ELMO简明使用手册.doc

ELMO简明使用手册一次串口数据监控序十六进制ASCII码含义153 52 0DSRNumerical, bit-coded Metronome status253 52 0D 35 30 33 34 39 33 32 38 3BSR50349328;34A 56 0DJVSpeed of jogging motion, in counts per s second244A 56 0D 2D 31 36 36 36 36 36 3BJV-166666;543 41 5B 32 33 5D 0DCA23Commutation parameters array643 41 5B 32 33 5D 0D 30 3BCA230;743 41 5B 31 38 5D 0DCA18843 41 5B 31 38 5D 0D 31 30 30 30 30 3BCA1810000;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（Velocity Mode）单击圈选的按钮(motor on)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INPUT 1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INPUT 1拨动到高电平，电机停止，当INPUT 1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“Soft Stop”时，当我们置INPUT 1为高电平后，软件也停止了，即使，再让INPUT 1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：Motor on/offUMUnit mode: stepper, torque control, speed control position control or dual loopCurrent Mode电流模式下，输入命令UM返回1Velocity Mode速度模式下，输入命令UM返回2Stepper Mode步进模式下，输入命令UM返回3Dual Loop Mode ，输入命令UM返回4Position Mode，输入命令UM返回5Unit mode (UM): Defines the function of the Metronome. The unit modes are: UM=1 Torque control UM=2 Speed control UM=3 Micro-stepping UM=4 Dual-feedback position control UM=5 Single-feedback position controlRMReference mode: external (analog) referencing enabled/disabled所有命令：CommandDescriptionPPNDefine the parameters of the CAN or RS-232 communicationCommandDescriptionAGNAnalog gains arrayASNAnalog input offsets arrayBPNBrake parameterCANCommutation parameters arrayCLNCurrent continuous limitations arrayEFNEncoder filter frequencyEMNECAM parametersETNEntries for ECAM tableFFNFeed forwardFRNFollower ratioHMNHoming and capture modeHYNAuxiliary home and capture modeMCDefine maximum peak current of servo drive, in amperesMPNMotion (PT/PVT) parametersPLNPeak duration and limitPMProfiler modePTPosition time commandPVPosition velocity time commandPWNPWM signal parametersQPPositionQTTimeQVVelocityRMReference mode: external (analog) referencing enabled/disabledTRTarget radiusUMUnit mode: stepper, torque control, speed control position control or dual loopVHNHigh reference limitVLNLow reference limitXMNX ModuloYMNY ModuloCommandDescriptionGSNGain schedulingKGNGain scheduled controller parametersKINPID integral terms arrayKPNPID proportional terms arrayKVNAdvanced filter for speed loopXANExtra parameters(more)XPNExtra parametersCommandDescriptionBHGet a sample signal as hexadecimalRCVariables to record (two variables at each recording sequence)RGRecording gap, in samples. Gap between consecutive data recordings.RLRecord lengthRPNRecorder parametersRRRecording on/offRVNRecorded variablesYMNAuxiliary sensor modulo countCommandDescriptionABNAbsolute encoder setting parametersID Read active current IQRead reactive currentPEPosition errorPXMain encoder position, in countsPYAuxiliary positionVEVelocity error, in counts per second2VXMain encoder velocity, in counts per second2VYVelocity of auxiliary feedbackYANAuxiliary position sensor parametersCommandDescriptionCDCPU dump: CPU and database exception summaryDFDownload firmwareDSDownload firmwareEOEcho modeHXSelect hexadecimal or decimal modeLDLoad parameters form flash memoryRSReset Metronome to a pre-defined state and parameter valueSVSave parameters to flash memoryTMSystem timeTPNFloating wizard parametersTSSampling timeTWNWizard commandUFNUser float arrayUINUser integerWINMetronome data, mainly for use by ComposerWSNMetronome data, mainly for use by ComposerZPNInteger wizard parametersZXNUser program and auto-tuning temporary storageCommandDescriptionANNRead analog inputsIBNBit-wise digital inputIFNDigital input filterIPRead all digital inputsOBNBit-wise digital outputOCNOutput CompareOLNOutput LogicOPSet all digital outputsCommandDescriptionAC Acceleration, in counts per second2BGBegin motionBTBegin motion at defined timeDCDeceleration, in counts per second2ILNInput logic, defining how dedicated inputs behaveJVSpeed of jogging motion, in counts per s second2MOMotor on/offPAAbsolute position reference for point-to-point motionPRRelative position reference for point-to-point motionSDStop decelerationSFSmooth factor for motion commandSPSpeed for point-to-point motionSTStop motion using deceleration valueTCTorque commandCommandDescriptionERNMaximum tracking errorsHLNOver-speed limit and position range limitLLNLow actual feedback limitPLNPeak current, in amperes; and peak duration, in secondsCommandDescriptionBVMaximum motor DC voltageDDCAN controller statusDVNReference desired valueECError code: get code for last interpreter errorLCCurrent limitation: report status of current limitation algorithmMFMotor fault: code for last motor-disable causeMSMotion status reportingPKPeak memorySNSerial numberSRNumerical, bit-coded Metronome statusTINTemperature indications arrayVRSoftware (firmware) versionCommandDescriptionCCCompile programCPClear application programDLReceive a program downloaded from host computer to Metronome. Can be used only in Composer software.HPHalt program executionKLKill motion and stop program (like HP)LPNList parametersLSList programMIMask interruptPSProgram statusXCContinue program execution from current pointer, optionally until a given breakpointXQExecute program, optionally starting at a given label and until a given breakpointELMO编程基础示例程序：#STARTmo=0 表示：motor offum=2 表示速度模式il1=7 表示输入逻辑il2=7il3=7il4=7il5=7mo=1 表示motor onwhile(1)if(ib1=1) 表示输入2jv=20000elseif(ib2=1) 表示输入3jv=-20000elseif(ib3=1) 表示输入4jv=50000elseif(ib4=1) 表示输入5jv=-50000elseif(ib0=1)