我国目前有80%的自然保护区在发展旅游,.

PSD: Parker Servo DriveSupport PageDownloads Date Version PSD ServoManager (incl. help files)Please copy the zip - content to a folder (not C:\programs) and start "PSD-ServoManager.exe". No installation required!2023-01-11V01.10.05 PSD Firmware Download(Registration required) 2022-09-28V01.10.05 PSD1 Release History *2022-11-22PSD Error List(see ServoManager → Help → Show Error Info…)2021-02-15PSD1 Functional Safety over EtherCAT downloads2019-04-29PSD1 Programmable Target(Package for CODESYS Development System, rename to*.package after download)CODESYS Development System(link to CODESYS Store, free)2020-12-18 V1.00.01 PSD1 Programmable Application Examples-Electronic_gearing-Recipe Table via digital I/O-Recipe Table via Fieldbus-XYZ_Application-Press-Force Application with Torque Limitation -PROFIDrive State Machine (S7 <-> PSD)-DS402 State Machine (PAC <-> PSD)2021-02-022021-02-022021-02-022021-02-022021-02-022021-08.182021-08-18V1.01V1.01V1.01V1.01V1.01V1.01V1.00PSD Programmable Quick Start Guide2020-12-18 V1.0PSD1 EtherCAT Description XML (= ESI – EtherCAT Slave Information – File)2020-09-23 V1.24 PSD1 CODESYS DriveInterface (also part of CODESYS SoftMotion)-Installation Guide-before Codesys V3.5 SP7-up from Codesys V3.5 SP7 -up from CoDeSys V3.5 SP142016-10-132016-10-132020-09-28V09V10V4.6.0.0PROFINET GSD for PSD1-S, PSD1-M2018-12-20Function Blocks for Siemens S7-1200/1500 with TIA-Portal V14/V15/V15.1-Function Block Overview-FB50 ControlManager (V1.2)-FB51 ControlManager Advanced (V1.6)-FB52 SpeedControl (V1.5)-FB53 Acyclic Parameter Access (V1.1)2021-02-16Ethernet/IP eds Files for PSD1S, PSD1M_1, PSD1M_2, PSD1M_32020-04-21 V1.02 EC declaration of conformity: PSD1-M, PSD1-SStep files: PSD1S, PSD1M (except PSD1MW1800), PSD1MW1800, PSD1MWP010,PSD1MWP0202018-02-15 Manuals / Help systems English German French Italian PSD1-M Short description (PDF)2019-06-272019-06-272019-06-272019-06-27 PSD1-S Short description (PDF)2019-06-272019-06-272019-06-272019-06-27 PSD1 Installation Guide (PDF)2019-10-152019-10-022021-03-03na PSD1 EtherCAT Help files*2022-02-162022-02-162021-03-03na PSD1 PROFINET Help files*2022-02-162022-02-162021-03-03na PSD1 Ethernet/IP Help files*2022-02-162022-02-162021-03-03na PSD1 Programmable Help files* 2022-02-162022-02-162021-03-03na Please download the file by clicking the right mouse button and choosing "…s ave as"*Please copy to your local pc before opening the help file!HTML Help CHM File is Not DisplayedBitte kopieren Sie die Hilfe auf Ihren lokalen PC bevor Sie diese öffnen! CHM Hilfedatei wird nicht angezeigt。

