ELMO简明使用手册.docx

1、ELMO简明使用手册ELMO简明使用手册次串口数据监控Lenotli： 0003,Data；3 S2 QOLezltf- 0012,Data-E? d OP 35 39 30 33 37 3G 30 3ETRP HJ WHITELencjr-h: 0003.Dara:A3 S? 0(0Lenor-hi 0012.Data:寒3 SZ OfD 3S 30 33 34 39 33 32 38 3BIPP_HJ_MhITBLeft于h; 0009,D*t ft-4A EC ODTPP_HJ_PEArLength- nOlO,D*t ft-4A 占C g :SI ae 3 3 3SLa也卧h: OOl

2、丄.Ddt a =4Jl SC 2D 31 K 3( 3C 3ti IC ODLokl hi OOlZrDbta:4A EC 9D ZD 91 ? 3( 3C 3f ?C CD 2BI IPWRITELonqh: 0003Data:IE dF iitP_fiJ_r：SAXLotgU: OOOfirData:4D IF 00 31 OSitp_iij_unirELan 沪 Z OOOSfData:蝌2 17 00Lrx沪h QQQ斗十Data.17 00 3DItP4PITBLdnli 0006Data；4A 5e 00IRP.TIJ-EH曲Lemgui: OOIXDaca;A 5S g ED

3、31 3巧 36 3庁 36 36 3EIRPJRITELertgUl； QQQJ” aw;H3 11 55 3 33 西 CPIJtP .E-EB 曲b 曲产 h： qO03rData；闻3 殳i 53 3 33 5P Ot 30 3EIJtP.HJJRJTEbeigLh: 0007 rpaca;13 41 55 31 35 $P OPIIpHj 二 EfiADb 羽护 h; 0013Data;g 4X 55 JI 39 5P OD 3丄 30 30 30 30 ?BlEP网ftlTE11屮护比 0007rData;斗3 41 53 3Z 38 SD ODIEUJ-EHADLength: 0

4、003,Data:-33 41 S3 32 3B 5D OD 30 3EIKP_HJ_WftirE0007,Data:43 41 53 3Z 30 SD ODIKP_HJ_EHADLeigZti： 0009,Data:43 41 53 3Z 30 SD OD 31 3EI 卫卫.HJ-TflaiTELsyigLti： 0O07,Data:43 41 53 32 31 SD ODihtImjIeh 卫DLengtli: 0O09pLata:43 41 S3 52 31 iL OC 31 3EirtNAmeLength: 0007,Data；43 41 S3 32 3 SD OD工二站妙Lengt

5、hs 0009,Data；43 41 S3 32 32 iL OD 32 3iEiirjijjjftTrEliRgtH 0003,Data；3 弦 00irtCmjI 臨曲Lezigtli： 0012,Data：3 S2 00 31 3S 3? 39 34 3G 39 3 3EirtCmErtteLfingtfi- 0003,3 SZ 00irpZmCehaL 总 nph: 0013,Dpw;3 S 00 31 30 SO 3S 18 30 39 37 35 5B序十六进制ASCII 码含义153 52 ODSRNumerical, bit-coded Metro nome status253

6、 52 OD 35 30 33 34 39 33 32 38 3BSR5O349328;34A 56 ODJVSp eed of jogg ing motio n, in counts per s sec ond 44A 56 OD 2D 31 36 36 36 36 36 3BJV-166666;543 41 5B 32 33 5D ODCA23Commutati on p arameters array643 41 5B 32 33 5D OD 3O 3BCA230;743 41 5B 31 38 5D ODCA18843 41 5B 31 38 5D OD 31 3O 3O 3O3O 3

7、BCA1810000;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 ）L)f 卽JW ConwbjHGTM 1：円$ 断dm tirln津|圉2| |*-lDcir, Mode j対翔阿I圈H卜町刹耀歎|静| IlNoicI打开ELMO软件（软件可以到官方网站下载）卜open ComfflunicationBCfelma LDinwM佇File 険忡 I Communicction lools ndov; yelp-LzJJlZ DfecofiCE D匾mrtect 圍Netvork主Ip详|M|耳I |*h“ ily从山士刃 刪Ba屈口卜曲|制團g 囲liA

