
-3-
目 录
5.3.10 图形显示工具 ............................................
271
5.3.11 LD 调试 ......................................................
273
5.3.12 梯形图数据更新 ........................................
276
6 汇川指令库 ................................................
278
6.1 指令速查表
................................................ 278
6.1.1 指令简介 ......................................................
278
6.1.2 指令分类 ......................................................
278
6.1.3 运动控制指令速查表 ...................................
278
6.2 高速 I/O
.................................................... 285
6.2.1 高速计数 ......................................................
285
6.2.2 高速轴 .........................................................
297
6.2.3 外部中断 ......................................................
310
6.2.4 功能块列表 ..................................................
311
6.2.5 数码管显示 ..................................................
311
6.3 CANopen
.................................................. 312
6.3.1 CiA405 ........................................................
312
6.3.2 CANopen 402..............................................
327
6.3.3 CANopen 402 参数设置 ..............................
345
6.3.4 CANopen 402 错误诊断 ..............................
348
6.4 EtherCAT 远程计数
................................... 350
6.4.1 HC_Counter_ETC .......................................
350
6.4.2 HC_SetCompare_ETC ...............................
352
6.4.3 HC_Presetvalue_ETC .................................
353
6.4.4 HC_TouchProbe_ETC ................................
355
6.4.5 HC_Reset_ETC ...........................................
357
6.5 工艺库
....................................................... 358
6.6 其他
........................................................... 358
6.6.1 MC_Jog_HC ................................................
358
6.6.2 MC_ResetDrive ...........................................
360
6.6.3 MC_ResetRemoteModule ..........................
362
6.6.4 MC_PersistPosition ....................................
363
6.6.5 HMC_Reset .................................................
366
6.6.6 HMC_TouchProbe ......................................
367
7 诊断 ...........................................................
372
7.1 诊断简介
.................................................... 372
7.2 组态诊断.................................................... 372
7.2.1 网络组态诊断 ..............................................
372
7.2.2 硬件组态诊断 ..............................................
374
7.3 故障诊断
.................................................... 374
7.4 设备自身诊断信息列表
............................. 376
7.4.1 CPU 诊断 .....................................................
376
7.4.2 EtherCAT 诊断 ............................................
376
7.4.3 I/O 诊断 .......................................................
377
7.4.4 CANOpen 诊断 ............................................
377
7.4.5 Probus-DP 诊断 ........................................
377
7.4.6 ModbusRTU 诊断 .......................................
381
7.4.7 ModbusTCP 诊断 ........................................
381
7.4.8 CANlink 诊断 ...............................................
382
7.5 诊断编程接口
............................................ 382
7.5.1 诊断编程接口简介 .......................................
382
7.5.2 CPU 诊断编程接口 ......................................
383
7.5.3 CANopen 诊断编程接口 .............................
385
7.5.4 Probus-DP 诊断编程接口 .........................
387
7.5.5 CANlink 诊断编程接口 ................................
389
7.5.6 MODBUS 诊断编程接口 ..............................
390
7.5.7 MODBUSTCP 诊断编程接口 .......................
392
7.5.8 CPU 停止控制 .............................................
393
7.5.9 EtherCAT 诊断 ............................................
394
附录 ..............................................................
396
附录 A 各通信端口的通信协议简介................. 396
A.1 Mini-USB 端口及其内置通信协议 ..................
396
A.2 COM0/COM1 通信端口及其内置协议 ............
396
A.3 CANopen 通信协议........................................
397
A.4 CANlink 通信协议 ..........................................
397
A.5 EtherNET 端口及通信协议 ............................
397
A.6 EtherCAT 端口及通信协议 .............................
397
A.7 高速 I/O 接口 .................................................
397
A.8 Mini-SD 卡插槽 ..............................................
397
A.9 本地总线扩展接口 ..........................................
398