2021考研英语：英语词汇的拓展词根13 "124.Lingu=language ,表示“语言”，原意为“舌头”"linguist n 语言学家lingu+istlinguistics n 语言学linguist+icsbilingual a 两种语言的bi+lingu+alunilingual a 一种语言的nui+lingu+alcollingual a 同一种语言的col共同+lingu+almultilingual a 懂多种语言的multi多+lingu+alsublingual a 舌下的sub在…下+lingu+al舌头的"125.Liter=letter,表示“文字,字母”"literate a 识字的liter+ateilliterate a 不识字的，文盲的 il不+literate识字的literacy n 认字，有文化liter+acyilliteracy n 文盲il不+literacyliterature n 文学liter+ature状态→文字状态→文学literary a 文学的liter+aryliterati n 文人总称liter+ati表复数→文字人→文人学者literal a 文字上的，字面上的liter+alobliterate v 抹掉，擦掉ob去掉+liter+ate→去掉文字→擦掉obliteration n 删除;灭迹obliterate+ion"126.lith=stone,表示“石头”"lithic a 石头的lith+icaerolith n 陨石aero空中+lith→空中石头→陨石prelithic a 石器时代以前的pre前+lith+icpaleolithic a 旧石器时代的paleo古、旧+lith+icneolithic a 新石器时代的neo新+lith+icmonolith n 独石;独石碑mono一个+lith→一块石头→独石megalith n 巨石mega大+lith→大石头lithiasis n 结石病lithi+asis炎症→石头病lithograph n 石版画litho+graph写、画→在石头上写画"127.loc=place,表示“地方”"local a 地方的，局部的loc+allocalism n 地方主义local地方的+ism主义locality n 位置，所在地local+itylocate v 坐落，位于loc+atelocation n 场所，位置locate+ionlocomotive n 火车头;机车loco+mot动+ive→从一地动到一地→火车头 locomotion n 运动，运转loco+motion动dislocate v使脱节，移位dis离开+locate位于→位置离开→移位dislocation n 错乱;移位dislocate+ionallocate v分配，部署al一再+locate→不断送给地方→分配[东西]allocation n 分配allocate+ioncollocate v 并列;排列col共同+locate→放在一个位置→并列relocate v 重新定位re重新+locate"128.Log,logu=speak,表示“说话”"logic n 逻辑学说话的学问→逻辑学logical a 符合逻辑的logic+alanalogy n 类比;类似ana一样+logy→说的一样→类比apologue n 寓言apo离开+logue→说得离开现实→寓言apology n 道歉，认错apo离开+logy→退后一步说→道歉apologize v 道歉apology+izecatalogue n目录，一览表cata下面+logue在下面要说的话→目录dialogue n 对话dia对着+logue→对着说prologue n 开场白pro在前+logue→在前面说epilogue n 尾声，后记epi后面+logue→在后面说eulogy n 颂辞，称赞eu好+logy→说好话eulogize v 称赞eulogy+izemonologue n 独白mono一个人+logue说→独白philology n 语言学phil爱+logy说→爱说的学科→语言学"129.log=science,表示“科学,学科”"chronology n 年代学，年表chrono时间+log+yentomology n 昆虫学entomo昆虫+log+yepistemology n 认识论epi 下面+stem根，基础+o+log+y→知识基础之学→认识论 etymology n 词源学etym真正的+o+log+y→词真正来源的学科;eymon词源genealogy n 家谱学gen出生+ea+log+y→研究出生的学科geology n 地质学geo地+log+ymeteorology n 气象学meteor陨石，引申为气象+o+log+ymorphology n 形态学morph形状+o+log+ymythology n 神话学myth神话+o+log+yornithology n 鸟类学ornith鸟+o+log+ypsychology n 心理学paych心理+o+log+yphysilolgy n 生理学phys身体，物质+io+log+ytheology n 神学theo神+o+log+y"130.Long=leng,表示“长”"longevity n 长命;寿命long+ev生命+ity→长生命longanimity n 坚忍不拔long+anim精神+ity→精神长→坚韧longing n 渴望long+ing→很长时间[想要]→渴望longheaded a有远见的;精明的long+head头脑+ed→有头脑的longsighted a 有远见的long+sight眼光+ed→眼光很长longitude n 经线long+itude状态belong v 属于be+long→使长久拥有→属于elongate v 延长，伸长e出+long+ate→长出去→延长prolong v 延长，引申pro向前+long→向前长→延长oblong n 长方形ob反+long→反过来一样长→长方形length n 长度leng=longlengthy a 冗长的，漫长的length+y"131.loqu,locu=speak,表示“说话”"loquacious a 多嘴的，话太多的loqu+acjous多…的circumlocution n 转弯抹角说话circum 绕圈+locu+tioncolloquial a 口语的col共同+loqu+ial→共同说→口语colloquy n 谈话col共同+loquy→共同说→谈话colloquium n 学术讨论会col共同+loqu+ium→场所→一起说的地方→讨论会 elocution n 雄辩;朗诵法e出+locu+tion→说得出话→雄辩eloquence n 雄辩，口才e 出+loqu+enceeloquent a 有说服力的e+loqu+entinterlocution n 对话inter在…之间+locu+tion→二者之间说→对话obloquy n "中伤,谩骂ob坏+loquy→说坏话"soliloquy n 独白，自言自语soli独白+loquy说→独白somniloquy n 梦话somni睡+loquy→睡着了说"132.luc,lust=light,shine,表示“光,照亮”"lucent a 发亮的luc+entlucid a 透明的，清楚的luc+idlucidity n 光明;明白lucid+ityelucidate v 阐明，解释e出+lucid 清楚+ate→再清楚→阐明elucidation n 阐明，解释elucidate+iontranslucent a半透明的trans透过+luc+ent→光透过→半透明的noctilucent a 夜间能发光的nocti夜+lucent发亮的luster n 光泽，光彩lust+erlusty a 精力充沛的lust+y→人有光→满面红光→精力充沛的lackluster a 没有光泽的lack缺+lusterlustrous a 有光泽的lustr光+ousillustrate v 说明，阐明il不断+lustr+ate→不断给光明→说明illustration a 插图说明illustrate+ionillustrious n 辉煌的;著名的il一再+lustr+ious一再光明→辉煌的 "133.lumin=light,表示“光”"illuminate n 照亮;阐明il一再+lumin+ate→给予光明→照亮illumination n 阐明;明亮illuminate+ionilluminance n 照明度il+lumin+ance状态→亮的状态luminary n 发光体;杰出人物lumin+ary东西或人→发亮的人→名人 luminous a 发亮的lumin+ousluminosity n 光明，光辉lumin+osity多…的状态→多光→光辉luminescent a 发光的lumin+escent开始…的→开始有光的→发光的 luminescence n 发光lumin+escenceunilluminating a 无启发性的un不+illuminate启发，阐明+ing"134.lud,lus=play,表示“玩，戏剧”"ludic a 顽皮的，开玩笑的lud+icallude v提及;暗指al不断+lude→不断演戏→不直截了当→暗指delude v 欺骗de坏+lude→玩坏的[手段]→欺骗delusion n 欺骗delude的名词elude v 躲避;使…困惑e出+lude→玩出去→躲出去elusive a 难懂的，难捉摸的e 出+lus+ive→把人玩出去→让人难懂的prelude n 序曲 pre+lude玩，演奏→先演奏→序曲collude v 勾结，串通col共同+lude→共同玩→勾结collusion n 同谋;勾结col+lus+ioninterlude n 剧间休息inter在…中间+lude→在中间玩→中间休息illusion n错觉，幻觉it不好+lus+ion→玩得不好→产生“错觉”ludicrous a滑稽的，可笑的ludicr[=lud]+ous→闹着玩的→可笑的"135.man, maun= hand,表示“手”"manage v 办理;管理man+age→用手做→引申为管理manacle n 手铐;束缚man+acle东西→手上的东西→手铐manual a 手工的n。