8、|r|r*iliiviE.jir 桶汕nmiimfliknlluiiT科rrlAchfine the detauH Communioation pAMmrRrn prrtss the ItlJlhllk.3(!k(:l A Coihiiitiittii Atimn Typr. Tbr CniiikrrGqn pftcnrmrlrr* will be celeded automalinlly wtien lhe buHon CFinfehE preseed.Plcnr Fntrr Nrw Applicnifnn NninrAjclcaitiL jjarc i -Lin I SjctisCul C

9、gwPULi cticbplkiLLiiiiirtteJ : RS?32： COUL 1 t2iDa(bll；Ki;c|； Parity NdiieTTF/JTi4ter4il1 I ifo：s-i filler | rr oLcLioiis | Lini Lz DgL Lal Fill 厂 TEL叮, SiioutlL ftcLuii iij7-at i nri Ccniip*八pc Ple?3Wfi6DAcd.4rbti 討ITest notioi.JokingmLde験自1 :Sltl 0:1 :2JI1253000Ccoirls 厂XS选择速度模式(Velocity Mode )Etk

10、rwi CTVucr L5mst_Tct minol 1fWj H* Bdit 如则 Cumjncticn Mat 岀p罔国庖|Velotrty Mode耳A越j洲|t5殉列門|制单 穹筍 ApplicnliiifilCOUIjTTunF血n |Pu;w r：H.u I huTLhUEI I LirtilL hllHi ICslwl Ki *k厂 Iiulil* FTdfi Snolk fac-E di noc 鱼它S fac-EJT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。-Tst NloticfiSpetd ; KUMWWIcut

11、* sgjPHrfction : =输入20000（ cnt/sec）按回车后，相当于输入JV=20000 ；BG網 5le Edit 逬郎匚omrnunjcatiori Loob Window tVclficii Mode3 刘血 iStopEnt er Corurniiid :Send 11 ST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Communtatloii locij 込ndo% bet1 得|祖則 In :y

12、Miiiir31 A| M.團曲| h 网I嗣圍? I 囲A（pllcat1on1_COM1UolVilEiiLv C LHiI UlJm曲）國2JLi（m t= I Dig IJ tiltti: I Culler J &5 Lniat Tr-I “11讣 | Uts*t Loci IBfrsr琵5?izwat 1酿 p spT *IF?Itipt- 2Irnr;Lvr匸:屮u: 3I 即 nrwTwT现 TLT PT 歹.rtr =Ta1理* 3IheqSSl匚七 Faction IJEhiTLoars cil Ldt: L-ctsLSl 砂 a_LfTmctioc. bdbV3 ors.我

13、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 IN PUT 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IN PUT 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:i tx Di gi Filtrx | Cust om Aciklog Lnpiit Legi c | OutputSelect Fuzict 1 on BeKavicr s aitd Lrf 沪 U Leve

14、lFunction bflhavicrs | Loic level _Lo*LqwLo*Input Input IlipLLt Input InputSi snal1Low更多指令MO=1MO=0以上的含义是:Motor on/offUnit mode: ste pper, torque con trol, sp eed con trol p ositi on con trol or dual l oopCurrent Mode电流模式下，输入命令Velocity Mode速度模式下，输入命令 UM返回2 Stepper Mode步进模式下，输入命令 UM返回3 Dual Loop Mode

15、，输入命令 UM返回4Position Mode，输入命令 UM返回5UM返回1Unit mode(UM): Defines the fun cti on of the Metro no me. The un it modesare:UM=1 Torque con trolUM=2 Sp eed con trolUM=3 Micro-ste ppingUM=4 Dual-feedback po siti on controlUM=5 Sin gle-feedback p ositi on controlRefere nee mode: exter nal (an alog)refere nci

