1、ELMO 简明使用手册一次串口数据监控序 十六进制 ASCII 码 含义1 53 52 0D SR Numerical, bit-coded Metronome status2 53 52 0D 35 30 33 34 39 33 32 38 3B SR50349328;3 4A 56 0D JV Speed of jogging motion, in counts per s second24 4A 56 0D 2D 31 36 36 36 36 36 3B JV-166666;5 43 41 5B 32 33 5D 0D CA23 Commutation parameters array6
2、 43 41 5B 32 33 5D 0D 30 3B CA230;7 43 41 5B 31 38 5D 0D CA188 43 41 5B 31 38 5D 0D 31 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
3、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
4、 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/offUM Unit mode: stepper, torque control, speed control position control 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
5、(UM): Defines the function of the Metronome. The unit modes are: UM=1 Torque control UM=2 Speed control UM=3 Micro-stepping UM=4 Dual-feedback position control UM=5 Single-feedback position controlRM Reference mode: external (analog) referencing enabled/disabled所有命令：Command DescriptionPPN Define the
6、 parameters of the CAN or RS-232 communicationCommand DescriptionAGN Analog gains arrayASN Analog input offsets arrayBPN Brake parameterCAN Commutation parameters arrayCLN Current continuous limitations arrayEFN Encoder filter frequencyEMN ECAM parametersETN Entries for ECAM tableFFN Feed forwardFRN
7、 Follower ratioHMN Homing and capture modeHYN Auxiliary home and capture modeMC Define maximum peak current of servo drive, in amperesMPN Motion (PT/PVT) parametersPLN Peak duration and limitPM Profiler modePT Position time commandPV Position velocity time commandPWN PWM signal parametersQP Position
8、QT TimeQV VelocityRM Reference mode: external (analog) referencing enabled/disabledTR Target radiusUM Unit mode: stepper, torque control, speed control position control or dual loopVHN High reference limitVLN Low reference limitXMN X ModuloYMN Y ModuloCommand DescriptionGSN Gain schedulingKGN Gain s
9、cheduled controller parametersKIN PID integral terms arrayKPN PID proportional terms arrayKVN Advanced filter for speed loopXAN Extra parameters (more)XPN Extra parametersCommand DescriptionBH Get a sample signal as hexadecimalRC Variables to record (two variables at each recording sequence)RG Recor
10、ding gap, in samples. Gap between consecutive data recordings.RL Record lengthRPN Recorder parametersRR Recording on/offRVN Recorded variablesYMN Auxiliary sensor modulo countCommand DescriptionABN Absolute encoder setting parametersID Read active current IQ Read reactive currentPE Position errorPX
11、Main encoder position, in countsPY Auxiliary positionVE Velocity error, in counts per second2VX Main encoder velocity, in counts per second2VY Velocity of auxiliary feedbackYAN Auxiliary position sensor parametersCommand DescriptionCD CPU dump: CPU and database exception summaryDF Download firmwareD
12、S Download firmwareEO Echo modeHX Select hexadecimal or decimal modeLD Load parameters form flash memoryRS Reset Metronome to a pre-defined state and parameter valueSV Save parameters to flash memoryTM System timeTPN Floating wizard parametersTS Sampling timeTWN Wizard commandUFN User float arrayUIN
13、 User integerWIN Metronome data, mainly for use by ComposerWSN Metronome data, mainly for use by ComposerZPN Integer wizard parametersZXN User program and auto-tuning temporary storageCommand DescriptionANN Read analog inputsIBN Bit-wise digital inputIFN Digital input filterIP Read all digital input
14、sOBN Bit-wise digital outputOCN Output CompareOLN Output LogicOP Set all digital outputsCommand DescriptionAC Acceleration, in counts per second2BG Begin motionBT Begin motion at defined timeDC Deceleration, in counts per second2ILN Input logic, defining how dedicated inputs behaveJV Speed of joggin
15、g motion, in counts per s second2MO Motor on/offPA Absolute position reference for point-to-point motionPR Relative position reference for point-to-point motionSD Stop decelerationSF Smooth factor for motion commandSP Speed for point-to-point motionST Stop motion using deceleration valueTC Torque co
16、mmandCommand DescriptionERN Maximum tracking errorsHLN Over-speed limit and position range limitLLN Low actual feedback limitPLN Peak current, in amperes; and peak duration, in secondsCommand DescriptionBV Maximum motor DC voltageDD CAN controller statusDVN Reference desired valueEC Error code: get
17、code for last interpreter errorLC Current limitation: report status of current limitation algorithmMF Motor fault: code for last motor-disable causeMS Motion status reportingPK Peak memorySN Serial numberSR Numerical, bit-coded Metronome statusTIN Temperature indications arrayVR Software (firmware)
18、versionCommand DescriptionCC Compile programCP Clear application programDL Receive a program downloaded from host computer to Metronome. Can be used only in Composer software.HP Halt program executionKL Kill motion and stop program (like HP)LPN List parametersLS List programMI Mask interruptPS Progr
19、am statusXC Continue program execution from current pointer, optionally until a given breakpointXQ Execute 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=-20000elseif(ib3=1) 表示输入 4jv=50000elseif(ib4=1) 表示输入 5jv=-50000elseif(ib0=1) 表示输入 1jv=0endbgend增加模拟量输入：#START
