ABB机器人与PC计算机控制口连接
命令清单 - CSDN博客
ABB机器人与PC计算机控制口连接
9 针串口通信 RS232。
PC 启动超级终端软件。
Windows -& Start -& Accessories -& Terminal
通信设置：
1. 波特率 9600 8 位
2. 1 个停止位 没有奇偶校验
3. 没有 Modern 采用直接串口连接
4. 使用 Xon/Xoff 通信形式
当故障发生时，PC 必须与机器人联通，保存错误信息，用来进行故障分析。
免费下载超级终端软件：
http://hp.vector.co.jp/authors/VA002416/teraterm.html
控制口常用命令清单
cd( ) & & change the default directory. &( e.g. -& cd &/hd0a/mysystem/syspar& )
check Stack( ) & & & &print a summary of each task's stack usage.
i( )& & & & & & & & print a summary of each task's TCB, task by task.
ls( ) & & & & & & & list the contents of a directory.
memShow( ) & & &show system memory partition blocks and statistics.
pwd( )& & & & display the current default directory.
version( ) & & & print VxWorks version information.
copy( ) & & & & copy in ( or stdin ) to out ( or stdout ).( e.g. -& copy &eio.cfg&,&neweio.cfg& )
ll( ) & & & & & do a long listing of directory contents.
& & & & make a directory.
rmdir( ) & & & &remove a directory.
rm( ) && & & &remove a file. ( e.g. -& rm &eio.cfg& )
devs( ) & & & ist all system-known devices.
reboot & & &reset and warm start the system.
safspv_ show & & display LM78 system monitor + SMBus registers.
pf_ac_interrupt & & &&a simulated power off. ( like reboot )
&q& - &a& & & & & before power on the system, press &q& ,waiting till&display then press &a&. start system into X-start&interface.
BootsupROreset & & &removes the writeprotection.&( e.g. -&BootsupROreset &&filename or directory path&& )
dbgCan_help
dbgCan_init() & & & Inittiate CAN debug, Msgcnt = 0.
dbgCan_start() & & Start CAN debug.
dbgCan_stop() & & Stop CAN debug.
dbgCan_logCreate(noOfMsg) & & Create a log buffer for a number of messages.
dbgCan_logDelete() & & Delete ( free ) the log buffer.
dbgCan_logInit() & & & Initiate the log buffer before use.
dbgCan_logAll() & & & All messages are logged.
dbgCan_logIn() & & & &Only messages to the robot are logged.
dbgCan_logOut() & & Only messages from the robot are logged.
dbgCan_logAdr(adr) & & &Only messages with the macId = adr are.
dbgCan_logAdrData(adr,dir,dataByteIndex,dataByteMask,dataByteValue)
Only messages with the following are logged.
adr = macId.
dir = direction.
1 = To robot.
2 = From Robot.
Bits = datamask are check and can-data-value[dataByteIndex].
( 0-7 ) = dataByteValue.
dbgCan_logAdrDataChange(adr,dir,dataByteIndex,dataByteMask,dataByteValue)
Same as above except it is only logged when changed.
dbgCan_logTriggMinPeriod(min,period,postperiod)Start
/Setup of trigg (stop of trace to buffer)
Trigg is defined as:
If ( number of can-messages & min during the period ) Then
wait number of postperiod before stop log.
min = Number of can messages.
period = Time period to calculate can messages (ms).
postperiod = Number of periods to wait before stop.
dbgCan_logTriggStop()
Stop trigg.
dbgCan_showLogStat(no,period)
Showing no of messages logged during a timeperiod.
no = Number of time to show.
period = Time interval between displaying statistics.
dbgCan_showLogDataByte()
Show log buffer,byte messages, start with the oldest messages.
dbgCan_showLogRev()
Show log buffer,decoded messages, start with the oldest messages
dbgCan_showLog()
Show log buffer, decoded messages, start with the latest messages.
dbgCan_showGtime()
Show gtime value, value in us.
dbgCan_showStop()
Stop displaying.
dbgCan_info()
Display of local debug variables.
