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Ç¥ÁعøÈ£ TTAK.KO-10.0335 ±¸Ç¥ÁعøÈ£
Á¦°³Á¤ÀÏ 2009-12-22 ÃÑÆäÀÌÁö 18
ÇѱÛÇ¥Áظí Áö´ÉÇü·Îº¿ÀÇ RS-485 ±â¹Ý ±¸µ¿±â ÀÎÅÍÆäÀ̽º
¿µ¹®Ç¥Áظí RS-485 based Actuator interface for an Intellegent Robot
Çѱ۳»¿ë¿ä¾à ±¸µ¿±âÀÇ Ç¥ÁØÀ» ÇϳªÀÇ ·Îº¿À» ±¸¼ºÇÏ´Â ¿©·¯ °³ÀÇ ±¸µ¿±âµé°ú ¸ÞÀÎ Á¦¾î ¸ðµâ°£ÀÇ ¹°¸®ÀûÀÎ ¿¬°áÀ» Á¤ÀÇÇÏ´Â Çϵå¿þ¾î ÇÁ·ÎÅäÄÝ°ú ¸ÞÀÎ Á¦¾î ÇÁ·Î±×·¥°ú ±¸µ¿±â ÇÁ·Î±×·¥°£ÀÇ Åë½ÅÀ» À§ÇÑ ¼ÒÇÁÆ®¿þ¾î ÇÁ·ÎÅäÄÝ·Î ³ª´©¾î ±â¼úÇÑ´Ù. Çϵå¿þ¾î ÇÁ·ÎÅäÄÝÀÇ ¼¼ºÎ ³»¿ëÀº ÀÌ¹Ì RS-485 ±â¼ú ¹®¼­¿¡ Á¤ÀǵǾî ÀÖÀ¸¹Ç·Î º» ¹®¼­¿¡¼­´Â »ý·«ÇÑ´Ù. ¼ÒÇÁÆ®¿þ¾î ÇÁ·ÎÅäÄÝÀº µ¥ÀÌÅÍÀÇ ÀÎÄÚµù(Encoding)°ú µðÄÚµù(Decoding)¿¡ °ü·ÃµÇ¾î Á¤ÀÇµÈ Instruction/Status ÆÐŶ Åë½Å°ú ±¸µ¿±âÀÇ °¢ ±â´É¿¡ Á¢±ÙÇϱâ À§ÇØ Á¤ÀÇµÈ Control table Á¦¾î ¹æ½Ä¿¡ ´ëÇØ ±â¼úÇÑ´Ù.
¿µ¹®³»¿ë¿ä¾à To standard this interface, hardware protocol and software protocol should be specified. In the H/W protocol, physical interface between several actuators and main control module is defined. In the S/W protocol, communication interface is defined. As H/W protocol was already defined in the RS-485 technical documents, it is shortened in this standard. The S/W protocol specify control method defined to approach several functions of the actuator, and instruction/status communication packets which are defined in the point of data encoding and decoding.
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