{"id":62940,"date":"2026-01-20T23:27:49","date_gmt":"2026-01-20T15:27:49","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/62940.html"},"modified":"2026-01-20T23:27:49","modified_gmt":"2026-01-20T15:27:49","slug":"elmo-%e9%a9%b1%e5%8a%a8%e5%99%a8-%e4%b8%8a%e4%bd%8d%e6%9c%ba%e9%85%8d%e7%bd%ae%e3%80%81-%e8%b0%83%e8%af%95%e5%8f%8a-canopen-%e9%80%9a%e4%bf%a1","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/62940.html","title":{"rendered":"Elmo \u9a71\u52a8\u5668 |\u4e0a\u4f4d\u673a\u914d\u7f6e\u3001 \u8c03\u8bd5\u53ca CANopen \u901a\u4fe1"},"content":{"rendered":"

\u6ce8：\u672c\u6587\u4e3a \u201cElmo \u9a71\u52a8\u5668\u201d \u76f8\u5173\u5408\u8f91\u3002 \u56fe\u7247\u6e05\u6670\u5ea6\u53d7\u5f15\u6587\u539f\u56fe\u6240\u9650\u3002 \u7565\u4f5c\u91cd\u6392，\u672a\u6574\u7406\u53bb\u91cd\u3002 \u5982\u6709\u5185\u5bb9\u5f02\u5e38，\u8bf7\u770b\u539f\u6587\u3002<\/p>\n

\n

Elmo \u9a71\u52a8\u5668\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u7684\u57fa\u7840\u914d\u7f6e<\/h2>\n

\u6c5f\u6e56\u4e0a\u90fd\u53eb\u6211\u79cb\u535a \u5df2\u4e8e 2024-12-11 11:02:37 \u4fee\u6539<\/p>\n

\u4e00 \u786c\u4ef6\u63a5\u7ebf\u89c4\u8303<\/h3>\n

1 \u7535\u673a\/\u7f16\u7801\u5668 \u4e0e Elmo \u9a71\u52a8\u5668\u7684\u63a5\u7ebf<\/h4>\n

Elmo \u9a71\u52a8\u5668\u9a71\u52a8\u673a\u7535\u6267\u884c\u5143\u4ef6\u7684\u9996\u8981\u6b65\u9aa4\u4e3a\u5b8c\u6210\u786c\u4ef6\u63a5\u7ebf，\u9700\u5b9e\u73b0 \u7535\u673a-\u7f16\u7801\u5668 \u2192 Elmo\u9a71\u52a8\u5668 \u7684\u7535\u6c14\u8fde\u63a5，\u63a5\u7ebf\u524d\u9700\u51c6\u5907\u5e76\u6838\u5bf9\u4e09\u4efd\u6280\u672f\u6587\u6863：\u7535\u673a\u89c4\u683c\u4e66\u3001\u7f16\u7801\u5668\u89c4\u683c\u4e66\u3001Elmo \u9a71\u52a8\u5668\u89c4\u683c\u4e66，\u786e\u4fdd\u63a5\u7ebf\u903b\u8f91\u65e0\u504f\u5dee\u3002<\/p>\n

\u7535\u673a\u89c4\u683c\u4e66 \"img\"<\/p>\n

\u7f16\u7801\u5668\u89c4\u683c\u4e66 \"img\"<\/p>\n

Elmo \u9a71\u52a8\u5668\u89c4\u683c\u4e66 \"img\" \"img\"<\/p>\n

2 \u9a71\u52a8\u5668\u4f9b\u7535\u914d\u7f6e<\/h4>\n

\"img\"<\/p>\n

Elmo \u9a71\u52a8\u5668\u7684\u4f9b\u7535\u7c7b\u578b\u4e3a \u76f4\u6d41\u7535，\u9a71\u52a8\u5668\u5b9e\u7269\u7aef\u5df2\u5f15\u51fa\u6b63\u8d1f\u6781\u63a5\u7ebf\u7aef\u5b50，\u5206\u522b\u4ee5\u7ea2\u3001\u9ed1\u4e24\u8272\u6807\u8bc6\u6b63\u6781\u3001\u8d1f\u6781\u3002 \u4f9b\u7535\u7535\u538b\u8981\u6c42：Elmo \u9a71\u52a8\u5668\u4e3a\u5bbd\u7535\u538b\u9002\u914d\u578b，\u8f93\u5165\u7535\u538b\u6ee1\u8db3\u624b\u518c\u6807\u79f0\u7684\u7535\u538b\u533a\u95f4\u5373\u53ef，\u672c\u914d\u7f6e\u6848\u4f8b\u4e2d\u9009\u7528\u7684\u4f9b\u7535\u53c2\u6570\u4e3a <\/p>\n

30<\/p>\n

\u00a0V<\/p>\n

\/<\/p>\n

3<\/p>\n

\u00a0A<\/p>\n

30\\\\ \\\\text{V}\/3\\\\ \\\\text{A}<\/p>\n

<\/span><\/span>30<\/span>\u00a0<\/span>V<\/span><\/span>\/3<\/span>\u00a0<\/span>A<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\"img\"<\/p>\n

3 \u9a71\u52a8\u5668\u4e0e\u4e0a\u4f4d\u673a\u7684\u901a\u8baf\u63a5\u7ebf<\/h4>\n

\u672c\u6848\u4f8b\u4e2d\u9009\u7528\u7684 Elmo \u9a71\u52a8\u5668，\u4e0e\u4e0a\u4f4d\u673a\u7684\u901a\u8baf\u63a5\u53e3\u4e3a <\/p>\n

RS232<\/p>\n

\\\\text{RS232}<\/p>\n

<\/span><\/span>RS232<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\"img\"<\/p>\n

\u63a5\u7ebf\u5b9e\u64cd：USB \u8f6c RS232 \u6a21\u5757\u7684\u63a5\u5934\u4e3a DB9 \u516c\u5934，\u9a71\u52a8\u5668\u7aef\u9700\u5c06\u4fe1\u53f7\u7ebf\u8f6c\u63a5\u81f3 DB9 \u6bcd\u5934，\u518d\u4e0e USB \u8f6c RS232 \u6a21\u5757\u7684\u516c\u5934\u5bf9\u63a5\u3002<\/p>\n

\"img\"<\/p>\n

4 \u9a71\u52a8\u5668\u4e0e GD32 \u63a7\u5236\u677f\u7684\u901a\u8baf\u63a5\u7ebf<\/h4>\n

Elmo \u9a71\u52a8\u5668\u4e0e GD32 \u63a7\u5236\u677f\u7684\u901a\u8baf\u63a5\u53e3\u4e3a <\/p>\n

CAN<\/p>\n

\\\\text{CAN}<\/p>\n

<\/span><\/span>CAN<\/span><\/span><\/span><\/span><\/span><\/span>，\u901a\u8baf\u534f\u8bae\u4e3a <\/p>\n

CANopen<\/p>\n

\\\\text{CANopen}<\/p>\n

<\/span><\/span>CANopen<\/span><\/span><\/span><\/span><\/span><\/span>\u3002 \u9a71\u52a8\u5668\u914d\u5907\u4e24\u8def CAN \u63a5\u53e3：<\/p>\n

CANopen\u00a0IN<\/p>\n

\\\\text{CANopen IN}<\/p>\n

<\/span><\/span>CANopen\u00a0IN<\/span><\/span><\/span><\/span><\/span><\/span>\u3001<\/p>\n

CANopen\u00a0OUT<\/p>\n

\\\\text{CANopen OUT}<\/p>\n

<\/span><\/span>CANopen\u00a0OUT<\/span><\/span><\/span><\/span><\/span><\/span>，\u57fa\u7840\u63a5\u7ebf\u4ec5\u9700\u5c06\u63a7\u5236\u677f\u7684 CAN \u63a5\u53e3\u63a5\u5165\u9a71\u52a8\u5668\u7684 <\/p>\n

CANopen\u00a0IN<\/p>\n

\\\\text{CANopen IN}<\/p>\n

<\/span><\/span>CANopen\u00a0IN<\/span><\/span><\/span><\/span><\/span><\/span> \u5373\u53ef；<\/p>\n

CANopen\u00a0OUT<\/p>\n

\\\\text{CANopen OUT}<\/p>\n

<\/span><\/span>CANopen\u00a0OUT<\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a\u603b\u7ebf\u62d3\u5c55\u63a5\u53e3，\u53ef\u63a5\u5165\u53e6\u4e00\u53f0\u9a71\u52a8\u5668\u7684 <\/p>\n

CANopen\u00a0IN<\/p>\n

\\\\text{CANopen IN}<\/p>\n

<\/span><\/span>CANopen\u00a0IN<\/span><\/span><\/span><\/span><\/span><\/span>，\u5b9e\u73b0\u5355\u63a7\u5236\u677f\u5bf9\u591a\u9a71\u52a8\u5668\u7684\u7ec4\u7f51\u63a7\u5236，\u5355\u7535\u673a\u5de5\u51b5\u4e0b\u8be5\u7aef\u53e3\u7a7a\u7f6e\u5373\u53ef\u3002<\/p>\n

\"img\"<\/p>\n

\u63a7\u5236\u677f\u63a5\u7ebf\u89c4\u5219：\u9009\u7528\u63a7\u5236\u677f\u7684 <\/p>\n

CAN1<\/p>\n

\\\\text{CAN1}<\/p>\n

<\/span><\/span>CAN1<\/span><\/span><\/span><\/span><\/span><\/span> \u901a\u9053，<\/p>\n

CAN1H<\/p>\n

\\\\text{CAN1H}<\/p>\n

<\/span><\/span>CAN1H<\/span><\/span><\/span><\/span><\/span><\/span> \u63a5\u9a71\u52a8\u5668 <\/p>\n

CANopen\u00a0IN<\/p>\n

\\\\text{CANopen IN}<\/p>\n

<\/span><\/span>CANopen\u00a0IN<\/span><\/span><\/span><\/span><\/span><\/span> \u7684 <\/p>\n

CAN-H<\/p>\n

\\\\text{CAN-H}<\/p>\n

<\/span><\/span>CAN-H<\/span><\/span><\/span><\/span><\/span><\/span>，<\/p>\n

CAN1L<\/p>\n

\\\\text{CAN1L}<\/p>\n

<\/span><\/span>CAN1L<\/span><\/span><\/span><\/span><\/span><\/span> \u63a5\u9a71\u52a8\u5668 <\/p>\n

CANopen\u00a0IN<\/p>\n

\\\\text{CANopen IN}<\/p>\n

<\/span><\/span>CANopen\u00a0IN<\/span><\/span><\/span><\/span><\/span><\/span> \u7684 <\/p>\n

CAN-L<\/p>\n

\\\\text{CAN-L}<\/p>\n

<\/span><\/span>CAN-L<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\u4e8c Elmo \u4e0a\u4f4d\u673a\u4e0e\u9a71\u52a8\u5668\u7684\u94fe\u8def\u5efa\u7acb<\/h3>\n

1 \u521b\u5efa\u5de5\u4f5c\u7a7a\u95f4（Workspace）<\/h4>\n

\"img\"<\/p>\n

\u81ea\u5b9a\u4e49\u5de5\u4f5c\u7a7a\u95f4\u540d\u79f0，\u5e76\u6307\u5b9a\u672c\u5730\u8def\u5f84\u4f5c\u4e3a\u5de5\u4f5c\u7a7a\u95f4\u7684\u5b58\u50a8\u76ee\u5f55\u3002<\/p>\n

\"img\"<\/p>\n

2 \u6253\u5f00\u5df2\u521b\u5efa\u7684\u5de5\u4f5c\u7a7a\u95f4<\/h4>\n

\"img\" \"img\"<\/p>\n

3 \u6dfb\u52a0\u9a71\u52a8\u5668\u81f3\u5de5\u4f5c\u7a7a\u95f4<\/h4>\n

\"img\" \"img\"<\/p>\n

4 \u901a\u8fc7 RS232 \u4e32\u53e3\u5efa\u7acb\u901a\u8baf\u94fe\u8def<\/h4>\n

\u524d\u7f6e\u8981\u6c42：\u5b8c\u6210\u4e0a\u8ff0\u6240\u6709\u786c\u4ef6\u63a5\u7ebf，\u4e14\u63a5\u7ebf\u65e0\u8bef\u3002<\/p>\n

\"img\" \"img\" \"img\"<\/p>\n

\u4e09 Elmo Quick Tuning \u5feb\u901f\u53c2\u6570\u6574\u5b9a<\/h3>\n

\u5f53 PC \u901a\u8fc7\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u4e0e\u9a71\u52a8\u5668\u5b8c\u6210\u4e32\u53e3\u901a\u8baf\u540e，\u5373\u53ef\u542f\u52a8\u7535\u673a\u7684\u5feb\u901f\u8c03\u53c2\u6d41\u7a0b\u3002<\/p>\n

\"img\" \"img\"<\/p>\n

1 Axis Configurations \u8f74\u7cfb\u914d\u7f6e<\/h4>\n

\"img\" \u914d\u7f6e\u5b8c\u6210\u540e，\u70b9\u51fb <\/p>\n

Apply<\/p>\n

\\\\text{Apply}<\/p>\n

<\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span> \u5199\u5165\u53c2\u6570\u3002<\/p>\n

2 Motor Settings \u7535\u673a\u53c2\u6570\u914d\u7f6e<\/h4>\n

\u53c2\u7167\u672c\u6587\u7b2c\u4e00\u7ae0\u8282\u7684\u7535\u673a\u89c4\u683c\u4e66，\u5f55\u5165\u5339\u914d\u7684\u7535\u673a\u989d\u5b9a\u53c2\u6570，\u4e0d\u540c\u578b\u53f7\u7535\u673a\u9700\u6309\u5bf9\u5e94\u624b\u518c\u8c03\u6574\u53c2\u6570\u3002<\/p>\n

\"img\" \"img\" \"img\" \u914d\u7f6e\u5b8c\u6210\u540e，\u70b9\u51fb <\/p>\n

Apply<\/p>\n

\\\\text{Apply}<\/p>\n

<\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span> \u5199\u5165\u53c2\u6570\u3002<\/p>\n

3 Feedback Settings \u53cd\u9988\u53c2\u6570\u914d\u7f6e<\/h4>\n

\u7535\u673a\u5e38\u7528\u7684\u53cd\u9988\u5143\u4ef6\u5206\u4e3a \u589e\u91cf\u5f0f\u5dee\u5206\u7f16\u7801\u5668（ABZ \u4fe1\u53f7） \u4e0e \u7edd\u5bf9\u5f0f\u7f16\u7801\u5668，\u672c\u914d\u7f6e\u6848\u4f8b\u4ee5\u589e\u91cf\u5f0f\u5dee\u5206\u7f16\u7801\u5668\u4e3a\u4f8b\u3002 \u9a71\u52a8\u5668\u7684\u53cd\u9988\u63a5\u53e3\u5305\u542b <\/p>\n

Port\u00a0A\/Port\u00a0B\/Port\u00a0C<\/p>\n

\\\\text{Port A\/Port B\/Port C}<\/p>\n

<\/span><\/span>Port\u00a0A\/Port\u00a0B\/Port\u00a0C<\/span><\/span><\/span><\/span><\/span><\/span>，\u4e0a\u4f4d\u673a\u7684\u63a5\u53e3\u9009\u62e9\u4e0e\u786c\u4ef6\u63a5\u7ebf\u4e25\u683c\u5bf9\u5e94；\u9a71\u52a8\u5668\u5185\u90e8\u5bf9 <\/p>\n

Port\u00a0B\/Port\u00a0C<\/p>\n

\\\\text{Port B\/Port C}<\/p>\n

<\/span><\/span>Port\u00a0B\/Port\u00a0C<\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u9002\u914d\u6027，\u9700\u4e0e\u5382\u5546\u786e\u8ba4\u3002<\/p>\n

\"img\"<\/p>\n

\u672c\u6848\u4f8b\u7684\u786c\u4ef6\u63a5\u7ebf\u4e3a\u9a71\u52a8\u5668\u7684 <\/p>\n

Port\u00a0A<\/p>\n

\\\\text{Port A}<\/p>\n

<\/span><\/span>Port\u00a0A<\/span><\/span><\/span><\/span><\/span><\/span>，\u53cd\u9988\u5143\u4ef6\u4e3a\u589e\u91cf\u5f0f\u5dee\u5206\u7f16\u7801\u5668，\u6545\u4e0a\u4f4d\u673a\u914d\u7f6e\u9009\u62e9 <\/p>\n

Encoder\u00a0Quad,\u00a0Port\u00a0A<\/p>\n

\\\\text{Encoder Quad, Port A}<\/p>\n

<\/span><\/span>Encoder\u00a0Quad,\u00a0Port\u00a0A<\/span><\/span><\/span><\/span><\/span><\/span>（<\/p>\n

Quad<\/p>\n

\\\\text{Quad}<\/p>\n

<\/span><\/span>Quad<\/span><\/span><\/span><\/span><\/span><\/span> \u4ee3\u8868\u65b9\u6ce2\u4fe1\u53f7）；\u82e5\u786c\u4ef6\u63a5\u7ebf\u4e3a <\/p>\n

Port\u00a0B<\/p>\n

\\\\text{Port B}<\/p>\n

<\/span><\/span>Port\u00a0B<\/span><\/span><\/span><\/span><\/span><\/span> \u4e14\u9a71\u52a8\u5668\u652f\u6301，\u5219\u9009\u62e9 <\/p>\n

Encoder\u00a0Quad,\u00a0Port\u00a0B<\/p>\n

\\\\text{Encoder Quad, Port B}<\/p>\n

<\/span><\/span>Encoder\u00a0Quad,\u00a0Port\u00a0B<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\"img\"<\/p>\n

\u9009\u578b\u5efa\u8bae：\u53cd\u9988\u5143\u4ef6\u7c7b\u578b\u7684\u914d\u7f6e\u5b58\u5728\u591a\u9009\u9879，\u82e5\u65e0\u6cd5\u786e\u5b9a\u9002\u914d\u9009\u578b，\u53ef\u76f4\u63a5\u54a8\u8be2\u7f16\u7801\u5668\u6216\u9a71\u52a8\u5668\u5382\u5546\u83b7\u53d6\u7cbe\u51c6\u6307\u5bfc\u3002<\/p>\n

\u9009\u578b\u5b8c\u6210\u540e，\u5f55\u5165\u7f16\u7801\u5668\u7684\u53c2\u6570：\u672c\u6848\u4f8b\u4e2d\u7f16\u7801\u5668\u7684 <\/p>\n

counts\/revolution<\/p>\n

=<\/p>\n

2<\/p>\n

\u00d7<\/p>\n

10<\/p>\n

6<\/p>\n

\\\\text{counts\/revolution}=2\\\\times10^6<\/p>\n

<\/span><\/span>counts\/revolution<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>2<\/span><\/span>\u00d7<\/span><\/span><\/span><\/span>1<\/span>0<\/span><\/span>6<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>，\u5373\u7535\u673a\u5355\u5708\u5bf9\u5e94 <\/p>\n

200<\/p>\n

200<\/p>\n

<\/span><\/span>200<\/span><\/span><\/span><\/span><\/span> \u4e07\u4e2a\u8109\u51b2\u6570\u3002 \u7f16\u7801\u5668\u7ebf\u6570\u4e0e\u8109\u51b2\u6570\u7684\u6362\u7b97\u5173\u7cfb\u4e3a 4\u500d\u9891，\u5373\u6807\u79f0\u7ebf\u6570 $\\\\times4 = $ \u5b9e\u9645\u8109\u51b2\u6570\/\u5708\u3002<\/p>\n

\"img\"<\/p>\n

\u63a5\u7ebf\u4e0e\u914d\u7f6e\u7684\u9a8c\u8bc1\u65b9\u6cd5：\u624b\u52a8\u8f6c\u52a8\u7535\u673a\u8f74，\u82e5\u4e0a\u4f4d\u673a\u7684 <\/p>\n

Position<\/p>\n

\\\\text{Position}<\/p>\n

<\/span><\/span>Position<\/span><\/span><\/span><\/span><\/span><\/span> \u6570\u503c\u968f\u7535\u673a\u8f6c\u52a8\u5b9e\u65f6\u53d8\u5316，\u5219\u8bf4\u660e\u786c\u4ef6\u63a5\u7ebf\u4e0e\u53c2\u6570\u914d\u7f6e\u65e0\u8bef\u3002<\/p>\n

\"img\" \u914d\u7f6e\u65e0\u8bef\u540e，\u70b9\u51fb <\/p>\n

Apply<\/p>\n

\\\\text{Apply}<\/p>\n

<\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span> \u5199\u5165\u53c2\u6570\u3002<\/p>\n

4 Automatic Tuning \u81ea\u52a8\u53c2\u6570\u6574\u5b9a<\/h4>\n

\u5b8c\u6210\u8f74\u7cfb\u914d\u7f6e\u3001\u7535\u673a\u53c2\u6570\u914d\u7f6e\u3001\u7f16\u7801\u5668\u53c2\u6570\u914d\u7f6e\u540e，\u5373\u53ef\u542f\u52a8\u81ea\u52a8\u6574\u5b9a\u6d41\u7a0b，\u70b9\u51fb <\/p>\n

Run<\/p>\n

\u00a0<\/p>\n

Automatic<\/p>\n

\u00a0<\/p>\n

Tuning<\/p>\n

\\\\textbf{Run Automatic Tuning}<\/p>\n

<\/span><\/span>Run\u00a0Automatic\u00a0Tuning<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

\"img\"<\/p>\n

\u6574\u5b9a\u542f\u52a8\u540e，\u8f6f\u4ef6\u5c06\u81ea\u52a8\u5b8c\u6210\u5168\u6d41\u7a0b\u53c2\u6570\u6d4b\u7b97，\u8be5\u8fc7\u7a0b\u4e2d\u7535\u673a\u4f1a\u4ea7\u751f\u65cb\u8f6c\u52a8\u4f5c，\u91cd\u8981\u8b66\u793a：\u82e5\u7535\u673a\u56e0\u673a\u68b0\u7ed3\u6784\u9650\u5236\u65e0\u6cd5\u65e0\u9650\u5236\u65cb\u8f6c，\u5219\u7981\u6b62\u542f\u7528\u672c\u529f\u80fd\u3002<\/p>\n

