EmbededDebugger

Փ⫼䇈ᯢ V2.0
 Ⳃᔩ

Ⳃᔩ ................................................................................................ II

ϔǃㅔҟ ........................................................................................... 0

Ѡǃ㦰ऩᷣ ....................................................................................... 2

ϝǃᎹ‫݋‬ᷣ ....................................................................................... 5

ಯǃথ䗕ऎඳ.................................................................................... 6

4.1 ෎ᴀ᭄᥂থ䗕 .......................................................................... 6

4.2 ⡍ᅮ᭄᥂থ䗕 .......................................................................... 7

4.3 থ䗕᥻ࠊ................................................................................ 10

Ѩǃ᥹ᬊऎඳ.................................................................................. 12

5.1 ᭛ᴀᰒ⼎᥹ᬊ ........................................................................ 12

5.2 ೒ᔶᰒ⼎᥹ᬊ ........................................................................ 12

݁ǃ⢊ᗕᷣ ..................................................................................... 24

6.1 ෎ᴀ⢊ᗕ ............................................................................... 24

6.2 䫭䇃⢊ᗕ ............................................................................... 24

ϗǃᑨ⫼ᅲ՟.................................................................................. 25

II
ϔǃㅔҟ
The EmbededDebug software tool is developed by our company and is compatible with the USB-CAN communication module.

A PC software used. The EmbededDebug software tool is powerful and can be used for basic

CAN packets are sent and received, and can also be sent to a custom CAN data format, either text or

The form of the graphic curve receives the data, and can also be received by multiple view interfaces, thereby realizing each

⾡᭄᥂ⱘⲥ᥻Ϣ↨䕗ˈ䕃ӊᇍ⫼᠋↣⃵ⱘ䜡㕂Ϣ᪡԰ֵᙃ‫݋‬᳝㞾ࡼֱᄬࡳ㛑DŽ
&OLFNLFRQ WKHPDLQLQWHUIDFHRIWKH(PEHGHG'HEXJVRIWZDUHWRROSRSVXSDVVKRZQLQ)LJXUH

6KRZ

೒ 1-1 EmbededDebug 䕃ӊᎹ‫݋‬Џ⬠䴶

7KH(PEHGHG'HEXJVRIWZDUHWRROLQWHUIDFHFRQVLVWVRIDWLWOHEDUDPHQXEDUDWRROEDUDVHQGLQJDUHD

7KHUHFHLYLQJDUHDDQGWKHVWDWXVEDUDUHFRPSRVHGRIVL[SDUWVDQGWKHIXQFWLRQVRIHDFKSDUWDUHDVIROORZV

7LWOHEDU6RIWZDUHQDPH(PEHGHG'HEXJHU)RU&$1
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ

0HQXEDU7KHUHDUHPHQXLWHPVLQFOXGLQJILOHRSHUDWLRQVHULDOSRUWVHWWLQJLQWHUIDFHGLVSOD\KHOSHWF

Ꮉ‫݋‬ᷣ˖᳝ᠧᓔІষˈ݇䯁ІষˈІষ䆒㕂ˈᓔਃ݇䯁᭛ᴀᰒ⼎ˈ⏙ぎ

᭛ᴀǃ⏙ぎ䅵఼᭄ǃᰒ⼎䱤㮣থ䗕ऎඳˈᰒ⼎䱤㮣᥹ᬊऎඳˈ

݇Ѣㄝ 9 ϾᎹ‫݋‬乍˗

থ䗕ऎඳ˖ࣙᣀ෎ᴀ᭄᥂থ䗕ˈথ䗕᥻ࠊˈᮄ๲থ䗕义䴶ㄝࡳ㛑˗

᥹ᬊऎඳ˖ࣙᣀ᭛ᴀᰒ⼎ˈᮄ๲᥹ᬊ义䴶ㄝࡳ㛑˗

⢊ᗕᷣ˖ࣙᣀІষ⢊ᗕˈᬊথ CAN ᭄᥂ࣙ䅵᭄ˈᬊথᄫ㡖䅵᭄ㄝDŽ

1
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

Ѡǃ㦰ऩᷣ

㦰ऩᷣࣙ৿᭛ӊǃ᪡԰ǃІষǃ䆒㕂ǃ⬠䴶ᰒ⼎ǃᐂࡽㄝ݅ 6 Ͼ㦰ऩ乍DŽ

৘㦰ऩࡳ㛑བϟ˖

˄˅᭛ӊ

೒ 2-1 ᭛ӊ㦰ऩ

᭛ӊ㦰ऩࣙ৿ϔϾϟᢝᄤ㦰ऩ˄བ೒˅ˈ݊ࡳ㛑Ў䗔ߎˈे݇䯁䕃ӊDŽ

˄˅᪡԰

೒ 2-2 ᪡԰㦰ऩ

᪡԰㦰ऩ᳝ 3 Ͼϟᢝᄤ㦰ऩDŽ䗝Ё៪ϡ䗝ᰒ⼎᭛ᴀ᭄᥂!ᄤ㦰ऩˈৃᅲ

⦄᥹ᬊऎඳ᭛ᴀ᭄᥂ⱘՓ㛑Ϣ༅㛑˗䗝Ё⏙ぎ䅵᭄!ᄤ㦰ऩˈৃᇚ⢊ᗕᷣ䞠

ⱘ৘䅵఼᭄⏙䳊˗䗝Ё⏙ぎ᭛ᴀ!ᄤ㦰ऩˈৃᇚ᥹ᬊऎඳ᭛ᴀᰒ⼎ᷛㅒ䞠ⱘ

᭄᥂⏙ぎDŽ

˄˅䆒㕂

೒ 2-3 䆒㕂㦰ऩ

2
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

䆒㕂㦰ऩЏ㽕ᰃথ䗕䆒㕂੠᥹ᬊ䆒㕂ˈ䖭ϸϾ᪡԰ᅲ⦄њ⫼᠋㞾ᅮН᭄

᥂ⱘথ䗕੠᥹ᬊᮍᓣDŽ

˄1˅⬠䴶ᰒ⼎

೒ 2-4 ⬠䴶ᰒ⼎㦰ऩ

⬠䴶ᰒ⼎㦰ऩৃ䖯㸠䕃ӊ⬠䴶ⱘ䆒㕂ˈࣙᣀᴀഄ໪㾖!ˈᰒ⼎亢Ḑ!ˈ

Ⲃ㙸䆒ᅮ!ˈᰒ⼎䱤㮣থ䗕ऎඳ!ᰒ⼎䱤㮣᥹ᬊऎඳ!ㄝᄤ㦰ऩDŽ⫼᠋ৃ

ҹ᪡԰䆹㦰ऩᴹ䆒㕂㞾Ꮕ୰⃶ⱘ䕃ӊ⬠䴶亢Ḑ˄བ೒ 2-5 ᠔⼎˅DŽ

೒ 2-5 ϡৠⱘⲂ㙸亢Ḑ

˄5˅ᐂࡽ

3
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 2-6 ᐂࡽ㦰ऩ

ᐂࡽ㦰ऩ᳝ϔϾᄤ㦰ऩ݇Ѣ!ˈ⚍ߏৢᰒ⼎⫼᠋䕃ӊⱘ⠜ᴀো԰㗙ㄝֵ

ᙃDŽ

⊼ᛣ˖Փ⫼䕃ӊ佪‫ܜ‬㽕䖯㸠Іষ䜡㕂䖲᥹˄Іষ!Іষ䜡㕂˅ˈབ೒ 2-7

᠔⼎DŽ

೒ 2-7 Іষ䜡㕂

㢹⫼᠋≵᳝ᇚ῵ഫ᥹ܹࠄ PC ⱘ USB ᥹ষϞˈ߭Іষ䜡㕂ᯊӮߎ⦄ᡒϡ

ࠄ㰮ᢳІষোˈ೼⚍ߏІষ!ᠧᓔІষⱘӮᔍߎІষᠧᓔ༅䋹ᇍ䆱Ḛ˄བ೒

2-8˅DŽ

೒ 2-8 Іষᠧᓔ༅䋹

4
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

ϝǃᎹ‫݋‬ᷣ

EmbededDebug 䕃ӊᎹ‫ⱘ݋‬Ꮉ‫݋‬᳝ᷣ 9 Ͼˈ৘䚼ߚࡳ㛑བϟ

Ꮉ‫݋‬ৡ⿄ ࡳ㛑ᦣ䗄

ᠧᓔІষ ᠧᓔ㰮ᢳ䗮䆃Іষ

݇䯁Іষ ݇䯁㰮ᢳ䗮䆃Іষ

Іষ䆒㕂 䆒㕂㰮ᢳІষো੠⊶⡍⥛ˈⳌᔧѢ

