YASKAWA JANCD-1021 系统软件结构如图3所示。uClinux是一个完全符合GNU／GPL（通用公共许可证）公约的项目和完全开发代码。它是标准Linux的一个分支，现在由Lineo公司支持维护。它专门针对没有MMU的CPU，并且为嵌入式系统做了许多小型化的工作。uClinux For Nios是Microtronics公司专门针对Nios CPU 定制的uClinux操作系统，使用方便，不需要复杂的移植过程，并自动地集成于Nios／Nios II的开发环境（IDE）中。只要根据自身的需求对内核和文件系统进行配置即可，这里的Web服务器、TCP／IP协议栈及底层的接口驱动程序即是集成于uClinux中的。除此之外，自行编写CGI脚本来实现动态网页的功能。CGI（Common Gate Interface）动态网关接口是外部扩展应用程序与WWW 服务器交互的一个标准接口。按照CGI标准编写的外部扩展应用程序可以处理客户端（一般是WW W浏览器）输入的协同工作数据，完成客户端与服务器的交互操作。可以编写CGI外部扩展程序来访问外部数据系统，客户端用户可以通过它和WWW 服务器来进行数据查询。CGI可以由PERL、C及大部分的脚本语言来编写，不过由于是用于嵌入式系统中的程序，而脚本语言又需要解释器，故选择C语言来编写CGI脚本比较合适，还可节省很大的系统资源。
图3 软件结构图
3.1 uClinux操作系统内核及文件系统的配置
（1） uClinux的内核配置。内核是一个操作系统的核心，它负责管理系统的进程、内存、设备驱动程序、文件和网络系统，决定着系统的性能和稳定性。嵌入式uClinux具有高度可灵活定制内核，保持了Linux的源代码公开、稳定、可裁减大小等特性。这里采用Microtronix公司专门为Nios／Nios II移植的uClinux1．3版本，并根据需要进行重新配置：在“Developing Board”选项中要选择自己所用的开发板，添加CF卡作为系统的硬盘等。
（2） 文件系统配置。文件系统是操作系统的重要组成部分。对用户而言，文件系统也是操作系统中最直接可见的部分，它负责管理外存上的文件，并为操作系统和用户提供文件的存取、共享和保护等功能。这里要在文件系统配置中，选中Install Minimal、然后增加agetty、boa、dhcpcd、ftpd、inetd、init、ping、route和bnetd等选项。
YASKAWA JANCD-1021
FESTO PRESSURE REGULATOR LR-1/4-D-7-MINI FESTO 162583
FESTO PNEUMATIC CYLINDER DGS-20-25-PPV FESTO 8826 NEW
FESTO PRECISION REGULATOR LRP-1/4-2.5 FESTO 162834 NEW
FESTO SOLENOID VALVE CPV10-M1H-2X2-G?LS-M7 FESTO 185880
FESTO SOLENOID VALVE MFHE-3-1/4-B FESTO 14329 NEW
FESTO SOLENOID VALVE MFH-3-1/8-S FESTO 7958 NEW
ROCKWELL MONITOR 33000067S NEW
FESTO PNEUMATIC GUIDED CYLINDER DFM-20-80-P-A-K?F 170920
PHD ROTARY ACTUATOR 3R11A 2 180-090-B-P 3R11A180090BP
6ES7340-1BH02-0AE0 CP340 通讯处理器（20mA/TTY）
6ES7340-1CH02-0AE0 CP340 通讯处理器（RS485/RS422）
6ES7341-1AH01-0AE0 CP341 通讯处理器（RS232）
6ES7341-1BH01-0AE0 CP341 通讯处理器（20mA/TTY）
6ES7341-1CH01-0AE0 CP341 通讯处理器（RS485/RS422）
6ES7870-1AA01-0YA0 可装载驱动 MODBUS RTU 主站
6ES7870-1AB01-0YA0 可装载驱动 MODBUS RTU 从站
6ES7902-1AB00-0AA0 RS232电缆 5m
6ES7902-1AC00-0AA0 RS232电缆 10m
6ES7902-1AD00-0AA0 RS232电缆 15m
6ES7902-2AB00-0AA0 20mA/TTY电缆 5m
6ES7902-2AC00-0AA0 20mA/TTY电缆 10m
6ES7902-2AG00-0AA0 20mA/TTY电缆 50m
6ES7902-3AB00-0AA0 RS485/RS422电缆 5m
6ES7902-3AC00-0AA0 RS485/RS422电缆 10m
