ELMO简明使用介绍材料

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 5
2 0D SR<CR> Numerical, bit-coded Metronome status
2 5
3 52 0D 35 30 33 3
4 39 33 32 38 3B SR<CR>50349328;
3 4A 56 0D JV<CR> Speed of jogging motion, in counts per s second2
4 4A 56 0D 2D 31 36 36 36 36 36 3B JV<CR>-166666;
5 43 41 5B 32 33 5D 0D CA[23]<CR> Commutation parameters array
6 43 41 5B 32 33 5D 0D 30 3B CA[23]<CR>0;
7 43 41 5B 31 38 5D 0D CA[18]<CR>
8 43 41 5B 31 38 5D 0D 31 30 30 30
CA[18]<CR>10000;
30 3B
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=1
MO=0
以上的含义是：Motor on/off
UM Unit mode: stepper, torque
control, speed control position
control or dual loop
Current Mode电流模式下，输入命令UM返回1
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 ，输入命令UM返回4
Position Mode，输入命令UM返回5
Unit mode (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 control
RM Reference mode: external (analog)
referencing enabled/disabled
所有命令：
Command Description
PP[N]Define the parameters of the CAN or RS-232
communication
Command Description
AG[N]Analog gains array
AS[N]Analog input offsets array
BP[N]Brake parameter
CA[N]Commutation parameters array
CL[N]Current continuous limitations array
EF[N]Encoder filter frequency
EM[N]ECAM parameters
ET[N]Entries for ECAM table
FF[N]Feed forward
FR[N]Follower ratio
HM[N]Homing and capture mode
HY[N]Auxiliary home and capture mode
MC Define maximum peak current of servo drive, in amperes MP[N]Motion (PT/PVT) parameters
PL[N]Peak duration and limit
PM Profiler mode
PT Position time command
PV Position velocity time command
PW[N]PWM signal parameters
QP Position
QT Time
QV Velocity
RM Reference mode: external (analog) referencing
enabled/disabled
TR Target radius
UM Unit mode: stepper, torque control, speed control
position control or dual loop
VH[N]High reference limit
VL[N]Low reference limit
XM[N]X Modulo
YM[N]Y Modulo
Command Description
GS[N]Gain scheduling
KG[N]Gain scheduled controller parameters
KI[N]PID integral terms array
KP[N]PID proportional terms array
KV[N]Advanced filter for speed loop
XA[N]Extra parameters (more)
XP[N]Extra parameters
Command Description
BH Get a sample signal as hexadecimal
RC Variables to record (two variables at each recording
sequence)
RG Recording gap, in samples. Gap between consecutive
data recordings.
RL Record length
RP[N]Recorder parameters
RR Recording on/off
RV[N]Recorded variables
YM[N]Auxiliary sensor modulo count
Command Description
AB[N]Absolute encoder setting parameters
ID Read active current
IQ Read reactive current
PE Position error
PX Main encoder position, in counts
PY Auxiliary position
VE Velocity error, in counts per second2
VX Main encoder velocity, in counts per second2
VY Velocity of auxiliary feedback
YA[N]Auxiliary position sensor parameters
Command Description
CD CPU dump: CPU and database exception summary
DF Download firmware
DS Download firmware
EO Echo mode
HX Select hexadecimal or decimal mode
LD Load parameters form flash memory
RS Reset Metronome to a pre-defined state and parameter
value
SV Save parameters to flash memory
TM System time
TP[N]Floating wizard parameters
TS Sampling time
TW[N]Wizard command
UF[N]User float array
UI[N]User integer
WI[N]Metronome data, mainly for use by Composer
WS[N]Metronome data, mainly for use by Composer
ZP[N]Integer wizard parameters
ZX[N]User program and auto-tuning temporary storage Command Description
AN[N]Read analog inputs
IB[N]Bit-wise digital input
IF[N]Digital input filter
IP Read all digital inputs
OB[N]Bit-wise digital output
OC[N]Output Compare
OL[N]Output Logic
OP Set all digital outputs
Command Description
AC Acceleration, in counts per second2
BG Begin motion
BT Begin motion at defined time
DC Deceleration, in counts per second2
IL[N]Input logic, defining how dedicated inputs behave JV Speed of jogging motion, in counts per s second2
MO Motor on/off
PA Absolute position reference for point-to-point motion PR Relative position reference for point-to-point motion SD Stop deceleration
SF Smooth factor for motion command
SP Speed for point-to-point motion
ST Stop motion using deceleration value
TC Torque command
Command Description
ER[N]Maximum tracking errors
HL[N]Over-speed limit and position range limit
LL[N]Low actual feedback limit
PL[N]Peak current, in amperes; and peak duration, in
seconds
Command Description
BV Maximum motor DC voltage
DD CAN controller status
DV[N]Reference desired value
EC Error code: get code for last interpreter error
LC Current limitation: report status of current
limitation algorithm
MF Motor fault: code for last motor-disable cause
MS Motion status reporting
PK Peak memory
SN Serial number
SR Numerical, bit-coded Metronome status
TI[N]Temperature indications array
VR Software (firmware) version
Command Description
CC Compile program
CP Clear application program
DL Receive a program downloaded from host computer to
Metronome. Can be used only in Composer software. HP Halt program execution
KL Kill motion and stop program (like HP)
LP[N]List parameters
LS List program
MI Mask interrupt
PS Program status
XC Continue program execution from current pointer,
optionally until a given breakpoint
XQ Execute program, optionally starting at a given label
and until a given breakpoint
ELMO编程基础示例程序：
增加模拟量输入：
##START
mo=0
um=2
il[1]=7
il[2]=7
il[3]=7
il[4]=7
il[5]=7
mo=1
while(1)
if(ib[1]==1)
jv=20000
elseif(ib[2]==1)
jv=-20000
elseif(ib[3]==1)
jv=50000
elseif(ib[4]==1)
jv=-50000
elseif(ib[0]==1)
jv=an[1]*60000
end
bg
end
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。