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更新README，更新机器人通信，更新程序

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zhusenlin
2026-02-04 20:43:36 +08:00
parent c791e43019
commit 3b50b1b377
6 changed files with 26 additions and 2 deletions
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6040-003上下料 V2.1.Device.Application.xml
+3 -1
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@@ -489,7 +489,7 @@
<UserDefElement iecname="bPlallet2ToRobotPlaceRequest" type="T_BOOL" byteoffset="39" vartype="VAR" />
<UserDefElement iecname="bPlallet2FromRobotPlaceDone" type="T_BOOL" byteoffset="40" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM00_ToRobot" size="80" nativesize="24" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
<TypeUserDef name="T_U1_EM00_ToRobot" size="84" nativesize="28" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM00_ToRobot">
<UserDefElement iecname="bParity" type="T_BIT_X_0" byteoffset="0" vartype="VAR" />
<UserDefElement iecname="bPgnoValid" type="T_BIT_X_1" byteoffset="1" vartype="VAR" />
<UserDefElement iecname="bExtStart" type="T_BIT_X_2" byteoffset="2" vartype="VAR" />
@@ -562,6 +562,8 @@
<UserDefElement iecname="iGripPosResult" type="T_INT" byteoffset="74" vartype="VAR" />
<UserDefElement iecname="iOffsetX" type="T_INT" byteoffset="76" vartype="VAR" />
<UserDefElement iecname="iOffsetY" type="T_INT" byteoffset="78" vartype="VAR" />
<UserDefElement iecname="iCountX" type="T_INT" byteoffset="80" vartype="VAR" />
<UserDefElement iecname="iCountY" type="T_INT" byteoffset="82" vartype="VAR" />
</TypeUserDef>
<TypeUserDef name="T_U1_EM01_Data" size="8" nativesize="8" typeclass="Userdef" pouclass="STRUCTURE" iecname="U1_EM01_Data">
<UserDefElement iecname="relCamOffsetMax" type="T_REAL" byteoffset="0" vartype="VAR" />