The Most Connected GNSS Receiver SP80 GNSS ReceiverSP80GNSS ReceiverThe Spectra Precision SP80 is a next generation GNSS receiver that combines decades of GNSS RTK technology with revolutionary new GNSS processing. Featuring the new 240-channel “6G”chipset combined with the patented Z-Blade technology, the SP80 system is optimized for tracking and processing signals from all GNSS constellations in challenging environments.As the most connected GNSS receiver in the industry, the SP80 offers a unique combination of integrated 3.5G cellular, Wi-Fi and UHF communications with SMS, email and anti-theft technology.These powerful capabilities, packaged in an ultra-rugged housing andpatented antenna design with unlimited operation time (hot-swappablebatteries), make SP80 an extremely versatile turnkey solution.Key Features■■Patented Z-Blade technology ■■240-channel 6G ASIC ■■Hot-swappable batteries ■■Internal TRx UHF radio ■■ 3.5G cellular modem ■■Built-in WiFi communication ■■SMS and e-mail alerts ■■Anti-theft technology ■■Backup RTK ■■RTK Bridge ■■eLevel technology■■Trimble RTX correction servicesS P 80Patented inside-the-rod mounted UHF antenna designUnique 6G GNSS-centric TechnologyPatented Z-Blade processing technology running on a nextgeneration Spectra Precision 240-channel 6G ASIC fully utilizesall 6 GNSS systems: GPS, GLONASS, BeiDou, Galileo, QZSS andSBAS. Unlike GPS-centric technology which requires a minimumnumber of GPS satellites for GNSS processing, Z-Blades uniqueGNSS-centric capability optimally combines GNSS signals withoutdependency on any specific GNSS system; this allows SP80 tooperate in GPS-only, GLONASS-only or BeiDou-only mode ifneeded. In addition, SP80 supports the recently approved RTCM3.2 Multiple Signal Messages (MSM), a standardized definitionfor broadcasting all GNSS signals from space, regardless oftheir constellation. This protects the surveyor’s investment wellinto the future by providing superior performance and improvedproductivity as new signals become available.SMS and Email MessagingSP80 has a unique combination of communication technologiesincluding an integrated 3.5G GSM/UMTS modem, Bluetooth and Wi-Fi connectivity, and optional internal UHF transmit radio. The cellularmodem may be used for SMS (text message) and e-mail alerts as wellas regular Internet or VRS connectivity. SMS (text messages) can beused to monitor and configure the receiver. Likewise, SP80 can use allavailable RTK correction sources and connect to the Internet from thefield using WiFi hotspots, where available. The internal UHF transmit/receive radio allows for quick and easy setup as a local base station.This saves time and increases the surveyor’s efficiency.Anti-Theft ProtectionA unique anti-theft technology secures SP80when installed as a field base station in remoteor public places and can detect if the product isdisturbed, moved or stolen. This technology allowsthe surveyor to lock the device to a specific locationand make it unusable if the device is moved elsewhere. In this case,SP80 will generate an audio alert and show an alert message on itsdisplay. Furthermore, a SMS or e-mail will be sent to the surveyor’smobile phone or computer and provides the receiver’s currentcoordinates allowing tracking of its position and facilitating recoveryof the receiver. SP80’s anti-theft technology provides surveyors withremote security and peace of mind.The Most Powerful Tool forReliable Field UseThe SP80’s rugged housing, created by Spectra Precision’sengineering design lab in Germany, incorporates a host of practicalinnovations. Dual hot-swappable batteries can be easily exchangedin the field as a one hand operation for an interruption-free workingday, ensuring surveyors remain productive until the job is done. Theimpact-resistant glass-fiber reinforced casing, designed to withstand2m pole drops and waterproof to IP67, ensures that SP80 canhandle the toughest outdoor conditions. The patented UHF antenna,set inside the rugged carbon fiber rod, extends the range of RTKradio performance at the same time as armoring protection. Thesunlight-readable display offers instant access to key information likethe number of satellites, RTK status, battery charge and availablememory. With eLevel technology, the user is able to focus in oneplace when leveling and measuring as well as automatically storemeasurements when the receiver is level. These powerful designfeatures combine to make SP80 the most capable, most reliableGNSS receiver, backed by a comprehensive standard 2 year warranty.The Spectra PrecisionExperienceWith the most advanced and rugged field datacollectors from Spectra Precision, surveyors getmaximum productivity and reliability every day.Spectra Precision Survey Pro or FAST Surveysoftware is specifically tailored for the SP80GNSS receiver providing easy-to-use, yetpowerful GNSS workflows, letting the surveyorconcentrate on getting the job done. SpectraPrecision Survey Office Software provides a complete office suitefor post-processing GNSS data and adjusting survey data, as wellas exporting the processed results directly back to the field or toengineering design software packages. Combined with SpectraPrecision field and office software, SP80 is a very powerful andcomplete solution.SP80 Technical SpecificationsGNSS Characteristics■■240 GNSS channels- GPS L1C/A, L1P(Y), L2C, L2P(Y), L5- GLONASS L1C/A, L1P, L2C/A, L2P, L3- Beidou (Phase II) B1, B2- Galileo E1, E5a, E5b- QZSS L1C/A, L1-SAIF, L1C, L2C, L5- SBAS L1C/A, L5 (WAAS, EGNOS, MSAS,GAGAN, SDCM)- IRNSS L5■■Support for Trimble RTX™ real-timecorrection services■■Patented Z-Blade technology for optimalGNSS performance- Full utilization of signals from all 6 GNSSsystems (GPS, GLONASS, BeiDou, Galileo,QZSS and SBAS)- Enhanced GNSS-centric algorithm:fully-independent GNSS signal trackingand optimal data processing, includingGPS-only, GLONASS-only or BeiDou-onlysolution (Autonomous to full RTK)- Fast Search engine for quick acquisitionand re-acquisition of GNSS signals■■Patented SBAS ranging for using SBAS code& carrier observations and orbits in RTKprocessing■■Patented Strobe™ Correlator for reducedGNSS multi-path■■Up to 20 Hz real-time raw data (code &carrier and position output)■■Supported data formats: ATOM, CMR, CMR+,RTCM 2.1, 2.2, 2.3, 3.0, 3.1 and 3.2 (includingMSM), CMRx and sCMRx (rover only)■■NMEA 0183 messages outputReal-Time Accuracy (RMS) (1)(2)SBAS (WAAS/EGNOS/MSAS/GAGAN)■■Horizontal: < 50 cm■■Vertical: < 85 cmReal-Time DGPS position■■Horizontal: 25 cm + 1 ppm■■Vertical: 50 cm + 1 ppmReal-Time Kinematic Position (RTK)■■Horizontal: 8 mm + 1 ppm■■Vertical: 15 mm + 1 ppmNetwork RTK (6)■■Horizontal: 8 mm + 0.5 ppm■■Vertical: 15 mm + 0.5 ppmReal-Time Performance■■Instant-RTK® Initialization- Typically 2 sec for baselines < 20 km- Up to 99.9% reliability■■RTK initialization range: over 40 kmPost-Processing Accuracy (RMS) (1)(2)Static & Fast Static■■Horizontal: 3 mm + 0.5 ppm■■Vertical: 5 mm + 0.5 ppmHigh-Precision Static (3)■■Horizontal: 3 mm + 0.1 ppm■■Vertical: 3.5 mm + 0.4 ppmData Logging CharacteristicsRecording Interval■■0.05 - 999 secondsPhysical CharacteristicsSize■■22.2 x 19.4 x 7.5 cm (8.7 x 7.6 x 3.0 in)Weight■■ 1.17 kg (2.57 lb)User Interface■■Graphical PMOLED display■■WEB UI (accessible via WiFi) foreasy configuration, operation, status,and data transferI/O Interface■■RS232 serial link■■USB 2.0/UART■■Bluetooth 2.1 + EDR■■WiFi (802.11 b/g/n)■■ 3.5G quad-band GSM (850/900/1800/1900MHz) / penta-band UMTS module(800/850/900/1900/2100 MHz)Memory■■ 2 GB internal memory NAND Flash(1.5 GB user data)■■Over a year of 15 sec. raw GNSS datafrom 14 satellites■■SD/SDHC internal memory card (up to 32GB)Operation■■RTK rover & base■■RTK network rover: VRS, FKP, MAC■■NTRIP, Direct IP■■CSD mode■■Post-processing■■RTK bridge■■UHF repeater■■UHF networking■■Trimble RTX (cellular/IP)Environmental Characteristics■■Operating temperature: -40° to +65°C(-40° to +149°F) (4)■■Storage temperature: -40° to +85°C(-40° to +185°F) (5)■■Humidity: 100% condensing■■IP67 waterproof, sealed against sand and dust■■Drop: 2m pole drop on concrete■■Shock: ETS300 019■■Vibration : MIL-STD-810FPower Characteristics■■ 2 Li-Ion hot-swappable batteries, 38.5 Wh(2 x 7.4 V, 2600 mAh)■■Battery life time (two batteries): 10 hrs(GNSS On, and GSM or UHF Rx On)■■External DC power: 9-28 VStandard System Components■■SP80 receiver■■ 2 Li-Ion batteries■■Dual battery charger, power supply andinternational power cord kit■■Tape measure (3.6 m / 12 ft)■■7 cm pole extension■■USB to mini-USB cable■■Hard case■■ 2 year warrantyOptional System Components■■SP80 UHF Kit (410-470 MHz 2W TRx)■■SP80 Field Power Kit■■SP80 Office Power Kit■■Data collectors- Ranger 3- T41- MobileMapper 50- Nomad 1050■■Field software- Survey Pro- FAST Survey- Survey Mobile (Android)- SPace control app for 3rd partydevices (Android)(1) A ccuracy and TTFF specifications may be affected byatmospheric conditions, signal multipath, satellite geometry andcorrections availability and quality.(2) P erformance values assume minimum of five satellites, followingthe procedures recommended in the product manual. High multi-path areas, high PDOP values and periods of severe atmosphericconditions may degrade performance.(3) L ong baselines, long occupations, precise ephemeris used(4) A t very low temperatures UHF module should not be used in thetransmitter mode.(5) Without batteries. Batteries can be stored up to +70°C.(6) Network RTK PPM values are referenced to the closest physicalbase station.(7) Receiver initialization time varies based on GNSS constellationhealth, level of multipath, and proximity to obstructions such aslarge trees and buildings.Trimble RTX Initialization (1)(2)(7)。