\"img\"<\/p>\n

\u6574\u5b9a\u8fc7\u7a0b\u4e2d\u8f6f\u4ef6\u5c06\u5f39\u51fa\u9636\u6bb5\u6027\u63d0\u793a，\u5176\u4e2d <\/p>\n

Commutation<\/p>\n

\\\\text{Commutation}<\/p>\n

<\/span><\/span>Commutation<\/span><\/span><\/span><\/span><\/span><\/span>（\u6362\u76f8\u5411）\u4e3a\u6574\u5b9a\u7684\u91cd\u8981\u73af\u8282，\u8be5\u73af\u8282\u6574\u5b9a\u6210\u529f\u7684\u7279\u5f81\u4e3a：\u7535\u673a\u672b\u7aef\u53d1\u51fa <\/p>\n

w<\/p>\n

u<\/p>\n

\u223c<\/p>\n

\\\\boldsymbol{wu\\\\sim}<\/p>\n

<\/span><\/span>wu<\/span><\/span>\u223c<\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u8c10\u632f\u97f3\u3002\u81ea\u52a8\u6574\u5b9a\u7684\u6545\u969c\u9ad8\u53d1\u70b9\u4e3a\u6362\u76f8\u5411\u73af\u8282，\u82e5\u8be5\u73af\u8282\u5931\u8d25，\u9700\u91c7\u7528\u4e0b\u6587\u7684 \u4e13\u5bb6\u8c03\u53c2\u6a21\u5f0f \u624b\u52a8\u5b8c\u6210\u5168\u6d41\u7a0b\u6574\u5b9a\u3002<\/p>\n

\"img\" \"img\"<\/p>\n

\u53c2\u6570\u5907\u4efd：\u6574\u5b9a\u5b8c\u6210\u540e\u5efa\u8bae\u5bf9\u9a71\u52a8\u5668\u5f53\u524d\u53c2\u6570\u6267\u884c\u5907\u4efd，\u4fbf\u4e8e\u540e\u671f\u53c2\u6570\u8c03\u4f18\u5931\u6548\u65f6\u7684\u56de\u6eda\u64cd\u4f5c\u3002<\/p>\n

\"img\"<\/p>\n

\u56db \u8f6c\u901f\u7ed9\u5b9a\u4e0e\u914d\u7f6e\u9a8c\u8bc1<\/h3>\n

\u91cd\u8981\u8b66\u793a：\u9a8c\u8bc1\u8fc7\u7a0b\u4e2d\u7535\u673a\u4f1a\u6309\u7ed9\u5b9a\u8f6c\u901f\u6301\u7eed\u65cb\u8f6c，\u82e5\u7535\u673a\u56e0\u673a\u68b0\u7ea6\u675f\u65e0\u6cd5\u65e0\u9650\u5236\u65cb\u8f6c，\u9700\u6682\u505c\u672c\u73af\u8282\u64cd\u4f5c\u3002<\/p>\n

\"img\" \"img\"<\/p>\n

\u9a8c\u8bc1\u6d41\u7a0b：<\/p>\n

  • \u70b9\u51fb \n

    Enable<\/p>\n

    \\\\text{Enable}<\/p>\n

    <\/span><\/span>Enable<\/span><\/span><\/span><\/span><\/span><\/span> \u4f7f\u80fd\u7535\u673a，\u9a71\u52a8\u5668\u6807\u8bc6 <\/p>\n

    Drive01<\/p>\n

    \\\\text{Drive01}<\/p>\n

    <\/span><\/span>Drive01<\/span><\/span><\/span><\/span><\/span><\/span> \u53f3\u4e0b\u89d2\u7684\u7ea2\u8272\u6307\u793a\u706f\u5c06\u5207\u6362\u4e3a\u7eff\u8272，\u4ee3\u8868\u7535\u673a\u8fdb\u5165\u5c31\u7eea\u72b6\u6001；<\/li>\n

  • \u901a\u8fc7 \n

    Jogging<\/p>\n

    \\\\text{Jogging}<\/p>\n

    <\/span><\/span>Jogging<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5757\u7684\u65b9\u5411\u5f00\u5173\u63a7\u5236\u7535\u673a\u65cb\u8f6c\u65b9\u5411，\u672a\u89e6\u53d1\u65b9\u5411\u9009\u62e9\u65f6\u7535\u673a\u65e0\u52a8\u4f5c，\u5207\u6362\u5f00\u5173\u53ef\u5b9e\u73b0\u6b63\u53cd\u8f6c\u5207\u6362\u3002<\/li>\n

    \u9a8c\u8bc1\u5408\u683c\u6807\u51c6：\u7535\u673a\u53ef\u6309\u9884\u8bbe\u53c2\u6570（\u793a\u4f8b\u4e3a <\/p>\n

    1<\/p>\n

    \u00a0r\/s<\/p>\n

    1\\\\ \\\\text{r\/s}<\/p>\n

    <\/span><\/span>1<\/span>\u00a0<\/span>r\/s<\/span><\/span><\/span><\/span><\/span><\/span>）\u7a33\u5b9a\u65cb\u8f6c，\u65e0\u5835\u8f6c\u3001\u5f02\u54cd\u3001\u62a5\u9519\u7b49\u5f02\u5e38\u73b0\u8c61\u3002<\/p>\n

    \n

    Elmo \u9a71\u52a8\u5668\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u7684\u8fdb\u9636\u914d\u7f6e<\/h2>\n

    \u6c5f\u6e56\u4e0a\u90fd\u53eb\u6211\u79cb\u535a \u5df2\u4e8e 2024-12-11 11:02:23 \u4fee\u6539<\/p>\n

    \u672c\u6587\u4e3a\u57fa\u7840\u914d\u7f6e\u7684\u7eed\u7bc7，\u5185\u5bb9\u4e3a：\u5728\u7535\u673a\u4f4d\u7f6e\u5b58\u5728\u673a\u68b0\u7ea6\u675f\u7684\u5de5\u51b5\u4e0b，\u5b8c\u6210\u9a71\u52a8\u5668\u7684\u5168\u6d41\u7a0b\u624b\u52a8\u53c2\u6570\u6574\u5b9a，\u540c\u65f6\u8865\u5145\u5b9e\u64cd\u8c03\u8bd5\u65b9\u6cd5\u4e0e\u5173\u952e\u6ce8\u610f\u4e8b\u9879\u3002<\/p>\n

    \u4e00 \u786c\u4ef6\u53c2\u6570\u8bf4\u660e<\/h3>\n

    \u672c\u914d\u7f6e\u9009\u7528\u7684\u5b9e\u9a8c\u8bbe\u5907\u5b58\u5728\u7535\u673a\u4f4d\u7f6e\u7ea6\u675f，\u786c\u4ef6\u53c2\u6570\u5982\u4e0b：<\/p>\n

    1 \u7f16\u7801\u5668\u53c2\u6570<\/h4>\n

    \u8bfb\u6570\u5934\u4f4d\u5bbd：<\/p>\n

    26<\/p>\n

    \u00a0bit<\/p>\n

    26\\\\ \\\\text{bit}<\/p>\n

    <\/span><\/span>26<\/span>\u00a0<\/span>bit<\/span><\/span><\/span><\/span><\/span><\/span>；\u901a\u8baf\u534f\u8bae：<\/p>\n

    Biss-C<\/p>\n

    \\\\text{Biss-C}<\/p>\n

    <\/span><\/span>Biss-C<\/span><\/span><\/span><\/span><\/span><\/span>；\u7c7b\u578b：\u7edd\u5bf9\u5f0f\u7f16\u7801\u5668\u3002<\/p>\n

    2 \u7535\u673a\u89c4\u683c\u4e66\u53c2\u6570<\/h4>\n

    \"img\"<\/p>\n

    \u4e8c Elmo Expert Tuning \u4e13\u5bb6\u6a21\u5f0f\u914d\u7f6e<\/h3>\n

    \u524d\u7f6e\u8bf4\u660e：\u6240\u6709\u53c2\u6570\u914d\u7f6e\u5b8c\u6210\u540e，\u5747\u9700\u70b9\u51fb <\/p>\n

    Apply<\/p>\n

    \\\\textbf{Apply}<\/p>\n

    <\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span> \u5b8c\u6210\u5199\u5165，\u4e0b\u6587\u5c06\u4e0d\u518d\u91cd\u590d\u6807\u6ce8\u8be5\u64cd\u4f5c\u3002<\/p>\n

    \"img\"<\/p>\n

    <\/p>\n

    Expert\u00a0Tuning<\/p>\n

    \\\\text{Expert Tuning}<\/p>\n

    <\/span><\/span>Expert\u00a0Tuning<\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a\u5168\u624b\u52a8\u8c03\u53c2\u6a21\u5f0f，\u8be5\u6a21\u5f0f\u5f00\u653e\u4e86 <\/p>\n

    Quick\u00a0Tuning<\/p>\n

    \\\\text{Quick Tuning}<\/p>\n

    <\/span><\/span>Quick\u00a0Tuning<\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u5168\u90e8\u7ec6\u8282\u914d\u7f6e\u9879，\u5305\u542b <\/p>\n

    Axis\u00a0configurations\u3001Motor\u00a0Settings\u3001Feedback\u00a0Settings<\/p>\n

    \\\\text{Axis configurations\u3001Motor Settings\u3001Feedback Settings}<\/p>\n

    <\/span><\/span>Axis\u00a0configurations<\/span>\u3001<\/span>Motor\u00a0Settings<\/span>\u3001<\/span>Feedback\u00a0Settings<\/span><\/span><\/span><\/span><\/span><\/span> \u7b49\u57fa\u7840\u6a21\u5757，\u540c\u65f6\u589e\u8bbe\u591a\u7ea7\u7cbe\u7ec6\u5316\u914d\u7f6e\u9879\u3002<\/p>\n

    1 Axis configurations \u8f74\u7cfb\u914d\u7f6e<\/h4>\n

    \u65e0\u65b0\u589e\u914d\u7f6e\u9879，\u5e38\u89c4\u9009\u62e9：\u5355\u8f74\u3001\u65cb\u8f6c\u7535\u673a-\u65cb\u8f6c\u8d1f\u8f7d\u3001\u5355\u53cd\u9988\u3001\u901f\u5ea6\u6a21\u5f0f，\u5b8c\u6210\u914d\u7f6e\u540e\u6267\u884c <\/p>\n

    Apply<\/p>\n

    \\\\text{Apply}<\/p>\n

    <\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

    2 Motor Settings \u7535\u673a\u53c2\u6570\u914d\u7f6e<\/h4>\n

    \u672c\u6848\u4f8b\u66f4\u6362\u4e86\u9a71\u52a8\u7535\u673a，\u9700\u6309\u65b0\u7535\u673a\u7684\u89c4\u683c\u4e66\u66f4\u65b0\u53c2\u6570；\u6ce8\u610f\u4e8b\u9879： \u672c\u5b9e\u9a8c\u7684\u4f9b\u7535\u7535\u6e90\u6781\u9650\u4e3a <\/p>\n

    30<\/p>\n

    \u00a0V<\/p>\n

    \/<\/p>\n

    3<\/p>\n

    \u00a0A<\/p>\n

    30\\\\ \\\\text{V}\/3\\\\ \\\\text{A}<\/p>\n

    <\/span><\/span>30<\/span>\u00a0<\/span>V<\/span><\/span>\/3<\/span>\u00a0<\/span>A<\/span><\/span><\/span><\/span><\/span><\/span>，\u82e5\u6309\u7535\u673a\u624b\u518c\u5f55\u5165\u5cf0\u503c\u7535\u6d41 <\/p>\n

    16.4<\/p>\n

    \u00a0A<\/p>\n

    16.4\\\\ \\\\text{A}<\/p>\n

    <\/span><\/span>16.4<\/span>\u00a0<\/span>A<\/span><\/span><\/span><\/span><\/span><\/span>\u3001\u8fde\u7eed\u5835\u8f6c\u7535\u6d41 <\/p>\n

    9.3<\/p>\n

    \u00a0A<\/p>\n

    9.3\\\\ \\\\text{A}<\/p>\n

    <\/span><\/span>9.3<\/span>\u00a0<\/span>A<\/span><\/span><\/span><\/span><\/span><\/span>，\u5c06\u5bfc\u81f4\u6574\u5b9a\u6d41\u7a0b\u5931\u8d25，\u751a\u81f3\u70e7\u6bc1\u4f9b\u7535\u6a21\u5757\u3002\u56e0\u6b64\u9700\u5bf9\u7535\u6d41\u53c2\u6570\u505a\u9002\u914d\u4e0b\u8c03，\u672c\u6848\u4f8b\u4e2d\u914d\u7f6e\u4e3a：\u5cf0\u503c\u7535\u6d41 <\/p>\n

    8<\/p>\n

    \u00a0A<\/p>\n

    8\\\\ \\\\text{A}<\/p>\n

    <\/span><\/span>8<\/span>\u00a0<\/span>A<\/span><\/span><\/span><\/span><\/span><\/span>，\u8fde\u7eed\u5835\u8f6c\u7535\u6d41 <\/p>\n

    4<\/p>\n

    \u00a0A<\/p>\n

    4\\\\ \\\\text{A}<\/p>\n

    <\/span><\/span>4<\/span>\u00a0<\/span>A<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

    \"img\"<\/p>\n

    3 Feedback Settings \u53cd\u9988\u53c2\u6570\u914d\u7f6e<\/h4>\n

    \u672c\u6848\u4f8b\u7684\u53cd\u9988\u5143\u4ef6\u66f4\u6362\u4e3a\u7edd\u5bf9\u5f0f\u7f16\u7801\u5668，\u9700\u91cd\u65b0\u9009\u62e9\u7f16\u7801\u5668\u7c7b\u578b，\u9009\u578b\u7ed3\u8bba：\u9009\u62e9 <\/p>\n

    Biss<\/p>\n

    \u00a0<\/p>\n

    General<\/p>\n

    \\\\textbf{Biss General}<\/p>\n

    <\/span><\/span>Biss\u00a0General<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

    \u9009\u578b\u4f9d\u636e： \"img\"<\/p>\n

    \u53c2\u6570\u5f55\u5165：\u7f16\u7801\u5668\u4e3a <\/p>\n

    26<\/p>\n

    \u00a0bit<\/p>\n

    26\\\\ \\\\text{bit}<\/p>\n

    <\/span><\/span>26<\/span>\u00a0<\/span>bit<\/span><\/span><\/span><\/span><\/span><\/span> \u5355\u5708\u7edd\u5bf9\u5f0f，\u9700\u57fa\u4e8e\u8be5\u53c2\u6570\u5b8c\u6210\u53cd\u9988\u5143\u4ef6\u7684\u5168\u91cf\u914d\u7f6e\u3002<\/p>\n

    \"img\"<\/p>\n

    4 Display User Units \u663e\u793a\u5355\u4f4d\u914d\u7f6e<\/h4>\n

    \u8be5\u6a21\u5757\u4e3a\u4e2a\u6027\u5316\u914d\u7f6e\u9879，\u53ef\u6309\u9700\u9009\u62e9\u4f4d\u79fb\u3001\u901f\u5ea6\u7684\u663e\u793a\u5355\u4f4d，\u5982：\u4f4d\u7f6e\u5355\u4f4d\u53ef\u9009 <\/p>\n

    counts<\/p>\n

    \\\\text{counts}<\/p>\n

    <\/span><\/span>counts<\/span><\/span><\/span><\/span><\/span><\/span> \u6216 <\/p>\n

    \u2218<\/p>\n

    ^\\\\circ<\/p>\n

    <\/span><\/span><\/span><\/span>\u2218<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>，\u901f\u5ea6\u5355\u4f4d\u53ef\u9009 <\/p>\n

    \u2218<\/p>\n

    \/<\/p>\n

    s<\/p>\n

    ^\\\\circ\/\\\\text{s}<\/p>\n

    <\/span><\/span><\/span><\/span>\u2218<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\/<\/span>s<\/span><\/span><\/span><\/span><\/span><\/span> \u6216 <\/p>\n

    RPM<\/p>\n

    \\\\text{RPM}<\/p>\n

    <\/span><\/span>RPM<\/span><\/span><\/span><\/span><\/span><\/span>（\u8f6c\/\u5206）\u3002<\/p>\n

    \"img\" \"img\"<\/p>\n

    5 Limits and protections \u9650\u503c\u4e0e\u4fdd\u62a4\u914d\u7f6e<\/h4>\n

    \u8be5\u6a21\u5757\u4e3a\u672c\u6b21\u8fdb\u9636\u914d\u7f6e\u7684\u91cd\u70b9，\u6240\u6709\u5b50\u9879\u5747\u4e3a\u4f4d\u7f6e\u7ea6\u675f\u5de5\u51b5\u7684\u5173\u952e\u914d\u7f6e\u3002<\/p>\n

    5.1 Current Limits \u7535\u6d41\u9650\u5236<\/h5>\n

    \u8be5\u6a21\u5757\u53ef\u6cbf\u7528\u8f6f\u4ef6\u9ed8\u8ba4\u53c2\u6570，\u65e0\u9700\u989d\u5916\u8c03\u6574\u3002<\/p>\n

    \"img\"<\/p>\n

    5.2 Motions Limits and Modulo \u8fd0\u52a8\u9650\u5236\u4e0e\u5468\u671f\u914d\u7f6e<\/h5>\n

    <\/p>\n

    \u914d\u7f6e<\/p>\n

    \\\\boldsymbol{\u914d\u7f6e}<\/p>\n

    <\/span><\/span>\u914d\u7f6e<\/span><\/span><\/span><\/span><\/span><\/span><\/span>：<\/p>\n

    Modulo\u00a0Options<\/p>\n

    \\\\text{Modulo Options}<\/p>\n

    <\/span><\/span>Modulo\u00a0Options<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u62e9 <\/p>\n

    Using<\/p>\n

    \u00a0<\/p>\n

    Position<\/p>\n

    \u00a0<\/p>\n

    Limits<\/p>\n

    \\\\textbf{Using Position Limits}<\/p>\n

    <\/span><\/span>Using\u00a0Position\u00a0Limits<\/span><\/span><\/span><\/span><\/span><\/span>，\u8be5\u914d\u7f6e\u4e3a\u4f4d\u7f6e\u7ea6\u675f\u5de5\u51b5\u7684\u4fdd\u969c，\u53ef\u9650\u5b9a\u7535\u673a\u7684\u6700\u5927\u65cb\u8f6c\u884c\u7a0b，\u907f\u514d\u673a\u68b0\u9650\u4f4d\u5e72\u6d89\u3002<\/p>\n

    \"img\" \"img\"<\/p>\n

    5.3 Protections \u786c\u4ef6\u4fdd\u62a4\u914d\u7f6e<\/h5>\n

    \"img\"<\/p>\n

    6 Application Settings \u5e94\u7528\u5c42\u914d\u7f6e<\/h4>\n

    \u672c\u6848\u4f8b\u6682\u65e0\u9700\u8c03\u6574，\u6cbf\u7528\u9ed8\u8ba4\u53c2\u6570\u5373\u53ef\u3002<\/p>\n

    7 Current \u7535\u6d41\u73af\u6574\u5b9a（\u8fa8\u8bc6-\u8bbe\u8ba1-\u9a8c\u8bc1）<\/h4>\n

    \u5b89\u5168\u8b66\u793a：\u5373\u4fbf\u5b8c\u6210\u4e86\u4f4d\u7f6e\u9650\u4f4d\u914d\u7f6e，\u672c\u73af\u8282\u64cd\u4f5c\u524d\u4ecd\u9700\u624b\u52a8\u5c06\u7535\u673a\u65cb\u8f6c\u81f3\u4f4d\u7f6e\u6781\u9650\u7684\u4e2d\u5fc3\u70b9，\u89c4\u907f\u673a\u68b0\u78b0\u649e\u98ce\u9669\u3002<\/p>\n

    \"img\"<\/p>\n

    7.1 Identification \u8fa8\u8bc6\u73af\u8282<\/h5>\n

    \"img\"<\/p>\n

    7.2 Design \u8bbe\u8ba1\u73af\u8282<\/h5>\n

    \"img\" \"img\"<\/p>\n

    7.3 Verification \u9a8c\u8bc1\u73af\u8282<\/h5>\n

    \"img\"<\/p>\n

    \u9a8c\u8bc1\u5408\u683c\u540e，\u70b9\u51fb\u539f <\/p>\n

    Verify<\/p>\n

    \\\\text{Verify}<\/p>\n

    <\/span><\/span>Verify<\/span><\/span><\/span><\/span><\/span><\/span> \u6309\u94ae\u4f4d\u7f6e\u7684 <\/p>\n

    Stop<\/p>\n

    \\\\text{Stop}<\/p>\n

    <\/span><\/span>Stop<\/span><\/span><\/span><\/span><\/span><\/span> \u7ec8\u6b62\u9a8c\u8bc1\u6d41\u7a0b；\u9a8c\u8bc1\u7684\u9ed8\u8ba4\u6d4b\u8bd5\u4e3a\u8ddf\u8e2a\u65f6\u57df\u65b9\u6ce2\u4fe1\u53f7，\u82e5\u8ddf\u8e2a\u6548\u679c\u4e0d\u4f73，\u9700\u8fd4\u56de 7.2 \u73af\u8282\u91cd\u65b0\u6574\u5b9a\u53c2\u6570\u3002<\/p>\n

    8 Commutation \u6362\u76f8\u5411\u4e0e\u65b9\u5411\u6807\u5b9a<\/h4>\n

    \u5b89\u5168\u8b66\u793a：\u672c\u73af\u8282\u64cd\u4f5c\u524d，\u5fc5\u987b\u5c06\u7535\u673a\u624b\u52a8\u65cb\u8f6c\u81f3\u4f4d\u7f6e\u6781\u9650\u7684\u4e2d\u5fc3\u70b9\u3002<\/p>\n

