提高PLC效率

<p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:32px;font-family:Arial;color:black">1</span><span style="font-size:32px;font-family:微软雅黑;color:black">、优化</span><span style="font-size:32px;font-family:Arial;color:black">PDO</span><span style="font-size:32px;font-family:微软雅黑;color:black">，只添加必要的</span><span style="font-size: 32px;font-family:Arial;color:black">PDO</span><span style="font-size:32px;font-family:微软雅黑;color:black">（</span><span style="font-size:16px;font-family:微软雅黑;color:black">每减少</span><span style="font-size:16px;font-family:Arial;color:black">1</span><span style="font-size:16px;font-family:微软雅黑;color:black">个</span><span style="font-size:16px;font-family:Arial;color:black">PDO</span><span style="font-size:16px;font-family:微软雅黑;color:black">，估算能减少</span><span style="font-size:16px;font-family:Arial;color:black">0.5us</span><span style="font-size:16px;font-family:微软雅黑;color:black">扫描时间</span><span style="font-size:32px;font-family:微软雅黑;color:black">）</span></p><p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:32px;font-family:Arial;color:black">2</span><span style="font-size:32px;font-family:微软雅黑;color:black">、控制模式切换（</span><span style="font-size: 21px;font-family:Arial;color:black">MC_HOME/</span><span style="font-size: 21px;font-family:Arial;color:black">SMC_setcontrolermode</span><span style="font-size:32px;font-family:微软雅黑;color:black">）</span></p><p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:27px;font-family:微软雅黑;color:black">不设置模式切换</span><span style="font-size: 27px;font-family:Arial;color:black">PDO</span><span style="font-size:27px;font-family:微软雅黑;color:black">（</span><span style="font-size:27px;font-family:Arial;color:black">6060</span><span style="font-size:27px;font-family:微软雅黑;color:black">），</span><span style="font-size:21px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">PLC</span><span style="font-size:21px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">会通过</span><span style="font-size:21px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">SDO</span><span style="font-size:21px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">发送数据到从站，一般建议需要频繁切换模式时把</span><span style="font-size:21px;font-family: &#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">6060</span><span style="font-size:21px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">加在</span><span style="font-size:21px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">PDO</span><span style="font-size:21px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">中。模式切换对</span><span style="font-size:21px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">PLC</span><span style="font-size: 21px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">扫描时间占用比较长，特别是转矩和位置切换，如果多个从站需切换模式能分时切换的就分时切换。</span></p><p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:21px;font-family:&#39;Helvetica Neue&#39;;color:#333333">3</span><span style="font-size: 21px;font-family:微软雅黑;color:#333333">、</span><span style="font-size: 32px;font-family:微软雅黑;color:black">伺服状态</span></p><p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:bold;font-style:normal">MC_ReadActualTorque</span><span style="font-size:16px;font-family:微软雅黑;color:#333333;font-weight:bold;font-style:normal">、</span><span style="font-size:16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:bold;font-style:normal">MC_ReadBoolParameter</span><span style="font-size:16px;font-family: 微软雅黑;color:#333333;font-weight: bold;font-style:normal">、</span><span style="font-size: 16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:bold;font-style:normal">MC_ReadParameter</span><span style="font-size:16px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">是通过</span><span style="font-size:16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">SDO</span><span style="font-size:16px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">读取伺服数据，延迟</span><span style="font-size:16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:normal;font-style:normal">N</span><span style="font-size: 16px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:normal">（从站个数）</span><span style="font-size:16px;font-family:微软雅黑;color:#333333;font-weight:normal;font-style:italic">周期 读到数据，占用扫描时间比较长一般为</span><span style="font-size:16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:bold;font-style:italic">30~80us;</span><span style="font-size:16px;font-family:微软雅黑;color:#333333;font-weight:bold;font-style:italic">程序中尽量减少这类读</span><span style="font-size:16px;font-family:&#39;Helvetica Neue&#39;;color:#333333;font-weight:bold;font-style:italic">SDO</span><span style="font-size:16px;font-family:微软雅黑;color:#333333;font-weight:bold;font-style:italic">的操作</span></p><p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:32px;font-family:Arial;color:black">4</span><span style="font-size:32px;font-family:微软雅黑;color:black">、</span><span style="font-size:32px;font-family:Arial;color:black">moddbus</span><span style="font-size: 32px;font-family:微软雅黑;color:black">单独设置任务循环周期</span></p><p style=";margin-top:0;margin-bottom:0;text-align:left;direction:ltr;unicode-bidi:embed"><span style="font-size:32px;font-family:Arial;color:black">5</span><span style="font-size:32px;font-family:微软雅黑;color:black">、程序中对时间</span><span style="font-size: 32px;font-family:Arial;color:black">IP</span><span style="font-size:32px;font-family:微软雅黑;color:black">的配置功能，不需要每个周期配置调用访问，加</span><span style="font-size:32px;font-family:Arial;color:black">IF</span><span style="font-size:32px;font-family:微软雅黑;color:black">判断</span></p><p><br/></p>