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ELMO简明使用手册ELMO简明使用手册一次串口数据监控序十六进制ASCII码含义153520DSRNumerical,bit-codedMetronomestatus253520D35303334393332383B34A560DJVSpeedofjoggingmotion,incountsperssecond244A560D2D3136363636363BJV-166666;543415B32335D0DCA[23]Commutationparametersarray643415B...

ELMO简明使用手册

ELMO简明使用手册一次串口数据监控序十六进制ASCII码含义153520DSRNumerical,bit-codedMetronomestatus253520D35303334393332383B34A560DJVSpeedofjoggingmotion,incountsperssecond244A560D2D3136363636363BJV-166666;543415B32335D0DCA[23]Commutationparametersarray643415B32335D0D303BCA[23]0;743415B31385D0DCA[18]843415B31385D0D31303030303BCA[18]10000;上电ELMO演示箱连接演示箱的ELMO演示箱的COM1到电脑的串口（COM1）打开ELMO软件（软件可以到官方网站下载）单击完成选择速度模式（VelocityMode）单击圈选的按钮(motoron)进入速度模式输入一个速度值，单击GO，电机以输入的速度运转单击Stop停止，单击Direction改变方向。输入20000（cnt/sec）按回车后，相当于输入JV=20000；BG我们可以在命令输入框内输入命令实现控制。输入：JV=30000；回车BG回车电机以30000cnt/sec运转输入：ST回车电机将停止提示：ST（相当于STOP）BG（相当于BEGIN）设定数字输入端口的功能我们可以设定INPUT1为高电平，硬停止通过命令输入JV=30000；BG电机开始旋转，然后将INPUT1拨动到高电平，电机停止，当INPUT1拨回高电平后，电机恢复运转，因为硬停止，并不更改软件的运动状态。但是，当我们使用“SoftStop”时，当我们置INPUT1为高电平后，软件也停止了，即使，再让INPUT1为高电平后，电机也不能恢复运转。其他功能的配置如下：更多指令MO=1MO=0以上的含义是：Motoron/offUnitmode:stepper,torquecontrol,speedcontrolpositioncontrolordualloopCurrentMode电流模式下，输入命令UM返回1VelocityMode速度模式下，输入命令UM返回2StepperMode步进模式下，输入命令UM返回3DualLoopMode，输入命令UM返回4PositionMode，输入命令UM返回5Unitmode(UM):DefinesthefunctionoftheMetronome.Theunitmodesare:UM=1TorquecontrolUM=2SpeedcontrolUM=3Micro-steppingUM=4Dual-feedbackpositioncontrolUM=5Single-feedbackpositioncontrolReferencemode:external(analog)referencingenabled/disabled所有命令：CommandDescriptionDefinetheparametersoftheCANorRS-232communicationCommandDescriptionAnaloggainsarrayAnaloginputoffsetsarrayBrakeparameterCommutationparametersarrayCurrentcontinuouslimitationsarrayEncoderfilterfrequencyECAMparametersEntriesforECAMtableFeedforwardFollowerratioHomingandcapturemodeAuxiliaryhomeandcapturemodeDefinemaximumpeakcurrentofservodrive,inamperesMotion(PT/PVT)parametersPeakdurationandlimitProfilermodePositiontimecommandPositionvelocitytimecommandPWMsignalparametersPositionTimeVelocityReferencemode:external(analog)referencingenabled/disabledTargetradiusUnitmode:stepper,torquecontrol,speedcontrolpositioncontrolordualloopHighreferencelimitLowreferencelimitXModuloYModuloCommandDescriptionGainschedulingGainscheduledcontrollerparametersPIDintegraltermsarrayPIDproportionaltermsarrayAdvancedfilterforspeedloopExtraparameters(more)ExtraparametersCommandDescriptionGetasamplesignalashexadecimalVariablestorecord(twovariablesateachrecordingsequence)Recordinggap,insamples.Gapbetweenconsecutivedatarecordings.RecordlengthRecorderparametersRecordingon/offRecordedvariablesAuxiliarysensormodulocountCommandDescriptionAbsoluteencodersettingparametersReadactivecurrentReadreactivecurrentPositionerrorMainencoderposition,incountsAuxiliarypositionVelocityerror,incountspersecond2Mainencodervelocity,incountspersecond2VelocityofauxiliaryfeedbackAuxiliarypositionsensorparametersCommandDescriptionCPUdump:CPUanddatabaseexceptionsummaryDownloadfirmwareDownloadfirmwareEchomodeSelecthexadecimalordecimalmodeLoadparametersformflashmemoryResetMetronometoapre-definedstateandparametervalueSaveparameterstoflashmemorySystemtimeFloatingwizardparametersSamplingtimeWizardcommandUserfloatarrayUserintegerMetronomedata,mainlyforusebyComposerMetronomedata,mainlyforusebyComposerIntegerwizardparametersUserprogramandauto-tuningtemporarystorageCommandDescriptionReadanaloginputsBit-wisedigitalinputDigitalinputfilterReadalldigitalinputsBit-wisedigitaloutputOutputCompareOutputLogicSetalldigitaloutputsCommandDescriptionAcceleration,incountspersecond2BeginmotionBeginmotionatdefinedtimeDeceleration,incountspersecond2Inputlogic,defininghowdedicatedinputsbehaveSpeedofjoggingmotion,incountsperssecond2Motoron/offAbsolutepositionreferenceforpoint-to-pointmotionRelativepositionreferenceforpoint-to-pointmotionStopdecelerationSmoothfactorformotioncommandSpeedforpoint-to-pointmotionStopmotionusingdecelerationvalueTorquecommandCommandDescriptionMaximumtrackingerrorsOver-speedlimitandpositionrangelimitLowactualfeedbacklimitPeakcurrent,inamperes;andpeakduration,insecondsCommandDescriptionMaximummotorDCvoltageCANcontrollerstatusReferencedesiredvalueErrorcode:getcodeforlastinterpretererrorCurrentlimitation:reportstatusofcurrentlimitationalgorithmMotorfault:codeforlastmotor-disablecauseMotionstatusreportingPeakmemorySerialnumberNumerical,bit-codedMetronomestatusTemperatureindicationsarraySoftware(firmware)versionCommandDescriptionCompileprogramClearapplicationprogramReceiveaprogramdownloadedfromhostcomputertoMetronome.CanbeusedonlyinComposersoftware.HaltprogramexecutionKillmotionandstopprogram(likeHP)ListparametersListprogramMaskinterruptProgramstatusContinueprogramexecutionfromcurrentpointer,optionallyuntilagivenbreakpointExecuteprogram,optionallystartingatagivenlabelanduntilagivenbreakpointELMO编程基础示例程序：##STARTmo=0

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示：motoroffum=2表示速度模式il[1]=7表示输入逻辑il[2]=7il[3]=7il[4]=7il[5]=7mo=1表示motoronwhile(1)if(ib[1]==1)表示输入2jv=20000elseif(ib[2]==1)表示输入3jv=-20000elseif(ib[3]==1)表示输入4jv=50000elseif(ib[4]==1)表示输入5jv=-50000elseif(ib[0]==1)表示输入1jv=0endbgend增加模拟量输入：##STARTmo=0um=2il[1]=7il[2]=7il[3]=7il[4]=7il[5]=7mo=1while(1)if(ib[1]==1)jv=20000elseif(ib[2]==1)jv=-20000elseif(ib[3]==1)jv=50000elseif(ib[4]==1)jv=-50000elseif(ib[0]==1)jv=an[1]*60000endbgend下载程序流程：首先，让电机进入motoroff状态编译或者快捷键F7没有错误，编译成功时，单击，下图红色圆圈，上载程序到ELMO驱动器。单击“是（Y）”单击“ExecuteCtrl+F5”执行程序

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