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ABB机器人与PC计算机控制口连接
条件：9 针串口通信 RS232。
PC 启动超级终端软件。Windows -& Start -& Accessories -& Terminal通信设置：
1. 波特率 9600 8 位2. 1 个停止位 没有奇偶校验3. 没有 Modern 采用直接串口连接4. 使用 Xon/Xoff 通信形式当故障发生时，PC 必须与机器人联通，保存错误信息，用来进行故障分析。免费下载超级终端软件：http://hp.vector.co.jp/authors/VA002416/teraterm.html控制口常用命令清单Commoncd( ) & & change the default directory. &( e.g. -& cd &/hd0a/mysystem/syspar& )check Stack( ) & & & &print a summary of each task's stack usage.i( )& & & & & & & & print a summary of each task's TCB, task by task.ls( ) & & & & & & & list the contents of a directory.memShow( ) & & &show system memory partition blocks and statistics.pwd( )& & & & display the current default directory.version( ) & & & print VxWorks version information.copy( ) & & & & copy in ( or stdin ) to out ( or stdout ).( e.g. -& copy &eio.cfg&,&neweio.cfg& )ll( ) & & & & & do a long listing of directory contents.mkdir( )& & & & make a directory.rmdir( ) & & & &remove a directory.rm( ) && & & &remove a file. ( e.g. -& rm &eio.cfg& )devs( ) & & & ist all system-known devices.reboot & & &reset and warm start the system.safspv_ show & & display LM78 system monitor + SMBus registers.pf_ac_interrupt & & &&a simulated power off. ( like reboot )&q& - &a& & & & & before power on the system, press &q& ,waiting till&display then press &a&. start system into X-start&interface.BootsupROreset & & &removes the writeprotection.&( e.g. -&BootsupROreset &&filename or directory path&& )dbgCan_helpdbgCan_init() & & & Inittiate CAN debug, Msgcnt = 0.dbgCan_start() & & Start CAN debug.dbgCan_stop() & & Stop CAN debug.dbgCan_logCreate(noOfMsg) & & Create a log buffer for a number of messages.dbgCan_logDelete() & & Delete ( free ) the log buffer.dbgCan_logInit() & & & Initiate the log buffer before use.dbgCan_logAll() & & & All messages are logged.dbgCan_logIn() & & & &Only messages to the robot are logged.dbgCan_logOut() & & Only messages from the robot are logged.dbgCan_logAdr(adr) & & &Only messages with the macId = adr are.LoggeddbgCan_logAdrData(adr,dir,dataByteIndex,dataByteMask,dataByteValue)Only messages with the following are logged.adr = macId.dir = direction.1 = To robot.2 = From Robot.Bits = datamask are check and can-data-value[dataByteIndex].( 0-7 ) = dataByteValue.dbgCan_logAdrDataChange(adr,dir,dataByteIndex,dataByteMask,dataByteValue)Same as above except it is only logged when changed.dbgCan_logTriggMinPeriod(min,period,postperiod)Start/Setup of trigg (stop of trace to buffer)Trigg is defined as:If ( number of can-messages & min during the period ) Thenwait number of postperiod before stop log.min = Number of can messages.period = Time period to calculate can messages (ms).postperiod = Number of periods to wait before stop.dbgCan_logTriggStop()Stop trigg.dbgCan_showLogStat(no,period)Showing no of messages logged during a timeperiod.no = Number of time to show.period = Time interval between displaying statistics.dbgCan_showLogDataByte()Show log buffer,byte messages, start with the oldest messages.dbgCan_showLogRev()Show log buffer,decoded messages, start with the oldest messagesdbgCan_showLog()Show log buffer, decoded messages, start with the latest messages.dbgCan_showGtime()Show gtime value, value in us.dbgCan_showStop()Stop displaying.dbgCan_info()Display of local debug variables.
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