䜡㕂䕃ӊЁⱘ䖲᥹῵ഫ

ᓔ ਃ /݇ 䯁 ᭛ ᴀ ᰒ ᓔਃ/݇䯁᥹ᬊऎඳⱘ᭛ᴀᰒ⼎ࡳ

⼎ 㛑

⏙ぎ᭛ᴀ ⏙ぎ᥹ᬊऎඳⱘ᭛ᴀᰒ⼎‫ݙ‬ᆍ

⏙ぎ䅵఼᭄ ⏙ぎ䕃ӊ⢊ᗕᷣ䞠ⱘᬊথ䅵఼᭄

ᰒ ⼎ /䱤 㮣 থ 䗕 ऎ ᇚথ䗕ऎඳ䱤㮣៪ᰒ⼎

ᰒ⼎ /䱤 㮣᥹ᬊऎ ᇚ᥹ᬊऎඳ䱤㮣៪ᰒ⼎

݇Ѣ 䕃ӊֵᙃঞ⠜ᴀো

5
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

ಯǃথ䗕ऎඳ

থ䗕ऎඳ᳝෎ᴀ᭄᥂থ䗕义䴶ǃ݊Ҫ㞾ᓎⱘ义䴶੠ᮄᓎ义䴶DŽ݊Ёˈ

ᷛㅒᅮНњᷛ‫ ⱘޚ‬CAN ᭄᥂䗮䆃Ḑᓣˈৃ⫼Ѣ෎ᴀ᭄᥂ⱘথ䗕˗

Āᮄᓎāᷛㅒৃկ⫼᠋⏏ࡴᮄথথ䗕乍ˈ⫼Ѣᇍ⡍ᅮ᭄᥂ⱘথ䗕DŽ

䰸ᮄᓎ义䴶໪ˈ݊Ҫ义䴶ഛ⬅᭄᥂ऎඳ੠᥻ࠊऎඳ㒘៤DŽ᭄᥂ऎඳৃ‫ݭ‬

Ҏ㽕থ䗕ⱘ᭄᥂ˈ᥻ࠊऎඳৃ䆒㕂⫼Ѣ䖲㓁থ䗕᭄᥂ࣙḐᓣ੠㞾ࡼ᭄᥂ࣙП

䯈ⱘ䯈䱨ᯊ䯈ˈгৃ᠟ࡼথ䗕DŽ

4.1 ෎ᴀ᭄᥂থ䗕


೒ 4-1 CAN ࣙḐᓣ

བ೒᠔⼎Ў෎ᴀ᭄᥂থ䗕Ḑᓣˈ
Ā䗝Ёāᷣৃ䜡㕂ᰃ৺থ䗕䆹ᴵ᭄᥂ˈIDǃ

LenǃDATA 䛑Ўक݁䖯ࠊ᭄᥂ˈFORMAT Ўথ䗕ᷛ⼎ヺḐᓣˈTYPE Ўথ

䗕㉏ൟˈĀ໛⊼āᷣЎ᭄᥂⊼䞞៪݊ҪֵᙃDŽ⚍ߏথ䗕ऎඳᎺϟᮍⱘ ᣝ䪂ˈ

ৃ๲ࡴϔϾথ䗕᭄᥂乍ˈ೼ᮄ๲ⱘথ䗕᭄᥂乍䞠฿‫ݭ‬䳔㽕থ䗕ⱘ᭄ࣙ᥂ˈ✊

ৢ⚍ߏথ䗕ऎඳᎺϟᮍⱘ ⹂䅸᭄᥂ࣙˈ㢹Ꮖ㒣䜡㕂ᑊᠧᓔњІষˈ߭ৃ೼

䞠ᇍ䖭Ͼথ䗕ࣙ䖯㸠থ䗕᥻ࠊDŽ

೒ 4-2 ऩϾ᭄᥂ࣙথ䗕

㢹䳔㽕থ䗕໮Ͼ෎ᴀ᭄᥂ࣙˈ߭ৃҹ‫ߏ⚍⃵ݡ‬থ䗕ऎඳᎺϟᮍⱘ ᣝ䪂

ᮄᓎথ䗕᭄᥂乍˄೼ᔧ᭄ࠡ᥂ࣙࠡ䴶˅ˈгৃ⚍ߏথ䗕ऎඳᎺϟᮍⱘ ᣝ䪂ᮄ

6
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

ᓎথ䗕᭄᥂乍˄೼ᔧ᭄ࠡ᥂ࣙৢ䴶˅ˈབ೒ 4-2 ᰃᓎゟ 1 Ͼথ䗕᭄᥂ࣙⱘ՟ᄤˈ

㄀ 1 ϾЎᠽሩ᭄᥂ᏻˈ㄀ 2 ϾЎᷛ‫ޚ‬᭄᥂ᏻˈ㄀ 3 ϾЎᠽሩ䖰⿟ᏻˈ㄀ 4 Ͼ

Ўᷛ‫ޚ‬䖰⿟ᏻDŽ


೒ 4-3 ໮Ͼ᭄᥂ࣙথ䗕

㢹䳔㽕ߴ䰸ᶤϾ᭄᥂ࣙˈ߭ৃҹ䗝Ё䆹᭄᥂ࣙˈ✊ৢ⚍ߏথ䗕ऎඳᎺϟ

ᮍⱘ ᣝ䪂ˈ߭ᔍߎབ೒ 4-4 ᠔⼎ⱘᇍ䆱Ḛˈ⚍ߏ ेৃDŽ

೒ 4-4 ߴ䰸ࣙᇍ䆱Ḛ

4.2 ⡍ᅮ᭄᥂থ䗕

⫼᠋ৃҹ䗮䖛Āᮄᓎ义䴶āⱘᮍᓣ㞾ᅮН᭄᥂ࣙথ䗕ḐᓣDŽ䰸 ID োЎक

݁䖯ࠊ໪ˈ݊ᅗ᭄᥂䛑Ўक䖯ࠊDŽ᪡԰䖛⿟བϟ˖

⚍ߏĀᮄᓎ义䴶ā乍ˈ߭ᔍߎབ೒ 4-5 ᠔⼎ᇍ䆱ḚDŽ

7
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 4-5 ⏏ࡴথ䗕义䴶

⫼᠋೼ ᇍ䆱ḚЁ䖯㸠䜡㕂ˈৃᅮН㞾Ꮕ䳔㽕ⱘ⡍ᅮࣙḐᓣDŽ

‫ݙ‬฿‫ݭ‬⡍ᅮࣙৡ⿄ˈ ‫ݙ‬฿‫ݭ‬⡍ᅮࣙⱘ ID ো˄ৃϡ฿˅ˈ 㸼⼎থ䗕

᭄᥂ⱘৡ⿄ˈ 㸼⼎থ䗕᭄᥂ⱘ᭄᥂㉏ൟ˄ࣙᣀ u8ˈs8ˈu16ˈs16ˈu32ˈ

