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153 52 0DSRNumerical, bit-coded Metronome status253 52 0D 35 30 33 3439 33 32 38 3B34A 56 0DJVSpeed of jogging motion, in counts per s second244A 56 0D 2D 31 36 3636 36 36 3BJV-166666;543 41 5B 32 33 5D 0DCA23Commutation parameters array643 41 5B 32 33 5D 0D30 3BCA230;743 41 5B 31 38 5D 0DCA18843 41 5B 31 38 5D 0D31 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/offUnit mode: stepper, torquecontrol, speed control positioncontrol 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 controlUM=2 Speed controlUM=3 Micro-steppingUM=4 Dual-feedback position controlUM=5 Single-feedback position controlReference mode: external (analog) referencing enabled/disabled所有命令：Command DescriptionDefine the parameters of theCAN or RS-232 communicationCommand DescriptionAnalog gains arrayAnalog input offsets arrayBrake parameterCommutation parameters arrayCurrent continuous limitationsarrayEncoder filter frequencyECAM parametersEntries for ECAM tableFeed forwardFollower ratioHoming and capture modeAuxiliary home and capture modeDefine maximum peak current of servo drive, in amperesMotion (PT/PVT) parametersPeak duration and limitProfiler modePosition time commandPosition velocity time commandPWM signal parametersPositionTimeVelocityReference mode: external(analog) referencing enabled/disabledTarget radiusUnit mode: stepper, torque control, speed control position control or dual loopHigh reference limitLow reference limitX ModuloY ModuloCommand DescriptionGain schedulingGain scheduled controllerparametersPID integral terms arrayPID proportional terms arrayAdvanced filter for speed loopExtra parameters(more)Extra parametersCommand DescriptionGet a sample signal as hexadecimalVariables to record (two variables at each recording sequence)Recording gap, in samples. Gap between consecutive data recordings.Record lengthRecorder parametersRecording on/offRecorded variablesAuxiliary sensor modulo countCommand DescriptionAbsolute encoder setting parametersRead active currentRead reactive currentPosition errorMain encoder position, in countsAuxiliary positionVelocity error, in counts per second?Main encoder velocity, in counts per second?Velocity of auxiliary feedbackAuxiliary position sensor parametersCommand DescriptionCPU dump: CPU and database exception summaryDownload firmwareDownload firmwareEcho modeSelect hexadecimal or decimal modeLoad parameters form flash memoryReset Metronome to a pre-defined state and parameter valueSave parameters to flash memorySystem timeFloating wizard parametersSampling timeWizard commandUser float arrayUser integerMetronome data, mainly for use by ComposerMetronome data, mainly for useby ComposerInteger wizard parameters User program and auto-tuning temporary storageCommand DescriptionRead analog inputsBit-wise digital inputDigital input filterRead all digital inputsBit-wise digital outputOutput CompareOutput LogicSet all digital outputsCommand DescriptionAcceleration, in counts per second?Begin motionBegin motion at defined time Deceleration, in counts per second?Input logic, defining how dedicated inputs behaveSpeed of jogging motion, in counts per s second2Motor on/offAbsolute position reference for point-to-point motionRelative position reference for point-to-point motion Stop decelerationSmooth factor for motion commandSpeed for point-to-point motionStop motion using deceleration valueTorque commandCommand DescriptionMaximum tracking errorsOver-speed limit and position range limitLow actual feedback limitPeak current, in amperes; and peak duration, in secondsCommand DescriptionMaximum motor DC voltageCAN controller statusReference desired valueError code: get code for last interpreter errorCurrent limitation: report status of current limitation algorithmMotor fault: code for last motor-disable causeMotion status reportingPeak memorySerial numberNumerical, bit-coded Metronome statusTemperature indications arraySoftware (firmware) versionCommand DescriptionCompile programClear application programReceive a program downloadedfrom host computer toMetronome. Can be used only in Composer software.Halt program executionKill motion and stop program(like HP)List parametersList programMask interruptProgram statusContinue program execution from current pointer, optionally until a given breakpointExecute 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=-20000增加模拟量输入：#STARTmo=0um=2il1=7il2=7il3=7 il4=7il5=7 mo=1while(1)if(ib1=1)jv=20000elseif(ib2=1)jv=-20000elseif(ib3=1)jv=50000elseif(ib4=1)jv=-50000elseif(ib0=1)jv=an1*60000endbgend下载程序流程：首先，让电机进入motor off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