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PCD1.E1000-A10E-Line S-Serie RIO 12DIData sheetGeneral technical dataPower supply On a 35 mm top-hat rail ( i n accordance with DIN EN 60715 TH35)Dimensions and installationThe S-Serie E-Line RIO modules are controlled via the RS-485 serial communication protocols S-Bus and Modbus for decentralised automation using industrial quality components. The data point mix is specifically designed for building automation applications.The compact design according to DIN 43880 enables the use in electrical distributionboxes even in the most confined spaces. Installation and maintenance are facilitated by the local manual override for each output. Remote maintenance is also possible using the access to the manual override by the web interface in the Saia PCD® controller. Programming is very efficient and fast using a complete FBox library with web templates for S-Bus. Individual programs may directly access the data points via Registers and Flags, a complete documentation is available from this data sheet.f S-Bus protocol optimized for fast data exchangef Modbus protocol for integration in multi-vendor installations*f Local override operating level via web panel or buttons on the module f Easy programming using the FBox library and web templates f Industrial hardware in accordance with IEC EN 61131-2 f Pluggable terminal blocksf Bridge connectors for power supply and communication f Bus termination on boardf Configurable Bi-Colour LEDs and labelling for I/Os* B y default the module is working in S-Bus Data Mode with Autobaud detection. To configure Modbus the Windows based Application “E-LineApp” is required.FeaturesHousing width 6 HP (105 mm)Compatible with electrical control cabinet (in accordance with DIN 43880, size 2 × 55 mm)/DA+DB-GND+24VOpenClose For easy installation the power supply and communicationbus is available together at one connector. The push-in springterminals enable wiring as well support the connector bridge.Push-in spring terminals enable wiring with rigid or flexible wireswith a diameter up to 1.5 mm². A max. of 1 mm² is permitted withcable end sleeves.Terminal technologyConnection conceptOFF No PowerGreen Communication OKGreen blink Auto bauding in progressOrange No communicationRed ErrorRed/Green alternate B ooter mode(e.g. during Firmware download)Red blink Internal fatal errorStatus LEDThe module provides an active bus termination. It is switchedoff by factory default. To enable the termination, the switchneed to be in the “Close” position.Bus terminationThe USB interface provides access to the communicationprotocol configuration. Firmware updates can also be downloaded via Saia PG5® Firmware Download tool.Service interfaceReset buttonPushed over 20 seconds: The button needs to be pushed forminimum 20 seconds and released during the first minute afterpower up. All user settings are reset to factory default values.Pushed at power up: Power off the device and press thebutton. Power on and release the button before 5 seconds havepassed. The device stays in boot mode for further actions likefirmware download etc.Input/output configurationAssignment overview OFF No Power Green Communication OK Green blink Auto bauding in progress Orange No communication Red Error Red/Green alternate B ooter mode(e.g. during Firmware download)Red blink Internal fatal errorStatus LEDLED SignalisationThe Input indication LED can be configured in colour and blink code separately for state Low and High. LED colour f Off f Red f Green*f Orange (red + green)LED blink code f No blink*f Slow blinking (0.5 flashes per second) f Fast blinking (2 flashes per second)*Factory defaultRemarks: I n case of error on analogue I/O (overflow), the LEDwill blink at 1 Hz.Digital intputf Data exchange for I/O via optimised S-Busf Configurable save state for bus interruption or timeout f Direct generation of the symbolsf Reading and writing of the status of the manual override status f Direct compatibility with web macrosThe modules are addressed and programmed with Saia PG5® Fupla FBoxes. Web templates are available for the operation and visualisation of the manual override function.Further information, including which FBoxes are supported,Getting Started, etc., can be found on our support page .Web templates are available for the operation and visualisation of the manual override function.FuplaCommunication FBoxWeb templatesProgrammingThe inputs of the E-Line RIO modules can be addressed via the standard S-Bus. However the FBoxfrom the E-Line library is used for the configuration of these modules.It is therefore recommended to use the optimised S-Bus protocol and the corresponding FBoxes from the E-Line library. Mixed mode operation is not recommended.Power supply and bus terminationConnection diagramsGND +24V/DA+DB–GND +24V/DA+DB–Digital inputs24 VDCSource operationE-Line libraryE-Line RIOs support the device setup by a windows application program connected via USB. The installer is available for down-load from the SBC support page: E-Line RIO IO Modules.The Baudrate can be defined as automatic detection (default) or set to a specific value. The drop down choice will be available when the check box “Automatic” is unchecked.TN delay and TS delay shall be left at their default values of 2.Create a new device configurationOpen an existing device configurationSave the current settings as device configurationUpload configuration from the deviceDownload settings to the deviceThe station number can be set by the rotary switches at the device in the range of 0 … 98. If the rotary switches are set to position 99 the station number can be defined by the deviceconfiguration in a range of 0 … 253.The serial communication protocol can be defined either as S-Bus or Modbus. By default the modules are delivered fromfactory with S-Bus.S-Bus settingsThe Baudrate is set by default to 115k. It can be defined aschoice of the list.For best interoperability the Parity Mode and number ofStop Bits can also be set.Modbus settingsS-Bus communication is based on Saia PCD® S-Bus Data Mode. Only the set-up of a unique S-Bus address within the communi-cation line is required to establish a communication between Saia PCD® controllers and E-Line RIO modules. The address can be set by the rotary switches at the front of the module. The baud rate will be learned from the network by factory default. In addition a Windows based application is available for manual parameter setup. Configuration parameters as well as manual override state and value are saved non-volatile. A delay of about one second between a manual state change and none volatile saving has to be taken into consideration.Device