s32ˈu61ˈs61ˈfloatˈdouble ㄝ˅ˈ 㸼⼎⡍ᅮ᭄᥂ࣙ䳔㽕থ䗕ⱘ᭄

᥂ऴ⫼ CAN ࣙ 8 Ͼ bytes Ёⱘા޴Ͼ˄㢹ᰃࠡϸϾ߭䕧ܹ 0ˈ1ˈ㢹ᰃࠡಯ

Ͼ߭䕧ܹ 0ˈ1ˈ2ˈ3ˈ㢹ᰃࠡܿϾ߭䕧ܹ 0ˈ1ˈ2ˈ3ˈ1ˈ5ˈ6ˈ7DŽ⊼ᛣ˖

᭄ᄫヺোᖙ乏ᰃ೼㣅᭛䕧ܹ⊩⢊ᗕϟ䕧ܹⱘ˅DŽབ೒ 4-6 ᠔⼎ᰃϔϾᮄᓎ⡍ᅮ

᭄᥂ࣙḐᓣⱘ⼎՟ˈ⚍ߏ ᣝ䪂ৢˈेৃ⫳៤ᮄⱘথ䗕ࣙᷛㅒˈབ೒

᠔⼎DŽ

8
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 4-6 㞾ᅮН⡍ᅮ᭄᥂ࣙḐᓣ

೒ 4-7 㞾ᅮНࣙḐᓣ⫳៤ⱘথ䗕义䴶

ᣝ✻෎ᴀ᭄᥂ࣙⱘᓎゟᮍ⊩ˈৃᓎゟ⡍ᅮ᭄᥂ࣙབ೒᠔⼎ 4-6 ᠔⼎DŽ

೒ 4-8 㞾ᅮНࣙḐᓣⱘϔϾথ䗕⼎՟

⊼ᛣˈ೼⏏ࡴᮄ义䴶ᓎゟ⡍ᅮࣙᯊˈࣙৡ⿄ϡ㛑Ўぎˈ৺߭ᔍߎ䄺ਞˈ

བ೒ 4-9 ᠔⼎DŽ

೒ 4-9 义䴶ৡ⿄Ўぎ䄺ਞ

ᣝ✻ҹϞ᪡԰ˈ⫼᠋ৃҹᓎゟӏᛣⱘ⡍ᅮࣙ⫼Ѣথ䗕ˈབ೒ 4-10

9
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

᠔⼎DŽ

೒ 4-10 ӏᛣ⡍ᅮࣙⱘথ䗕

⊼ᛣˈᮄᓎⱘ໮Ͼ⡍ᅮࣙˈᅗӀП䯈ϡ㛑䞡ৡˈ৺߭೼ ᇍ䆱

ḚЁ⚍ߏ ᣝ䪂ৢӮᔍߎ䄺ਞˈབ೒

೒ 4-11 义ৡ⿄ϡ㛑䞡ৡ

4.3 থ䗕᥻ࠊ

˄˅থ䗕ᓊᯊ

೒ 4-12 ᯊᑣথ䗕

 ↣ᴵ᭄᥂ৢ䴶䛑᳝ϔϾᓊᯊᄫ↉ˈ⫼Ѣ᥻ࠊᔧࠡথ䗕ⱘ᭄᥂੠ϟϔᴵ

ᕙথ᭄᥂П䯈ⱘᯊ䯈䯈䱨DŽ߽⫼ℸࡳ㛑ৃҹᅲ⦄ᯊᑣ䘏䕥᥻ࠊDŽ՟བ˖᥻ࠊ⬉

ᴎҹԢ䗳䕀  ⾦䩳ˈ✊ৢҹЁ䗳䕀  ⾦䩳ˈ᳔ৢ‫ݡ‬ҹ催䗳䕀  ⾦䩳DŽ䜡㕂ᮍᓣ

བ೒  ᠔⼎DŽ

˄˅থ䗕᥻ࠊ

10
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

থ䗕᥻ࠊ೼থ䗕ऎඳⱘে䖍ˈ ᳝ϸ⾡⬠䴶ᔶᓣˈབ೒


೒ 4-13 থ䗕᥻ࠊⱘϸ⾡⬠䴶ᔶᓣ

೒ 4-13 Ꮊ೒ᰃ෎ᴀ᭄᥂থ䗕⬠䴶ˈᏻḐᓣϢᏻ㉏ൟ೼ ᷛㅒЁ

䆒㕂˗㞾ᅮН᭄᥂থ䗕⬠䴶ⱘᏻḐᓣ೼থ䗕᥻ࠊ䴶ᵓЁ䆒㕂DŽ

᭄᥂থ䗕ࣙᣀऩ⃵᭄᥂থ䗕੠ᅮᯊ᭄᥂থ䗕ϸ⾡ࡳ㛑DŽऩߏ ेৃ

ᅲ⦄ऩ⃵থ䗕ࡳ㛑ˈথ䗕ⱘᯊ‫׭‬᭄᥂ᇚᣝ✻ҢϞࠄϟⱘ乎ᑣձ⃵থ䗕˗䗝Ё

໡䗝Ḛˈ⿟ᑣӮ↣䱨 ᯊ䯈ᕾ⦃থ䗕᭄᥂DŽ

⊼ᛣ˖Іষ㢹᳾ᠧᓔˈ߭ᅮᯊথ䗕੠থ䗕ᣝ䪂ᇚᰒ⼎Ў♄㡆ˈϡ㛑Փ⫼DŽ

˄˅ᖿ䗳থ䗕

೒ 4-12 ᖿ䗳থ䗕

೼㓪䕥ᅠᶤϾऩ‫ܗ‬ḐПৢˈ䖲㓁ϸ⃵ᭆߏಲ䔺䬂ˈᇚⳈ᥹㾺থऩ⃵থ䗕ࡳ

㛑DŽࡴᖿ⫼᠋᪡԰䗳ᑺDŽ

11
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Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