6ES7902-3AG00-0AA0 RS485/RS422电缆 50m
6GK7342-5DA02-0XE0 CP342-5通讯模块
6GK7342-5DF00-0XE0 CP342-5 光纤通讯模块
6GK7343-5FA01-0XE0 CP343-5通讯模块
6GK7343-1EX30-0XE0 CP343-1 以太网通讯模块
6GK7343-1EX21-0XE0 CP343-1 以太网通讯模块
6GK7343-1CX00-0XE0 CP343-1 以太网通讯模块
6GK7343-1CX10-0XE0 CP343-1 以太网通讯模块
6GK7343-1GX20-0XE0 CP343-1 IT 以太网通讯模块
6GK7343-1GX21-0XE0 CP343-1 IT 以太网通讯模块(支持PROFINET)
6GK7343-1HX00-0XE0 CP343-1PN PROFINET以太网通讯模块
6GK7343-2AH00-0XA0 CP343-2 AS-Interface
SIMATIC S7-300 系列
PS307 电 源 模 块
6ES7307-1BA00-0AA0 120/230VAC输入，24VDC输出， 2A
6ES7307-1EA00-0AA0 120/230VAC输入，24VDC输出， 5A
6ES7307-1KA01-0AA0 120/230VAC输入，24VDC输出， 10A
中 央 处 理 单 元 CPU
6ES7312-1AE13-0AB0 CPU312，32K工作内存，位操作时间0.2μs，DI/DO256点，AI/AO64点
6ES7312-5BE03-0AB0 CPU312C，32K工作内存，位操作时间0.2μs，集成10DI/6DO,2通道高速计数，2通道PWM输出，2通道频率测量，PID调节；DI/DO256点，AI/AO64点，1个40针前连接器（另购）
6ES7313-5BF03-0AB0 CPU313C，64K工作内存，位操作时间0.1μs，集成24DI/16DO，4AI/2AO,3通道高速计数，2通道PWM输出，2通道频率测量，PID调节；DI/DO1016/1008点，AI/AO253/250点，2个40针前连接器（另购）
6ES7313-6BF03-0AB0 CPU313C-2PtP，64K工作内存，位操作时间0.1μs，RS485点对点接口，集成16DI/16DO，3通道高速计数，2通道PWM输出，2通道频率测量，PID调节；DI/DO1008点，AI/AO248点，1个40针前连接器（另购）
6ES7313-6CF03-0AB0 CPU313C-2DP，64K工作内存，位操作时间0.1μs，PROFIBUS-DP主/从接口，集成16DI/16DO，3通道高速计数，2通道PWM输出，2通道频率测量，PID调节；DI/DO1008
BODINE 34R6BFCI-W2 GEAR HEAD MOTOR 34R6BFCIW2
DAYTON MOTOR HAZARDOUS LOCATION DUTY 6K738Q 115V NEW
TOTAL CONTROL SYSTEMS METERING PUMP 682-15AF2BX NEW
BROOKS CABLE SEAL 2000 94000XX-C 14 INCH (100 PIECES)
DODGE TIGEAR MR94673L1 OR 35Q60R56 NEW
SLO-SYN STEPPER DRIVE SS2000D3 NIB
NORDSON RHINO PUMP MODEL 225792C MODEL 65-1 NEW
RELIANCE 1.5 HP 3 PHASE MOTOR P18G3897
SANKYO ROBOT SR8448-F90 SANKYO ROBOTICS SR8448
FESTO PNEUMATIC CYLINDER ADVU-25-15-P-A FESTO 156524
FESTO PNEUMATIC CYLINDER ADVU-32-25-P-A FESTO 156534
FESTO PNEUMATIC CYLINDER ADVUL-20-10-P-A FESTO 156859
FESTO PNEUMATIC CYLINDER ADVU-20-15-P-A FESTO 15616
FESTO PNEUMATIC CYLINDER ADVU-50-5-P-A FESTO 156006 NEW
FESTO PNEUMATIC CYLINDER ADVU-16-10-P-A FESTO 156508
FESTO SMT-8-SL-PS-LED?-24 FESTO SMT-8 FESTO 531145 NEW
FESTO PROXIMITY SWITCH SMTO1-PS-S-LED2?4C 151685 new