address f 0 … 98 Address is taken from the rotary switchesf 99Address is taken from the device configuration. The address is settable with the E-Line configuration software.Usage of the E-Line module specific FBoxesThe usage of the E-Line module specific FBoxes from the E-Line S-Bus Fupla library allows an easy and efficient commissioning of the E-Line RIO.The FBox allow to define and configure all possible functionalities of the E-Line RIO like the behaviour and colour of the LED’s and so on.In the background, the FBox does use the fast ‘E-Line S-Bus’ protocol for a high speed communication between the master and the RIO.The following chapter describes the media and parameter mapping to Registers and Flags for individual programming. For efficient PCD programming the E-Line RIO FBox family and templates are suitable for most applications. Only individual pro-gramming (e.g. Instruction List) require standard S-Bus communication.Digital inputsThe LEDs can be configured individually depending on the I/O state in colour and blink code.LED ConfigurationRegister format:Bit 0 ... 7 I/O state Low LED colour Bit 8 ... 15 I/O state Low LED blink code Bit 16 ... 23 I/O state High LED colour Bit 24 (31)I/O state High LED blink codeLED colour 0: Off1: Red2: G reen 3: Orange (red + green)LED blink code 0: No blink 1: Slow blinking (0.5 flashes per second) 2: Fast blinking (2 flashes per second)Factory default: Low: off, High: LED colour 2 (green), no blinkDirect access to the RIO media with standard S-Bus send and receive telegrams** Time in 0.1 ms (e.g. 2 means 200 us) before sending the first character after line driver activation (only used for S-Bus slave protocol)*** The four registers contain the ASCII characters of the product type.E.g. for PCD1.A2000-A20:0605: 50434431H 0606: 2E413230H 0607: 30302D41H 0608: 32300000HDevice InformationModbus fulfils the requirements for standard communication protocols. It is based on Modbus RTU. The Windows based configuration software is required to enable and set up the Modbus communication parameters. The device address can be set up with the rotary switches at the front of the module. Configuration parameters as well as manual override state and value are saved non-volatile. A delay of about one second between a manual state change and non-volatile saving has to be taken into consideration.Device addressf0 … 98 Address is taken from the rotary switchesf99 A ddress is taken from the device configuration. The address is settable with the E-Line configuration software.Start-up proceduref Reboot: All outputs are cleared (Off state)f<1 sec. Output in manual operation are set according to the state before power down.f Outputs in automatic modeIs no telegram received after reboot within the “safe state power-on timeout” the module enters as will intothe safe state mode and sets the outputs according to their configured values.On reception of a valid command telegram the outputs are controlled by the communication. When nocommunication update followed within the “safe state com. timeout” the module enters into safe state andsets the outputs according to their configured values.The following chapter describes the media and parameter mapping to Registers and Flags (=Coils).Supported Modbus services:f Function code 1 (read outputs)f Function code 3 (read registers)f Function code 15 (write multiple outputs)f Function code 16 (write multiple registers)The CRC has to be calculated over all telegram bytes starting with address field up to the last data byte. The CRC has to be attached to the data. Please find an example at the appendix of this document. For more details, please refer the publicly available Modbus documentation .The LEDs can be configured individually depending on the I/O state in colour and blink code.Register format:Output L, Bit 0 … 7 I/O state Low LED colour Output L, Bit 8 … 15 I/O state Low LED blink code Output H, Bit 0 … 7 I/O state High LED colourOutput H, Bit 8 … 15 I/O state High LED blink codeLED colour 0: Off1: Red2: Green3: Orange (red + green)LED blink code 0: No blink1: Slow blinking (0.5 flashes per second)2: Fast blinking (2 flashes per second)Factory default: Low: off, High: LED colour 2 (green), no blinkE.g. for PCD1.A2000-A20:1210…1217: 5043H | 4431H | 2E41H | 3230H | 3030H | 2D41H | 3230H | 0000HDevice InformationCRC Generation Example(Source: /docs/PI_MBUS_300.pdf, the following content of this page is copied from the referenced document. In case of any questions, please check out the original source)The function takes two arguments: unsigned char *puchMsg; A pointer to the message buffer containing binary data to be used for generating the CRC unsigned short usDataLen; The quantity of bytes in the message buffer. The function returns the CRC as a type unsigned short.CRC Generation Functionunsigned short CRC16(puchMsg, usDataLen) ;unsigned char *puchMsg ; /* message to calculate CRC upon */unsigned short usDataLen ; /* quantity of bytes in message */{unsigned char uchCRCHi = 0xFF ; /* high byte of CRC initialized */unsigned char uchCRCLo = 0xFF ; /* low byte of CRC initialized */unsigned uIndex ; /* will index into CRC lookup table */while (usDataLen--) /* pass through message buffer */{uIndex = uchCRCHi ^ *puchMsgg++; /* calculate the CRC */uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];uchCRCLo = auchCRCLo[uIndex];}return (uchCRCHi << 8 | uchCRCLo);}High-Order Byte Table/* Table of CRC values for high-order byte */static unsigned char auchCRCHi[] = {0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 }; Low-Order Byte Table/* Table of CRC values for low-order byte */static char auchCRCLo[] = {0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04,0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8,0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC,0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10,0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38,0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C,0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0,0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4,0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68,0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C,0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0,0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54,0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98,0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 };PCD1.K0206-005PCD1.K0206-025PCD1.E1000-A10Saia-Burgess Controls AGBahnhofstrasse 18 | 3280 Murten, Switzerland T +41 26 580 30 00 | F +41 26 580 34 ********************|* Horizontal pitch: 1 HP corresponds to 17.5 mmTerminal set 32304321-003-S。

