ABB机器人与PC计算机控制口连接 超级终端 命令清单

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

Common

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.

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_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.

Logged

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.