    \"img\" \"img\" \"img\" \"img\"<\/p>\n

    \u65b9\u5411\u6807\u5b9a\u5b8c\u6210\u540e，\u7535\u673a\u7684\u6b63\u3001\u8d1f\u65cb\u8f6c\u65b9\u5411\u5c06\u88ab\u56fa\u5316，\u540e\u7eed\u8fd0\u52a8\u63a7\u5236\u7684\u65b9\u5411\u6307\u4ee4\u5747\u57fa\u4e8e\u8be5\u6807\u5b9a\u7ed3\u679c\u6267\u884c\u3002<\/p>\n

    9 Velocity and Position \u901f\u5ea6\u73af\u4e0e\u4f4d\u7f6e\u73af\u6574\u5b9a<\/h4>\n

    9.1 Identification \u8fa8\u8bc6\u73af\u8282<\/h5>\n

    \u5b89\u5168\u8b66\u793a：\u64cd\u4f5c\u524d\u9700\u5c06\u7535\u673a\u65cb\u8f6c\u81f3\u4f4d\u7f6e\u6781\u9650\u7684\u4e2d\u5fc3\u70b9\u3002<\/p>\n

    \"img\" \"img\"<\/p>\n

    9.2 Design \u8bbe\u8ba1\u73af\u8282<\/h5>\n

    \"img\" \"img\"<\/p>\n

    9.3 scheduing \u53c2\u6570\u8c03\u5ea6\u914d\u7f6e<\/h5>\n

    \u8be5\u6a21\u5757\u4e3a\u8fdb\u9636\u4f18\u5316\u9879，\u5e38\u89c4\u8c03\u8bd5\u4e2d\u6cbf\u7528\u9ed8\u8ba4\u53c2\u6570\u5373\u53ef\u3002<\/p>\n

    \"img\"<\/p>\n

    9.4 Verification \u9a8c\u8bc1\u73af\u8282<\/h5>\n

    \u5b89\u5168\u8b66\u793a：\u64cd\u4f5c\u524d\u9700\u5c06\u7535\u673a\u65cb\u8f6c\u81f3\u4f4d\u7f6e\u6781\u9650\u7684\u4e2d\u5fc3\u70b9\u3002<\/p>\n

    \"img\"<\/p>\n

    \u5b9e\u64cd\u5efa\u8bae：\u672c\u73af\u8282\u4ec5\u6267\u884c\u901f\u5ea6\u9a8c\u8bc1\u5373\u53ef，\u65e0\u9700\u6267\u884c\u4f4d\u7f6e\u9a8c\u8bc1\u3002<\/p>\n

    \"img\"<\/p>\n

    \u9a8c\u8bc1\u5408\u683c\u6807\u51c6：\u7535\u673a\u53ef\u6309\u7ed9\u5b9a\u901f\u5ea6\u7a33\u5b9a\u65cb\u8f6c，\u4e14\u505c\u673a\u4f4d\u7f6e\u4e25\u683c\u7ea6\u675f\u5728 5.2 \u73af\u8282\u8bbe\u5b9a\u7684\u9650\u4f4d\u533a\u95f4\u5185\u3002<\/p>\n

    10 Summary \u53c2\u6570\u5907\u4efd\u4e0e\u56fa\u5316<\/h4>\n

    \u8be5\u6a21\u5757\u4e3a\u8c03\u53c2\u7684\u6536\u5c3e\u73af\u8282，\u64cd\u4f5c：\u4e0b\u8f7d\u9a71\u52a8\u5668\u539f\u6709\u53c2\u6570\u505a\u5907\u4efd，\u5c06\u672c\u6b21\u6574\u5b9a\u7684\u6700\u4f18\u53c2\u6570\u4e0a\u4f20\u5e76\u56fa\u5316\u81f3\u9a71\u52a8\u5668，\u5b8c\u6210\u5168\u6d41\u7a0b\u8c03\u53c2\u3002<\/p>\n

    \"img\"<\/p>\n

    \n

    GD32 \u4e0e Elmo \u9a71\u52a8\u5668\u7684 CANopen-SDO \u901a\u8baf\u5b9e\u73b0<\/h2>\n

    \u6c5f\u6e56\u4e0a\u90fd\u53eb\u6211\u79cb\u535a \u5df2\u4e8e 2024-12-11 11:01:54 \u4fee\u6539<\/p>\n

    \u672c\u6587\u5185\u5bb9：\u57fa\u4e8e <\/p>\n

    CANopen-SDO<\/p>\n

    \\\\text{CANopen-SDO}<\/p>\n

    <\/span><\/span>CANopen-SDO<\/span><\/span><\/span><\/span><\/span><\/span> \u901a\u8baf\u534f\u8bae，\u5b9e\u73b0 GD32 \u63a7\u5236\u5668\u5bf9 Elmo \u9a71\u52a8\u5668\u7684\u901f\u5ea6\u6a21\u5f0f\u3001\u4f4d\u7f6e\u6a21\u5f0f\u63a7\u5236；\u6280\u672f\u8bf4\u660e：<\/p>\n

    CANopen-SDO<\/p>\n

    \\\\text{CANopen-SDO}<\/p>\n

    <\/span><\/span>CANopen-SDO<\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a\u4f4e\u901f\u901a\u8baf\u534f\u8bae，\u5b9e\u65f6\u6027\u8f83\u5f31，\u4ec5\u9002\u7528\u4e8e\u7535\u673a\u901f\u5ea6\/\u4f4d\u7f6e\u65e0\u9700\u9891\u7e41\u4fee\u6539\u7684\u5de5\u51b5，\u5c5e\u4e8e Elmo \u9a71\u52a8\u5668\u7684\u57fa\u7840\u5e94\u7528\u573a\u666f\u3002\u672c\u6587\u540c\u65f6\u63d0\u4f9b\u5df2\u79fb\u690d <\/p>\n

    CANfestival<\/p>\n

    \\\\text{CANfestival}<\/p>\n

    <\/span><\/span>CANfestival<\/span><\/span><\/span><\/span><\/span><\/span> \u5f00\u6e90\u5e93\u7684 GD32 \u5d4c\u5165\u5f0f\u5b8c\u6574\u4ee3\u7801\u3002<\/p>\n

    \u4e00 Elmo \u9a71\u52a8\u5668\u7684 Node-ID \u4e0e CAN \u6ce2\u7279\u7387\u914d\u7f6e<\/h3>\n

    Elmo \u9a71\u52a8\u5668\u51fa\u5382\u7684 <\/p>\n

    Node-ID<\/p>\n

    \\\\text{Node-ID}<\/p>\n

    <\/span><\/span>Node-ID<\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a\u672a\u77e5\u72b6\u6001，\u800c <\/p>\n

    CANopen<\/p>\n

    \\\\text{CANopen}<\/p>\n

    <\/span><\/span>CANopen<\/span><\/span><\/span><\/span><\/span><\/span> \u63a7\u5236\u5668\u7684\u5bf9\u8c61\u5b57\u5178\u914d\u7f6e\u5b8c\u5168\u4f9d\u8d56\u9a71\u52a8\u5668\u7684 <\/p>\n

    Node-ID<\/p>\n

    \\\\text{Node-ID}<\/p>\n

    <\/span><\/span>Node-ID<\/span><\/span><\/span><\/span><\/span><\/span>，\u56e0\u6b64\u8be5\u53c2\u6570\u4e3a\u901a\u8baf\u914d\u7f6e\u7684\u9996\u8981\u9879；\u540c\u65f6\u9700\u4fdd\u8bc1\u63a7\u5236\u5668\u4e0e\u9a71\u52a8\u5668\u7684 <\/p>\n

    CAN<\/p>\n

    \\\\text{CAN}<\/p>\n

    <\/span><\/span>CAN<\/span><\/span><\/span><\/span><\/span><\/span> \u6ce2\u7279\u7387\u4e00\u81f4，\u65b9\u53ef\u5efa\u7acb\u6709\u6548\u901a\u8baf\u3002 \u9a71\u52a8\u5668\u7684\u53c2\u6570\u914d\u7f6e\u5747\u901a\u8fc7 <\/p>\n

    Elmo\u00a0Application\u00a0Studio\u00a0II\u00a064bit<\/p>\n

    \\\\text{Elmo Application Studio II 64bit}<\/p>\n

    <\/span><\/span>Elmo\u00a0Application\u00a0Studio\u00a0II\u00a064bit<\/span><\/span><\/span><\/span><\/span><\/span> \u4e0a\u4f4d\u673a\u5b8c\u6210\u3002<\/p>\n

    1 Node-ID \u914d\u7f6e<\/h4>\n

    1.1 \u8fdb\u5165\u9a71\u52a8\u5668\u547d\u4ee4\u884c\u754c\u9762<\/h5>\n

    \"img\"<\/p>\n

    1.2 Node-ID \u7684\u67e5\u8be2\/\u4fee\u6539\/\u4fdd\u5b58\u6307\u4ee4<\/h5>\n

    \"img\"<\/p>\n

    2 CAN \u901a\u8baf\u6ce2\u7279\u7387\u914d\u7f6e<\/h4>\n

    2.1 \u8fdb\u5165\u9a71\u52a8\u5668\u547d\u4ee4\u884c\u754c\u9762<\/h5>\n

    \"img\"<\/p>\n

    2.2 CAN \u6ce2\u7279\u7387\u7684\u67e5\u8be2\/\u4fee\u6539\/\u4fdd\u5b58\u6307\u4ee4<\/h5>\n

    \"img\"<\/p>\n

    3 \u914d\u7f6e\u7ed3\u8bba<\/h4>\n

    \u672c\u6848\u4f8b\u7684\u914d\u7f6e\u53c2\u6570：<\/p>\n

      \n
    • \u9a71\u52a8\u5668 \n

      Node-ID<\/p>\n

      =<\/p>\n

      0<\/p>\n

      x<\/p>\n

      02<\/p>\n

      \\\\text{Node-ID} = \\\\boldsymbol{0x02}<\/p>\n

      <\/span><\/span>Node-ID<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>0<\/span>x<\/span>02<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/li>\n

    • CAN \u901a\u8baf\u6ce2\u7279\u7387 = \n

      1<\/p>\n

      \u00a0MHz<\/p>\n

      \\\\boldsymbol{1\\\\ \\\\text{MHz}}<\/p>\n

      <\/span><\/span>1<\/span>\u00a0<\/span><\/span>MHz<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/li>\n<\/ul>\n

      \u91cd\u8981\u8981\u6c42：GD32 \u63a7\u5236\u5668\u7684 CAN \u6ce2\u7279\u7387\u9700\u540c\u6b65\u914d\u7f6e\u4e3a <\/p>\n

      1<\/p>\n

      \u00a0MHz<\/p>\n

      1\\\\ \\\\text{MHz}<\/p>\n

      <\/span><\/span>1<\/span>\u00a0<\/span>MHz<\/span><\/span><\/span><\/span><\/span><\/span>，\u5426\u5219\u901a\u8baf\u94fe\u8def\u65e0\u6cd5\u5efa\u7acb\u3002<\/p>\n

      \u4e8c \u5bf9\u8c61\u5b57\u5178\u914d\u7f6e<\/h3>\n

      \"img\"<\/p>\n

      \u4e09 \u5d4c\u5165\u5f0f\u9a71\u52a8\u4ee3\u7801（GD32 + CANfestival）<\/h3>\n

      \u672c\u4ee3\u7801\u57fa\u4e8e <\/p>\n

      CANfestival<\/p>\n

      \\\\text{CANfestival}<\/p>\n

      <\/span><\/span>CANfestival<\/span><\/span><\/span><\/span><\/span><\/span> \u5f00\u6e90\u5e93\u5f00\u53d1，\u529f\u80fd\u4e3a\u901a\u8fc7 <\/p>\n

      CANopen-SDO<\/p>\n

      \\\\text{CANopen-SDO}<\/p>\n

      <\/span><\/span>CANopen-SDO<\/span><\/span><\/span><\/span><\/span><\/span> \u534f\u8bae\u5411 Elmo \u9a71\u52a8\u5668\u53d1\u9001\u63a7\u5236\u6307\u4ee4；\u9488\u5bf9 SDO \u6307\u4ee4\u7684\u91cd\u590d\u6027\u7f16\u5199\u95ee\u9898，\u5df2\u5b8c\u6210\u529f\u80fd\u5c01\u88c5，\u4ee3\u7801\u53ef\u8bfb\u6027\u4e0e\u590d\u7528\u6027\u4f18\u5316\u3002<\/p>\n

      1 \u7cfb\u7edf\u521d\u59cb\u5316\u51fd\u6570<\/h4>\n

      void<\/span> InitializeDrive<\/span>(<\/span>void<\/span>)<\/span>
      \n{<\/span>
      \n \/\/ \u8bbe\u7f6e\u4e3b\u7ad9Node_ID\u4e3a0x01，\u5e76\u4f9d\u6b21\u5207\u6362\u81f3\u8fd0\u884c\u72b6\u6001<\/span>
      \n setNodeId<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x01<\/span>)<\/span>;<\/span>
      \n setState<\/span>(<\/span>&<\/span>master_Data,<\/span> Initialisation)<\/span>;<\/span>
      \n setState<\/span>(<\/span>&<\/span>master_Data,<\/span> Pre_operational)<\/span>;<\/span>
      \n setState<\/span>(<\/span>&<\/span>master_Data,<\/span> Operational)<\/span>;<\/span>
      \n \/\/ \u901a\u8fc7NMT\u670d\u52a1\u542f\u52a8Node_ID=0x02\u7684\u9a71\u52a8\u5668，\u5e76\u5207\u6362\u81f3\u9884\u8fd0\u884c\u72b6\u6001<\/span>
      \n masterSendNMTstateChange<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> NMT_Reset_Comunication)<\/span>;<\/span>
      \n masterSendNMTstateChange<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> NMT_Start_Node)<\/span>;<\/span>
      \n masterSendNMTstateChange<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> NMT_Enter_PreOperational)<\/span>;<\/span>
      \n \/\/ \u9a71\u52a8\u5668\u5524\u9192\u5ef6\u65f6，\u3010\u5fc5\u987b\u6267\u884c，\u5173\u952e\u3011<\/span>
      \n delay_1ms<\/span>(<\/span>2000<\/span>)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \u4ee3\u7801\u8bf4\u660e：<\/p>\n

    • \u63a7\u5236\u5668\u4f5c\u4e3a CANopen \u4e3b\u7ad9，\n

      Node-ID<\/p>\n

      =<\/p>\n

      0<\/p>\n

      x<\/p>\n

      01<\/p>\n

      \\\\text{Node-ID}=0x01<\/p>\n

      <\/span><\/span>Node-ID<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>0<\/span>x<\/span>01<\/span><\/span><\/span><\/span><\/span>，\u9884\u8fd0\u884c\u72b6\u6001（KaTeX parse error: Expected 'EOF', got '_' at position 10: \\\\text{Pre_\u0332operational}<\/span>）\u5373\u53ef\u652f\u6301 SDO \u901a\u8baf；<\/li>\n

    • Elmo \u9a71\u52a8\u5668\u4e3a\u4ece\u7ad9，\n

      Node-ID<\/p>\n

      =<\/p>\n

      0<\/p>\n

      x<\/p>\n

      02<\/p>\n

      \\\\text{Node-ID}=0x02<\/p>\n

      <\/span><\/span>Node-ID<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>0<\/span>x<\/span>02<\/span><\/span><\/span><\/span><\/span>；<\/li>\n

    • \n

      2000<\/p>\n

      \u00a0ms<\/p>\n

      2000\\\\ \\\\text{ms}<\/p>\n

      <\/span><\/span>2000<\/span>\u00a0<\/span>ms<\/span><\/span><\/span><\/span><\/span><\/span> \u5ef6\u65f6\u4e3a\u786c\u6027\u8981\u6c42：\u9a71\u52a8\u5668\u63a5\u6536\u542f\u52a8\u6307\u4ee4\u540e\u9700\u5b8c\u6210\u521d\u59cb\u5316，\u65e0\u5ef6\u65f6\u5c06\u5bfc\u81f4 SDO \u6307\u4ee4\u62a5 <\/p>\n

      0<\/p>\n

      x<\/p>\n

      80<\/p>\n

      0x80<\/p>\n

      <\/span><\/span>0<\/span>x<\/span>80<\/span><\/span><\/span><\/span><\/span> \u9519\u8bef，\u4e3a\u8c03\u8bd5\u9ad8\u9891\u95ee\u9898\u70b9\u3002<\/li>\n

      2 \u914d\u7f6e\u9a71\u52a8\u5668\u4e3a\u901f\u5ea6\u6a21\u5f0f（PV: Profile Velocity）<\/h4>\n

      void<\/span> SetDriveVelocityMode<\/span>(<\/span>void<\/span>)<\/span>
      \n{<\/span>
      \n unsigned<\/span> long<\/span> abortcode=<\/span>0<\/span>;<\/span>
      \n char<\/span> size=<\/span>1<\/span>;<\/span>
      \n char<\/span> sendData[<\/span>4<\/span>]<\/span>=<\/span>{<\/span>0<\/span>}<\/span>;<\/span>
      \n \/\/ SDO\u6307\u4ee4：\u54116060\/00\u5199\u516503，\u914d\u7f6e\u4e3a\u901f\u5ea6\u6a21\u5f0f<\/span>
      \n size =<\/span> 4<\/span>;<\/span>
      \n sendData[<\/span>0<\/span>]<\/span>=<\/span>0x03<\/span>;<\/span>
      \n sendData[<\/span>1<\/span>]<\/span>=<\/span>0x00<\/span>;<\/span>
      \n sendData[<\/span>2<\/span>]<\/span>=<\/span>0x00<\/span>;<\/span>
      \n sendData[<\/span>3<\/span>]<\/span>=<\/span>0x00<\/span>;<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6060<\/span>,<\/span> 0x00<\/span>,<\/span> 4<\/span>,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span> !=<\/span> SDO_FINISHED)<\/span>
      \n {<\/span>
      \n AddSysLog<\/span>(<\/span>"Send SDO command 6060,00, 03 00 00 00 [Velocity mode] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n }<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \u6307\u4ee4：\u5411 CANopen \u5bf9\u8c61\u5b57\u5178\u7684\u7d22\u5f15 0x6060，\u5b50\u7d22\u5f15 0x00 \u5199\u5165 <\/p>\n

      0<\/p>\n

      x<\/p>\n

      03<\/p>\n

      0x03<\/p>\n

      <\/span><\/span>0<\/span>x<\/span>03<\/span><\/span><\/span><\/span><\/span>，\u9a71\u52a8\u5668\u5c06\u5207\u6362\u81f3\u901f\u5ea6\u6a21\u5f0f\u3002<\/p>\n

      3 \u914d\u7f6e\u9a71\u52a8\u5668\u4e3a\u4f4d\u7f6e\u6a21\u5f0f（PP: Profile Position）<\/h4>\n

      void<\/span> SetDrivePositionMode<\/span>(<\/span>void<\/span>)<\/span>
      \n{<\/span>
      \n unsigned<\/span> long<\/span> abortcode=<\/span>0<\/span>;<\/span>
      \n char<\/span> size=<\/span>1<\/span>;<\/span>
      \n char<\/span> sendData[<\/span>4<\/span>]<\/span>=<\/span>{<\/span>0<\/span>}<\/span>;<\/span>
      \n \/\/ SDO\u6307\u4ee4：\u54116060\/00\u5199\u516501，\u914d\u7f6e\u4e3a\u4f4d\u7f6e\u6a21\u5f0f<\/span>
      \n size =<\/span> 4<\/span>;<\/span>
      \n sendData[<\/span>0<\/span>]<\/span>=<\/span>0x01<\/span>;<\/span>
      \n sendData[<\/span>1<\/span>]<\/span>=<\/span>0x00<\/span>;<\/span>
      \n sendData[<\/span>2<\/span>]<\/span>=<\/span>0x00<\/span>;<\/span>
      \n sendData[<\/span>3<\/span>]<\/span>=<\/span>0x00<\/span>;<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6060<\/span>,<\/span> 0x00<\/span>,<\/span> 4<\/span>,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span> !=<\/span> SDO_FINISHED)<\/span>
      \n {<\/span>
      \n AddSysLog<\/span>(<\/span>"Send SDO command 6060,00, 01 00 00 00 [Position mode] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n }<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \u6307\u4ee4：\u5411\u7d22\u5f15 0x6060，\u5b50\u7d22\u5f15 0x00 \u5199\u5165 <\/p>\n

      0<\/p>\n

      x<\/p>\n

      01<\/p>\n

      0x01<\/p>\n

      <\/span><\/span>0<\/span>x<\/span>01<\/span><\/span><\/span><\/span><\/span>，\u9a71\u52a8\u5668\u5c06\u5207\u6362\u81f3\u4f4d\u7f6e\u6a21\u5f0f\u3002<\/p>\n

      \u8865\u5145：0x6060\/00 \u4e3a CANopen \u6807\u51c6\u5bf9\u8c61\u5b57\u5178，\u4e0d\u540c\u6570\u503c\u5bf9\u5e94\u4e0d\u540c\u8fd0\u884c\u6a21\u5f0f，\u6620\u5c04\u5173\u7cfb\u5982\u4e0b： \"img\"<\/p>\n

