ELMO简明使用手册

1、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-codedMetronomestatus253520D35303334393332383B34A560DJV2Speedofjoggingmotion,incountsperssecond44A560D2D3136363636363BJV-166666;543415B32335D0DCA23卜CRCommutationparametersarray643415B32335D0D303BCA23卜CR0;743415B31385D0DCA18卜CR843415B31385D0D3130

2、3030303BCA18卜CR10000;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 ST

3、OP） 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/offUM Unitmode:stepper,torquecontrol,speedcontrolposit

4、ioncontrolordua1100PCurrentMode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=1Torquecontrol UM=2Speedcontrol UM=3Micro-stepping UM=4Dual-feedbackpositioncontrol

5、 UM=5Single-feedbackpositioncontrolRM Referencemode:external(analog)referencingenabled/disabled所有命令：Command DescriptionPPNDefinetheparametersoftheCANorRS-232communicationCommand DescriptionAGNAnaloggainsarrayASNAnaloginputoffsetsarrayBPNBrakeparameterCANCommutationparametersarrayCLNCurrentcontinuous

6、limitationsarrayEFNEncoderfilterfrequencyEMNECAMparametersETNEntriesforECAMtableFFNFeedforwardFRNFollowerratioHMNHomingandcapturemodeHYNAuxiliaryhomeandcapturemodeMCDefinemaximumpeakcurrentofservodrive,inamperesMPNMotion(PT/PVT)parametersPLNPeakdurationandlimitPMProfilermodePTPositiontimecommandPVPo

7、sitionvelocitytimecommandPWNPWMsignalparametersQPPositionQTTimeQVVelocityRMReferencemode:external(analog)referencingenabled/disabledTRTargetradiusUMUnitmode:stepper,torquecontrol,speedcontrolpositioncontrolordua1100PVHNHighreferencelimitVLNLowreferencelimitXMNXModuloYMNYModuloCommandDescriptionGSNGa

8、inschedulingKGNGainscheduledcontrollerparametersKINPIDintegraltermsarrayKPNPIDproportionaltermsarrayKVNAdvancedfilterforspeedloopXANExtraparameters?(more)XPNExtraparametersCommandDescriptionBHGetasamplesignalashexadecimalRCVariablestorecord(twovariablesateachrecordingsequence)RGRecordinggap,insample

9、s.Gapbetweenconsecutivedatarecordings.RLRecordlengthRPNRecorderparametersRRRecordingon/offRVNRecordedvariablesYMNAuxiliarysensormodulocountCommandDescriptionABNAbsoluteencodersettingparametersIDReadactivecurrentIQReadreactivecurrentPE PositionerrorPXMainencoderposition,incountsPYAuxiliarypositionVE2

10、Velocityerror,incountspersecondVX2MainencodervelocityjncountspersecondVYVelocityofauxiliaryfeedbackYANAuxiliarypositionsensorparametersCommandDescriptionCDCPUdump:CPUanddatabaseexceptionsummaryDFDownloadfirmwareDSDownloadfirmwareEOEchomodeHXSelecthexadecima10rdecimalmodeLDLoadparametersformflashmemo

11、ryRSResetMetronometoapre-definedstateandparametervalueSVSaveparameterstoflashmemoryTMSystemtimeTPNFloatingwizardparametersTSSamplingtimeTWNWizardcommandUFNUserfloatarrayUINUserintegerWINMetronomedata,mainlyforusebyComposerWSNMetronomedata,mainlyforusebyComposerZPNIntegerwizardparametersZXNUserprogra

12、mandauto-tuningtemporarystorageCommandDescriptionANNReadanaloginputsIBNBit-wisedigitalinputIFNDigitalinputfilterIPReadalldigitalinputsOBNBit-wisedigitaloutputOCNOutputCompareOLNOutputLogicOPSetalldigitaloutputsCommandDescriptionAC2Acceleration,incountspersecondBGBeginmotionBTBeginmotionatdefinedtime

13、DC2Deceleration,incountspersecondILNInputlogic,defininghowdedicatedinputsbehaveJV2Speedofjoggingmotion,incountsperssecondMO Motoron/offPAAbsolutepositionreferenceforpoint-to-pointmotionPRRelativepositionreferenceforpoint-to-pointmotionSDStopdecelerationSFSmoothfactorformotioncommandSPSpeedforpoint-t

14、o-pointmotionSTStopmotionusingdecelerationvalueTCTorquecommandCommandDescriptionERNMaximumtrackingerrorsHLNOver-speedlimitandpositionrangelimitLLNLowactualfeedbacklimitPLNPeakcurrent,inamperes;andpeakduration,insecondsCommandDescriptionBVMaximummotorDCvoltageDDCANcontrollerstatusDVNReferencedesiredv

15、alueECErrorcode:getcodeforlastinterpretererrorLCCurrentlimitation:reportstatusofcurrentlimitationalgorithmMFMotorfault:codeforlastmotor-disablecauseMSMotionstatusreportingPKPeakmemorySNSerialnumberSRNumerical,bit-codedMetronomestatusTINTemperatureindicationsarrayVRSoftware(firmware)versionCommandDes

16、criptionCCCompileprogramCPClearapplicationprogramDLReceiveaprogramdownloadedfromhostcomputertoMetronome.CanbeusedonlyinComposersoftware.HPHaltprogramexecutionKLKillmotionandstopprogram(likeHP)LPNListparametersLSListprogramMIMaskinterruptPSProgramstatusXCContinueprogramexecutionfromcurrentpointer,opt

17、ionallyuntilagivenbreakpointXQExecuteprogram,optionallystartingatagivenlabelanduntilagivenbreakpointELMO编程基础示例程序:#STARTmo=0 表示：motoroffum=2表示速度模式il1=7表示输入逻辑il2=7il3=7il4=7il5=7mo=1 表示 motoronwhileif(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)表示输入 1jv=0endbgend增加模拟量输入: