條件：
9 針串口通信 RS232。
PC 啟動超級終端軟件。Windows -> Start -> Accessories -> Terminal
通信設置：
2. 1 個停止位 沒有奇偶校驗
3. 沒有 Modern 采用直接串口連接
4. 使用 Xon/Xoff 通信形式
當故障發生時，PC 必須與機器人聯通，保存錯誤信息，用來進行故障分析。
免費下載超級終端軟件：
http://hp.vector.co.jp/authors/VA002416/teraterm.html
控制口常用命令清單
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.
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