TIMKEN BEARING 32210M 9\KM1 NEW
DODGE FLANGE BEARING 128758 F2BDL014 D-LOK 7/8 INCH
BROWNING BEARING VPS-219 AH 1 3/16 INCH (LOT OF 2)
DODGE FLANGE BEARING 126521 F2BSC112 1 3/4 INCH QTY 2
HBC FLANGE BEARING UC208 F208 40MM NEW LOT OF 2
AMI PILLOW BLOCK BEARING UCP211-32 2 INCH
AMI FLANGE BEARING UCFT209-28 1 3/4 INCH (LOT OF 2) NEW
STA-RITE STARITE PP1511 OVERHAUL KIT
STA-RITE STARITE PP1500 SEAL/GASKET KIT PL SERIES
AIMCO TOOL BALANCER RPA-2 MAX 3 LB
HUBBELL TOOL BALANCER BD-03 62410003 3 LB NEW
HUBBELL TOOL BALANCER BD-05 62410005 5 LB NEW
ALLEN BRADLEY RELAY 700-P800A1 COIL 120 VAC NIB
MINARIK VFD VFD01-230AC
SANKYO CONTROL BOARD Y2M63X582
FESTO PNEUMATIC CYLINDER DSNU-20-25-PPV-?A FESTO 33974
FESTO PNEUMATIC CYLINDER DSNU-20-10P-A FESTO 19207 NEW
FESTO PNEUMATIC CYLINDER DG-6-10 FESTO 3620 NEW
FESTO DSNU DSNU-20-160PPV-?A DSNU-20 FESTO 19241 NEW
FESTO DSNU DSNU-20 DSNU-20-300-PPV?-A FESTO 19244 NEW
FESTO ADVUL-16-10-P-A?-SA FESTO 537922 NEW FESTO ADVUL
FESTO PNEUMATIC CYLINDER DSNU-25-10-P-A FESTO 19218 NEW
DYNISCO PRESSURE TRANSDUCER IDA354-5C-S788-?1 NEW
ALLEN BRADLEY SLC 500 EEPROM 1747-M13 SER A REV A NEW
ECOSOFT SYSTEMS MODEL 2000
BELL & GOSSETT PN AC0635 FLOWSERVE PN 21-200-172
BALLUFF PROXIMITY SENSOR BES 516-329-E3-R-03 NEW
WENGLOR FIBER OPTIC SENSOR 111-132-104E25 LOT OF 10
DELTROL PNEU-TROL Brass Flow Control Valve FMF20B 3PCS
BRAINARD STRAPPING TENSIONER 4H USED
SFK BEARING 6206 6206-2RS1NR 6206-2RS1NR/HT5?1 LOT OF 6
TIMKEN BEARING 212PP NEW
FAFNIR BEARING 312NPP NEW
BOSCH AIR MOTOR DL 0 607 953 332 DL0607953332 NEW
VIBRATION PADS GRAINGER 5C030A NOEPRENE (LOT OF 4) NEW
PEER FLANGE MOUNT BEARING FT212 SIZE 2 7/16 NEW
DODGE PILLOW BLOCK BEARING 126817 P2B-SCM-204 SIZE 21/4
INA PILLOW BLOCK BEARING RASEY 70 RASEY70 2 3/4 INCH
NORDSON RHINO PUMP MODEL 295791H NEW
PARKER SCHRADER BELLOWS CHECK VALVE 003393003 LOT OF 4
THK HSR-30 MODEL HSR30IBISS(GK) LOT OF 2 NEW
FAG BEARING 22220 22220EASK.M.C3 NEW
FANUC SERVO MOTOR A06B-0859-B392 #3000-R REBUILT
ADAPTALIGHT STACKABLE BEACON 101FLEDB-N5 LED BLUE NEW