      4 \u7535\u673a\u4f7f\u80fd\/\u5931\u80fd\u63a7\u5236<\/h4>\n

      4.1 \u7535\u673a\u4f7f\u80fd\u51fd\u6570<\/h5>\n

      void<\/span> EnableDrive<\/span>(<\/span>void<\/span>)<\/span>
      \n{<\/span>
      \n unsigned<\/span> long<\/span> abortcode=<\/span>0<\/span>;<\/span>
      \n char<\/span> size=<\/span>1<\/span>;<\/span>
      \n char<\/span> sendData[<\/span>4<\/span>]<\/span>=<\/span>{<\/span>0<\/span>}<\/span>;<\/span>
      \n \/\/ \u4f9d\u6b21\u54116040\/00\u5199\u516506\u300107\u30010F，\u5b8c\u6210\u7535\u673a\u4e09\u7ea7\u4f7f\u80fd<\/span>
      \n size =<\/span> 1<\/span>;<\/span>
      \n sendData[<\/span>0<\/span>]<\/span> =<\/span> 0x06<\/span>;<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6040<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span>!=<\/span>SDO_FINISHED)<\/span>
      \n {<\/span>
      \n AddSysLog<\/span>(<\/span>"Send SDO command 4060, 00, 06 00 00 00 [Enable driver] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n }<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n size =<\/span> 1<\/span>;<\/span>
      \n sendData[<\/span>0<\/span>]<\/span> =<\/span> 0x07<\/span>;<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6040<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n size =<\/span> 1<\/span>;<\/span>
      \n sendData[<\/span>0<\/span>]<\/span> =<\/span> 0x0F<\/span>;<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6040<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \u903b\u8f91：\u5411\u7d22\u5f15 0x6040，\u5b50\u7d22\u5f15 0x00 \u4f9d\u6b21\u5199\u5165 <\/p>\n

      0<\/p>\n

      x<\/p>\n

      06<\/p>\n

      \u3001<\/p>\n

      0<\/p>\n

      x<\/p>\n

      07<\/p>\n

      \u3001<\/p>\n

      0<\/p>\n

      x<\/p>\n

      0<\/p>\n

      F<\/p>\n

      0x06\u30010x07\u30010x0F<\/p>\n

      <\/span><\/span>0<\/span>x<\/span>06<\/span>\u3001<\/span>0<\/span>x<\/span>07<\/span>\u3001<\/span>0<\/span>x<\/span>0<\/span>F<\/span><\/span><\/span><\/span><\/span>，\u4e3a CANopen \u6807\u51c6\u7684\u7535\u673a\u4e09\u7ea7\u4f7f\u80fd\u6d41\u7a0b\u3002<\/p>\n

      4.2 \u7535\u673a\u5931\u80fd\u51fd\u6570<\/h5>\n

      void<\/span> DisableDrive<\/span>(<\/span>void<\/span>)<\/span>
      \n{<\/span>
      \n unsigned<\/span> long<\/span> abortcode =<\/span> 0<\/span>;<\/span>
      \n char<\/span> size =<\/span> 1<\/span>;<\/span>
      \n char<\/span> sendData[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span>
      \n \/\/ \u54116040\/00\u5199\u516500，\u5b8c\u6210\u7535\u673a\u5931\u80fd<\/span>
      \n size =<\/span> 1<\/span>;<\/span>
      \n sendData[<\/span>0<\/span>]<\/span> =<\/span> 0x00<\/span>;<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6040<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span>!=<\/span>SDO_FINISHED)<\/span>
      \n {<\/span>
      \n AddSysLog<\/span>(<\/span>"Send SDO command 4060, 00, 00 00 00 00 [Disable driver] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n }<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      5 \u901f\u5ea6\u6a21\u5f0f（PV）- \u76ee\u6807\u901f\u5ea6\u7ed9\u5b9a<\/h4>\n

      void<\/span> SetVelModeTargetVelocity<\/span>(<\/span>float<\/span> velocity)<\/span>
      \n{<\/span>
      \n float<\/span> usedVelocityFloat =<\/span> 0<\/span>;<\/span>
      \n long<\/span> usedVelocityLong =<\/span> 0<\/span>;<\/span>
      \n char<\/span> sendData[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span>
      \n unsigned<\/span> long<\/span> abortcode =<\/span> 0<\/span>;<\/span>
      \n char<\/span> size =<\/span> 4<\/span>;<\/span>
      \n \/\/ \u901f\u5ea6\u9650\u5e45：\u00b1360 \u00b0\/s<\/span>
      \n if<\/span>(<\/span>velocity ><\/span> 360<\/span>)<\/span> usedVelocityFloat =<\/span> 360<\/span>;<\/span>
      \n else<\/span> if<\/span>(<\/span>velocity <<\/span> –<\/span>360<\/span>)<\/span> usedVelocityFloat =<\/span> –<\/span>360<\/span>;<\/span>
      \n else<\/span> usedVelocityFloat =<\/span> velocity;<\/span>
      \n \/\/ \u89d2\u5ea6\u2192\u8109\u51b2\u6570\u6362\u7b97：\u589e\u91cf\u5f0f\u7f16\u7801\u5668(50\u4e07\u7ebf) 5555.555555555 cnt\/\u00b0<\/span>
      \n usedVelocityLong =<\/span> (<\/span>long<\/span>)<\/span>(<\/span>usedVelocityFloat *<\/span> 5555.555555555<\/span>)<\/span>;<\/span>
      \n \/\/ 32\u4f4d\u6709\u7b26\u53f7\u6574\u578b\u8f6c4\u5b57\u8282\u6570\u7ec4（\u5c0f\u7aef\u6a21\u5f0f）<\/span>
      \n sendData[<\/span>0<\/span>]<\/span> =<\/span> usedVelocityLong &<\/span> 0xFF<\/span>;<\/span>
      \n sendData[<\/span>1<\/span>]<\/span> =<\/span> (<\/span>usedVelocityLong >><\/span> 8<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
      \n sendData[<\/span>2<\/span>]<\/span> =<\/span> (<\/span>usedVelocityLong >><\/span> 16<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
      \n sendData[<\/span>3<\/span>]<\/span> =<\/span> (<\/span>usedVelocityLong >><\/span> 24<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
      \n \/\/ \u541160FF\/00\u5199\u5165\u76ee\u6807\u901f\u5ea6<\/span>
      \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x60FF<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
      \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span>!=<\/span>SDO_FINISHED)<\/span>
      \n {<\/span>
      \n AddSysLog<\/span>(<\/span>"Send SDO command FF60, 00, XX XX XX XX [Set target velocity] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n }<\/span>
      \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
      \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      \u6280\u672f\u70b9：<\/p>\n

    • \u5355\u4f4d\u6362\u7b97：\u9a71\u52a8\u5668\u4ec5\u8bc6\u522b \u8109\u51b2\u6570 (cnt)，\u89d2\u5ea6\u4e0e\u8109\u51b2\u6570\u7684\u6362\u7b97\u5173\u7cfb\u7531\u7f16\u7801\u5668\u7c7b\u578b\u51b3\u5b9a：\n
        \n
      • \u589e\u91cf\u5f0f\u7f16\u7801\u5668（50\u4e07\u7ebf）：\n

        500000<\/p>\n

        \u00d7<\/p>\n

        4<\/p>\n

        =<\/p>\n

        2<\/p>\n

        \u00d7<\/p>\n

        10<\/p>\n

        6<\/p>\n

        \u00a0cnt\/\u5708<\/p>\n

        500000\\\\times4=2\\\\times10^6\\\\ \\\\text{cnt\/\u5708}<\/p>\n

        <\/span><\/span>500000<\/span><\/span>\u00d7<\/span><\/span><\/span><\/span>4<\/span><\/span>=<\/span><\/span><\/span><\/span>2<\/span><\/span>\u00d7<\/span><\/span><\/span><\/span>1<\/span>0<\/span><\/span>6<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u00a0<\/span>cnt\/<\/span>\u5708<\/span><\/span><\/span><\/span><\/span><\/span> \u2192 <\/p>\n

        5555.5555<\/p>\n

        \u00a0<\/p>\n

        cnt\/<\/p>\n

        \u2218<\/p>\n

        5555.5555\\\\ \\\\text{cnt\/}^\\\\circ<\/p>\n

        <\/span><\/span>5555.5555<\/span>\u00a0<\/span>cnt\/<\/span><\/span><\/span>\u2218<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \u7edd\u5bf9\u5f0f\u7f16\u7801\u5668（26bit）：\n

        2<\/p>\n

        26<\/p>\n

        =<\/p>\n

        67108864<\/p>\n

        \u00a0cnt\/\u5708<\/p>\n

        2^{26}=67108864\\\\ \\\\text{cnt\/\u5708}<\/p>\n

        <\/span><\/span>2<\/span><\/span>26<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>67108864<\/span>\u00a0<\/span>cnt\/<\/span>\u5708<\/span><\/span><\/span><\/span><\/span><\/span> \u2192 <\/p>\n

        186413.5111<\/p>\n

        \u00a0<\/p>\n

        cnt\/<\/p>\n

        \u2218<\/p>\n

        186413.5111\\\\ \\\\text{cnt\/}^\\\\circ<\/p>\n

        <\/span><\/span>186413.5111<\/span>\u00a0<\/span>cnt\/<\/span><\/span><\/span>\u2218<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/li>\n<\/ul>\n<\/li>\n

      • \u6362\u7b97\u56e0\u5b50\u901a\u7528：\u8be5\u7cfb\u6570\u9002\u7528\u4e8e\u89d2\u5ea6\u3001\u89d2\u901f\u5ea6\u3001\u89d2\u52a0\u901f\u5ea6\u7684\u5355\u4f4d\u8f6c\u6362；<\/li>\n
      • \u5bc4\u5b58\u5668：\u7d22\u5f15 0x60FF，\u5b50\u7d22\u5f15 0x00 \u4e3a\u901f\u5ea6\u6a21\u5f0f\u7684\u76ee\u6807\u901f\u5ea6\u5bc4\u5b58\u5668\u3002<\/li>\n

        6 \u4f4d\u7f6e\u6a21\u5f0f（PP）- \u6700\u5927\u901f\u5ea6\u4e0e\u76ee\u6807\u4f4d\u7f6e\u7ed9\u5b9a<\/h4>\n

        6.1 \u4f4d\u7f6e\u6a21\u5f0f\u6700\u5927\u901f\u5ea6\u914d\u7f6e<\/h5>\n

        void<\/span> SetPosModeTargetVelocity<\/span>(<\/span>float<\/span> velocity)<\/span>
        \n{<\/span>
        \n float<\/span> usedVelocityFloat =<\/span> 0<\/span>;<\/span>
        \n long<\/span> usedVelocityLong =<\/span> 0<\/span>;<\/span>
        \n char<\/span> sendData[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span>
        \n unsigned<\/span> long<\/span> abortcode =<\/span> 0<\/span>;<\/span>
        \n char<\/span> size =<\/span> 4<\/span>;<\/span>
        \n \/\/ \u901f\u5ea6\u9650\u5e45：\u00b1360 \u00b0\/s<\/span>
        \n if<\/span>(<\/span>velocity ><\/span> 360<\/span>)<\/span> usedVelocityFloat =<\/span> 360<\/span>;<\/span>
        \n else<\/span> if<\/span>(<\/span>velocity <<\/span> –<\/span>360<\/span>)<\/span> usedVelocityFloat =<\/span> –<\/span>360<\/span>;<\/span>
        \n else<\/span> usedVelocityFloat =<\/span> velocity;<\/span>
        \n \/\/ \u89d2\u5ea6\u2192\u8109\u51b2\u6570\u6362\u7b97<\/span>
        \n usedVelocityLong =<\/span> (<\/span>long<\/span>)<\/span>(<\/span>usedVelocityFloat *<\/span> 5555.555555555<\/span>)<\/span>;<\/span>
        \n \/\/ \u6574\u578b\u8f6c\u5b57\u8282\u6570\u7ec4<\/span>
        \n sendData[<\/span>0<\/span>]<\/span> =<\/span> usedVelocityLong &<\/span> 0xFF<\/span>;<\/span>
        \n sendData[<\/span>1<\/span>]<\/span> =<\/span> (<\/span>usedVelocityLong >><\/span> 8<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
        \n sendData[<\/span>2<\/span>]<\/span> =<\/span> (<\/span>usedVelocityLong >><\/span> 16<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
        \n sendData[<\/span>3<\/span>]<\/span> =<\/span> (<\/span>usedVelocityLong >><\/span> 24<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
        \n \/\/ \u54116081\/00\u5199\u5165\u4f4d\u7f6e\u6a21\u5f0f\u6700\u5927\u901f\u5ea6<\/span>
        \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6081<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
        \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span>!=<\/span>SDO_FINISHED)<\/span>
        \n {<\/span>
        \n AddSysLog<\/span>(<\/span>"Send SDO command 8160, 00, XX XX XX XX [Set target velocity] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
        \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
        \n }<\/span>
        \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
        \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
        \n}<\/span><\/p>\n

        \u8bf4\u660e：\u4f4d\u7f6e\u6a21\u5f0f\u7684\u901f\u5ea6\u4e3a\u68af\u5f62\u901f\u5ea6\u66f2\u7ebf\u7684\u5300\u901f\u6bb5\u901f\u7387，\u5bc4\u5b58\u5668\u4e3a \u7d22\u5f15 0x6081，\u5b50\u7d22\u5f15 0x00，\u4e0e\u901f\u5ea6\u6a21\u5f0f\u7684\u901f\u5ea6\u5bc4\u5b58\u5668（0x60FF）\u4e3a\u4e0d\u540c\u5730\u5740\u3002<\/p>\n

        6.2 \u4f4d\u7f6e\u6a21\u5f0f\u76ee\u6807\u4f4d\u7f6e\u914d\u7f6e<\/h5>\n

        void<\/span> SetPosModeTargetPosition<\/span>(<\/span>float<\/span> position)<\/span>
        \n{<\/span>
        \n float<\/span> usedPositionFloat =<\/span> 0<\/span>;<\/span>
        \n long<\/span> usedPositionLong =<\/span> 0<\/span>;<\/span>
        \n char<\/span> sendData[<\/span>4<\/span>]<\/span> =<\/span> {<\/span>0<\/span>}<\/span>;<\/span>
        \n unsigned<\/span> long<\/span> abortcode =<\/span> 0<\/span>;<\/span>
        \n char<\/span> size =<\/span> 4<\/span>;<\/span>
        \n \/\/ \u4f4d\u7f6e\u9650\u5e45：\u00b1180 \u00b0<\/span>
        \n if<\/span>(<\/span>position ><\/span> 180<\/span>)<\/span> usedPositionFloat =<\/span> 180<\/span>;<\/span>
        \n else<\/span> if<\/span>(<\/span>position <<\/span> –<\/span>180<\/span>)<\/span> usedPositionFloat =<\/span> –<\/span>180<\/span>;<\/span>
        \n else<\/span> usedPositionFloat =<\/span> position;<\/span>
        \n \/\/ \u89d2\u5ea6\u2192\u8109\u51b2\u6570\u6362\u7b97<\/span>
        \n usedPositionLong =<\/span> (<\/span>long<\/span>)<\/span>(<\/span>usedPositionFloat *<\/span> 5555.555555555<\/span>)<\/span>;<\/span>
        \n \/\/ \u6574\u578b\u8f6c\u5b57\u8282\u6570\u7ec4<\/span>
        \n sendData[<\/span>0<\/span>]<\/span> =<\/span> usedPositionLong &<\/span> 0xFF<\/span>;<\/span>
        \n sendData[<\/span>1<\/span>]<\/span> =<\/span> (<\/span>usedPositionLong >><\/span> 8<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
        \n sendData[<\/span>2<\/span>]<\/span> =<\/span> (<\/span>usedPositionLong >><\/span> 16<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
        \n sendData[<\/span>3<\/span>]<\/span> =<\/span> (<\/span>usedPositionLong >><\/span> 24<\/span>)<\/span> &<\/span> 0xFF<\/span>;<\/span>
        \n \/\/ \u5411607A\/00\u5199\u5165\u76ee\u6807\u4f4d\u7f6e<\/span>
        \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x607A<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
        \n if<\/span>(<\/span>getWriteResultNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> &<\/span>abortcode)<\/span>!=<\/span>SDO_FINISHED)<\/span>
        \n {<\/span>
        \n AddSysLog<\/span>(<\/span>"Send SDO command 7A60, 00, XX XX XX XX [Set target position] to driver 0x02 failed"<\/span>)<\/span>;<\/span>
        \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
        \n }<\/span>
        \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
        \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
        \n \/\/ \u5199\u51650x2F\u30010x3F\u89e6\u53d1\u4f4d\u7f6e\u6307\u4ee4\u751f\u6548（\u4e0a\u5347\u6cbf\u89e6\u53d1New set-point）<\/span>
        \n size =<\/span> 2<\/span>;<\/span>
        \n sendData[<\/span>0<\/span>]<\/span> =<\/span> 0x2F<\/span>;<\/span>
        \n sendData[<\/span>1<\/span>]<\/span> =<\/span> 0x00<\/span>;<\/span>
        \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6040<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
        \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
        \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
        \n size =<\/span> 2<\/span>;<\/span>
        \n sendData[<\/span>0<\/span>]<\/span> =<\/span> 0x3F<\/span>;<\/span>
        \n sendData[<\/span>1<\/span>]<\/span> =<\/span> 0x00<\/span>;<\/span>
        \n writeNetworkDict<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> 0x6040<\/span>,<\/span> 0x00<\/span>,<\/span> size,<\/span> 0<\/span>,<\/span> sendData,<\/span> 0<\/span>)<\/span>;<\/span>
        \n delay_1ms<\/span>(<\/span>25<\/span>)<\/span>;<\/span>
        \n closeSDOtransfer<\/span>(<\/span>&<\/span>master_Data,<\/span> 0x02<\/span>,<\/span> SDO_CLIENT)<\/span>;<\/span>
        \n}<\/span><\/p>\n

        \u6280\u672f\u70b9：<\/p>\n

      • \u76ee\u6807\u4f4d\u7f6e\u5bc4\u5b58\u5668：\u7d22\u5f15 0x607A，\u5b50\u7d22\u5f15 0x00；<\/li>\n
      • \u6307\u4ee4\u751f\u6548\u89e6\u53d1：\u5199\u5165\u4f4d\u7f6e\u540e，\u9700\u5411 0x6040\/00 \u4f9d\u6b21\u5199\u5165 \n

        0<\/p>\n

        x<\/p>\n

        2<\/p>\n

        F<\/p>\n

        \u3001<\/p>\n

        0<\/p>\n

        x<\/p>\n

        3<\/p>\n

        F<\/p>\n

        0x2F\u30010x3F<\/p>\n

        <\/span><\/span>0<\/span>x<\/span>2<\/span>F<\/span>\u3001<\/span>0<\/span>x<\/span>3<\/span>F<\/span><\/span><\/span><\/span><\/span>，\u901a\u8fc7 <\/p>\n

        bit4<\/p>\n

        \\\\text{bit4}<\/p>\n

        <\/span><\/span>bit4<\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u4e0a\u5347\u6cbf\u89e6\u53d1\u300c\u65b0\u4f4d\u7f6e\u6307\u4ee4\u751f\u6548\u300d，\u4fdd\u8bc1\u4f4d\u7f6e\u5207\u6362\u7684\u5b9e\u65f6\u6027\u3002<\/li>\n

        \"img\"<\/p>\n

        7 \u5b8c\u6574\u63a7\u5236\u7a0b\u5e8f\u793a\u4f8b<\/h4>\n

        \/\/ \u7efc\u5408\u63a7\u5236\u793a\u4f8b：\u4f4d\u7f6e\u6a21\u5f0f\u2192\u901f\u5ea6\u6a21\u5f0f\u2192\u4f4d\u7f6e\u6a21\u5f0f\u5207\u6362<\/span>
        \nInitializeDrive<\/span>(<\/span>)<\/span>;<\/span>
        \n\/\/ PP\u4f4d\u7f6e\u6a21\u5f0f\u63a7\u5236<\/span>
        \nSetDrivePositionMode<\/span>(<\/span>)<\/span>;<\/span>
        \nEnableDrive<\/span>(<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetVelocity<\/span>(<\/span>360<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>0<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>90<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>180<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>90<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>0<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>–<\/span>90<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>–<\/span>180<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nDisableDrive<\/span>(<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>2000<\/span>)<\/span>;<\/span>
        \n\/\/ PV\u901f\u5ea6\u6a21\u5f0f\u63a7\u5236<\/span>
        \nSetDriveVelocityMode<\/span>(<\/span>)<\/span>;<\/span>
        \nEnableDrive<\/span>(<\/span>)<\/span>;<\/span>
        \nSetVelModeTargetVelocity<\/span>(<\/span>180<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetVelModeTargetVelocity<\/span>(<\/span>–<\/span>180<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nDisableDrive<\/span>(<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>2000<\/span>)<\/span>;<\/span>
        \n\/\/ \u518d\u6b21\u5207\u6362\u81f3PP\u4f4d\u7f6e\u6a21\u5f0f<\/span>
        \nSetDrivePositionMode<\/span>(<\/span>)<\/span>;<\/span>
        \nEnableDrive<\/span>(<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetVelocity<\/span>(<\/span>360<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>0<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>10000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>90<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>180<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>90<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>0<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>–<\/span>90<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span>
        \nSetPosModeTargetPosition<\/span>(<\/span>–<\/span>180<\/span>)<\/span>;<\/span>
        \ndelay_1ms<\/span>(<\/span>5000<\/span>)<\/span>;<\/span><\/p>\n

        \u793a\u4f8b\u8bf4\u660e：\u7a0b\u5e8f\u5b9e\u73b0\u300c\u4f4d\u7f6e\u6a21\u5f0f\u591a\u70b9\u4f4d\u8fd0\u52a8\u2192\u901f\u5ea6\u6a21\u5f0f\u6b63\u53cd\u8f6c\u2192\u4f4d\u7f6e\u6a21\u5f0f\u591a\u70b9\u4f4d\u8fd0\u52a8\u300d\u7684\u5168\u6d41\u7a0b\u5207\u6362，\u5b8c\u6210\u672c\u793a\u4f8b\u5373\u5b9e\u73b0 GD32 \u5bf9 Elmo \u9a71\u52a8\u5668\u7684\u57fa\u7840\u95ed\u73af\u63a7\u5236，\u53ef\u62d3\u5c55\u4e3a\u4e0a\u4f4d\u673a\u8054\u63a7\u7684\u591a\u6a21\u5f0f\u8c03\u901f\/\u5b9a\u4f4d\u7cfb\u7edf\u3002<\/p>\n

        \n

        Elmo \u9a71\u52a8\u5668\u7684\u8c03\u8bd5\u6d41\u7a0b\u4e0e\u8fd0\u52a8\u7a0b\u5e8f\u7f16\u5199<\/h2>\n

