ELMO 簡明使用手冊一次串口數據監控序十六進制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（軟件可以到官方網站下載）單擊完成選擇速度模式（ VelocityMode）單擊圈選的按鈕 (motoron)進入速度模式輸入一個速度值，單擊 GO，電機以輸入的速度運轉單擊Stop停止，單擊 Direction改變方向。輸入20000（cnt/sec）按回車后，相當于輸入JV=20000；BG我們可以在命令輸入框內輸入命令實現控制。輸入：JV=30000；回車BG回車電機以30000cnt/sec運轉輸入：ST回車電機將停止提示：ST（相當于 STOP）BG（相當于 BEGIN）設定數字輸入端口的功能我們可以設定 INPUT1為高電平，硬停止通過命令輸入JV=30000；BG電機開始旋轉，然后將INPUT1撥動到高電平，電機停止，當INPUT1撥回高電平后，電機恢復運轉，因為硬停止，并不更改軟件的運動狀態。但是，當我們使用“SoftStop”時，當我們置INPUT1為高電平后，軟件也停止了，即使，再讓INPUT1為高電平后，電機也不能恢復運轉。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，讓電機進入 motoroff 狀態編譯或者快捷鍵 F7沒有錯誤，編譯成功時，單擊，下圖紅色圓圈，上載程序到 ELMO驅動器。單擊“是（Y）”單擊“Execute Ctrl+F5”執行程序其中專業理論知識內容包括：保安理論知識、消防業務知識 、職業道德、法律常識、保安禮儀、救護知識。作技能訓練內容包括：崗位操作指引、勤務技能、消防技能、軍事技能。二．培訓的及要求培訓目的安全生產目標責任書為了進一步落實安全生產責任制，做到“責、權、利”相結合，根據我公司 2015年度安全生產目標的內容，現與 財務部簽訂如下安全生產目標：一、目標值：、全年人身死亡事故為零