KUKA KCP2 00-107-264 示教器
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KUKA KCP2 00-107-264 示教器
KUKA KCP2 00-107-264 示教器
KUKA KCP2 00-107-264 示教器
键盘部分的软件设计
采用Intel 8279通用可编程的键盘显示器接口芯片,由8279控制的键盘输入部分最多为64个触点的键盘,本系统采用32个触点的键盘。先对8279进行初始化:设置8279的工作方式,数码管显示采用左端输入、双键互锁,编码扫描方式;设置分频数使内部工作频率为100khz;清除8279中FIFO RAM和显示RAM中的数据。读键盘程序中包括读出8279中的状态字,判断是否有键按下,如有,则读出键值,按键值进行散转程序。
4.4 通讯软件的设计
4.4.1 通讯协议的制定:
为确保通讯成功,通讯双方必须在软件上有一系列的约定,通常称为软件“协议”。在该系统中采用的协议如下:
(1)开始通讯时,示教盒发送一个呼叫信号“06H”,询问主控机是否可以接收数据;
(2)主控机接收到呼叫信号后,若同意接收数据则发回“00H”作应答,否则发“15H”表示暂不能接收数据;
(3)示教盒只有收到应答信号“00H”后,才可把数据发送给主控机,否则继续向主控机呼叫,直到对方同意接收。
(4)主控机根据接收到的“校验和”判断已接收到的数据是否正确。若接收正确,向示教盒回发“0FH”信号,否则回发“F0H”。
(5)示教盒只有接到信号“0FH”才算完成发送任务,否则继续呼叫,重发数据。
其发送数据格式为:
其中: 字节数:示教盒向主控机发送的数据个数;
数据1~ 数据n :示教盒向主控机发送的n个数据;
累加校验和:为字节数n,数据1,……,数据n这(n+1)个字节内容的算术累加和。
4.4.2 通讯流程图
示教盒以查询方式发送数据,其流程图如图4所示。
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KUKA FE003/1-2 Module 69-157-011 Neuwertig
KUKA NM 100 ABN Servo Drive NM100ABN Top
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KUKA KRC32 FE001/1 Neuwertig
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KUKA FE003/1-2 Module 69-157-011 Top
KUKA KIBS2.03 Modul CNC Controll 69-000-086
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KUKA 1FK7101-5AZ91-1ZZ9-Z
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KUKA ROBOTIC 1FK7101-5AY81-1SH3-Z SER #X115373001002
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KUKA NM 80-150V POWER PACK FOR INDA TYPE 69-223-480
KUKA NM 80-250V POWER PACK FOR INDA TYPE 69-223-483
KUKA TRM 20-150V SERVO AMPLIFIER 69-357-215
KUKA TRM 30-250V SERVO AMPLIFIER 69-357-225
KUKA 001-034-92 USPP 00103492
KUKA 1FT3071 USPP 1FT3071
KUKA 1FT3100 USPP 1FT3100
KUKA 1FT3130 USPP 1FT3130
KUKA 69-223-800 USPP 69223800
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Kuka Cable 71-051-676
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Kuka Cable 71-052-246 XM7.1 XM7.2
Kuka Data Cable 71-051-222 IN THE BOX!
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Kuka Motor cable M2 6-axis 15m 00-104-370
Kuka Robot SHAFT DRIVE 00-106-315
KUKA 15M SINGLE AXIS MOTOR CABLE 71-051-676 710516760005022165 ~ New in box
KUKA 7M MOTOR CABLE ASSEMBLY 00-104-284 ~ New in box
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Kuka Motor Cable M2 6-Axis 7m 00-104-369 00104369
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