Ѩǃ᥹ᬊऎඳ

᥹ᬊऎඳࣙᣀ ੠Āᮄᓎ义䴶āϸ乍DŽࠡ㗙Փ⫼᭛ᴀḐᓣᰒ⼎᥹ᬊ

᭄᥂ˈৢ㗙Փ⫼೒ᔶ᭄᥂ᰒ⼎᥹ᬊ᭄᥂DŽ

5.1 ᭛ᴀᰒ⼎᥹ᬊ

೼Փ㛑ᚙ‫މ‬ϟ˄᪡԰!ᰒ⼎᭛ᴀ᭄᥂˅ˈ ᷛㅒᷣᰒ⼎῵ഫ᥹ᬊࠄ

ⱘ CAN ᭄᥂ࣙˈᑊҹ෎ᴀ᭄᥂Ḑᓣᰒ⼎೼᭛ᴀḚЁDŽ

೒ 5-1 ᭛ᴀᰒ⼎᥹ᬊ᭄᥂

5.2 ೒ᔶᰒ⼎᥹ᬊ

㢹⫼᠋䳔㽕ߚᵤᶤ⾡᥹ᬊ᭄᥂ⱘ᳆㒓ˈ៪ᰃᇍ໮⾡᥹ᬊ᭄᥂᳆㒓䖯㸠ᇍ

↨䆄ᔩˈ߭ৃҹՓ⫼೒ᔶᰒ⼎᥹ᬊⱘᮍᓣDŽ

12
 ⬉䆱˖
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ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 5-2 ⏏ࡴᮄⱘ᥹ᬊ᭄᥂义䴶

⚍ߏĀᮄᓎ义䴶āˈᔍߎ ᇍ䆱Ḛ˄བ೒˅ˈ⫼᠋䗮䖛䆒㕂৘⾡

খ᭄ᴹ㞾ᅮН೒ᔶᰒ⼎ⱘᮍᓣDŽ 䕧ܹᮄᓎ᥹ᬊ᭄᥂᳆㒓ᰒ⼎ⱘৡ⿄˗

ᇚ᥹ᬊऎඳ῾৥ߚࡆⱘㄝߚ᭄˄⫼Ѣ໮೒ᰒ⼎˅˗ ᇚ᥹ᬊऎඳ

㒉৥ৃҹߚࡆⱘㄝߚ᭄˄⫼Ѣ໮೒ᰒ⼎˅˗ ᳝ϸ⾡䗝ᢽ˖Y-T ൟ੠ X-Y

ൟˈࠡ㗙ᰃখ᭄ᯊ䯈ᰒ⼎῵ᓣˈৢ㗙ᰃখ᭄ 1-খ᭄ 2 ᰒ⼎῵ᓣ˗ 䕧

ܹ῾തᷛৡ˗ 䕧ܹ㒉തᷛৡ˗ 䕧ܹ῾തᷛ䍋ྟԡ㕂˗

䕧ܹ㒉തᷛ䍋ྟԡ㕂˗ 䕧ܹᔧࠡ೒ᔶ᠔ऴⱘᆑᑺӑ乱˗ 䕧

ܹᔧࠡ೒ᔶ᠔ऴⱘ催ᑺӑ乱˗

ϟ䴶ᇍ৘⾡೒ᔶ᥹ᬊᮍᓣ԰䇈ᯢDŽ

˄˅ऩ೒‫ڣ‬ऩ᭄᥂᳆㒓ⱘ᥹ᬊᰒ⼎䆒㕂

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Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 5-3 ऩ೒‫ڣ‬᭄᥂䆒㕂⼎՟

