ACU-01B機(jī)器人模塊,ABB使用在哪里
BH從指定的位置讀取操作系統(tǒng)或控制程序然后將控制權(quán)返回到內(nèi)存。它已被使用作為調(diào)試工具。通過187Bug系統(tǒng)調(diào)用進(jìn)行磁盤輸入/輸出所有實(shí)際訪問磁盤的操作都是直接或通過187Bug陷阱#496個系統(tǒng)調(diào)用間接實(shí)現(xiàn)。（指揮級磁盤操作提供了使用這些系統(tǒng)的方便方法調(diào)用而不編寫和執(zhí)行程序。）提供以下系統(tǒng)調(diào)用以允許用戶程序磁盤輸入/輸出：請參閱摩托羅拉88K RISC CPU用戶的調(diào)試包有關(guān)使用這些和其他系統(tǒng)調(diào)用的信息，請參閱手冊。
ACU-01B機(jī)器人模塊控制器命令包要執(zhí)行磁盤操作，最終必須顯示具有控制器命令的特定磁盤控制器模塊專門為這種類型的控制器模塊。（這是在各自的控制器驅(qū)動模塊。）.DSKRD磁盤讀取。將塊從磁盤讀入的系統(tǒng)調(diào)用一種控制器模塊的內(nèi)存命令包通常會不同類型的命令包格式不同模塊的。磁盤I/O接受通用（控制器獨(dú)立）數(shù)據(jù)包格式作為參數(shù)，并將其轉(zhuǎn)換為控制器特定的數(shù)據(jù)包，即然后發(fā)送到指定的設(shè)備。有關(guān)詳細(xì)信息，請參閱調(diào)試包中的系統(tǒng)調(diào)用說明摩托羅拉88K RISC CPU用戶手冊，了解格式和
這些標(biāo)準(zhǔn)化“用戶”數(shù)據(jù)包的構(gòu)造?？刂破髂K預(yù)期提供的數(shù)據(jù)包各不相同從一個控制器到另一個控制器。的磁盤驅(qū)動程序模塊特定硬件模塊（板）必須采用標(biāo)準(zhǔn)化給陷阱函數(shù)的數(shù)據(jù)包，并創(chuàng)建一個新的數(shù)據(jù)包，該數(shù)據(jù)包是專門為發(fā)送到的磁盤驅(qū)動器控制器量身定制。參考有關(guān)特定控制器模塊的文檔其數(shù)據(jù)包的格式，并用于使用IOC命令。默認(rèn)控制器和設(shè)備參數(shù)187Bug初始化默認(rèn)配置的參數(shù)表控制器和設(shè)備（參考附錄B）。如果系統(tǒng)需要此默認(rèn)配置不同的配置（用于例如，使用70MB Winchester驅(qū)動器，其中默認(rèn)值為40MB溫徹斯特驅(qū)動器），則必須更改這些表。
BH reads an operating system or control program from a specified
device into memory, and then returns control to 187Bug. It is used
as a debugging tool.
Disk I/O via 187Bug System Calls
All operations that actually access the disk are done directly or
indirectly by 187Bug TRAP #496 system calls. (The command-level
disk operations provide a convenient way of using these system
calls without writing and executing a program.)
The following system calls are provided to allow user programs to
do disk I/O:
Refer to the Debugging Package for Motorola 88K RISC CPUs User's
Manual for information on using these and other system calls.
Controller Command Packets
To perform a disk operation, 187Bug must eventually present a
particular disk controller module with a controller command
packet which has been especially prepared for that type of
controller module. (This is accomplished in the respective
controller driver module.)
.DSKRD Disk read. System call to read blocks from a disk into
memoryA command packet for one type of controller module usually does
not have the same format as a command packet for a different type
of module. The system call facilities which do disk I/O accept a
generalized (controller-independent) packet format as an
argument, and translate it into a controller-specific packet, which is
then sent to the specified device.
Refer to the system call descriptions in the Debugging Package for
Motorola 88K RISC CPUs User's Manual for details on the format and
construction of these standardized "user" packets.
The packets which a controller module expects to be given vary
from controller to controller. The disk driver module for the
particular hardware module (board) must take the standardized
packet given to a trap function and create a new packet which is
specifically tailored for the disk drive controller it is sent to. Refer
to documentation on the particular controller module for the
format of its packets, and for using the IOC command.
Default 187Bug Controller and Device Parameters
187Bug initializes the parameter tables for a default configuration
of controllers and devices (refer to Appendix B). If the system needs
to be configured differently than this default configuration (for
example, to use a 70MB Winchester drive where the default is a
40MB Winchester drive), then these tables must be changed.
