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153520DSR<CR>Numerical,bit-codedMetronomestatus253520D35303334393332383BSR<CR>50349328;34A560DJV<CR>2Speedofjoggingmotion,incountsperssecond44A560D2D3136363636363BJV<CR>-166666;543415B32335D0DCA[23]<CR>Commutationparametersarray643415B32335D0D303BCA[23]<CR>0;743415B31385D0DCA[18]<CR>843415B31385D0D31303030CA[18]<CR>10000;303B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/offUM Unitmode:stepper,torquecontrol,speedcontrolpositioncontrolordualloopCurrentModeVelocityModeStepperMode

电流模式下，输入命令速度模式下，输入命令步进模式下，输入命令

UMUMUM

返回返回返回

123DualLoopMode ，输入命令 UM返回4PositionMode，输入命令 UM返回5Unitmode(UM):Definesthefunction oftheMetronome.Theunit modesare:UM=1TorquecontrolUM=2SpeedcontrolUM=3Micro-steppingUM=4Dual-feedbackpositioncontrolUM=5Single-feedbackpositioncontrolRM

Referencemode:externalreferencingenabled/disabled

(analog)所有命令：CommandPP[N]CommandAG[N]AS[N]BP[N]CA[N]CL[N]EF[N]EM[N]ET[N]FF[N]FR[N]HM[N]HY[N]MCMP[N]PL[N]PMPTPV

DescriptionDefinetheparametersoftheCANorRS-232communicationDescriptionAnaloggainsarrayAnaloginputoffsetsarrayBrakeparameterCommutationparametersarrayCurrentcontinuouslimitationsarrayEncoderfilterfrequencyECAMparametersEntriesforECAMtableFeedforwardFollowerratioHomingandcapturemodeAuxiliaryhomeandcapturemodeDefinemaximumpeakcurrent ofservodrive,Motion(PT/PVT)parametersPeakdurationandlimitProfilermodePositiontimecommandPositionvelocitytimecommand

inamperesPW[N]PWMsignalparametersQPPositionQTTimeQVVelocityRMReferencemode:external(analog)referencingenabled/disabledTRTargetradiusUMUnitmode:stepper,torquecontrol,speedcontrolpositioncontrolordualloopVH[N]HighreferencelimitVL[N]LowreferencelimitXM[N]XModuloYM[N]YModuloCommandDescriptionGS[N]GainschedulingKG[N]GainscheduledcontrollerparametersKI[N]PIDintegraltermsarrayKP[N]PIDproportionaltermsarrayKV[N]AdvancedfilterforspeedloopXA[N]Extraparameters(more)XP[N]ExtraparametersCommandDescriptionBHGetasamplesignalashexadecimalRCVariablestorecord(twovariablesateachrecordingsequence)RGRecordinggap,insamples.Gapbetweenconsecutivedatarecordings.RLRecordlengthRP[N]RecorderparametersRRRecordingon/offRV[N]RecordedvariablesYM[N]AuxiliarysensormodulocountCommandDescriptionAB[N]AbsoluteencodersettingparametersIDReadactivecurrentIQReadreactivecurrentPEPositionerrorPXMainencoderposition,incountsPYAuxiliarypositionVE2Velocityerror,incountspersecondVX2Mainencodervelocity,incountspersecondVYVelocityofauxiliaryfeedbackYA[N]AuxiliarypositionsensorparametersCommandDescriptionCDCPUdump:CPUanddatabaseexceptionsummaryDFDownloadfirmwareDSDownloadfirmwareEOEchomodeHXSelecthexadecimalordecimalmodeLDLoadparametersformflashmemoryRSResetMetronometoapre-definedstateandparametervalueSVSaveparameterstoflashmemoryTMSystemtimeTP[N]FloatingwizardparametersTSSamplingtimeTW[N]WizardcommandUF[N]UserfloatarrayUI[N]UserintegerWI[N]Metronomedata,mainlyforusebyComposerWS[N]Metronomedata,mainlyforusebyComposerZP[N]IntegerwizardparametersZX[N]Userprogramandauto-tuningtemporarystorageCommandDescriptionAN[N]ReadanaloginputsIB[N]Bit-wisedigitalinputIF[N]DigitalinputfilterIPReadalldigitalinputsOB[N]Bit-wisedigitaloutputOC[N]OutputCompareOL[N]OutputLogicOPSetalldigitaloutputsCommandDescriptionACAcceleration,incountspersecond2BGBeginmotionBTBeginmotionatdefinedtimeDCDeceleration,incountspersecond2IL[N]Inputlogic,defininghowdedicatedinputsbehaveJVSpeedofjoggingmotion,incountsperssecond2MOMotoron/offPAAbsolutepositionreferenceforpoint-to-pointmotionPRRelativepositionreferenceforpoint-to-pointmotionSDStopdecelerationSFSmoothfactorformotioncommandSPSTTCCommandER[N]HL[N]LL[N]PL[N]CommandBVDDDV[N]ECLCMFMSPKSNSRTI[N]VRCommandCCCPDLHPKLLP[N]LSMIPSXCXQ

Speedforpoint-to-pointmotionStopmotionusingdecelerationvalueTorquecommandDescriptionMaximumtrackingerrorsOver-speedlimitandpositionrangelimitLowactualfeedbacklimitPeakcurrent,inamperes;andpeakduration,insecondsDescriptionMaximummotorDCvoltageCANcontrollerstatusReferencedesiredvalueErrorcode:getcodeforlastinterpretererrorCurrentlimitation:reportstatusofcurrentlimitationalgorithmMotorfault:codeforlastmotor-disablecauseMotionstatusreportingPeakmemorySerialnumberNumerical,bit-codedMetronomestatusTemperatureindicationsarraySoftware(firmware)versionDescriptionCompileprogramClearapplicationprogramReceiveaprogramdownloadedfromhostcomputertoMetronome.CanbeusedonlyinComposersoftware.HaltprogramexecutionKillmotionandstopprogram(likeHP)ListparametersListprogramMaskinterruptProgramstatusContinueprogramexecutionfromcurrentpointer,optionallyuntilagivenbreakpointExecuteprogram,optionally starting atagivenanduntilagivenbreakpoint

labelELMO 编程基础示例程序：##STARTmo=0 表示：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“Execute Ctrl+F5”执行程序其中专业理论知识内容包括：保安理论知识、消防业务知识 、职业道德、法律常识、保安礼仪、救护知识。作技能训练内容包括：岗位操作指引、勤务技能、消防技能、军事技能。二．培训的及要求培训目的安全生产目标责任书为了进一步落实安全生产责任制，做到“责、权、利”相结合，根据我公司 2015年度安全生产目标的内容，现与 财务部签订如下安全生产目标：一、目标值：、全年人身死亡事故为零