ELMO簡明使用手冊

ELMO 簡明使用手冊一次串口數(shù)據(jù)監(jiān)控序十六進(jìn)制ASCII碼含義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上電ELMO 演示箱連接演示箱的 ELMO演示箱的 COM1 到電腦的串口（ COM1）打開ELMO軟件（軟件可以到官方網(wǎng)站下載）單擊完成選擇速度模式（ VelocityMode）單擊圈選的按鈕 (motoron)進(jìn)入速度模式輸入一個(gè)速度值，單擊 GO，電機(jī)以輸入的速度運(yùn)轉(zhuǎn)單擊Stop停止，單擊 Direction改變方向。輸入20000（cnt/sec）按回車后，相當(dāng)于輸入JV=20000；BG我們可以在命令輸入框內(nèi)輸入命令實(shí)現(xiàn)控制。輸入：JV=30000；回車BG回車電機(jī)以30000cnt/sec運(yùn)轉(zhuǎn)輸入：ST回車電機(jī)將停止提示：ST（相當(dāng)于 STOP）BG（相當(dāng)于 BEGIN）設(shè)定數(shù)字輸入端口的功能我們可以設(shè)定 INPUT1為高電平，硬停止通過命令輸入JV=30000；BG電機(jī)開始旋轉(zhuǎn)，然后將INPUT1撥動(dòng)到高電平，電機(jī)停止，當(dāng)INPUT1撥回高電平后，電機(jī)恢復(fù)運(yùn)轉(zhuǎn)，因?yàn)橛餐Ｖ?，并不更改軟件的運(yùn)動(dòng)狀態(tài)。但是，當(dāng)我們使用“SoftStop”時(shí)，當(dāng)我們置INPUT1為高電平后，軟件也停止了，即使，再讓INPUT1為高電平后，電機(jī)也不能恢復(fù)運(yùn)轉(zhuǎn)。其他功能的配置如下：更多指令MO=1MO=0以上的含義是： Motoron/offUM Unitmode:stepper,torquecontrol,speedcontrolpositioncontrolordualloopCurrentModeVelocityModeStepperMode

電流模式下，輸入命令速度模式下，輸入命令步進(jìn)模式下，輸入命令

UMUMUM

返回返回返回

123DualLoopMode ，輸入命令 UM返回4PositionMode，輸入命令 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 編程基礎(chǔ)示例程序：##STARTmo=0 表示：motoroffum=2 表示速度模式il[1]=7 表示輸入邏輯il[2]=7il[3]=7il[4]=7il[5]=7mo=1 表示motoronwhile(1)if(ib[1]==1) 表示輸入 2jv=20000elseif(ib[2]==1) 表示輸入 3jv=-20000elseif(ib[3]==1) 表示輸入4jv=50000elseif(ib[4]==1) 表示輸入 5jv=-50000elseif(ib[0]==1) 表示輸入1jv=0endbgend增加模擬量輸入：##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下載程序流程：首先，讓電機(jī)進(jìn)入 motoroff 狀態(tài)編譯或者快捷鍵 F7沒有錯(cuò)誤，編譯成功時(shí)，單擊，下圖紅色圓圈，上載程序到 ELMO驅(qū)動(dòng)器。單擊“是（Y）”單擊“Execute Ctrl+F5”執(zhí)行程序其中專業(yè)理論知識內(nèi)容包括：保安理論知識、消防業(yè)務(wù)知識 、職業(yè)道德、法律常識、保安禮儀、救護(hù)知識。作技能訓(xùn)練內(nèi)容包括：崗位操作指引、勤務(wù)技能、消防技能、軍事技能。二．培訓(xùn)的及要求培訓(xùn)目的安全生產(chǎn)目標(biāo)責(zé)任書為了進(jìn)一步落實(shí)安全生產(chǎn)責(zé)任制，做到“責(zé)、權(quán)、利”相結(jié)合，根據(jù)我公司 2015年度安全生產(chǎn)目標(biāo)的內(nèi)容，現(xiàn)與 財(cái)務(wù)部簽訂如下安全生產(chǎn)目標(biāo)：一、目標(biāo)值：、全年人身死亡事故為零