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1 200/10/14

1.0

2009/10/21 1.0

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1. ................................ ................................ ................................ ................................ .. 4

1.1. ................................ ................................ ................................ ............... 4

1.2. ................................ ................................ ................................ ........ 4

1.3. ................................ ................................ .......................... 4

1.4. ................................ ................................ ............... 4

1.5. ................................ ................................ .......................... 4

2. ................................ ................................ ................................ ................... 5

2.1. ................................ ................................ ................................ ..... 5

2.1.1. ................................ ................................ 5

2.1.2. ................................ ................................ 5

3. ................................ ................................ ................................ .......................... 7

3.1.1. ................................ ................................ ................................ ..... 7

3.1.2. ................................ ................................ .......................... 7

3.1.3. ................................ ................................ ................................ ............... 8

3.1.4. ................................ ................................ ............................. 8

3.1.5. ................................ ................................ ................................ ........ 8

3.1.6. ................................ ................................ ................................ ..... 8

3.1.7. ................................ ................................ ............................. 9

3.1.8. ................................ ................................ ................................ ........ 9

4. ................................ ................................ ................................ ........................ 10

4.1. ................................ ................................ ................ 10

5. ................................ ................................ ................................ ........................ 12

5.1.1. ................................ ................................ ................................ ... 12

5.1.2. ................................ ................................ ........................ 12

5.1.3. ................................ ................................ ................................ ............. 12

5.1.4. ................................ ................................ ........................... 12

5.1.4.1 ................................ ............................. 13

5.1.4.2 PID ................................ ................................ ................... 15

5.1.4.3 ................................ ................................ ....................... 15

5.1.4.4 90 180 1

1 1

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5.1.5. ................................ ................................ ................................ ...... 17

5.1.6. ................................ ................................ ................................ ... 18

5.1.7. ................................ ................................ ........................... 18

5.1.8. ................................ ................................ ................................ ...... 185.1.9. LCD ................................ ................................ ................................ ..... 19

5.1.10. ................................ ................................ ................................ ... 21

6. ................................ ................................ ................................ ...... 23

7. ................................ ................................ .................... 24

7.1. ................................ ................................ ................................ ............. 24

7.2. ................................ ................................ ................................ ............. 24

7.3. ................................ ................................ ................................ ............. 24

7.4. ................................ ................................ ................................ ............. 247.5. ................................ ................................ ................................ ..................... 24

8. ................................ ................................ ................................ ............................ 25

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1.

1.1.

1.2.

1.3.

1.4.

1.5.

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5

2.

2.1.

2.1.1.

2.1.2.

180mm180mm46

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10msLCD

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3.

1.

3.1.1.

1

3.1.2.

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3.1.3.

LCD

3.1.4.

PID KpKd

90 180 1

1 1

3.1.5.

1

3

3 (1)+(2)

3.1.6.

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3.1.7.

3.1.8.

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4.

4.1.

AM3 for 49K

OS

MPU/MCU

8 1ChipCPU MN103SFA5K

EPROMROM224K RAM10K

162 LCD SW2SW3

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.

12V

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5.

5.1.1.

1

5.1.2.

5.1.3.

LCD

S T O P P I N G

5.1.4.

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4

3

2

1

0

0 1 2 3 4 5 6

0 1 2 3 4 5

6 7 8 9 10 11

12 13 14 15 16 17

18 19 20 21 22 23

A

SW 0 1xxxxxx

5.1.4.1

SW7 SW65

SW100xxxxx

SW 100 x0001 SW 100 x0001

SW2 SW3

SW2 1

SW3 1

LCD

SW3

SW2

LCD

CPU

x

y

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unsigned int

0 23

LCD

S E T T I N G M O D E

H O M E : 1 8

SW 100 x0010 SW 100 x0010

SW2 SW3

SW2 1

SW3 1

unsigned int

0 23

LCD

S E T T I N G M O D E

P A T I E N T : 4

SW 100 x0100 SW 100 x0100

SW2 SW3

SW2 1

SW3 1

unsigned int

0 23

LCD

S E T T I N G M O D E

G O A L : 2 3

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5.1.4.2 PID

PID SW7 SW6 SW101xxxxx

K

SW 100 01000 SW 100 x1000

SW2 SW3

SW2 1 0.5

SW3 1 0.5

Kp

float

Kd

SW 100 01000 SW 100 01000

SW2 SW3

SW2 1 0.001

SW3 1 0.001

Kd

float

5.1.4.3

PID

SW7

SW10100000

SW 10100000 SW2 SW3

SW2 1

SW3 1

Direc

int

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5.1.4.4 90 180 1

1

1

4 90 180 1

1

1

SW7,

SW04

90

SW 10100001 SW2 SW3

SW2 1

SW3 1

90

int

0

180

SW 10100010 SW2 SW3

SW2 1

SW3 1

180

int

0

1

SW 10100100 SW2 SW3

SW2 1

SW3 1

1

int

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0

1

SW 10101000 SW2 SW3

SW2 1

SW3 1

1

int

0

1

SW 10110000 SW2 SW3

SW2 1

SW3 1

1

int

0

5.1.5.

SW2

SW2 1

SW2 2

SW2 3

SW2 4

LCD

D I S C O V E R I N G

T I M E 0 : 5 1

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R E S C U I N G

T I M E 1 : 2 0

5.1.6.

-

-

-

4

5.1.7.

-

-

-

5.1.8.

-

-

-

LED 360

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90

5.1.9. LCD

5.1.9.1 (Settingmode)

LCD

S E T T I N G M O D E

H O M E : 1 8

SettingStart SS

LCD

LCD

S E T T I N G M O D E

P A T I E N T : 4

SettingVictim Input SV

LCD

LCD

S E T T I N G M O D E

G O A L : 2 3

SettingTarget ST

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LCD

PID PID 3

LCD

LCDSETTING

S E T T I N G M O D E

K p = 1 0 0

S E T T I N G M O D E

K d = 0 . 0 0 1

S E T T I N G M O D E

K i = 1

LCD

90 180 1 1 1

)

90 1801

1 1

LCDLCDSETTINGMODE

S E T T I N G M O D E

R O T A T E _ 9 0 :

S E T T I N G M O D E

R O T A T E _ 1 8 0 :

S E T T I N G M O D E

D R I E C :

S E T T I N G M O D E

B A C K W A R D :

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S E T T I N G M O D E

F O R W _ S T P :

S E T T I N G M O D EF O R W _ B A K :

LCD

1.2 (ViewScore)

LCD

D I S C O V E R I N G

T I M E 0 : 5 1

LCD

R E S C U I N G

T I M E 1 : 2 0

LCD

T O T A L S C O R E

T I M E 1 : 2 0

5.1.10.

10ms LCD

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0:00

LCD

LCDRUNNING

LCDTIME

R U N N I N G M O D E

T I M E 1 0 4 5

XX:XX 10

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6.

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7.

7.1.

-

- 70

7.2.

-

7.3.

-

-

-

7.4.

7.5.

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8.

END OF DOCUMENT