བ೒ 5-3ˈ⚍ߏ ᣝ䪂ৢ⫳៤ϔ㒘䆒㕂乍ˈ⚍ߏ ৢᕫࠄབ೒ 5-4

᠔⼎᭄᥂䞛䲚⌟䆩⬠䴶DŽ

೒ 5-4 ⬉ᴎ PWM ⊶೒ᔶ᭄᥂᥹ᬊ⬠䴶

⊼ᛣ˖ᇍѢऩ೒‫ⱘڣ‬᭄᥂᥹ᬊˈᇍ Ϣ ˈ Ϣ ˈ

Ϣ 䖭ϝᇍখ᭄ᣝ೒ 5-5 䖯㸠䆒㕂ህৃҹњˈ݊‫݋‬ԧ৿Нঞ԰⫼ᇚ೼

໮೒‫ڣ‬໮᭄᥂ⱘᰒ⼎Ё䖯㸠䆺㒚䇈ᯢDŽ

14
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 5-5 ऩ೒‫ڣ‬খ᭄ⱘ䆒㕂

೒ 5-6 ׂᬍ᳆㒓ሲᗻ

⚍ߏ⬠䴶ᎺϞᮍⱘ ᣝ䪂ˈᔍߎ ᇍ䆱Ḛ˄བ೒ 5-6 ᠔⼎˅DŽ

⚍ߏ ⫳៤ᮄⱘ᭄᥂乍ˈ 䕧ܹ㽕ᰒ⼎ⱘ᭄᥂ৡ⿄ˈ 䕧ܹ᥹ᬊ᭄᥂ⱘ

ID োˈ 䕧ܹ᥹ᬊ᭄᥂᠔ऴ⫼ⱘᄫ㡖˄㢹ᰃࠡϸϾ߭䕧ܹ 0ˈ1ˈ㢹ᰃࠡ

ಯϾ߭䕧ܹ 0ˈ1ˈ2ˈ3ˈ㢹ᰃࠡܿϾ߭䕧ܹ 0ˈ1ˈ2ˈ3ˈ1ˈ5ˈ6ˈ7DŽ⊼

ᛣ˖䕧ܹⱘ᭄ᄫヺোᖙ乏ᰃ೼㣅᭛䕧ܹ⢊ᗕϟ˅ˈ 䕧ܹ᥹ᬊ᭄᥂ⱘ᭄

᥂㉏ൟ˄ࣙᣀ u8ˈs8ˈu16ˈs16ˈu32ˈs32ˈu61ˈs61ˈfloatˈdouble ㄝ˅ˈ

Ў᥹ᬊᏻḐᓣˈ খ᭄䇗ᭈ᥹ᬊ᭄᥂᳆㒓ⱘ᭰⥛ˈ খ᭄䇗ᭈ᥹ᬊ᭄

᥂᳆㒓ⱘԡ⿏ˈ 䗝ᢽ᥹ᬊ᭄᥂᳆㒓ⱘ买㡆DŽ⚍ߏ ᣝ䪂ৢˈᕫ

ࠄऩ೒‫ڣ‬ऩ᭄᥂᥹ᬊ⬠䴶˄བ೒ 5-9 ᠔⼎˅DŽ

15
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ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 5-9 ऩ೒‫ڣ‬ऩ᭄᥂᥹ᬊ⬠䴶

˄˅ऩ೒‫ڣ‬໮᭄᥂᳆㒓ⱘᰒ⼎䆒㕂

ऩ೒‫ڣ‬໮᭄᥂᥹ᬊ⬠䴶ⱘ䆒㕂Ѣࠡ䴶໻㟈ⳌৠˈϡৠП໘ᰃ೼

ᇍ䆱ḚЁ⏏ࡴ໮Ͼ᭄᥂乍ˈ⚍ߏ ᣝ䪂ৢेৃᕫࠄऩ೒‫ڣ‬໮

᭄᥂᥹ᬊ⬠䴶˄བ೒ 5-10˅DŽ

೒ 5-10 ⏏ࡴ໮Ͼ᭄᥂乍

16
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ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 5-11 ऩ೒‫ڣ‬໮᭄᥂᥹ᬊ⬠䴶

⚍ߏ᥹ᬊऎඳᎺϞᮍⱘ ᣝ䪂ˈৃᇚᔧࠡ᥹ᬊऎඳ䞠ⱘ᭄᥂᳆㒓⏙ぎ˗

⚍ߏ ᣝ䪂ˈৃᇚᔧࠡ᥹ᬊऎඳ䞠ⱘ᭄᥂ֱᄬЎtxt ᭛ӊ˗⚍ߏ

ᣝ䪂ˈৃᇚ᥹ᬊऎඳ䞠ⱘ᭄᥂᳆㒓䖯㸠ֱᄬ៤BMP ೒‫˗ڣ‬ ੠

䜡ড়Փ⫼ˈ䗝Ёࠡ㗙ৃᅲ⦄೒‫ⱘڣ‬Ңে৥Ꮊ⒮ࡼᰒ⼎ˈ䆒㕂ৢ㗙ৃҹ

䇗㡖ᰒ⼎ऎඳֱᣕᰒ⼎ⱘ᭄᥂⚍᭄DŽ

˄˅໮೒‫ڣ‬໮᭄᥂ⱘᰒ⼎䆒㕂

ϟ䴶ҹϸϾ೒‫ڣ‬໮Ͼ᭄᥂ⱘᰒ⼎䆒㕂ᴹ䖯㸠䇈ᯢDŽ

೒ 5-12 ⏏ࡴϸϾᮄ义䴶乍

17
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ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

བ೒ 5-12 ᠔⼎ˈ೼ ᇍ䆱ḚЁˈ⏏ࡴϸϾᮄ义䴶乍ˈখ᭄བ

೒᠔⼎ˈ⚍ߏ ᣝ䪂ৢᕫࠄϸϾ೒‫᥹ⱘڣ‬ᬊ⬠䴶˄བ೒ 5-13˅DŽ

೒ 5-13 ϸϾ೒‫᥹ⱘڣ‬ᬊ⬠䴶

ᣝ✻ࠡ䴶䆒㕂᭄᥂乍ⱘᮍ⊩ˈ⚍ߏ↣Ͼ೒‫ⱘڣ‬ ᣝ䪂ˈᕫࠄ

ᇍ䆱Ḛˈ⏏ࡴ䳔㽕ⱘ᭄᥂乍ˈ䆒㕂Ⳍᑨⱘখ᭄˄བ೒ 5-14˅ˈेৃᕫࠄ໮೒

‫ڣ‬໮᭄᥂᥹ᬊⱘᰒ⼎⬠䴶˄བ೒ 5-15˅DŽ

೒ 5-14 ׂᬍ᳆㒓ሲᗻ

18
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ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 5-15 ϸϾ೒‫ڣ‬໮᭄᥂᥹ᬊⱘᰒ⼎⬠䴶