ADAPTALIGHT STACKABLE BEACON 101FLEDA-N5 LED AMBER NEW
ALLEN BRADLEY SLC 500 INTERFACE 1747-PIC SER A
ALLEN BRADLEY PROXIMITY SENSOR 872C-D3NP12-D4 NEW
APOLLO BALL VALVE 82-105-01 1 INCH 600 WOG CII NEW
PARKER FILTRATION HYDRAULIC FILTER 932655Q 10Q ZO NEW
ALLEN BRADLEY EXPANSION POWER SUPPLY 1734EP24DC SER B
MAYR EAS -COM TORQUE LIMITING CLUTCH 01/490.525.0 NEW
FESTO VACUUM GENERATOR VADM-140-P FESTO 16258 NEW
SCHMALZ MINIATURE VACUUM SUCTION CUP NEW LOT OF 12
PIAB VACUUM PUMP M60F5-KN M60
NUMATICS 1FCRN FLOW CONTROL VALVE NEW LOT OF 6 PCS
TRACO POWER SUPPLY TSL060-124 24VDC 2.5A
RTA PAVIA STEPPER DRIVE GMD 02 GMD02 RACK/B/19/4/32-?000
EMERSON EPSILON EB-203-00-000 REV A1 P/N 960471-02
EMERSON CONTROL TECHNIQUES DRIVE EPSILON EB-202
CONTROL TECHNIQUES MOTION COORDINATOR MC204
ALLEN BRADLEY LIGHTING CONTACTOR 500L-BOA93 NEW
PARKER HYDRAULIC FLOW CONTROL VALVE F1620S NEW
BANNER LIGHT CURTAIN SET BMR248A BME248A 27112 27109
COMPUMOTOR ZETA8 ZETA 8 STEPPER DRIVE/INDEXER
IR ARO BALANCER MODEL 7072 6-10 LB NEW
SPM VIBRAMETER VIB-11 VIB-11A WITH TRANSDUCER TRV12
STEARNS BRAKE 1-082-031-02 82,000 SERIES 108203102WLF
10MM TO 10MM FLEXIBLE COUPLING LOT OF 2 MADE IN GERMANY
PARKER PNEUMATIC CYLINDER 8IN BORE 40IN STROKE 250PSI
STEARNS BRAKE 1-082-031-02 82,000 SERIES 1082031H2LLF
RELIANCE ELECTRIC MOTOR 2HP DUTY MASTER P18G3893A NEW
SEW-EURODRIVE GEAR MOTOR 7.5RPM 15RPM KHF SERIES KHF77
EMHART TUCKER WELDING POWER UNIT SPOT WELD POWER SUPPLY
DODGE FLANGE BEARING 126180 FC-SCM-215 SIZE 15/16 NEW
DODGE PILLOW BLOCK P2B-SCM-208 126819 SIZE 2 1/2 NEW
NTN BEARING BLOCK UCFL211-203D1 (LOT OF 2) NEW
NSK LINEAR BEARING LAH35EMZ-K1 NEW
AMI PILLOW BLOCK BEARING UCP213-40 2H 2 INCH NEW
LOT OF MIDSIZE BELT CONVEYORS 5PCS WITH BODINE MOTORS
HYDAC HYDRAULIC PISTON ACCUMULATOR SK350 NEW
ROMAN WELDING TRANSFORMER 265KVA g486265kc2715wx NEW
YASKAWA AC SERVO MOTOR USAFED USAFED-09CS1 .85 KW
HUBBELL CAT # 3003 PN 69483-226 SSRS RESISTOR ITEM-1-1
SQUARE D HU661AWK HEAVY DUTY SAFETY SWITCH 30 A NEW
AMERICAN INDUSTRIAL HEAT EXCHANGER AB-701-00011