校状元c880参数校状元C880是一款智能手机，下面是关于其参数的详细介绍：1. 外观设计，校状元C880采用了精致的设计，拥有流线型的机身，提供多种颜色选择，如黑色、白色、金色等。

机身尺寸为XXX，重量为XXX，手感舒适。

2. 屏幕，校状元C880配备了一块XXX英寸的高清显示屏，分辨率为XXX，显示效果清晰细腻，色彩鲜艳。

同时，还支持触控操作，实现多点触控。

3. 摄像头，校状元C880配置了一颗XXX像素的后置摄像头和一颗XXX像素的前置摄像头。

后置摄像头支持自动对焦、LED闪光灯、HDR等功能，能够拍摄高质量的照片和录制高清视频。

前置摄像头适合自拍和视频通话。

4. 处理器和内存，校状元C880搭载了一颗XXX处理器，拥有强大的计算能力和良好的功耗控制。

同时，它还配备了XXXGB的RAM和XXXGB的存储空间，用户可以存储大量的文件、应用和媒体内容。

5. 操作系统，校状元C880运行基于Android系统的XXX操作系统，用户可以享受到丰富的应用和功能，同时还能够进行个性化设置和定制。

6. 电池和续航，校状元C880内置了一块XXXmAh的大容量电池，支持快速充电技术，能够满足用户长时间使用的需求，减少充电等待时间。

7. 网络和连接，校状元C880支持多种网络连接方式，包括4G LTE、Wi-Fi、蓝牙等，用户可以随时随地与互联网和其他设备进行连接和通信。

8. 安全性和其他功能，校状元C880提供了多种安全功能，如指纹识别、面部识别等，保护用户的隐私和数据安全。

此外，还支持GPS导航、NFC支付等实用功能。

总结，校状元C880是一款配置强大、功能丰富的智能手机，拥有优秀的外观设计、高清屏幕、高像素摄像头、强大的处理器和大容量电池等特点，能够满足用户对于手机性能和体验的需求。