        Stan \u7f16\u8f91\u4e8e 2020-12-14 20:44<\/p>\n

        \u672c\u6587\u5305\u542b Elmo \u4e24\u6b3e\u9a71\u52a8\u5668（Gold Solo Trombone G-SOLTR012\/400EEH\u3001Gold Oboe G-OBO6\/230FEHN2）\u7684\u63a5\u7ebf\u89c4\u8303\u3001\u57fa\u7840\u8c03\u8bd5\u6d41\u7a0b\u53ca\u8fd0\u52a8\u7a0b\u5e8f\u7684\u4f7f\u7528\u8bf4\u660e\u3002<\/p>\n

        \u8bf4\u660e：\u9a71\u52a8\u5668\u7684\u5b8c\u6574\u6280\u672f\u8bf4\u660e，\u5747\u6536\u5f55\u4e8e\u5b98\u65b9\u624b\u518c\u4e0e Elmo \u8c03\u8bd5\u8f6f\u4ef6 EAS\u2161\u5185\u7f6e\u7684 help \u6587\u6863，\u4e3a\u6700\u4f18\u53c2\u8003\u4f9d\u636e\u3002<\/p>\n

        1 \u63a5\u7ebf\u914d\u7f6e<\/h3>\n

        1.1 Gold Solo Trombone G-SOLTR012\/400EEH \u63a5\u7ebf\u89c4\u8303<\/h4>\n

        1.1.1 \u76f4\u6d41\u7535\u6e90\u63a5\u7ebf<\/h5>\n

        \"img\" \"img\" \"img\" \"img\" \"img\" \"img\"<\/p>\n

        \u8be5\u578b\u53f7\u9a71\u52a8\u5668\u5e38\u89c4\u63a5\u5165\u5355\u76f8\u4ea4\u6d41\u7535，\u9700\u5c06\u63a5\u53e3 <\/p>\n

        AC2<\/p>\n

        \\\\text{AC2}<\/p>\n

        <\/span><\/span>AC2<\/span><\/span><\/span><\/span><\/span><\/span> \u4e0e <\/p>\n

        AC3<\/p>\n

        \\\\text{AC3}<\/p>\n

        <\/span><\/span>AC3<\/span><\/span><\/span><\/span><\/span><\/span> \u8fdb\u884c\u5e76\u8054\u5904\u7406\u3002 \u5b9e\u7269\u63a5\u7ebf\u5b9e\u64cd\u8981\u6c42：\u53cc\u8def <\/p>\n

        AC1<\/p>\n

        \\\\text{AC1}<\/p>\n

        <\/span><\/span>AC1<\/span><\/span><\/span><\/span><\/span><\/span> \u63a5\u53e3\u3001\u53cc\u8def <\/p>\n

        AC2<\/p>\n

        \\\\text{AC2}<\/p>\n

        <\/span><\/span>AC2<\/span><\/span><\/span><\/span><\/span><\/span> \u63a5\u53e3\u4e4b\u95f4，\u65e0\u9700\u989d\u5916\u505a\u5e76\u8054\u63a5\u7ebf\u5904\u7406\u3002<\/p>\n

        \"img\"<\/p>\n

        1.1.2 \u9a71\u52a8\u5668\u672c\u4f53\u63a5\u7ebf<\/h5>\n

        \"img\" \"img\"<\/p>\n

        \u9a71\u52a8\u5668\u7684 STO \u4e09\u8def\u63a5\u53e3，\u9700\u63a5\u5165 <\/p>\n

        24<\/p>\n

        \u00a0V<\/p>\n

        24\\\\ \\\\text{V}<\/p>\n

        <\/span><\/span>24<\/span>\u00a0<\/span>V<\/span><\/span><\/span><\/span><\/span><\/span> \u76f4\u6d41\u7535\u6e90\u7684\u6b63\u8d1f\u6781\u3002<\/p>\n

        \"img\" \"img\"<\/p>\n

        1.2 Gold Oboe G-OBO6\/230FEHN2 \u63a5\u7ebf\u89c4\u8303<\/h4>\n

        \"img\" \"img\"<\/p>\n

        \u8be5\u578b\u53f7\u9a71\u52a8\u5668\u53ef\u76f4\u63a5\u63a5\u5165\u5e02\u7535\u5355\u76f8\u4ea4\u6d41\u7535，\u91c7\u7528\u6807\u51c6\u4e09\u811a\u63d2\u5934\u63a5\u7ebf：\u706b\u7ebf\u63a5\u5165 <\/p>\n

        AC1<\/p>\n

        \\\\text{AC1}<\/p>\n

        <\/span><\/span>AC1<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3，\u96f6\u7ebf\u63a5\u5165 <\/p>\n

        AC2<\/p>\n

        \\\\text{AC2}<\/p>\n

        <\/span><\/span>AC2<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3，\u5730\u7ebf\u63a5\u5165 <\/p>\n

        PE<\/p>\n

        \\\\text{PE}<\/p>\n

        <\/span><\/span>PE<\/span><\/span><\/span><\/span><\/span><\/span> \u63a5\u5730\u7aef，<\/p>\n

        AC3<\/p>\n

        \\\\text{AC3}<\/p>\n

        <\/span><\/span>AC3<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3\u7a7a\u7f6e\u5373\u53ef\u3002 \u91cd\u8981\u8981\u6c42：\u9700\u5b8c\u6210 Port C \u7aef\u53e3\u7ec4\u5185 STO \u63a5\u53e3\u7684\u63a5\u7ebf，\u63a5\u5165 <\/p>\n

        24<\/p>\n

        \u00a0V<\/p>\n

        24\\\\ \\\\text{V}<\/p>\n

        <\/span><\/span>24<\/span>\u00a0<\/span>V<\/span><\/span><\/span><\/span><\/span><\/span> \u76f4\u6d41\u7535\u6e90\u7684\u6b63\u8d1f\u6781\u3002<\/p>\n

        \"img\"<\/p>\n

        \u5f53 STO \u7aef\u53e3\u672a\u5b8c\u6210\u63a5\u7ebf\u65f6，\u9a71\u52a8\u5668\u5c06\u89e6\u53d1\u62a5\u9519，\u62a5\u9519\u754c\u9762\u5982\u4e0b：<\/p>\n

        \"img\"<\/p>\n

        2 \u901a\u8baf\u94fe\u8def\u5efa\u7acb<\/h3>\n

        2.1 USB \u76f4\u8fde\u65b9\u5f0f（PC \u4e0e Elmo \u9a71\u52a8\u5668）<\/h4>\n

        \u91c7\u7528 USB \u6570\u636e\u7ebf\u5b8c\u6210 PC \u4e0e Elmo \u9a71\u52a8\u5668\u7684\u7269\u7406\u8fde\u63a5，\u542f\u52a8\u4e0a\u4f4d\u673a\u8f6f\u4ef6 <\/p>\n

        Elmo\u00a0Application\u00a0Studio\u00a0II\u00a02.5.1.1<\/p>\n

        \\\\text{Elmo Application Studio II 2.5.1.1}<\/p>\n

        <\/span><\/span>Elmo\u00a0Application\u00a0Studio\u00a0II\u00a02.5.1.1<\/span><\/span><\/span><\/span><\/span><\/span>\u3002\u8f6f\u4ef6\u64cd\u4f5c\u9762\u677f\u5185\u4efb\u610f\u529f\u80fd\u6a21\u5757\u7684\u91ca\u4e49\u5747\u53ef\u901a\u8fc7\u60ac\u505c\u9f20\u6807\u81f3\u5bf9\u5e94\u4f4d\u7f6e\u540e，\u6309\u4e0b <\/p>\n

        F1<\/p>\n

        \\\\text{F1}<\/p>\n

        <\/span><\/span>F1<\/span><\/span><\/span><\/span><\/span><\/span> \u952e\u8c03\u53d6\u672c\u5730\u5316\u624b\u518c\u8bf4\u660e\u3002<\/p>\n

        \"img\"<\/p>\n

        \u64cd\u4f5c\u6b65\u9aa4：<\/p>\n

      • \u70b9\u51fb\u8f6f\u4ef6\u5de6\u4e0b\u89d2 \n

        System\u00a0Configuration<\/p>\n

        \\\\text{System Configuration}<\/p>\n

        <\/span><\/span>System\u00a0Configuration<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u9879；<\/li>\n

      • \u5728 \n

        Workspace<\/p>\n

        \\\\text{Workspace}<\/p>\n

        <\/span><\/span>Workspace<\/span><\/span><\/span><\/span><\/span><\/span> \u533a\u57df\u53f3\u952e，\u9009\u62e9 <\/p>\n

        New\u00a0Workspace<\/p>\n

        \\\\text{New Workspace}<\/p>\n

        <\/span><\/span>New\u00a0Workspace<\/span><\/span><\/span><\/span><\/span><\/span> \u65b0\u5efa\u5de5\u4f5c\u7a7a\u95f4\u3002<\/li>\n

        \"img\" \"img\"<\/p>\n

        \u53c2\u6570\u914d\u7f6e\u793a\u4f8b：\u5c06 <\/p>\n

        Location<\/p>\n

        \\\\text{Location}<\/p>\n

        <\/span><\/span>Location<\/span><\/span><\/span><\/span><\/span><\/span> \u8def\u5f84\u8bbe\u7f6e\u4e3a KaTeX parse error: Undefined control sequence: \\\\ELMO at position 9: \\\\text{E:\\\\\u0332E\u0332L\u0332M\u0332O\u0332\\\\RuiRui}<\/span>，<\/p>\n

        Workspace\u00a0Name<\/p>\n

        \\\\text{Workspace Name}<\/p>\n

        <\/span><\/span>Workspace\u00a0Name<\/span><\/span><\/span><\/span><\/span><\/span> \u547d\u540d\u4e3a KaTeX parse error: Expected 'EOF', got '_' at position 17: \u2026text{adjustable_\u0332stiffness}<\/span>，\u8f6f\u4ef6\u5c06\u5728\u8be5\u8def\u5f84\u4e0b\u81ea\u52a8\u751f\u6210 KaTeX parse error: Expected 'EOF', got '_' at position 17: \u2026text{adjustable_\u0332stiffness.ElmoW\u2026<\/span> \u5de5\u4f5c\u7a7a\u95f4\u6587\u4ef6\u3002<\/p>\n

        \"img\"<\/p>\n

      • \u7ee7\u7eed\u5728 \n

        Workspace<\/p>\n

        \\\\text{Workspace}<\/p>\n

        <\/span><\/span>Workspace<\/span><\/span><\/span><\/span><\/span><\/span> \u533a\u57df\u53f3\u952e，\u9009\u62e9 <\/p>\n

        Add\u00a0Gold\u00a0Drive<\/p>\n

        \\\\text{Add Gold Drive}<\/p>\n

        <\/span><\/span>Add\u00a0Gold\u00a0Drive<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \u5728\u5f39\u51fa\u7684\u914d\u7f6e\u7a97\u53e3\u4e2d，\n

        Connection\u00a0Type<\/p>\n

        \\\\text{Connection Type}<\/p>\n

        <\/span><\/span>Connection\u00a0Type<\/span><\/span><\/span><\/span><\/span><\/span> \u4e0b\u62c9\u680f\u9009\u62e9 <\/p>\n

        Direct\u00a0Access\u00a0USB<\/p>\n

        \\\\text{Direct Access USB}<\/p>\n

        <\/span><\/span>Direct\u00a0Access\u00a0USB<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \u5728 \n

        Serial\u00a0Port\u00a0USB<\/p>\n

        \\\\text{Serial Port USB}<\/p>\n

        <\/span><\/span>Serial\u00a0Port\u00a0USB<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u9879\u4e2d，\u9009\u53d6\u8f6f\u4ef6\u81ea\u52a8\u8bc6\u522b\u7684\u4e32\u53e3（\u793a\u4f8b\u4e3a <\/p>\n

        COM10<\/p>\n

        \\\\text{COM10}<\/p>\n

        <\/span><\/span>COM10<\/span><\/span><\/span><\/span><\/span><\/span>）；<\/li>\n

      • \u70b9\u51fb\u7a97\u53e3\u5de6\u4e0a\u89d2 \n

        Connect<\/p>\n

        \\\\text{Connect}<\/p>\n

        <\/span><\/span>Connect<\/span><\/span><\/span><\/span><\/span><\/span>，\u5b8c\u6210 PC \u4e0e Elmo \u9a71\u52a8\u5668\u7684\u901a\u8baf\u94fe\u8def\u5efa\u7acb\u3002<\/li>\n

        \"img\"<\/p>\n

        \u94fe\u8def\u5efa\u7acb\u540e，\u70b9\u51fb\u5de6\u4e0b\u89d2 <\/p>\n

        Drive\u00a0Setup\u00a0and\u00a0Motion<\/p>\n

        \\\\text{Drive Setup and Motion}<\/p>\n

        <\/span><\/span>Drive\u00a0Setup\u00a0and\u00a0Motion<\/span><\/span><\/span><\/span><\/span><\/span> \u8fdb\u5165\u8c03\u8bd5\u754c\u9762；\u82e5\u4e3a\u8bbe\u5907\u9996\u6b21\u8c03\u8bd5，\u5efa\u8bae\u9009\u62e9 <\/p>\n

        Expert\u00a0Tunning<\/p>\n

        \\\\text{Expert Tunning}<\/p>\n

        <\/span><\/span>Expert\u00a0Tunning<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5f0f\u5f00\u5c55\u53c2\u6570\u6574\u5b9a\u3002<\/p>\n

        2.2 \u4ee5\u592a\u7f51\u8fde\u63a5\u65b9\u5f0f（PC \u4e0e Elmo \u9a71\u52a8\u5668）<\/h4>\n

        \u8be5\u8fde\u63a5\u65b9\u5f0f\u9700\u914d\u5907\u4e24\u6839\u6807\u51c6\u7f51\u7ebf，\u63a5\u7ebf\u89c4\u5219：<\/p>\n

      • \u7b2c\u4e00\u6839\u7f51\u7ebf：\u8fde\u63a5 PC \u7f51\u53e3 \u4e0e Elmo \u63a7\u5236\u5668\u7684 \n

        HOST\u00a0ETH<\/p>\n

        \\\\text{HOST ETH}<\/p>\n

        <\/span><\/span>HOST\u00a0ETH<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3；<\/li>\n

      • \u7b2c\u4e8c\u6839\u7f51\u7ebf：\u8fde\u63a5 Elmo \u63a7\u5236\u5668\u7684 \n

        EtherCAT\u00a0Master<\/p>\n

        \\\\text{EtherCAT Master}<\/p>\n

        <\/span><\/span>EtherCAT\u00a0Master<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3 \u4e0e \u9a71\u52a8\u5668\u7684 <\/p>\n

        EtherCAT\u00a0IN<\/p>\n

        \\\\text{EtherCAT IN}<\/p>\n

        <\/span><\/span>EtherCAT\u00a0IN<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3\u3002<\/li>\n

        \"img\"<\/p>\n

        \u524d\u7f6e\u64cd\u4f5c：\u5b8c\u6210 PC \u672c\u5730\u7f51\u5361\u7684 IP \u5730\u5740\u4fee\u6539\u914d\u7f6e\u3002<\/p>\n

        \"img\"<\/p>\n

        \u8f6f\u4ef6\u914d\u7f6e\u6d41\u7a0b（\u5ef6\u7eed 2.1 \u6b65\u9aa4）：<\/p>\n

      • \u5b8c\u6210\u5de5\u4f5c\u7a7a\u95f4\u65b0\u5efa\u540e，\u5728 \n

        Workspace<\/p>\n

        \\\\text{Workspace}<\/p>\n

        <\/span><\/span>Workspace<\/span><\/span><\/span><\/span><\/span><\/span> \u533a\u57df\u53f3\u952e，\u9009\u62e9 <\/p>\n

        Add\u00a0Platinum\u00a0Maestro\u00a0EtherCAT<\/p>\n

        \\\\text{Add Platinum Maestro EtherCAT}<\/p>\n

        <\/span><\/span>Add\u00a0Platinum\u00a0Maestro\u00a0EtherCAT<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \n

        Connection\u00a0Type<\/p>\n

        \\\\text{Connection Type}<\/p>\n

        <\/span><\/span>Connection\u00a0Type<\/span><\/span><\/span><\/span><\/span><\/span> \u4e0b\u62c9\u680f\u9009\u62e9 <\/p>\n

        Maestro\u00a0TCP\/IP<\/p>\n

        \\\\text{Maestro TCP\/IP}<\/p>\n

        <\/span><\/span>Maestro\u00a0TCP\/IP<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \n

        IP\u00a0Address<\/p>\n

        \\\\text{IP Address}<\/p>\n

        <\/span><\/span>IP\u00a0Address<\/span><\/span><\/span><\/span><\/span><\/span> \u4e0b\u62c9\u680f\u9009\u53d6\u56fa\u5b9a\u5730\u5740 <\/p>\n

        192.168.1.3<\/p>\n

        \\\\text{192.168.1.3}<\/p>\n

        <\/span><\/span>192.168.1.3<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \u52fe\u9009 \n

        Auto\u00a0Connect\u00a0Gateways<\/p>\n

        \\\\text{Auto Connect Gateways}<\/p>\n

        <\/span><\/span>Auto\u00a0Connect\u00a0Gateways<\/span><\/span><\/span><\/span><\/span><\/span> \u4e0e <\/p>\n

        Auto\u00a0Disconnect\u00a0Gateways<\/p>\n

        \\\\text{Auto Disconnect Gateways}<\/p>\n

        <\/span><\/span>Auto\u00a0Disconnect\u00a0Gateways<\/span><\/span><\/span><\/span><\/span><\/span> \u4e24\u9879；<\/li>\n

      • \n

        Host\u00a0IP\u00a0Address<\/p>\n

        \\\\text{Host IP Address}<\/p>\n

        <\/span><\/span>Host\u00a0IP\u00a0Address<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u62e9\u8f6f\u4ef6\u81ea\u52a8\u8bc6\u522b\u7684\u5730\u5740 <\/p>\n

        192.168.1.100<\/p>\n

        \\\\text{192.168.1.100}<\/p>\n

        <\/span><\/span>192.168.1.100<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

      • \u70b9\u51fb\u5de6\u4e0a\u89d2 \n

        Connect<\/p>\n

        \\\\text{Connect}<\/p>\n

        <\/span><\/span>Connect<\/span><\/span><\/span><\/span><\/span><\/span>，\u5b8c\u6210\u4ee5\u592a\u7f51\u94fe\u8def\u5efa\u7acb\u3002<\/li>\n

        \"img\"<\/p>\n

        \u70b9\u51fb <\/p>\n

        To\u00a0System\u00a0Configuration<\/p>\n

        \\\\text{To System Configuration}<\/p>\n

        <\/span><\/span>To\u00a0System\u00a0Configuration<\/span><\/span><\/span><\/span><\/span><\/span>，\u8c03\u8bd5\u524d\u9700\u5c06\u8bbe\u5907\u8fd0\u884c\u72b6\u6001\u5207\u6362\u81f3 <\/p>\n

        Pre\u00a0Op\u00a0Mode<\/p>\n

        \\\\text{Pre Op Mode}<\/p>\n

        <\/span><\/span>Pre\u00a0Op\u00a0Mode<\/span><\/span><\/span><\/span><\/span><\/span>，\u5373\u53ef\u542f\u52a8\u53c2\u6570\u8c03\u8bd5\u6d41\u7a0b\u3002<\/p>\n

        \"img\"<\/p>\n

        3 \u9a71\u52a8\u5668\u53c2\u6570\u8c03\u8bd5<\/h3>\n

        3.1 Axis Configurations \u8f74\u7cfb\u914d\u7f6e<\/h4>\n

        \u4f9d\u636e\u88ab\u63a7\u5bf9\u8c61\u7684\u5b9e\u9645\u5de5\u51b5，\u5728\u8be5\u6a21\u5757\u9009\u62e9\u9002\u914d\u7684\u914d\u7f6e\u9879：<\/p>\n

        Single\u00a0Axis<\/p>\n

        \\\\text{Single Axis}<\/p>\n

        <\/span><\/span>Single\u00a0Axis<\/span><\/span><\/span><\/span><\/span><\/span>（\u5355\u8f74）\u3001<\/p>\n

        Linear\u00a0Motor\u00a0Linear\u00a0Load<\/p>\n

        \\\\text{Linear Motor Linear Load}<\/p>\n

        <\/span><\/span>Linear\u00a0Motor\u00a0Linear\u00a0Load<\/span><\/span><\/span><\/span><\/span><\/span>（\u76f4\u7ebf\u7535\u673a-\u76f4\u7ebf\u8d1f\u8f7d）；\u5728 <\/p>\n

        Mode\u00a0of\u00a0Operation<\/p>\n

        \\\\text{Mode of Operation}<\/p>\n

        <\/span><\/span>Mode\u00a0of\u00a0Operation<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u9879\u4e2d，\u53ef\u6309\u9700\u5207\u6362 \u7535\u6d41\u6a21\u5f0f\u3001\u901f\u5ea6\u6a21\u5f0f\u3001\u4f4d\u7f6e\u6a21\u5f0f \u4e09\u79cd\u8fd0\u884c\u6a21\u5f0f\u3002\u6240\u6709\u53c2\u6570\u914d\u7f6e\u5b8c\u6210\u540e，\u9700\u70b9\u51fb <\/p>\n

        Apply<\/p>\n

        \\\\text{Apply}<\/p>\n

        <\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span> \u6216 <\/p>\n

        Apply\u00a0All<\/p>\n

        \\\\text{Apply All}<\/p>\n

        <\/span><\/span>Apply\u00a0All<\/span><\/span><\/span><\/span><\/span><\/span> \u5b8c\u6210\u53c2\u6570\u5199\u5165\u3002<\/p>\n