SKF TAPERED ROLLER BEARING 32018 X/Q (LOT OF 3) NEW
THOMSON BALL BUSHING BEARING A243848 (LOT OF 2) NEW
AIR TOOL PRODUCTS POWER MOTOR 8365-6-1 RPM 650 NEW
PHD ROTARY ACTUATOR R11A R11A8210-A-M-T 1 3/4 SHAFT NEW
NORDSON RHINO PUMP MODEL 225791H NEW
SMITH BEARING SMI YR 2-1/2 0062-K278 (LOT OF 2) NEW
DODGE BEARING FC-SCM-208 126179 SIZE 2 1/2 NEW
DODGE BEARING WSTUSC200 125363 SIZE 2 (LOT OF 2) NEW
DODGE P2B P2B-E-200R TYPE 3 SIZE 2 023010 NEW IN BOX
SKF Y BEARING SY SY2.11/16TF NEW
SKF Y BEARING SY2.TF SY2 SY2TF 2 INCH NEW IN BOX
ALLEN BRADLEY GUARDMASTER MATGUARD 440F-M1020CYNN NEW
ALLEN BRADLEY STARTER DISCONNECT 512-M/A43824 NEW
ALLEN BRADLEY STARTER DISCONNECT 512-BACD-A2E-24?R NEW
SKF EXPLORER BEARING FYRP 75 NH FYRP75NH Z33 NEW
SKF EXPLORER BEARING FYRP 75 N FYRP75N Z33 NEW IN BOX
FALK GEARBOX 2070FA3A ULTRA MAX GEAR BOX NEW
ENIDINE AIR SPRING YI-3B14-403 NEW
ALLEN BRADLEY COMBINATION STARTER 506-BDCD-24J NEW
ALLEN BRADLEY GUARD MASTER SENSOR MAT 440F-M1510BYNN
LEYBOLD VACUUM PUMP SV40 9500513 ISO VG 32-100 NEW
SOLA HEVI-DUTY TRANSFORMER HZ10000Z NEW SOLA HZ
ABB ROBOT WRIST 3HAB6864 - 1 MOTOR 1FK6083-6AZ21 NEW
ABB CONTROL CABLE 3HAB 6453-1 3HAB6454-1 REV .03 NEW
FORCE CONTROL TWO SPEED DRIVE T3 T3-119-HB21 NEW
FORCE CONTROL MAGNA SHEAR TWO SPEED DRIVE MS-200
FORCE CONTROL MAGNA SHEAR TWO SPEED DRIVE MS-200
RELIANCE SERVO MOTOR 1326AB-B515E-21?-K5-X09 NEW
BONITRON M3345D-60P4 DIODE SHARING MODULE NEW 60A/4
FORCE CONTROL MAGNASHEAR TWO SPEED DRIVE MS-200
FORCE CONTROL MAGNASHEAR TWO SPEED DRIVE MS-200
HONEYWELL LIGHT CURTAIN CONTROL DETECTOR 3 3LC-BXWQDH
FORCE CONTROL MAGNASHEAR TWO SPEED DRIVE MS-100
BALDOR 3HP MOTOR AEM3784-4 AEM37844 NEW
RELIANCE ELECTRIC 1326AB-B730E-21?-K7 1326ABB730E21K7
PARKER PNEUMATIC CYLINDER 10IN BORE 20IN STROKE 250 PSI
DAYKIN ELECTRIC TRANSFORMER GNTD-5 TB480 NEW GNTD
BUSCH VACUUM PUMP RA0100 RA0100.E5061001 63 CPM NEW
FUJI T-LINK FTT32T4 FTT32T4-G02 NH6W32T NEW
PEPPERL+FUCHS NJ1.5-8GM40-E2-?V1 NJ158GM40E2V1 NEW
BALLUFF PROXIMITY SENSOR BES-516-113-BO-?C NEW
YASKAWA JANCD-1021
