76f8\u5bf9\u5e94\u7684\u9009\u62e9\u4e0d\u540c\u7684\u9a71\u52a8\u6570\u636e\u7ec4\u3002\u8d77\u53471 \u53f7\u9a71\u52a8\u5668\u7684\u90e8\u5206\u63a7\u5236\u53c2\u6570\uff1aP186\/P187 \u4e3aMDS \u548cEDS \u9009\u62e9\u53c2\u6570\uff0cP186[0]=0 \u8868\u793a\u9009\u62e9MDS0 \u8fd9\u5957\u7535\u673a\u6570\u636e\u7ec4\uff0cP186[8]=1 \u8868\u793a\u9009\u62e9MDS1 \u8fd9\u5957\u7535\u673a\u6570\u636e\u7ec4\uff0cP187 \u540c\u7406\u3002\u6839\u636e\u4e0d\u540c\u7684\u5de5\u827a\u8981\u6c42\u4e0d\u540c\u7684DDS \u4e5f\u8fdb\u884c\u4e0d\u540c\u7684\u901f\u5ea6\u53ca\u52a0\u51cf\u901f\u65f6\u95f4\u914d\u7f6e\u30024.3 MDS \u914d\u7f6e\u7535\u673a\u6570\u636e\u7ec4\uff08Motor Data Set\uff0cMDS\uff09\u4e2d\u5305\u542b\u8fde\u63a5\u7684\u7535\u673a\u7684\u5404\u79cd\u8bbe\u7f6e\u53c2\u6570\uff0c\u7528\u4e8e\u5bf9\u9a71\u52a8\u8fdb\u884c\u914d\u7f6e\u3002\u6b64\u5916\u8fd8\u5305\u542b\u4e00\u4e9b\u663e\u793a\u53c2\u6570\u548c\u8ba1\u7b97\u5f97\u5230\u7684\u6570\u636e\u3002\u6bcf\u4e2a\u7531\u63a7\u5236\u5355\u5143\u901a\u8fc7\u7535\u673a\u6a21\u5757\u63a7\u5236\u7684\u7535\u673a\u90fd\u9700\u8981\u4e00\u4e2a\u72ec\u7acb\u7684\u7535\u673a\u6570\u636e\u7ec4\u3002\u6bcf\u4e2a\u9a71\u52a8\u6570\u636e\u7ec4\u901a\u8fc7\u53c2\u6570 P0186 \u6765\u9009\u62e9\u7535\u673a\u6570\u636e\u7ec4\u3002\u6240\u4ee5\u901a\u8fc7\u9a71\u52a8\u5668DDS \u7684\u5207\u6362\u5c31\u80fd\u591f\u5207\u6362\u76f8\u5e94\u7535\u673a\u6570\u636e\u7ec4\uff0c\u4ece\u800c\u8fbe\u5230\u9a71\u52a8\u5668\u9a71\u52a8\u4e0d\u540c\u7535\u673a\u7684\u529f\u80fd\u3002\u4f8b\u5982\u8d77\u53471\u53f7\u9a71\u52a8\u5668\u4e2d\uff0c\u914d\u7f6e\u4e862 \u5957MDS, MDS0 \u662f\u8d77\u53471 \u53f7\u7535\u673a\u53ca\u5176\u76f8\u5e94\u53c2\u6570\uff0cMDS1 \u4e3a\u5927\u8f66\u7535\u673a\u53ca\u5176\u76f8\u5e94\u53c2\u6570\uff0c\u90e8\u5206\u53c2\u6570\u89c1\u88685\u30024.4 EDS \u914d\u7f6e\u7f16\u7801\u5668\u6570\u636e\u7ec4\uff08Encoder Data Set\uff0cEDS\uff09\u4e2d\u5305\u542b\u8fde\u63a5\u7684\u7f16\u7801\u5668\u7684\u5404\u79cd\u8bbe\u7f6e\u53c2\u6570\uff0c\u7528\u4e8e\u5bf9\u9a71\u52a8\u8fdb\u884c\u914d\u7f6e\u3002\u4f8b\u5982\u7f16\u7801\u5668\u63a5\u53e3\u7ec4\u4ef6\u53f7\uff08P0141\uff09\uff1b\u7f16\u7801\u5668\u7ec4\u4ef6\u53f7\uff08P0142\uff09\uff1b\u9009\u62e9\u7f16\u7801\u5668\u7c7b\u578b\uff08P0400\uff09\u7b49\u3002\u5176\u4e2d\uff0c\u8d77\u53471 \u53f7\u9a71\u52a8\u5668\u4e2d\uff0cEDS \u914d\u7f6e\u53ca\u90e8\u5206\u53c2\u6570\u89c1\u88686\u30024.5 \u5197\u4f59\u5207\u6362\u539f\u7406\u9996\u5148\u901a\u8fc7\u63a7\u5236\u6309\u94ae\u9009\u62e9\u6240\u9700\u8981\u7684\u5de5\u4f5c\u6a21\u5f0f\uff0c\u7531PLC\u7a0b\u5e8f\u903b\u8f91\u8f93\u51fa\u76f8\u5e94\u7684CDS\u3001DDS \u9009\u62e9\u63a7\u5236\u5b57\u4ee5\u53ca\u76f8\u5e94\u63a5\u89e6\u5668\u7684\u5438\u5408\u547d\u4ee4\u3002\u63a7\u5236\u5b57\u518d\u7ecf\u8fc7Profibus \u901a\u4fe1\u62a5\u6587\u4f20\u5230\u9a71\u52a8\u5668\u4e2d\u3002CDS \u548cDDS \u63a7\u5236\u5b57\u4e0e\u76f8\u5e94\u7684CDS\u3001DDS \u9009\u62e9\u53c2\u6570\uff08P810,P811;P820~P824\uff09\u4e92\u8054\uff0c\u9a71\u52a8\u5668\u518d\u6839\u636eCDS \u548cDDS \u63a7\u5236\u5b57\u5185\u5bb9\u6307\u5b9a\u76f8\u5173\u6570\u636e\u7ec4\u5e76\u4ee4\u5176\u751f\u6548\uff0c\u6570\u636e\u7ec4\u751f\u6548\u540e\u518d\u4ee5\u5f53\u524d\u7684\u63a7\u5236\u6e90\u6216\u63a7\u5236\u53c2\u6570\u5bf9\u76f8\u5e94\u7684\u8d77\u5347\u6216\u5927\u8f66\u7535\u673a\u8fdb\u884c\u9a71\u52a8\u63a7\u5236\u3002\u4ece\u800c\u8fbe\u5230\u547d\u4ee4\u6e90\u548c\u63a7\u5236\u5bf9\u8c61\u7684\u5197\u4f59\u5207\u6362\u30025 \u7ed3\u8bed\u901a\u8fc7\u9a71\u52a8\u53c2\u6570\u7ec4\u5207\u6362\u6280\u672f\u7684\u5e94\u7528\uff0c\u5728\u4e0d\u589e\u52a0\u8bbe\u5907\u6210\u672c\u7684\u60c5\u51b5\u4e0b, 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