        \"img\"<\/p>\n

        3.2 Motor and Feedback – Motor Settings \u7535\u673a\u53c2\u6570\u914d\u7f6e<\/h4>\n

        \u8be5\u6a21\u5757\u9700\u4e25\u683c\u53c2\u7167\u6240\u9a71\u52a8\u673a\u578b\u7684\u6280\u672f\u624b\u518c，\u5f55\u5165\u7535\u673a\u7684\u989d\u5b9a\u53c2\u6570；\u672c\u8c03\u8bd5\u6848\u4f8b\u4e2d\u9009\u7528\u7684\u7535\u673a\u578b\u53f7\u4e3a <\/p>\n

        Akribis\u00a0AUM3-S3<\/p>\n

        \\\\text{Akribis AUM3-S3}<\/p>\n

        <\/span><\/span>Akribis\u00a0AUM3-S3<\/span><\/span><\/span><\/span><\/span><\/span>，\u53c2\u6570\u5f55\u5165\u65f6\u9700\u5b8c\u6210\u7535\u673a\u5cf0\u503c\u7535\u6d41 <\/p>\n

        A<\/p>\n

        p<\/p>\n

        A_{\\\\text{p}}<\/p>\n

        <\/span><\/span>A<\/span><\/span>p<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u4e0e\u6709\u6548\u503c\u7535\u6d41 <\/p>\n

        A<\/p>\n

        rms<\/p>\n

        A_{\\\\text{rms}}<\/p>\n

        <\/span><\/span>A<\/span><\/span>rms<\/span><\/span><\/span><\/span><\/span><\/span>\u200b<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u6362\u7b97，\u4fdd\u8bc1\u53c2\u6570\u5339\u914d\u6027\u3002<\/p>\n

        \"img\"<\/p>\n

        3.3 Motor and Feedback – Feedback Settings \u53cd\u9988\u5143\u4ef6\u914d\u7f6e<\/h4>\n

        \u672c\u8c03\u8bd5\u6848\u4f8b\u4e2d，\u53cd\u9988\u5143\u4ef6\u91c7\u7528 \u96f7\u5c3c\u7ecd\u7edd\u5bf9\u5f0f\u5149\u6805\u5c3a，\u901a\u8baf\u534f\u8bae\u4e3a <\/p>\n

        BiSS-C<\/p>\n

        \\\\text{BiSS-C}<\/p>\n

        <\/span><\/span>BiSS-C<\/span><\/span><\/span><\/span><\/span><\/span>，\u4f4d\u5bbd <\/p>\n

        32<\/p>\n

        \u00a0bit<\/p>\n

        32\\\\ \\\\text{bit}<\/p>\n

        <\/span><\/span>32<\/span>\u00a0<\/span>bit<\/span><\/span><\/span><\/span><\/span><\/span>，\u5206\u8fa8\u7387 <\/p>\n

        5<\/p>\n

        \u00a0nm<\/p>\n

        5\\\\ \\\\text{nm}<\/p>\n

        <\/span><\/span>5<\/span>\u00a0<\/span>nm<\/span><\/span><\/span><\/span><\/span><\/span>，\u786c\u4ef6\u63a5\u5165\u9a71\u52a8\u5668 <\/p>\n

        Port\u00a0A<\/p>\n

        \\\\text{Port A}<\/p>\n

        <\/span><\/span>Port\u00a0A<\/span><\/span><\/span><\/span><\/span><\/span> \u7aef\u53e3\u3002 \u53c2\u6570\u6362\u7b97：\u56e0\u5149\u6805\u5c3a\u7684 <\/p>\n

        Position\u00a0LSB\u00a0number<\/p>\n

        \\\\text{Position LSB number}<\/p>\n

        <\/span><\/span>Position\u00a0LSB\u00a0number<\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a <\/p>\n

        8<\/p>\n

        \u00a0bit<\/p>\n

        8\\\\ \\\\text{bit}<\/p>\n

        <\/span><\/span>8<\/span>\u00a0<\/span>bit<\/span><\/span><\/span><\/span><\/span><\/span>，\u6545\u534f\u8bae\u603b\u4f4d\u5bbd <\/p>\n

        Protocol\u00a0Total\u00a0Bits<\/p>\n

        =<\/p>\n

        32<\/p>\n

        +<\/p>\n

        8<\/p>\n

        =<\/p>\n

        40<\/p>\n

        \u00a0bit<\/p>\n

        \\\\text{Protocol Total Bits} = 32+8 = 40\\\\ \\\\text{bit}<\/p>\n

        <\/span><\/span>Protocol\u00a0Total\u00a0Bits<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>32<\/span><\/span>+<\/span><\/span><\/span><\/span>8<\/span><\/span>=<\/span><\/span><\/span><\/span>40<\/span>\u00a0<\/span>bit<\/span><\/span><\/span><\/span><\/span><\/span>；\u57fa\u4e8e <\/p>\n

        5<\/p>\n

        \u00a0nm<\/p>\n

        5\\\\ \\\\text{nm}<\/p>\n

        <\/span><\/span>5<\/span>\u00a0<\/span>nm<\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u5206\u8fa8\u7387，\u9700\u5c06 <\/p>\n

        micron\/count<\/p>\n

        \\\\text{micron\/count}<\/p>\n

        <\/span><\/span>micron\/count<\/span><\/span><\/span><\/span><\/span><\/span> \u914d\u7f6e\u4e3a <\/p>\n

        0.005<\/p>\n

        0.005<\/p>\n

        <\/span><\/span>0.005<\/span><\/span><\/span><\/span><\/span>；<\/p>\n

        SW\u00a0Sensor\u00a0Resolution<\/p>\n

        \\\\text{SW Sensor Resolution}<\/p>\n

        <\/span><\/span>SW\u00a0Sensor\u00a0Resolution<\/span><\/span><\/span><\/span><\/span><\/span> \u53ef\u5728 <\/p>\n

        32<\/p>\n

        \u00a0bit<\/p>\n

        32\\\\ \\\\text{bit}<\/p>\n

        <\/span><\/span>32<\/span>\u00a0<\/span>bit<\/span><\/span><\/span><\/span><\/span><\/span> \u4ee5\u5185\u6309\u9700\u9009\u53d6，\u7528\u4e8e\u5fae\u8c03\u53cd\u9988\u5206\u8fa8\u7387\u3002<\/p>\n

        \"img\"<\/p>\n

        \u82e5\u63a5\u5165\u7684\u4e3a\u6570\u5b57\u91cf\u5149\u6805\u5c3a（\u5206\u8fa8\u7387 <\/p>\n

        0.1<\/p>\n

        \u00a0<\/p>\n

        \u03bc<\/p>\n

        m<\/p>\n

        0.1\\\\ \\\\mathrm{\\\\mu m}<\/p>\n

        <\/span><\/span>0.1<\/span>\u00a0<\/span>\u03bc<\/span>m<\/span><\/span><\/span><\/span><\/span><\/span>）\u4e14\u786c\u4ef6\u63a5\u5165 <\/p>\n

        Port\u00a0A<\/p>\n

        \\\\text{Port A}<\/p>\n

        <\/span><\/span>Port\u00a0A<\/span><\/span><\/span><\/span><\/span><\/span>，\u5219\u9700\u5c06 <\/p>\n

        micron\/count<\/p>\n

        \\\\text{micron\/count}<\/p>\n

        <\/span><\/span>micron\/count<\/span><\/span><\/span><\/span><\/span><\/span> \u56fa\u5b9a\u914d\u7f6e\u4e3a <\/p>\n

        0.1<\/p>\n

        0.1<\/p>\n

        <\/span><\/span>0.1<\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

        \"img\"<\/p>\n

        3.4 User Units \u81ea\u5b9a\u4e49\u5355\u4f4d\u914d\u7f6e<\/h4>\n

        \u8be5\u6a21\u5757\u53ef\u5bf9\u4f4d\u79fb\u3001\u901f\u5ea6\u7684\u663e\u793a\u5355\u4f4d\u8fdb\u884c\u914d\u7f6e，\u53ef\u9009\u7c7b\u578b\u5305\u542b：\u56fd\u9645\u6807\u51c6\u5355\u4f4d\u3001\u8109\u51b2\u6570 <\/p>\n

        cnt<\/p>\n

        \\\\text{cnt}<\/p>\n

        <\/span><\/span>cnt<\/span><\/span><\/span><\/span><\/span><\/span>，\u4e5f\u53ef\u6839\u636e\u8c03\u8bd5\u9700\u6c42\u8bbe\u7f6e\u7528\u6237\u81ea\u5b9a\u4e49\u5355\u4f4d\u3002<\/p>\n

        \"img\"<\/p>\n

        3.5 Limits and Protections \u9650\u503c\u4e0e\u4fdd\u62a4\u914d\u7f6e<\/h4>\n

        3.5.1 Current Limits \u7535\u6d41\u9650\u503c<\/h5>\n

        \u8be5\u6a21\u5757\u9700\u5f55\u5165\u9a71\u52a8\u5668\u7684 \u5cf0\u503c\u7535\u6d41 \u4e0e \u6301\u7eed\u7535\u6d41，\u53c2\u6570\u53d6\u503c\u5747\u53c2\u7167\u6240\u9a71\u52a8\u7535\u673a\u7684\u989d\u5b9a\u7535\u6c14\u53c2\u6570；\u5176\u4f59\u4e09\u9879\u4fdd\u62a4\u9608\u503c\u53ef\u6cbf\u7528\u8f6f\u4ef6\u9ed8\u8ba4\u914d\u7f6e，\u65e0\u9700\u989d\u5916\u4fee\u6539\u3002<\/p>\n

        \"img\"<\/p>\n

        3.6 Current \u7535\u6d41\u73af\u6574\u5b9a（\u8fa8\u8bc6-\u8bbe\u8ba1-\u9a8c\u8bc1）<\/h4>\n

        \u7248\u672c\u8bf4\u660e：\u672c\u7248 Elmo \u8c03\u8bd5\u8f6f\u4ef6\u5b58\u5728\u7b97\u6cd5\u504f\u5dee，\u5728\u6267\u884c\u7535\u6d41\u73af\u8fa8\u8bc6\u524d，\u9700\u5148\u884c\u4e0b\u8c03 <\/p>\n

        Current\u00a0Limits<\/p>\n

        \\\\text{Current Limits}<\/p>\n

        <\/span><\/span>Current\u00a0Limits<\/span><\/span><\/span><\/span><\/span><\/span> \u4e2d\u7684 <\/p>\n

        Peak\u00a0Current<\/p>\n

        \\\\text{Peak Current}<\/p>\n

        <\/span><\/span>Peak\u00a0Current<\/span><\/span><\/span><\/span><\/span><\/span> \u6570\u503c（\u793a\u4f8b\u503c\u8c03\u6574\u4e3a <\/p>\n

        4<\/p>\n

        4<\/p>\n

        <\/span><\/span>4<\/span><\/span><\/span><\/span><\/span>），\u9700\u6ee1\u8db3\u7ea6\u675f\u6761\u4ef6：<\/p>\n

        Peak\u00a0Current<\/p>\n

        \u00d7<\/p>\n

        Current\u00a0Level<\/p>\n

        =<\/p>\n

        4<\/p>\n

        \u00d7<\/p>\n

        60<\/p>\n

        %<\/p>\n

        =<\/p>\n

        2.4<\/p>\n

        <<\/p>\n

        Continuous\u00a0Current<\/p>\n

        =<\/p>\n

        2.54<\/p>\n

        \\\\text{Peak Current} \\\\times \\\\text{Current Level} = 4\\\\times60\\\\% = 2.4 < \\\\text{Continuous Current} = 2.54<\/p>\n

        <\/span><\/span>Peak\u00a0Current<\/span><\/span><\/span>\u00d7<\/span><\/span><\/span><\/span>Current\u00a0Level<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>4<\/span><\/span>\u00d7<\/span><\/span><\/span><\/span>60%<\/span><\/span>=<\/span><\/span><\/span><\/span>2.4<\/span><\/span><<\/span><\/span><\/span><\/span>Continuous\u00a0Current<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>2.54<\/span><\/span><\/span><\/span><\/span>\u3002<\/p>\n

        3.6.1 Identification \u8fa8\u8bc6\u73af\u8282<\/h5>\n

        \u70b9\u51fb <\/p>\n

        Identify<\/p>\n

        \\\\text{Identify}<\/p>\n

        <\/span><\/span>Identify<\/span><\/span><\/span><\/span><\/span><\/span> \u542f\u52a8\u7535\u673a\u7535\u6c14\u53c2\u6570\u8fa8\u8bc6，\u8f6f\u4ef6\u5c06\u81ea\u52a8\u6d4b\u7b97\u7535\u673a\u6bcf\u4e00\u76f8\u7ed5\u7ec4\u7684\u7b49\u6548\u7535\u963b <\/p>\n

        R<\/p>\n

        R<\/p>\n

        <\/span><\/span>R<\/span><\/span><\/span><\/span><\/span> \u4e0e\u7b49\u6548\u7535\u611f <\/p>\n

        L<\/p>\n

        L<\/p>\n

        <\/span><\/span>L<\/span><\/span><\/span><\/span><\/span>；\u8fa8\u8bc6\u5b8c\u6210\u540e\u70b9\u51fb <\/p>\n

        Apply<\/p>\n

        \\\\text{Apply}<\/p>\n

        <\/span><\/span>Apply<\/span><\/span><\/span><\/span><\/span><\/span> \u5199\u5165\u53c2\u6570\u3002\u82e5\u8fa8\u8bc6\u6d41\u7a0b\u5931\u8d25，\u53ef\u76f4\u63a5\u53c2\u7167\u7535\u673a\u624b\u518c\u5f55\u5165\u989d\u5b9a <\/p>\n

        R<\/p>\n

        \u3001<\/p>\n

        L<\/p>\n

        R\u3001L<\/p>\n

        <\/span><\/span>R<\/span>\u3001<\/span>L<\/span><\/span><\/span><\/span><\/span> \u503c，\u70b9\u51fb <\/p>\n

        Create<\/p>\n

        \u00a0<\/p>\n

        Plant<\/p>\n

        \u00a0<\/p>\n

        From<\/p>\n

        \u00a0<\/p>\n

        R\/L<\/p>\n

        \\\\textbf{Create Plant From R\/L}<\/p>\n

        <\/span><\/span>Create\u00a0Plant\u00a0From\u00a0R\/L<\/span><\/span><\/span><\/span><\/span><\/span> \u5b8c\u6210\u7b49\u6548\u6a21\u578b\u6784\u5efa\u3002<\/p>\n

        \"img\"<\/p>\n

        3.6.2 Design \u8bbe\u8ba1\u73af\u8282<\/h5>\n

        \u5f55\u5165\u671f\u671b\u7684 \u7535\u6d41\u73af\u5e26\u5bbd \u4e0e \u76f8\u4f4d\u88d5\u5ea6 \u6307\u6807，\u70b9\u51fb <\/p>\n

        Design<\/p>\n

        \\\\text{Design}<\/p>\n

        <\/span><\/span>Design<\/span><\/span><\/span><\/span><\/span><\/span>，\u8f6f\u4ef6\u5c06\u57fa\u4e8e\u9884\u8bbe\u6307\u6807\u81ea\u52a8\u6574\u5b9a\u7535\u6d41\u73af PI \u63a7\u5236\u5668\u7684\u6bd4\u4f8b\u3001\u79ef\u5206\u53c2\u6570\u3002<\/p>\n

        \"img\"<\/p>\n

        3.6.3 Verification \u9a8c\u8bc1\u73af\u8282<\/h5>\n

        \u70b9\u51fb <\/p>\n

        Verify<\/p>\n

        \\\\text{Verify}<\/p>\n

        <\/span><\/span>Verify<\/span><\/span><\/span><\/span><\/span><\/span>，\u53ef\u5206\u522b\u89c2\u6d4b\u7535\u673a <\/p>\n

        A\u3001B\u3001C<\/p>\n

        \\\\text{A\u3001B\u3001C}<\/p>\n

        <\/span><\/span>A<\/span>\u3001<\/span>B<\/span>\u3001<\/span>C<\/span><\/span><\/span><\/span><\/span><\/span> \u4e09\u76f8\u7684\u7535\u6d41\u73af\u9636\u8dc3\u54cd\u5e94\u66f2\u7ebf\u3002Elmo \u7535\u6d41\u73af\u7684\u5408\u683c\u5224\u5b9a\u6807\u51c6：\u54cd\u5e94\u66f2\u7ebf\u5b58\u5728\u5c0f\u5e45\u8d85\u8c03，\u4e14\u8d85\u8c03\u540e\u53ef\u5feb\u901f\u6536\u655b\u5e76\u7a33\u5b9a\u8ddf\u8e2a\u7ed9\u5b9a\u503c\u3002<\/p>\n

        \"img\"<\/p>\n

        3.7 Commutation \u7535\u673a\u5bfb\u5411\u914d\u7f6e<\/h4>\n

        \u5bfb\u5411\u65b9\u5f0f\u4e0e\u53cd\u9988\u5143\u4ef6\u7c7b\u578b\u5f3a\u5339\u914d：<\/p>\n

          \n
        • \u63a5\u5165\u7edd\u5bf9\u5f0f\u5149\u6805\u5c3a：\n

          Auto-Phasing\u00a0Method<\/p>\n

          \\\\text{Auto-Phasing Method}<\/p>\n

          <\/span><\/span>Auto-Phasing\u00a0Method<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u62e9 <\/p>\n

          Absolute\u00a0Serial<\/p>\n

          \\\\text{Absolute Serial}<\/p>\n

          <\/span><\/span>Absolute\u00a0Serial<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

        • \u63a5\u5165\u589e\u91cf\u5f0f\u5149\u6805\u5c3a：\n

          Auto-Phasing\u00a0Method<\/p>\n

          \\\\text{Auto-Phasing Method}<\/p>\n

          <\/span><\/span>Auto-Phasing\u00a0Method<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u62e9 <\/p>\n

          Binary\u00a0Search<\/p>\n

          \\\\text{Binary Search}<\/p>\n

          <\/span><\/span>Binary\u00a0Search<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/li>\n<\/ul>\n

          <\/p>\n

          Displacement<\/p>\n

          \\\\text{Displacement}<\/p>\n

          <\/span><\/span>Displacement<\/span><\/span><\/span><\/span><\/span><\/span> \u53c2\u6570\u7528\u4e8e\u8c03\u6574\u5bfb\u5411\u8fc7\u7a0b\u4e2d\u7535\u673a\u7684\u884c\u7a0b\u91cf，\u5f53\u88ab\u63a7\u5bfc\u8f68\u7684\u6709\u6548\u884c\u7a0b\u8f83\u77ed\u65f6，\u53ef\u4e0b\u8c03\u8be5\u53c2\u6570\u503c，\u907f\u514d\u673a\u68b0\u9650\u4f4d\u5e72\u6d89\u3002<\/p>\n

          \"img\"<\/p>\n

          3.8 Velocity and Position \u901f\u5ea6\u73af\u4e0e\u4f4d\u7f6e\u73af\u6574\u5b9a<\/h4>\n

          3.8.1 Identification \u901f\u5ea6\u5f00\u73af\u8fa8\u8bc6<\/h5>\n

          \u8be5\u73af\u8282\u5e38\u89c4\u9009\u7528 <\/p>\n

          Fast<\/p>\n

          \\\\text{Fast}<\/p>\n

          <\/span><\/span>Fast<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5f0f\u6267\u884c\u626b\u9891\u6d4b\u8bd5，\u53c2\u6570\u8bf4\u660e：<\/p>\n

        • \n

          Current\u00a0Level<\/p>\n

          \\\\text{Current Level}<\/p>\n

          <\/span><\/span>Current\u00a0Level<\/span><\/span><\/span><\/span><\/span><\/span>：\u4e3a\u6d4b\u8bd5\u9636\u6bb5\u7535\u673a\u7684\u9650\u6d41\u767e\u5206\u6bd4，\u4f4e\u5360\u7a7a\u6bd4\u4e0b\u7684\u6d4b\u8bd5\u7ed3\u679c\u6613\u5b58\u5728\u504f\u5dee，\u5efa\u8bae\u5c3d\u53ef\u80fd\u9009\u7528\u9ad8\u5360\u7a7a\u6bd4；\u82e5\u9ad8\u5360\u7a7a\u6bd4\u6d4b\u8bd5\u5f02\u5e38，\u53ef\u7531\u4f4e\u81f3\u9ad8\u8c03\u4f18，\u76f4\u81f3\u8fde\u7eed\u591a\u6b21\u6d4b\u8bd5\u7ed3\u679c\u8d8b\u540c\u3002<\/li>\n

        • \n

          Excitation\u00a0Signal\u00a0Band<\/p>\n

          \\\\text{Excitation Signal Band}<\/p>\n

          <\/span><\/span>Excitation\u00a0Signal\u00a0Band<\/span><\/span><\/span><\/span><\/span><\/span>：\u4e3a\u626b\u9891\u7684\u9891\u7387\u533a\u95f4，<\/p>\n

          Normal<\/p>\n

          \\\\text{Normal}<\/p>\n

          <\/span><\/span>Normal<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5f0f\u626b\u9891\u8303\u56f4\u4e3a <\/p>\n

          4.9<\/p>\n

          \u00a0Hz<\/p>\n

          \u223c<\/p>\n

          1250<\/p>\n

          \u00a0Hz<\/p>\n

          4.9\\\\ \\\\text{Hz} \\\\sim 1250\\\\ \\\\text{Hz}<\/p>\n

          <\/span><\/span>4.9<\/span>\u00a0<\/span>Hz<\/span><\/span><\/span>\u223c<\/span><\/span><\/span><\/span>1250<\/span>\u00a0<\/span>Hz<\/span><\/span><\/span><\/span><\/span><\/span>，<\/p>\n

          Full<\/p>\n

          \\\\text{Full}<\/p>\n

          <\/span><\/span>Full<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5f0f\u626b\u9891\u8303\u56f4\u4e3a <\/p>\n

          4.9<\/p>\n

          \u00a0Hz<\/p>\n

          \u223c<\/p>\n

          2500<\/p>\n

          \u00a0Hz<\/p>\n

          4.9\\\\ \\\\text{Hz} \\\\sim 2500\\\\ \\\\text{Hz}<\/p>\n

          <\/span><\/span>4.9<\/span>\u00a0<\/span>Hz<\/span><\/span><\/span>\u223c<\/span><\/span><\/span><\/span>2500<\/span>\u00a0<\/span>Hz<\/span><\/span><\/span><\/span><\/span><\/span>\u3002<\/li>\n

