ELMO简明使用手册Word文档格式.docx
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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）
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单击圈选的按钮（motoron）
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进入速度模式
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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。
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JV=20000；
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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
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
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我们可以设定INPUT1为高电平，硬停止
通过命令输入
JV=30000；
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:
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Sisnal
Low
更多指令
MO=1
MO=0
以上的含义是:
Motoron/off
Unitmode:
stepper,torquecontrol,speedcontrolpositioncontrolordualloop
CurrentMode电流模式下，输入命令
VelocityMode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4
PositionMode，输入命令UM返回5
UM返回1
Unitmode（UM）:
DefinesthefunctionoftheMetronome.Theunitmodesare:
UM=1Torquecontrol
UM=2Speedcontrol
UM=3Micro-stepping
UM=4Dual-feedbackpositioncontrol
UM=5Single-feedbackpositioncontrol
Refereneemode:
external（analog）
referencingenabled/disabled
所有命令:
Command
Description
DefinetheparametersoftheCANorRS-232
communication
Analoggainsarray
Analoginputoffsetsarray
Brakeparameter
Currentcontinuouslimitationsarray
Encoderfilterfrequency
ECAMparameters
EntriesforECAMtable
Feedforward
Followerratio
Homingandcapturemode
Auxiliaryhomeandcapturemode
Definemaximumpeakcurrentofservodrive,inamperes
Motion（PT/PVT）parameters
Peakdurationandlimit
Profilermode
Positiontimecommand
Positionvelocitytimecommand
Position
Time
Velocity
external（analog）referencingenabled/disabled
Targetradius
Unitmode:
stepper,torquecontrol,speedcontrolpositioncontrolordualloop
Highrefereneelimit
Lowreferencelimit
XModulo
YModulo
Gainscheduling
Gainscheduledcontrollerparameters
PIDintegraltermsarray
PIDproportionaltermsarray
Advaneedfilterforspeedloop
Extraparameters（more）
Extraparameters
Getasampiesignalashexadecimal
Variablestorecord（twovariablesateachrecording
sequenee）
Recordinggap,insampies.Gapbetweenconsecutive
datarecordings.
Recordlength
Recorderparameters
Recordingon/off
Recordedvariables
Auxiliarysensormodulocount
Absoluteencodersettingparameters
Readactivecurrent
Readreactivecurrent
Positionerror
Mainencoderposition,incounts
Auxiliaryposition
Velocityerror,incountspersecond
Mainencodervelocity,incountspersecond
Velocityofauxiliaryfeedback
CPUdump:
CPUanddatabaseexceptionsummary
Downloadfirmware
Echomode
Selecthexadecimalordecimalmode
Loadparametersformflashmemory
ResetMetronometoapre-definedstateandparametervalue
Saveparameterstoflashmemory
Systemtime
Floatingwizardparameters
Samplingtime
Wizardcommand
Userfloatarray
Userinteger
Metronomedata,mainlyforusebyComposer
Metronomedata,mainlyforusebyComposer
Integerwizardparameters
Userprogramandauto-tuningtemporarystorage
Readanaloginputs
Bit-wisedigitalinput
Digitalinputfilter
Readalldigitalinputs
Bit-wisedigitaloutput
OutputCompare
OutputLogic
Setalldigitaloutputs
Acceleration,incountspersecond
Beginmotion
Beginmotionatdefinedtime
Deceleration,incountspersecond
Inputlogic,defininghowdedicatedinputsbehave
Speedofjoggingmotion,incountsperssecond
Absolutepositionrefereneeforpoint-to-pointmotion
Relativepositionrefereneeforpoint-to-pointmotion
Stopdeceleration
Smoothfactorformotioncommand
Stopmotionusingdecelerationvalue
Torquecommand
Maximumtrackingerrors
Over-speedlimitandpositionrangelimit
Lowactualfeedbacklimit
Peakcurrent,inamperes;
andpeakduration,in
seconds
MaximummotorDCvoltage
CANcontrollerstatus
Refereneedesiredvalue
Errorcode:
getcodeforlastinterpretererror
Currentlimitation:
reportstatusofcurrentlimitationalgorithm
Motorfault:
codeforlastmotor-disablecause
Motionstatusreporting
Peakmemory
Serialnumber
Temperatureindicationsarray
Software（firmware）version
Compileprogram
Clearapplicationprogram
Receiveaprogramdownloadedfromhostcomputerto
Metronome.CanbeusedonlyinComposersoftware.
Haltprogramexecution
Killmotionandstopprogram（likeHP）
Listparameters
Listprogram
Maskinterrupt
Programstatus
Continueprogramexecutionfromcurrentpointer,optionallyuntilagivenbreakpoint
Executeprogram,optionally
升级会员 