16、ng en abled/disabled所有命令:Comma ndDescri ptionDefine the parameters of the CAN or RS-232comm un icatio nComma ndDescri ptionAn alog gains arrayAn alog input offsets arrayBrake p arameterCommutati on p arameters arrayCurrent con ti nu ous limitati ons arrayEn coder filter freque ncyECAM p arametersEn

17、tries for ECAM tableFeed forwardFollower ratioHoming and cap ture modeAuxiliary home and capture modeDefine maximumpeak current of servo drive, in amperesMotion (PT/PVT) p arametersPeak durati on and limitProfiler modePositi on time comma ndPositi on velocity time comma ndPositi onTimeVelocityRefere

18、 nee mode: exter nal (an alog) refere ncing en abled/disabledTarget radiusUn it mode: stepp er, torque con trol, sp eed control po siti on con trol or dual l oopHigh refere nee limitLow reference limitX ModuloY ModuloComma ndDescri ptionGain scheduli ngGain scheduled con troller p arametersPID in te

19、gral terms arrayPID proportional terms arrayAdva need filter for sp eed loopExtra p arameters (more)Extra p arametersComma ndDescri ptionGet a sam pie sig nal as hexadecimalVariables to record (two variables at each record ingsequenee)Record ing gap, in sam pies. Gap betwee n con secutivedata record

20、 ings.Record len gthRecorder p arametersRecord ing on/offRecorded variablesAuxiliary sen sor modulo countComma ndDescri ptionAbsolute en coder sett ing p arametersRead active curre ntRead reactive curre ntPositi on errorMain en coder p ositi on, in countsAuxiliary po siti onVelocity error, i n count

21、s per sec ondMain en coder velocity, in counts per seco ndVelocity of auxiliary feedbackComma ndDescri ptionCPU dum p: CPU and database exce pti on summaryDownl oad firmwareDownl oad firmwareEcho modeSelect hexadecimal or decimal modeLoad p arameters form flash memoryReset Metro nome to a p re-defi

22、ned state and p arameter valueSave p arameters to flash memorySystem timeFloat ing wizard p arametersSam pli ng timeWizard comma ndUser float arrayUser i ntegerMetro nome data, mainly for use by Compo serMetro nome data, main ly for use by Compo serIn teger wizard p arametersUser p rogram and auto-t

23、 uning tem porary storageComma ndDescri ptionRead an alog inputsBit-wise digital inputDigital input filterRead all digital inputsBit-wise digital out putOutput Comp areOutput LogicSet all digital out putsComma ndDescri ptionAcceleratio n, in counts per seco ndBeg in moti onBegin moti on at defi ned

24、timeDeceleratio n, in counts per sec ondInput logic, defi ning how dedicated inp uts behaveSp eed of jogg ing motio n, in counts per s sec ondMotor on/offAbsolute position referenee for point-to-point motionRelative position referenee for point-to-point motionStop decelerati onSmooth factor for moti

25、 on comma ndStop moti on using deceleratio n valueTorque comma ndComma ndDescri ptionMaximum track ing errorsOver-s peed limit and p ositi on range limitLow actual feedback limitPeak curre nt, in amp eres; and p eak durati on, insecondsComma ndDescri ptionMaximum motor DC voltageCAN con troller stat

26、usRefere nee desired valueError code: get code for last in ter preter errorCurrent limitati on: report status of curre nt limitatio n algorithmMotor fault: code for last motor-disable causeMoti on status reportingPeak memorySerial nu mberNumerical, bit-coded Metro nome statusTemp erature in dicati o

27、ns arraySoftware (firmware) versi onComma ndDescri ptionComp ile p rogramClear app licati on p rogramReceive a p rogram dow nl oaded from host com pu ter toMetro no me. Can be used on ly in Compo ser software.Halt p rogram executi onKill moti on and stop p rogram (like HP)List p arametersList p rogramMask in terr uptProgram statusCon ti nue p rogram executi on from curre nt poin ter, op ti on ally until a give n break pointExecute p rogram, op ti on ally