          \"img\"<\/p>\n

          3.8.2 Design \u901f\u5ea6\u73af\/\u4f4d\u7f6e\u73af\u53c2\u6570\u6574\u5b9a<\/h5>\n

          Elmo \u9a71\u52a8\u5668\u7684\u4f4d\u7f6e\u63a7\u5236\u7b97\u6cd5\u4e3a \u5e26\u901f\u5ea6\u524d\u9988+\u52a0\u901f\u5ea6\u524d\u9988\u7684 P\/PI \u63a7\u5236\u7b56\u7565，\u5728 <\/p>\n

          Controller\u00a0Tunning<\/p>\n

          \\\\text{Controller Tunning}<\/p>\n

          <\/span><\/span>Controller\u00a0Tunning<\/span><\/span><\/span><\/span><\/span><\/span> \u9762\u677f\u4e2d：<\/p>\n

            \n
          • \u9009\u62e9 \n

            PI\u00a0Controller<\/p>\n

            \\\\text{PI Controller}<\/p>\n

            <\/span><\/span>PI\u00a0Controller<\/span><\/span><\/span><\/span><\/span><\/span>：\u81ea\u6574\u5b9a\u7b97\u6cd5\u4e0d\u5411\u63a7\u5236\u73af\u8def\u4e2d\u6dfb\u52a0\u4efb\u4f55\u6ee4\u6ce2\u5668；<\/li>\n

          • \u9009\u62e9 \n

            Advanced\u00a0Controller<\/p>\n

            \\\\text{Advanced Controller}<\/p>\n

            <\/span><\/span>Advanced\u00a0Controller<\/span><\/span><\/span><\/span><\/span><\/span>：\u81ea\u6574\u5b9a\u7b97\u6cd5\u5c06\u6839\u636e\u7cfb\u7edf\u7279\u6027，\u81ea\u52a8\u6dfb\u52a0\u4f4e\u901a\u6ee4\u6ce2\u5668\u4e0e\u9677\u6ce2\u6ee4\u6ce2\u5668\u3002<\/li>\n<\/ul>\n

            \u5b9e\u64cd\u6700\u4f18\u914d\u7f6e：<\/p>\n

            Objective<\/p>\n

            \\\\text{Objective}<\/p>\n

            <\/span><\/span>Objective<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u62e9 <\/p>\n

            Advanced\u00a0Controller<\/p>\n

            \\\\text{Advanced Controller}<\/p>\n

            <\/span><\/span>Advanced\u00a0Controller<\/span><\/span><\/span><\/span><\/span><\/span>，\u8c03\u5ea6\u6a21\u5f0f\u9009\u62e9 <\/p>\n

            Best\u00a0Setting\u00a0+\u00a0Automatic<\/p>\n

            \\\\text{Best Setting + Automatic}<\/p>\n

            <\/span><\/span>Best\u00a0Setting\u00a0+\u00a0Automatic<\/span><\/span><\/span><\/span><\/span><\/span>，\u53ef\u83b7\u5f97\u8f83\u4f18\u7684\u63a7\u5236\u6027\u80fd；\u90e8\u5206\u590d\u6742\u5de5\u51b5\u4e0b，\u8f6f\u4ef6\u81ea\u6574\u5b9a\u7684\u7b97\u529b\u4e0d\u8db3，\u65e0\u6cd5\u751f\u6210\u7406\u60f3\u53c2\u6570，\u6b64\u65f6\u9700\u57fa\u4e8e\u7cfb\u7edf\u88d5\u5ea6\u3001\u5e26\u5bbd\u6307\u6807，\u624b\u52a8\u8c03\u53c2（\u5982\u589e\u8bbe\u9677\u6ce2\u6ee4\u6ce2\u5668\u3001\u4fee\u6b63 P\/PI \u53c2\u6570）\u3002<\/p>\n

            \"img\" \"img\"<\/p>\n

            3.8.3 Smooth \u5e73\u6ed1\u56e0\u5b50\u914d\u7f6e<\/h5>\n

            <\/p>\n

            Smooth\u00a0(SF)<\/p>\n

            \\\\text{Smooth (SF)}<\/p>\n

            <\/span><\/span>Smooth\u00a0(SF)<\/span><\/span><\/span><\/span><\/span><\/span> \u4e3a\u5bf9\u79f0\u4e03\u6bb5 S \u578b\u901f\u5ea6\u66f2\u7ebf\u7684\u6025\u52a8\u5ea6 <\/p>\n

            J<\/p>\n

            J<\/p>\n

            <\/span><\/span>J<\/span><\/span><\/span><\/span><\/span> \u4f5c\u7528\u65f6\u957f：<\/p>\n

              \n
            • \n

              SF<\/p>\n

              =<\/p>\n

              0<\/p>\n

              \\\\text{SF}=0<\/p>\n

              <\/span><\/span>SF<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>0<\/span><\/span><\/span><\/span><\/span>：\u65e0\u6025\u52a8\u5ea6\u4f5c\u7528，\u8fd0\u52a8\u89c4\u5212\u4e3a\u5bf9\u79f0\u4e09\u6bb5 T \u578b\u901f\u5ea6\u66f2\u7ebf；<\/li>\n

            • \n

              SF<\/p>\n

              =<\/p>\n

              60<\/p>\n

              \\\\text{SF}=60<\/p>\n

              <\/span><\/span>SF<\/span><\/span><\/span>=<\/span><\/span><\/span><\/span>60<\/span><\/span><\/span><\/span><\/span>：\u6025\u52a8\u5ea6\u4f5c\u7528\u65f6\u957f <\/p>\n

              60<\/p>\n

              \u00a0ms<\/p>\n

              60\\\\ \\\\text{ms}<\/p>\n

              <\/span><\/span>60<\/span>\u00a0<\/span>ms<\/span><\/span><\/span><\/span><\/span><\/span>，\u8fd0\u52a8\u89c4\u5212\u4e3a\u6807\u51c6\u4e03\u6bb5 S \u578b\u901f\u5ea6\u66f2\u7ebf\u3002<\/li>\n<\/ul>\n

              \"img\" \"img\"<\/p>\n

              3.8.4 \u5206\u6bb5 PID \u63a7\u5236\u7b56\u7565<\/h5>\n

              \u9009\u7528 <\/p>\n

              Advanced\u00a0Controller\u00a0+\u00a0Best\u00a0Setting\u00a0+\u00a0Automatic<\/p>\n

              \\\\text{Advanced Controller + Best Setting + Automatic}<\/p>\n

              <\/span><\/span>Advanced\u00a0Controller\u00a0+\u00a0Best\u00a0Setting\u00a0+\u00a0Automatic<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5f0f\u65f6，\u9a71\u52a8\u5668\u542f\u7528 \u5e26\u5168\u524d\u9988\u7684 P\/PI \u56de\u8def\u589e\u76ca\u8c03\u5ea6\u63a7\u5236\u7b97\u6cd5\u3002Elmo \u5c06\u70b9\u4f4d\u8fd0\u52a8（PTP）\u5212\u5206\u4e3a <\/p>\n

              In\u00a0Motion\u3001Settling\u3001Stand\u00a0Still<\/p>\n

              \\\\text{In Motion\u3001Settling\u3001Stand Still}<\/p>\n

              <\/span><\/span>In\u00a0Motion<\/span>\u3001<\/span>Settling<\/span>\u3001<\/span>Stand\u00a0Still<\/span><\/span><\/span><\/span><\/span><\/span> \u4e09\u6bb5\u72ec\u7acb\u7684 PID \u63a7\u5236，\u5b9e\u64cd\u4e2d\u53ef\u901a\u8fc7\u5728 <\/p>\n

              Terminal<\/p>\n

              \\\\text{Terminal}<\/p>\n

              <\/span><\/span>Terminal<\/span><\/span><\/span><\/span><\/span><\/span> \u4e2d\u8f93\u5165\u6307\u4ee4 <\/p>\n

              GS[11]=0<\/p>\n

              \\\\text{GS[11]=0}<\/p>\n

              <\/span><\/span>GS[11]=0<\/span><\/span><\/span><\/span><\/span><\/span> \u5173\u95ed <\/p>\n

              Settling<\/p>\n

              \\\\text{Settling}<\/p>\n

              <\/span><\/span>Settling<\/span><\/span><\/span><\/span><\/span><\/span> \u6bb5，\u4ec5\u4fdd\u7559\u524d\u4e24\u6bb5\u63a7\u5236\u903b\u8f91：<\/p>\n

                \n
              • \u4f4d\u7f6e\u6307\u4ee4\u672a\u5230\u8fbe\u76ee\u6807\u70b9：\u6267\u884c \n

                In\u00a0Motion<\/p>\n

                \\\\text{In Motion}<\/p>\n

                <\/span><\/span>In\u00a0Motion<\/span><\/span><\/span><\/span><\/span><\/span> \u6bb5\u53c2\u6570；<\/li>\n

              • \u4f4d\u7f6e\u6307\u4ee4\u5230\u8fbe\u76ee\u6807\u70b9：\u6267\u884c \n

                Stand\u00a0Still<\/p>\n

                \\\\text{Stand Still}<\/p>\n

                <\/span><\/span>Stand\u00a0Still<\/span><\/span><\/span><\/span><\/span><\/span> \u6bb5\u53c2\u6570\u3002<\/li>\n<\/ul>\n

                \u8be5\u6a21\u5f0f\u9002\u914d\u6027：\u5c24\u5176\u9002\u7528\u4e8e PTP \u8fd0\u52a8\u4e2d\u8d1f\u8f7d\u5b9e\u65f6\u53d8\u5316\u7684\u5de5\u51b5；\u82e5\u4e09\u6bb5\u63a7\u5236\u53c2\u6570\u5b8c\u5168\u4e00\u81f4，\u5219\u9000\u5316\u4e3a\u6807\u51c6\u5e26\u5168\u524d\u9988\u7684 P\/PI \u4f3a\u670d\u63a7\u5236\u56de\u8def\u3002 \u89c4\u5f8b：\u8be5\u63a7\u5236\u56de\u8def\u7684\u901f\u5ea6\u524d\u9988\u7cfb\u6570\u56fa\u5b9a\u4e3a <\/p>\n

                1<\/p>\n

                1<\/p>\n

                <\/span><\/span>1<\/span><\/span><\/span><\/span><\/span>，\u52a0\u901f\u5ea6\u524d\u9988\u7cfb\u6570\u7684\u53d6\u503c\u5bf9\u7cfb\u7edf\u8d85\u8c03\u91cf\u5177\u6709\u663e\u8457\u5f71\u54cd\u3002<\/p>\n

                \"img\" \"img\"<\/p>\n

                \u5b9e\u6d4b\u5bf9\u6bd4：\u540c\u53c2\u6570\u3001\u540c\u88ab\u63a7\u5bf9\u8c61\u4e0b，<\/p>\n

                G-SOLTR012\/400EEH<\/p>\n

                \\\\text{G-SOLTR012\/400EEH}<\/p>\n

                <\/span><\/span>G-SOLTR012\/400EEH<\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u5b9a\u4f4d\u632f\u52a8\u5e45\u503c\u4e3a <\/p>\n

                \u00b1<\/p>\n

                10<\/p>\n

                \u00a0cnt<\/p>\n

                \\\\pm10\\\\ \\\\text{cnt}<\/p>\n

                <\/span><\/span>\u00b1<\/span>10<\/span>\u00a0<\/span>cnt<\/span><\/span><\/span><\/span><\/span><\/span>，<\/p>\n

                G-OBO6\/230FEHN2<\/p>\n

                \\\\text{G-OBO6\/230FEHN2}<\/p>\n

                <\/span><\/span>G-OBO6\/230FEHN2<\/span><\/span><\/span><\/span><\/span><\/span> \u7684\u5b9a\u4f4d\u632f\u52a8\u5e45\u503c\u4e3a <\/p>\n

                \u00b1<\/p>\n

                2<\/p>\n

                \u00a0cnt<\/p>\n

                \\\\pm2\\\\ \\\\text{cnt}<\/p>\n

                <\/span><\/span>\u00b1<\/span>2<\/span>\u00a0<\/span>cnt<\/span><\/span><\/span><\/span><\/span><\/span>；\u6027\u80fd\u5dee\u5f02\u7684\u539f\u56e0\u4e3a\u540e\u8005\u7684\u7535\u6d41\u73af\u52a8\u6001\u7279\u6027\u66f4\u4f18，\u56e0\u6b64\u5b9a\u4f4d\u7a33\u6001\u8bef\u5dee\u66f4\u5c0f\u3002<\/p>\n

                \u6240\u6709\u53c2\u6570\u8c03\u8bd5\u5b8c\u6210\u540e，\u5728 <\/p>\n

                Summary<\/p>\n

                \\\\text{Summary}<\/p>\n

                <\/span><\/span>Summary<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5757\u6267\u884c\u53c2\u6570\u4fdd\u5b58，\u5b8c\u6210\u5168\u6d41\u7a0b\u8c03\u8bd5\u3002<\/p>\n

                4 \u9a71\u52a8\u5668\u8fd0\u52a8\u7a0b\u5e8f\u7f16\u5199<\/h3>\n

                4.1 \u7a0b\u5e8f\u5f00\u53d1\u6d41\u7a0b<\/h4>\n
              • \u8f6f\u4ef6\u4e2d\u9009\u62e9 \n

                Drive\u00a0Programming<\/p>\n

                \\\\text{Drive Programming}<\/p>\n

                <\/span><\/span>Drive\u00a0Programming<\/span><\/span><\/span><\/span><\/span><\/span> \u6a21\u5757，\u53f3\u952e\u70b9\u51fb <\/p>\n

                Solution<\/p>\n

                \\\\text{Solution}<\/p>\n

                <\/span><\/span>Solution<\/span><\/span><\/span><\/span><\/span><\/span>，\u9009\u62e9 <\/p>\n

                New\u00a0Project<\/p>\n

                \\\\text{New Project}<\/p>\n

                <\/span><\/span>New\u00a0Project<\/span><\/span><\/span><\/span><\/span><\/span> \u65b0\u5efa\u5de5\u7a0b；<\/li>\n

              • \u53f3\u952e\u70b9\u51fb\u5de5\u7a0b\u540d\u79f0，\u9009\u62e9 \n

                New\u00a0Program<\/p>\n

                \\\\text{New Program}<\/p>\n

                <\/span><\/span>New\u00a0Program<\/span><\/span><\/span><\/span><\/span><\/span>，\u8fdb\u5165\u7a0b\u5e8f\u7f16\u8f91\u754c\u9762；<\/li>\n

              • \u7f16\u8bd1\u524d\u9700\u5b8c\u6210\u9a71\u52a8\u5668\u4e0e\u5de5\u7a0b\u7684\u7ed1\u5b9a：\u5728 \n

                Workspace\u00a0tree<\/p>\n

                \\\\text{Workspace tree}<\/p>\n

                <\/span><\/span>Workspace\u00a0tree<\/span><\/span><\/span><\/span><\/span><\/span> \u4e2d\u53f3\u952e\u70b9\u51fb\u9a71\u52a8\u5668\u6807\u8bc6，\u9009\u62e9 <\/p>\n

                Link\u00a0Project<\/p>\n

                \\\\text{Link Project}<\/p>\n

                <\/span><\/span>Link\u00a0Project<\/span><\/span><\/span><\/span><\/span><\/span>；<\/li>\n

              • \u7f16\u8bd1\u4e0e\u4e0b\u8f7d：\u70b9\u51fb \n

                Build<\/p>\n

                \\\\text{Build}<\/p>\n

                <\/span><\/span>Build<\/span><\/span><\/span><\/span><\/span><\/span> \u6309\u94ae，\u8f6f\u4ef6\u5c06\u81ea\u52a8\u7f16\u8bd1\u7a0b\u5e8f，\u65e0\u7f16\u8bd1\u62a5\u9519\u65f6，\u7a0b\u5e8f\u5c06\u81ea\u52a8\u4e0b\u8f7d\u81f3\u9a71\u52a8\u5668（\u8be5\u64cd\u4f5c\u4ec5\u652f\u6301 <\/p>\n

                online<\/p>\n

                \\\\text{online}<\/p>\n

                <\/span><\/span>online<\/span><\/span><\/span><\/span><\/span><\/span> \u8054\u673a\u6a21\u5f0f），\u7f16\u8bd1\u7ed3\u679c\u5c06\u5728 <\/p>\n

                Output<\/p>\n

                \\\\text{Output}<\/p>\n

                <\/span><\/span>Output<\/span><\/span><\/span><\/span><\/span><\/span> \u9009\u9879\u5361\u4e2d\u663e\u793a；<\/li>\n

              • \u7a0b\u5e8f\u8fd0\u884c：\u70b9\u51fb \n

                Start<\/p>\n

                \\\\text{Start}<\/p>\n

                <\/span><\/span>Start<\/span><\/span><\/span><\/span><\/span><\/span> \u6309\u94ae\u542f\u52a8\u7a0b\u5e8f，\u8be5\u6307\u4ee4\u5c06\u5ffd\u7565\u65ad\u70b9\u7b49\u8c03\u8bd5\u914d\u7f6e，\u76f4\u63a5\u6267\u884c\u7a0b\u5e8f\u903b\u8f91\u3002<\/li>\n

                4.2 \u8fd0\u52a8\u7a0b\u5e8f\u793a\u4f8b（\u7535\u673a\u65cb\u8f6c <\/p>\n

                45<\/p>\n

                \u2218<\/p>\n

                45^\\\\circ<\/p>\n

                <\/span><\/span>4<\/span>5<\/span><\/span>\u2218<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span> \u540e\u5ef6\u65f6，\u53cd\u5411\u65cb\u8f6c <\/p>\n

                45<\/p>\n

                \u2218<\/p>\n

                45^\\\\circ<\/p>\n

                <\/span><\/span>4<\/span>5<\/span><\/span>\u2218<\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span><\/span>）<\/h4>\n

                function P2P_Abs<\/span>(<\/span>float<\/span> Distance)<\/span>
                \nfloat<\/span> k<\/p>\n

                if<\/span> (<\/span>UM!=<\/span>5<\/span>)<\/span> \/\/ \u5224\u5b9a\u7535\u673a\u662f\u5426\u4e3a\u4f4d\u7f6e\u6a21\u5f0f，\u975e\u4f4d\u7f6e\u6a21\u5f0f\u5219\u5931\u80fd\u7535\u673a<\/span>
                \n MO=<\/span>0<\/span>
                \nend
                \nif<\/span> (<\/span>MO==<\/span>0<\/span>)<\/span>
                \n UM=<\/span>5<\/span> \/\/ \u4f7f\u80fd\u524d\u5148\u884c\u914d\u7f6e\u4f4d\u7f6e\u6a21\u5f0f<\/span>
                \n MO=<\/span>1<\/span> \/\/ \u7535\u673a\u4f7f\u80fd<\/span>
                \nend<\/p>\n

                k=<\/span>186413.11111<\/span> \/\/ \u89d2\u5ea6\u4e0e\u8109\u51b2\u6570\u7684\u6362\u7b97\u7cfb\u6570<\/span><\/p>\n

                PR=<\/span> Distance*<\/span>k \/\/ \u8bbe\u7f6e\u70b9\u5bf9\u70b9\u76f8\u5bf9\u8fd0\u52a8\u76ee\u6807\u4f4d\u7f6e，PA\u4e3a\u70b9\u5bf9\u70b9\u7edd\u5bf9\u8fd0\u52a8<\/span>
                \nSP=<\/span> 0.4e6<\/span>*<\/span>k \/\/ \u8bbe\u7f6e\u70b9\u5bf9\u70b9\u8fd0\u52a8\u901f\u5ea6<\/span>
                \nAC=<\/span>60<\/span>*<\/span>k \/\/ \u8bbe\u7f6e\u70b9\u5bf9\u70b9\u8fd0\u52a8\u52a0\u901f\u5ea6<\/span>
                \nDC=<\/span>60<\/span>*<\/span>k \/\/ \u8bbe\u7f6e\u70b9\u5bf9\u70b9\u8fd0\u52a8\u51cf\u901f\u5ea6<\/span>
                \nSD=<\/span>60<\/span>*<\/span>k \/\/ \u8bbe\u7f6e\u70b9\u5bf9\u70b9\u8fd0\u52a8\u6025\u505c\u51cf\u901f\u5ea6<\/span>
                \nSF=<\/span>20<\/span> \/\/ \u914d\u7f6e\u5e73\u6ed1\u56e0\u5b50<\/span>
                \nBG \/\/ \u542f\u52a8\u8fd0\u52a8<\/span><\/p>\n

                return<\/span><\/p>\n

                \/\/ \u6b63\u5411\u7b49\u8ddd\u5206\u6bb5\u8fd0\u52a8，\u603b\u884c\u7a0bDistance，\u5206\u6bb5\u6570Num，\u9002\u7528\u4e8e\u6fc0\u5149\u5e72\u6d89\u4eea\u6807\u5b9a<\/span>
                \nfunction pos_func<\/span>(<\/span>float<\/span> Num,<\/span>float<\/span> Distance)<\/span>
                \nfloat<\/span> i,<\/span>deltaDis,<\/span>realPos
                \ndeltaDis=<\/span>Distance\/<\/span>Num
                \nrealPos=<\/span>0<\/span>
                \nfor<\/span> i=<\/span>1<\/span>:<\/span>Num
                \nrealPos=<\/span>realPos+<\/span>deltaDis
                \nP2P_Abs<\/span>(<\/span>realPos)<\/span>
                \nwait<\/span>(<\/span>3000<\/span>)<\/span>
                \nend
                \nreturn<\/span><\/p>\n