机器人运动学几何参数辨识对象：工业六轴机器人MH80机器人方法：POE and MDH method(POE and MDH method Identify the Robot's Kinematics Parameters)function varargout = Sorter(varargin)% SORTER M-file for Sorter.fig%This is the main GUI that implements the SMARTY: Vision baxxxxsed Autonomous Ball Sorting Robotic%Systemgui_Singleton = 1;gui_State = struct('gui_Name' mfilename ...'gui_Singleton' gui_Singleton ...'gui_OpeningFcn' @Sorter_OpeningFcn ...'gui_OutputFcn' @Sorter_OutputFcn ...'gui_LayoutFcn' [] ...'gui_Callback' []);if nargin && ischar(varargin{1})gui_State.gui_Callback = str2func(varargin{1});endif nargout[varargout{1:nargout}] = gui_mainfcn(gui_State varargin{:});elsegui_mainfcn(gui_State varargin{:});end% --- Executes just before Sorter is made visible.function Sorter_OpeningFcn(hobxxxxject eventdata handles varargin)% fh = figure;handles.output = hobxxxxject;global sPortglobal XCOR_LIMIT YCOR_LIMIT BOUNDARYglobal RLIMIT YLIMIT BLIMIT GLIMIT WLIMIT COLOR_THRESH Calibrate_Ball BALL_AREA_RATIOglobal C1_AREA C2_AREA C1_RATIO C2_RATIO BOT_RATIOglobal RED_LOCATION GREEN_LOCATION BLUE_LOCATION YELLOW_LOCATION global cycles_ang cycles_lin Kp_ang Kp_linglobal val vidglobal Target Target_Location Target_Ball grip_state loop %fh% Update handles structureguidata(hobxxxxject handles);clcimaqreset%RS-232% devices = instrfind;% if(~isempty(devices))% fclose(devices);% end%% sPort = serial('COM4''BaudRate'9600'Timeout'10'Terminator'10'OutputBufferSize'8)% fopen(sPort)%Bluetoothdevices = instrfind;if(~isempty(devices))fclose(devices);endsPort = serial('COM15''BaudRate'9600'Timeout'10'Terminator'10'OutputBufferSize'8)fopen(sPort)vid = videoinput('winvideo');input = getsnapshot(vid);imshow(input);hold onXCOR_LIMIT = 720;YCOR_LIMIT = 480;BOUNDARY = 50;RLIMIT = 700;YLIMIT = 1000;BLIMIT = 50;GLIMIT = 500;WLIMIT = 500;COLOR_THRESH = 100;Calibrate_Ball = 'Red';BALL_AREA_RATIO = 0.5;C1_AREA = 650; % Area limit for bigger white area on botC2_AREA = 250; % Area limit for smaller white area on botC1_RATIO = 0.7; % Calibration area ratio for bigger circleC2_RATIO = 0.7; % Calibration area ratio for smaller circleBOT_RATIO = 2.57; % Calibration Ratio for gripper to characteristic lengthRED_LOCATION = [BOUNDARYBOUNDARY];GREEN_LOCATION = [XCOR_LIMIT-BOUNDARYYCOR_LIMIT-BOUNDARY]; BLUE_LOCATION = [XCOR_LIMIT-BOUNDARYBOUNDARY];YELLOW_LOCATION = [BOUNDARYYCOR_LIMIT-BOUNDARY];cycles_ang = 10;cycles_lin = 10;val = 0;Kp_ang = 0.5;Kp_lin = 0.25;% Kp_ang = 0.2;% Kp_lin = 0.05;moveflag = 0;Target = [300 300];Target_Location = [50 50];Target_Ball = [100 100];grip_state=0;loop = 0;set(handles.text_message'String''WELCOME');% UIWAIT makes Sorter wait for user response (see UIRESUME)% uiwait(handles.figure1);% --- Outputs from this function are returned to the command line.function varargout = Sorter_OutputFcn(hobxxxxject eventdata handles)% --- Executes on button press in button_right.function button_right_Callback(hobxxxxject eventdata handles)% --- Executes on button press in button_left.function button_left_Callback(hobxxxxject eventdata handles)% --- Executes on button press in button_backward.function button_backward_Callback(hobxxxxject eventdata handles)% --- Executes on button press in button_forward.function button_forward_Callback(hobxxxxject eventdata handles)% --- Executes when selected obxxxxject is changed in uipanel_control.function uipanel_control_SelectionxxxxchangeFcn(hobxxxxject eventdata handles)global sPortglobal XCOR_LIMIT YCOR_LIMIT BOUNDARYglobal RLIMIT YLIMIT BLIMIT GLIMIT WLIMIT COLOR_THRESH Calibrate_Ball BALL_AREA_RATIOglobal C1_AREA C2_AREA C1_RATIO C2_RATIO BOT_RATIOglobal RED_LOCATION GREEN_LOCATION BLUE_LOCATION YELLOW_LOCATIONglobal cycles_ang cycles_lin Kp_ang Kp_linglobal val vidglobal Target Target_Location Target_Ball grip_state loop %fhif(get(handles.checkbox_axis'Value')==1)axis ongrid onendif(get(handles.radio_run'Value') ==1)Initialize_GUIh=msgbox(['Set Targets in the Workspace!']'Info''help');uiwait(h);%%%%%%%%%%%%%%%%%%%%%%%%%%Autonomouns Robot Motion%%%%%%%%%%%%%%%%%%%%%%%%%while(get(handles.radio_run'Value') ==1)if(get(handles.radio_manual'Value')==1)Robot_Motion_Manual_GUIelseif(get(handles.radio_assistive'Value')==1)Robot_Motion_Semiautomatic_GUIelseif(get(handles.radio_autonomous'Value')==1)%%%%%%%%%%%%%%%%%%%%%%%%%%Bot Position Autonomous%%%%%%%%%%%%%%%%%%%%%%%%%%input = getsnapshot(vid);imshow(input);hold onif(get(handles.checkbox_border'Value')==1)plot([0 XCOR_LIMIT][YCOR_LIMIT-BOUNDARY YCOR_LIMIT-BOUNDARY]'w'); plot([0 XCOR_LIMIT][BOUNDARY BOUNDARY]'w');plot([XCOR_LIMIT-BOUNDARY XCOR_LIMIT-BOUNDARY][0 YCOR_LIMIT]'w'); plot([BOUNDARY BOUNDARY][0 YCOR_LIMIT]'w');end%-----Noise removal by thresholding-----output=(input>COLOR_THRESH);label1=output(::1);label2=output(::2);label3=output(::3);botout=(label1>0)&(label2>0)&(label3>0);whiteprops=regionprops(bwlabel(botout)'Area''Centroid');Bot = find([whiteprops.Area] > WLIMIT);for i=1:1:length(Bot)plot(whiteprops(Bot(i)).Centroid(1)whiteprops(Bot(i)).Centroid(2)'k*')endgrip_stateif(length(Bot)==2)if(whiteprops(Bot(1)).Area < whiteprops(Bot(2)).Area)x1 = whiteprops(Bot(2)).Centroid(1);x2 = whiteprops(Bot(1)).Centroid(1);y1 = whiteprops(Bot(2)).Centroid(2);y2 = whiteprops(Bot(1)).Centroid(2);elsex1 = whiteprops(Bot(1)).Centroid(1);x2 = whiteprops(Bot(2)).Centroid(1);y1 = whiteprops(Bot(1)).Centroid(2);y2 = whiteprops(Bot(2)).Centroid(2);endLength = sqrt((x1-x2)^2+(y1-y2)^2)Bot_Ang = rad2deg(atan2(y1-y2x1-x2))Grip = [x1+Length*(BOT_RATIO)*cosd(Bot_Ang)y1+Length*(BOT_RATIO)*sind(Bot_Ang)]%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%Set Target%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%rcount=0;gcount=0;bcount=0;ycount=0;tcount = 0;Target_Error = 1000;redlabel=(label1-(label2+label3));greenlabel=(label2-(label1+label3));bluelabel=(label3-(label2+label1));redlabel=redlabel.*(redlabel>0);greenlabel=greenlabel.*(greenlabel>0);bluelabel=bluelabel.*(bluelabel>0);redprops=regionprops(bwlabel(redlabel)'Area''Centroid');greenprops=regionprops(bwlabel(greenlabel)'Area''Centroid');blueprops=regionprops(bwlabel(bluelabel)'Area''Centroid');if(grip_state==0)for i=1:length(redprops)if redprops(i).Area>RLIMITif(norm(redprops(i).Centroid-RED_LOCATION)>BOUNDARY); rcount=rcount+1;RedCentroid(rcount1)=round(redprops(i).Centroid(1));RedCentroid(rcount2)=round(redprops(i).Centroid(2));Current_Target_Error = norm(Grip-RedCentroid(rcount:));if(Current_Target_Error<Target_Error)Target_Error = Current_Target_Error;Target_Ball = RedCentroid(rcount:);Target_Location = RED_LOCATION;endendendendfor i=1:length(greenprops)if greenprops(i).Area>GLIMITif(norm(greenprops(i).Centroid-GREEN_LOCATION)>BOUNDARY); gcount=gcount+1;GreenCentroid(gcount1)=round(greenprops(i).Centroid(1));GreenCentroid(gcount2)=round(greenprops(i).Centroid(2));Current_Target_Error = norm(Grip-GreenCentroid(gcount:));if(Current_Target_Error<Target_Error)Target_Error = Current_Target_Error;Target_Ball = GreenCentroid(gcount:);Target_Location = GREEN_LOCATION;endendendendfor i=1:length(blueprops)if blueprops(i).Area>BLIMITif(norm(blueprops(i).Centroid-BLUE_LOCATION)>BOUNDARY);bcount=bcount+1;BlueCentroid(bcount1)=round(blueprops(i).Centroid(1));BlueCentroid(bcount2)=round(blueprops(i).Centroid(2));Current_Target_Error = norm(Grip-BlueCentroid(bcount:));if(Current_Target_Error<Target_Error)Target_Error = Current_Target_Error;Target_Ball = BlueCentroid(bcount:);Target_Location = BLUE_LOCATION;endendendendif(rcount>0)plot(RedCentroid(1:rcount1)RedCentroid(1:rcount2)'b*')endif(gcount>0)plot(GreenCentroid(1:gcount1)GreenCentroid(1:gcount2)'y*')endif(bcount>0)plot(BlueCentroid(1:bcount1)BlueCentroid(1:bcount2)'r*')endtcount = rcount+gcount+bcount;if(tcount>0)Target = Target_Ballplot(Target(1)Target(2)'gx');set(handles.text_targetxy'String'[num2str(Target(1)'=') ' : ' num2str(Target(2)' =')]); elseh=msgbox('Mission Accomplished''Info''help');uiwait(h);loop = 27;val = num2str(27);endelseTarget = Target_Locationplot(Target(1)Target(2)'gx');set(handles.text_targetxy'String'[num2str(Target(1)'=') ' : ' num2str(Target(2)' =')]); end。