䆒㕂໮೒῵ᓣЏ㽕ᰃᇍ Ϣ ˈ Ϣ ˈ Ϣ

䖭ϝᇍখ᭄ὖᗉⱘ⧚㾷DŽϟ䴶䗮䖛䆒㕂ᅗӀϡৠؐᯊˈ᭄᥂೒ᔶⱘᰒ⼎

ᮍᓣᴹᐂࡽ⫼᠋⧚㾷݊৿НDŽ

ঠߏ ᷛㅒˈᔍߎ ᇍ䆱Ḛ˄བ೒ 5-16˅DŽ

೒ 5-16 ׂᬍ໮义䴶ሲᗻ

-----------------------------------------------------------------------------------

䆒㕂খ᭄བϟ˖

19
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

⚍ߏ ৢᕫࠄ೒ᔶ⬠䴶Ў˖

⬅ℸ⧚㾷 ⱘὖᗉüᇚ᥹ᬊऎඳ῾৥ߚࡆⱘㄝߚ᭄˄⫼Ѣ໮೒ᰒ

⼎˅˗



䆒㕂খ᭄བϟ˖

⚍ߏ ৢᕫࠄ೒ᔶ⬠䴶Ў˖

20
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

⬅ℸ⧚㾷 ⱘὖᗉüᇚ᥹ᬊऎඳ㒉৥ৃҹߚࡆⱘㄝߚ᭄˄⫼Ѣ໮

೒ᰒ⼎˅˗



䆒㕂খ᭄བϟ˖

⚍ߏ ৢᕫࠄ೒ᔶ⬠䴶Ў˖

⬅ℸ⧚㾷 ⱘὖᗉü䕧ܹ῾തᷛ䍋ྟԡ㕂˗ ⱘὖᗉü

21
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

䕧ܹ㒉തᷛ䍋ྟԡ㕂˗



䆒㕂খ᭄བϟ˖

⚍ߏ ৢᕫࠄ೒ᔶ⬠䴶Ў˖

⬅ℸ⧚㾷 ⱘὖᗉü䕧ܹᔧࠡ೒ᔶ᠔ऴⱘᆑᑺӑ乱˗



䆒㕂খ᭄བϟ˖

⚍ߏ ৢᕫࠄ೒ᔶ⬠䴶Ў˖

22
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

⬅ℸ⧚㾷 ⱘὖᗉü䕧ܹᔧࠡ೒ᔶ᠔ऴⱘ催ᑺӑ乱˗

ḍ᥂ҹϞ᪡԰ৃⶹˈ䗮䖛䆒㕂 Ϣ ˈ Ϣ ˈ

Ϣ 䖭ϝᇍখ᭄ˈ⧚䆎Ϟৃᅲ⦄ӏᛣ໮ⱘǃϡৠ໻ᇣⱘ᥹ᬊ᭄᥂೒ᔶ

ᰒ⼎ˈᦤկњ⫼᠋ϔϾᕜདⱘ໮᭄᥂໘⧚ǃ↨䕗ǃߚᵤᑇৄDŽ

23
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

݁ǃ⢊ᗕᷣ

6.1 ෎ᴀ⢊ᗕ

ᰒ⼎ᬊࠄࣙⱘϾ᭄˗

ᰒ⼎থ䗕ࣙⱘϾ᭄˗

ᰒ⼎ᬊࠄᄫ㡖ⱘϾ᭄˗

ᰒ⼎থ䗕ᄫ㡖ⱘϾ᭄DŽ

6.2 䫭䇃⢊ᗕ

ℷᐌ⢊ᗕ

᭄᥂᥹ᬊ䍙ᯊDŽᔧᙼথ䗕䖰⿟ᏻⱘᯊ‫⾦  ׭‬П‫≵ݙ‬᭄᳝᥂ᏻ䖨ಲӮᓩথ䆹䫭䇃

᭄᥂ࣙ϶༅DŽᔧ῵ഫ᥹ᬊࠄ䫭䇃ⱘ᭄᥂ࣙ៪᭄᥂ࣙ϶༅ᯊˈӮᓩথ䆹䫭䇃


24
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

ϗǃᑨ⫼ᅲ՟
ϟ䴶ҹԎ᳡⬉ᴎ᥻ࠊ㋏㒳ⱘ⌟䆩Ў՟ᴹⓨ⼎བԩՓ⫼ EmbededDebug

䕃ӊᎹ‫݋‬DŽ

Փ⫼䕃ӊᎹ‫ˈࠡ݋‬䳔ֱ䆕⹀ӊ䛑Ꮖ䖲᥹ᑊϨ䜡㕂ℷ⹂DŽᴀᅲ՟Ⳃᷛ⬉䏃

ᵓЎԎ᳡⬉ᴎ偅ࡼ᥻ࠊ఼ˈৃᅲ⦄ᇍ⬉ᴎⱘԎ᳡᥻ࠊˈ䗮䖛䆹䕃ӊ᥻ࠊ⬉ᴎ

ᓔ⦃䕀ࡼǃ䗳ᑺ䯁⦃䕀ࡼˈᑊᅲᯊⲥ᥻⬉ᴎ偅ࡼ᥻ࠊ఼᠔㒭ⱘ PWM ⱘؐˈ

