■ 简介
这个移动框架是基于SH-20403两台驱动的步进框架。
对应的开发软件和硬件如下:
01通讯协议
1.底层协议:
(1)波特率:115200;
(2)COM2:该端口已经连接有ZIGBEE
(1)波特率:115200;
(2)COM2:该端口已经连接有ZIGBEE
2.通讯命令
① sm2pul n1 n2 : 同时移动AXIS1,AXIS2
② sm2pul1 n1:移动AXIS1
- n1的范围 41000
③ sm2pul2 n2:移动AXIS2
- n2范围:195000:
移动距离100mm
④ sm2arr n : 0~65535 :设置TIM1的ARR
该数值不要小于50.
02程序PYTHON
(1) SHAXIS12
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#!/usr/local/bin/python
# -*- coding: gbk -*-
#============================================================
# SHAXIS12.PY -- by Dr. ZhuoQing 2020-01-14
#
# Note:
#============================================================
from head import *
from tsmodule.tshardware import *
#------------------------------------------------------------
def shcmd(cmd):
ccloadSerial.write(b'\r')
cmd = bytes(cmd, 'utf-8') + b'\r'
ccloadSerial.write(cmd)
def shaxis(n1=0, n2=0):
shcmd('sm2pul %d %d'%(n1, n2))
def shaxis1(n1):
shcmd('sm2pul1 %d'%n1)
def shaxis2(n1):
shcmd('sm2pul2 %d'%n1)
#------------------------------------------------------------
if __name__ == '__main__':
shaxis1(2200)
tspbeep(1200, 200)
#------------------------------------------------------------
# END OF FILE : SHAXIS12.PY
#============================================================
★ 使用说明:
在拷贝PYTHON之后,在TEXTFORM的Input Head增加: head.
最后在head后附加一个’.’ 表明值增加head.