modbus tcp 中80c6的解决方法摘要：一、问题背景介绍二、Modbus TCP协议概述三、80C6错误原因分析四、解决80C6错误的方法1.调整IP地址和子网掩码2.检查端口号设置3.配置Modbus TCP参数4.升级或更换设备驱动程序5.优化网络环境五、解决后的验证与总结正文：一、问题背景介绍在工业自动化领域，Modbus TCP协议广泛应用于各种设备之间的通信。

然而，在使用过程中，部分用户遇到了Modbus TCP中80C6错误，导致设备无法正常通信。

本文将针对这一问题，分析其原因，并给出解决方法。

二、Modbus TCP协议概述Modbus TCP是一种基于以太网的通信协议，主要用于实现设备之间的数据传输。

它包括Modbus TCP客户机和服务器两种角色，通过以太网交换数据。

在Modbus TCP通信中，80C6错误表示客户端与服务器之间的通信出现异常。

三、80C6错误原因分析80C6错误的产生原因较多，主要包括以下几点：1.IP地址和子网掩码设置不正确：Modbus TCP通信需要确保客户端和服务器之间的IP地址在同一子网内。

如果IP地址或子网掩码设置有误，可能导致80C6错误。

2.端口号设置问题：Modbus TCP通信需要设置正确的端口号，通常为502。

如果端口号设置错误，可能导致80C6错误。

3.Modbus TCP参数配置问题：在某些情况下，Modbus TCP参数配置不正确也可能导致80C6错误。

4.设备驱动程序问题：如果设备驱动程序版本较低或存在兼容性问题，可能导致80C6错误。

5.网络环境问题：网络环境不稳定，如信号干扰、延迟较高等，也可能导致80C6错误。

四、解决80C6错误的方法针对上述原因，以下为解决80C6错误的方法：1.调整IP地址和子网掩码：确保客户端和服务器之间的IP地址和子网掩码设置正确，并在同一子网内。

2.检查端口号设置：确保Modbus TCP通信的端口号设置正确，通常为502。

思科 Catalyst 9800-80 无线控制器针对基于意图的网络全新打造目录产品概述：主要功能 (4)平台详细信息 (5)产品优势 (12)规格 (13)软件要求 (17)许可 (18)保修 (21)订购信息 (22)Cisco Capital (22)文档历史记录 (23)图 1：思科 Catalyst 9800-80Catalyst 9800-80 是模块化无线控制器，具备 100GE 模块化上行链路和无缝软件更新，适用于大型企业和园区。

Catalyst 9800 针对基于意图的网络全新打造，汇集了思科 IOS XE 和思科 RF 的卓越性能，为您不断发展壮大的组织提供一流的无线体验。

Catalyst 9800 是功能齐全的企业就绪型控制器，可以助力业务关键运营，彻底改变最终客户体验：•通过冷热补丁实现高可用性和无缝软件更新，确保您的客户端和服务在计划内和计划外事件过程中都永不间断。

•使用 Catalyst 9800 保护无线环境、设备和用户。

借助加密流量分析和软件定义接入 (SD-Access)，您的无线基础设施将成为最强大的第一道防线。

这款控制器具有内置安全功能，包括：安全启动、运行时防御、映像签名、完整性验证和硬件防伪功能。

•可以部署在任意位置，提供无处不在的无线连接。

Catalyst 9800 具有多种扩展选项，包括本地部署、公共云/私有云部署和交换机嵌入式部署，可最大限度满足您组织的需求。

•基于模块化操作系统，开放式可编程 API 实现第 0-N 天网络操作自动化。

模型驱动流传输遥测确保您能深入了解网络和客户端的运行状况。

产品概述：主要功能最大无线接入点数量最多 6,000 个最大客户端数量64,000最大吞吐量最高 80 Gbps最大 WLAN 数量4096最大 VLAN 数量4096非模块化上行链路8 个 10GE/1GE SFP+/SFP 或 6 个 10GE + 2 个 GE模块化上行链路（可选）受支持的上行链路模块如下：•C9800-18X1GE(=)•C9800-10X10GE(=)•C9800-1X40GE(=)•C9800-2X40GE(=)•C9800-1X100GE(=)上行链路模块支持热插拔。