ৠᯊгᅲᯊⲥ᥻⬉ᴎⱘ䗳ᑺؐDŽᇚ USB-CAN 䗮䆃῵ഫ᥹ܹ PCˈ⫼ϔḍঠ

㒲㒓԰Ў CAN ᘏ㒓䖲᥹῵ഫ੠Ⳃᷛ⬉䏃ᵓDŽⷁ᥹῵ഫⱘ 120 ⃻⬉䰏䏇㒓᥹

ষˈ䖲᥹῵ഫDŽ

⚍ߏ䕃ӊ೒ᷛ ˈᠧᓔ䕃ӊᎹ‫݋‬བ೒ 7-1 ᠔⼎DŽ

೒ 7-1 ᠧᓔ EmbededDebug 䕃ӊᎹ‫݋‬

䗮䖛থ䗕ऎඳⱘᮄᓎ⏏ࡴĀ⬉ᴎՓ㛑āǃĀᓔ⦃᥻ࠊāǃĀ䗳ᑺ᥻ࠊāǃ
Ā䇏

25
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

প PWM ؐā
ǃĀ䇏প䗳ᑺؐā义䴶ˈབ೒  ᠔⼎DŽ

೒ 7-2 ᓎゟথ䗕义䴶੠⬉ᴎՓ㛑义䴶᭄᥂

೼Ā⬉ᴎՓ㛑ā义䴶ࡴϞ  ϾੑҸĀՓ㛑⬉ᴎā੠ĀՓ㛑⬉ᴎāˈབ೒

˗೼Āᓔ⦃᥻ࠊā义䴶ࡴܹ  ϾੑҸˈབ೒ ˗೼Ā䗳ᑺ᥻ࠊā义䴶ৠ

ḋгࡴܹ  ϾੑҸˈབ೒ ˗೼Ā䇏প 3:0 ؐā੠Ā䇏প䗳ᑺؐā义䴶ഛ

ࡴܹ  ϾੑҸˈབ೒  ੠ DŽ

೒ 7-3 ᓔ⦃᥻ࠊ᭄᥂

೒ 7-4 䗳ᑺ᥻ࠊ᭄᥂

26
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 7-5 䇏প PWM ؐ

೒ 7-6 䇏প䗳ᑺؐ

䗮䖛᥹ᬊऎඳⱘᮄᓎ⏏ࡴĀPWM ੠䗳ᑺؐā义䴶ˈབ೒  ᠔⼎ˈᑊ

ߚ߿೼Ⳍᑨ೒ЁࡴܹⳌᑨⱘ᳆㒓ˈབ೒ DŽ


೒ 7-7 PWM ੠䗳ᑺؐ⬠䴶

27
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             


೒ 7-8 ࡴܹ PWM ੠䗳ᑺ᳆㒓

ऩߏІষ䜡㕂Ꮉ‫݋‬ ˈᔍߎ ᇍ䆱Ḛ˄བ೒ 7-9˅ˈ䆒㕂ད㰮ᢳІ

ষো੠⊶⡍⥛ৢˈ⚍ߏ ᣝ䪂DŽ


೒ 7-9 Іষ䜡㕂ᇍ䆱Ḛ

⚍ߏĀᠧᓔІষāᎹ‫݋‬ ˈথ䗕ऎඳ‫ⱘݙ‬থ䗕᥻ࠊऎඳৃҹ䕧ܹⳌᑨ᭄

᥂੠᥻ࠊথ䗕᭄᥂DŽ᠟ࡼ⚍Ā⬉ᴎՓ㛑āথ䗕໛⊼ЎĀ⬉ᴎՓ㛑āⱘ᭄᥂DŽ

⬅Ѣ㽕ⲥ᥻⬉ᴎ PWM ؐ੠䗳ᑺˈ䖭䞠៥ӀᇚĀ㦋প PWM ؐā੠Ā㦋প䗳

ᑺؐā义䴶䜡㕂៤䖰⿟ᏻᑊ䅽䕃ӊᅮᯊ 10ms 㞾ࡼথ䗕ˈབ೒ DŽ

28
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

 
೒ 7-10 ᠟ࡼথ䗕᥻ࠊ䜡㕂 ೒ 7-10 ⲥ᥻᭄᥂থ䗕᥻ࠊ䜡㕂

✊ৢˈձ⃵থ䗕Āᓔ⦃᥻ࠊā义䴶ⱘ᭄᥂ˈ䗮䖛᥹ফऎඳⱘĀPWM ੠

䗳ᑺؐā义䴶ৃҹⲥ᥻ࠄ೒  ⬏䴶˗ৠḋ䗮䖛Ā䗳ᑺ᥻ࠊā义䴶ᕫࠄ೒

 ⬏䴶DŽ

೒ 7-12 ᓔ⦃᥻ࠊᬜᵰ೒

29
 ⬉䆱˖
Ӵⳳ˖
ഄഔ˖℺∝ᏖढЁ⾥ᡔ໻ᄺ⾥ᡔು߯ᮄ෎ഄ  ᷟ $ ᑻ  ὐ
㔥ഔ˖ZZZURERWHOOFRPZZZURERWHOOFQ
                             

೒ 7-13 䗳ᑺ᥻ࠊᬜᵰ೒

30