                \/\/ \u53cd\u5411\u7b49\u8ddd\u5206\u6bb5\u8fd0\u52a8，\u603b\u884c\u7a0bDistance，\u5206\u6bb5\u6570Num<\/span>
                \nfunction neg_func<\/span>(<\/span>float<\/span> Num,<\/span>float<\/span> Distance)<\/span>
                \nfloat<\/span> i,<\/span>deltaDis,<\/span>realPos
                \ndeltaDis=<\/span>Distance\/<\/span>Num
                \nrealPos=<\/span>Distance
                \nfor<\/span> i=<\/span>1<\/span>:<\/span>Num
                \nrealPos=<\/span>realPos–<\/span>deltaDis
                \nP2P_Abs<\/span>(<\/span>realPos)<\/span>
                \nwait<\/span>(<\/span>3000<\/span>)<\/span>
                \nend
                \nreturn<\/span><\/p>\n

                \/\/ \u4e3b\u7a0b\u5e8f<\/span>
                \nfunction main<\/span>(<\/span>)<\/span>
                \nint<\/span> j,<\/span>k
                \nHM[<\/span>1<\/span>]<\/span>=<\/span>1<\/span> \/\/ \u4fee\u6b63\u4f4d\u7f6e\u8ba1\u6570\u5668（\u56de\u96f6\u64cd\u4f5c）<\/span>
                \nfor<\/span> j=<\/span>1<\/span>:<\/span>200<\/span>
                \npos_func<\/span>(<\/span>1<\/span>,<\/span>45<\/span>)<\/span>
                \npos_func<\/span>(<\/span>1<\/span>,<\/span>–<\/span>45<\/span>)<\/span>
                \n\/\/for k=1:3<\/span>
                \n\/\/wait(10e3)<\/span>
                \n\/\/end<\/span>
                \nend<\/p>\n

                MO=<\/span>0<\/span>
                \nreturn<\/span><\/p>\n

                \"\u70b9\u51fb\u53ef\u64ad\u653e\u89c6\u9891 \u91c7\u7528 Elmo \u9a71\u52a8\u5668\u7684\u53cc\u8f74\u8f6c\u53f0\u6f14\u793a\u89c6\u9891 2017 \u89c6\u9891<\/p>\n

                \n

                Elmo \u9a71\u52a8\u4ecb\u7ecd<\/h2>\n

                Elmo \u9a71\u52a8\u662f\u4ee5\u8272\u5217 Elmo Motion Control \u516c\u53f8\u7814\u53d1\u751f\u4ea7\u7684\u9ad8\u6027\u80fd\u4f3a\u670d\u9a71\u52a8\u5668，\u7528\u4e8e\u7cbe\u786e\u63a7\u5236\u4f3a\u670d\u7535\u673a\u7684\u8f6c\u77e9\u3001\u901f\u5ea6\u4e0e\u4f4d\u7f6e，\u9002\u914d\u4ece\u5de5\u4e1a\u81ea\u52a8\u5316\u5230\u822a\u7a7a\u822a\u5929\u7b49\u591a\u9886\u57df\u4e25\u82db\u8fd0\u52a8\u63a7\u5236\u9700\u6c42，\u4ee5\u9ad8\u529f\u7387\u5bc6\u5ea6\u3001\u5bbd\u52a8\u6001\u54cd\u5e94\u3001\u4f4e EMI \u53ca\u7d27\u51d1\u5c3a\u5bf8\u4e3a\u663e\u8457\u7279\u5f81\u3002<\/p>\n

                \u4ee5\u4e0b\u5bf9\u4ea7\u54c1\u7cfb\u5217\u3001\u5e94\u7528\u6848\u4f8b\u3001\u5382\u5546\u7b49\u5185\u5bb9，\u4ece\u57fa\u7840\u5b9a\u4e49\u3001\u6280\u672f\u539f\u7406\u3001\u4ea7\u54c1\u7cfb\u5217\u3001\u5e94\u7528\u6848\u4f8b\u3001\u56fd\u5185\u66ff\u4ee3\u5382\u5546\u3001\u8c03\u8bd5\u5de5\u5177\u7b49\u65b9\u9762\u5c55\u5f00\u8bf4\u660e\u3002<\/p>\n

                \u57fa\u672c\u5b9a\u4e49\u4e0e\u5b9a\u4f4d<\/h3>\n

                Elmo \u9a71\u52a8\u672c\u8d28\u4e3a\u96c6\u6210\u529f\u7387\u8f6c\u6362\u3001\u63a7\u5236\u7b97\u6cd5\u4e0e\u901a\u4fe1\u63a5\u53e3\u7684\u4f3a\u670d\u9a71\u52a8\u5355\u5143，\u901a\u8fc7\u63a5\u6536\u4e0a\u4f4d\u673a\u6307\u4ee4\u4e0e\u7535\u673a\u53cd\u9988\u4fe1\u53f7，\u5b9e\u73b0\u5bf9\u7535\u673a\u7684\u95ed\u73af\u63a7\u5236，\u6ee1\u8db3\u9ad8\u7cbe\u5ea6\u8f68\u8ff9\u8ddf\u8e2a\u3001\u5feb\u901f\u52a8\u6001\u54cd\u5e94\u4e0e\u591a\u8f74\u540c\u6b65\u7b49\u9700\u6c42，\u9002\u914d\u76f4\u6d41\u3001\u65e0\u5237\u76f4\u6d41\u53ca\u6c38\u78c1\u540c\u6b65\u7535\u673a\u7b49\u591a\u79cd\u7535\u673a\u7c7b\u578b\u3002<\/p>\n

                \u6280\u672f\u539f\u7406\u4e0e\u5de5\u4f5c\u673a\u5236<\/h3>\n
              • \n

                \u63a7\u5236\u67b6\u6784：\u91c7\u7528\u7535\u6d41\u73af\u3001\u901f\u5ea6\u73af\u3001\u4f4d\u7f6e\u73af\u4e09\u73af\u5d4c\u5957\u63a7\u5236，\u7535\u6d41\u73af\u91c7\u6837\u5468\u671f\u4f4e\u81f3\u5fae\u79d2\u7ea7，\u652f\u6301 1:2000 \u52a8\u6001\u7535\u6d41\u8303\u56f4，\u9002\u914d\u9ad8\u4f4e\u901f\u5207\u6362\u4e0e\u5fae\u5b9a\u4f4d\u573a\u666f\u3002<\/p>\n<\/li>\n

              • \n

                \u529f\u7387\u8f6c\u6362：\u57fa\u4e8e\u9ad8\u9891 PWM \u6280\u672f，\u6548\u7387\u53ef\u8fbe 98% – 99%，\u7ed3\u5408\u5148\u8fdb\u6563\u70ed\u8bbe\u8ba1，\u5b9e\u73b0\u9ad8\u529f\u7387\u5bc6\u5ea6\u4e0e\u4f4e\u53d1\u70ed\u3002<\/p>\n<\/li>\n

              • \n

                \u901a\u4fe1\u4e0e\u53cd\u9988：\u652f\u6301 EtherCAT\u3001CANopen \u7b49\u5b9e\u65f6\u603b\u7ebf，\u517c\u5bb9\u589e\u91cf\u7f16\u7801\u5668\u3001\u7edd\u5bf9\u503c\u7f16\u7801\u5668\u3001\u65cb\u8f6c\u53d8\u538b\u5668\u7b49\u591a\u79cd\u53cd\u9988\u5668\u4ef6，\u63d0\u4f9b\u7eb3\u7c73\u7ea7\u5b9a\u4f4d\u7cbe\u5ea6\u3002<\/p>\n<\/li>\n

              • \n

                \u7b97\u6cd5\u4f53\u7cfb：\u5185\u7f6e SimplIQ \u63a7\u5236\u7b97\u6cd5，\u5305\u542b\u7535\u5b50\u9f7f\u8f6e\u3001\u9f99\u95e8\u540c\u6b65\u3001\u76f8\u4f4d\u8d85\u524d\u7b49\u529f\u80fd，\u9002\u914d\u590d\u6742\u8fd0\u52a8\u8f68\u8ff9\u4e0e\u8d1f\u8f7d\u53d8\u5316\u3002<\/p>\n<\/li>\n

                Elmo \u9a71\u52a8\u4ea7\u54c1\u7cfb\u5217<\/h3>\n\n\u4ea7\u54c1\u7cfb\u5217\u529f\u7387\u8303\u56f4\u7535\u6d41\u8303\u56f4\u7535\u538b\u7b49\u7ea7\u5c3a\u5bf8\u4e0e\u5b89\u88c5\u5178\u578b\u7279\u6027<\/tr>\n\n\n\n\n\n\n
                Gold \u7cfb\u5217<\/td>\n50 W – 5.5 kW<\/td>\n5 A – 80 A<\/td>\n14 VDC – 200 VDC<\/td>\n\u8d85\u7d27\u51d1，\u53ef PCB \u5b89\u88c5\/\u5173\u8282\u5b89\u88c5<\/td>\n\u4f4e EMI，\u9ad8\u529f\u7387\u5bc6\u5ea6，EtherCAT \u540c\u6b65<\/td>\n<\/tr>\n
                Platinum \u7cfb\u5217<\/td>\n5.5 kW – 50 kW<\/td>\n80 A – 360 A<\/td>\n200 VDC – 800 VDC<\/td>\n\u6a21\u5757\u5316，\u673a\u67dc\u5b89\u88c5<\/td>\nSIL 3 \u5b89\u5168\u7b49\u7ea7，\u9ad8\u538b\u9002\u914d，\u5bbd\u6e29\u57df<\/td>\n<\/tr>\n
                Trombone \u7cfb\u5217<\/td>\n5 kW – 50 kW<\/td>\n\u5b9a\u5236\u5316<\/td>\n\u5b9a\u5236\u5316<\/td>\n\u8010\u538b\u5bc6\u5c01，\u6c34\u4e0b\u5b89\u88c5<\/td>\n\u9002\u914d\u6df1\u6d77 ROV，\u6297\u632f\u52a8，\u9ad8\u6548\u4f4e\u53d1\u70ed<\/td>\n<\/tr>\n
                Drum\/Whistle \u7cfb\u5217<\/td>\n1 kW – 10 kW<\/td>\n20 A – 100 A<\/td>\n48 VDC – 400 VDC<\/td>\n\u7d27\u51d1\u5927\u7535\u6d41，\u96c6\u6210\u6563\u70ed<\/td>\n\u9002\u914d AGV\/\u79fb\u52a8\u673a\u5668\u4eba，\u5e73\u6ed1\u8fd0\u52a8\u63a7\u5236<\/td>\n<\/tr>\n
                Titanium \u7cfb\u5217<\/td>\n1.2 kW – 2.5 kW<\/td>\n\u5b9a\u5236\u5316<\/td>\n\u5b9a\u5236\u5316<\/td>\n\u591a\u8f74\u96c6\u6210，\u4e25\u82db\u73af\u5883\u9002\u914d<\/td>\n\u6c2e\u5316\u9553\u529f\u7387\u5f00\u5173，\u591a\u8f74\u5b89\u5168\u529f\u80fd，\u5bbd\u6e29\u57df<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                Elmo \u9a71\u52a8\u5e94\u7528\u6848\u4f8b<\/h3>\n\n\u5e94\u7528\u9886\u57df\u5177\u4f53\u6848\u4f8b\u91c7\u7528\u9a71\u52a8\u578b\u53f7\u5b9e\u73b0\u6548\u679c<\/tr>\n\n\n\n\n\n\n\n\n\n
                \u5de5\u4e1a\u673a\u5668\u4eba<\/td>\n\u4e2d\u79d1\u65b0\u677e\u534f\u4f5c\u673a\u5668\u4eba\u5173\u8282\u9a71\u52a8<\/td>\nGold SOLO GUITAR\u3001Gold SOLO WHISTLE<\/td>\n\u76f4\u63a5\u5173\u8282\u5b89\u88c5，1:2000 \u52a8\u6001\u7535\u6d41\u8303\u56f4，\u9ad8\u4f4e\u901f\u9ad8\u7cbe\u5ea6\u8fd0\u884c<\/td>\n<\/tr>\n
                \u79fb\u52a8\u673a\u5668\u4eba\u4e0e AGV<\/td>\n\u4e9a\u6d32\u7535\u5546\u5de8\u5934\u667a\u80fd\u4ed3\u50a8\u5206\u62e3\u8f66<\/td>\nGold Solo Guitar\u3001Gold Solo Whistle<\/td>\n\u7d27\u51d1\u9ad8\u529f\u7387\u5bc6\u5ea6，\u652f\u6491\u7275\u5f15\u4e0e\u5347\u964d\u529f\u80fd，\u63d0\u5347\u5206\u62e3\u6548\u7387<\/td>\n<\/tr>\n
                \u533b\u7597\u4e0e\u5eb7\u590d<\/td>\n\u8111\u5916\u79d1\u624b\u672f\u673a\u5668\u4eba<\/td>\nGold Twitter\u3001Platinum Maestro<\/td>\n\u5fae\u7c73\u7ea7\u5b9a\u4f4d\u7cbe\u5ea6，\u4f4e EMI，\u6ee1\u8db3\u533b\u7597\u5b89\u5168\u6807\u51c6<\/td>\n<\/tr>\n
                \u822a\u7a7a\u822a\u5929<\/td>\nNASA \u592a\u7a7a\u6316\u6398\u673a\u5668\u4eba<\/td>\nPlatinum \u7cfb\u5217<\/td>\n\u9ad8\u538b\u9002\u914d，\u5bbd\u6e29\u57df\u7a33\u5b9a，\u9ad8\u7cbe\u5ea6\u540c\u6b65\u63a7\u5236<\/td>\n<\/tr>\n
                \u6d77\u6d0b\u5de5\u7a0b<\/td>\nNauticus Robotics \u6df1\u6d77 ROV<\/td>\nTrombone \u7cfb\u5217<\/td>\n\u8010\u538b\u5bc6\u5c01，\u9002\u914d 3000 \u7c73\u6df1\u6d77\u4f5c\u4e1a，\u9ad8\u6548\u4f4e\u53d1\u70ed<\/td>\n<\/tr>\n
                \u519c\u4e1a\u81ea\u52a8\u5316<\/td>\n\u8349\u8393\u91c7\u6458\u673a\u5668\u4eba<\/td>\nGold SOLO \u7cfb\u5217<\/td>\n\u5c0f\u4f53\u79ef\u9ad8\u96c6\u6210，\u7cbe\u51c6\u8f68\u8ff9\u63a7\u5236，\u9002\u5e94\u6237\u5916\u7535\u6e90\u6ce2\u52a8<\/td>\n<\/tr>\n
                \u534a\u5bfc\u4f53\u5236\u9020<\/td>\n\u6676\u5706\u6d4b\u8bd5\u8f6c\u5854<\/td>\nGold \u7cfb\u5217<\/td>\n\u5feb\u901f\u54cd\u5e94，\u4f4e\u6296\u52a8，EMI \u517c\u5bb9，\u63d0\u5347\u6d4b\u8bd5\u6548\u7387<\/td>\n<\/tr>\n
                \u9ad8\u673a\u52a8\u673a\u5668\u4eba<\/td>\n\u5c65\u5e26\u5f0f\u9ad8\u673a\u52a8\u673a\u5668\u4eba<\/td>\nGold Whistle \u7cfb\u5217<\/td>\n\u9ad8\u529f\u7387\u5bc6\u5ea6，CANopen \u901a\u4fe1，\u91cd\u8d1f\u8f7d\u4e0b\u9ad8\u7075\u6d3b\u6027<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                \u56fd\u5185\u7c7b\u4f3c Elmo \u9a71\u52a8\u7684\u5382\u5546\u53ca\u4ea7\u54c1<\/h3>\n\n\u5382\u5546\u540d\u79f0\u4ea7\u54c1\u7cfb\u5217\u6027\u80fd\u7279\u70b9\u9002\u914d\u573a\u666f<\/tr>\n\n\n\n\n\n
                \u82cf\u5dde\u897f\u6069\u5fae\u4f3a\u4e91<\/td>\n\u6cf0\u5c71\u3001\u534e\u5c71\u3001\u5d69\u5c71\u7cfb\u5217<\/td>\n\u9ad8\u529f\u7387\u5bc6\u5ea6，\u81ea\u7814\u8f6f\u5f00\u5173\u82af\u7247，\u6548\u7387\u8fbe 99%<\/td>\n\u4eba\u5f62\u673a\u5668\u4eba\u3001\u5de5\u4e1a\u81ea\u52a8\u5316\u3001\u534a\u5bfc\u4f53\u88c5\u5907<\/td>\n<\/tr>\n
                \u4e0a\u6d77\u4f18\u7231\u5b9d<\/td>\nUIM62HXX \u7cfb\u5217<\/td>\n\u5fae\u578b\u4e00\u4f53\u5316\u8bbe\u8ba1，\u9ad8\u901f\u9ad8\u8f6c\u77e9，\u652f\u6301 PVT \u63d2\u8865<\/td>\n\u673a\u5668\u4eba\u5173\u8282\u3001\u81ea\u52a8\u5316\u751f\u4ea7\u7ebf<\/td>\n<\/tr>\n
                \u6c47\u5ddd\u6280\u672f<\/td>\nIS620N \u7cfb\u5217<\/td>\n\u9ad8\u54cd\u5e94\u901f\u5ea6，\u652f\u6301\u591a\u79cd\u73b0\u573a\u603b\u7ebf，\u9002\u914d\u591a\u79cd\u7535\u673a<\/td>\n\u5de5\u4e1a\u673a\u5668\u4eba\u3001\u7269\u6d41\u8f93\u9001\u8bbe\u5907<\/td>\n<\/tr>\n
                \u57c3\u65af\u987f<\/td>\nProNet \u7cfb\u5217<\/td>\n\u7d27\u51d1\u8bbe\u8ba1，\u4f4e EMI，\u591a\u8f74\u540c\u6b65\u63a7\u5236<\/td>\n\u7535\u5b50\u5236\u9020\u3001\u5305\u88c5\u673a\u68b0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                \u6280\u672f\u7279\u6027\u4e0e\u573a\u666f\u4ef7\u503c<\/h3>\n
              • \n

                \u529f\u7387\u5bc6\u5ea6\u4e0e\u5c3a\u5bf8\u4f18\u5316：Gold \u7cfb\u5217\u9a71\u52a8\u5668\u53ef\u76f4\u63a5\u5b89\u88c5\u4e8e\u5173\u8282\u6216\u72ed\u5c0f\u7a7a\u95f4，\u51cf\u5c11\u5e03\u7ebf\u4e0e\u5e72\u6270，\u63d0\u5347\u7cfb\u7edf\u96c6\u6210\u5ea6\u3002<\/p>\n<\/li>\n

              • \n

                \u52a8\u6001\u54cd\u5e94\u4e0e\u63a7\u5236\u7cbe\u5ea6：1:2000 \u52a8\u6001\u7535\u6d41\u8303\u56f4\u4e0e\u5bbd\u9891\u5e26\u54cd\u5e94，\u6ee1\u8db3\u9ad8\u4f4e\u901f\u5207\u6362\u4e0e\u5fae\u5b9a\u4f4d\u9700\u6c42\u3002<\/p>\n<\/li>\n

              • \n

                \u540c\u6b65\u4e0e\u5b89\u5168\u529f\u80fd：\u5185\u7f6e\u9f99\u95e8\u540c\u6b65\u3001\u7535\u5b50\u9f7f\u8f6e\u7b49\u529f\u80fd，\u964d\u4f4e\u4e0a\u4f4d\u673a\u7f16\u7a0b\u590d\u6742\u5ea6；Platinum \u7cfb\u5217\u5177\u5907 SIL 3 \u5b89\u5168\u7b49\u7ea7，\u9002\u914d\u533b\u7597\u3001\u822a\u7a7a\u7b49\u573a\u666f\u3002<\/p>\n<\/li>\n

              • \n

                \u73af\u5883\u9002\u5e94\u6027：Trombone \u7b49\u578b\u53f7\u8010\u53d7\u9ad8\u538b\u3001\u6c34\u4e0b\u5bc6\u5c01\u4e0e\u5bbd\u6e29，\u9002\u914d\u6df1\u6d77\u3001\u592a\u7a7a\u7b49\u6781\u7aef\u73af\u5883\u3002<\/p>\n<\/li>\n

              • \n

                \u80fd\u6548\u4e0e EMI \u63a7\u5236：\u6548\u7387\u8fbe 98% \u4ee5\u4e0a，\u4f4e EMI \u8bbe\u8ba1\u51cf\u5c11\u6ee4\u6ce2\u5668\u4f7f\u7528，\u964d\u4f4e\u7cfb\u7edf\u6210\u672c\u4e0e\u4f53\u79ef\u3002<\/p>\n<\/li>\n

                \u8c03\u8bd5\u4e0e\u5f00\u53d1\u5de5\u5177<\/h3>\n

                Elmo \u9a71\u52a8\u914d\u5957 Elmo Application Studio II（EAS II）\u8f6f\u4ef6，\u63d0\u4f9b\u56fe\u5f62\u5316\u754c\u9762\u7528\u4e8e\u53c2\u6570\u6574\u5b9a\u3001\u5b9e\u65f6\u76d1\u63a7\u3001\u6545\u969c\u8bca\u65ad\u4e0e\u8fd0\u52a8\u8f68\u8ff9\u4f18\u5316，\u652f\u6301\u79bb\u7ebf\u4eff\u771f\u4e0e\u5728\u7ebf\u8c03\u8bd5，\u7b80\u5316\u7cfb\u7edf\u5f00\u53d1\u6d41\u7a0b\u3002<\/p>\n

                \n

                via:<\/h2>\n
                  \n
                • Elmo \u9a71\u52a8\u5668\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u7684\u7b80\u5355\u914d\u7f6e-CSDN \u535a\u5ba2 https:\/\/blog.csdn.net\/heqiunong\/article\/details\/143569853<\/li>\n
                • Elmo \u9a71\u52a8\u5668\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u7684\u8be6\u7ec6\u914d\u7f6e_elmo \u8f6f\u4ef6\u4f7f\u7528\u624b\u518c-CSDN \u535a\u5ba2 https:\/\/blog.csdn.net\/heqiunong\/article\/details\/143573631<\/li>\n
                • GD32 \u4e0e Elmo \u9a71\u52a8\u5668\u7684 CANopen-SDO \u901a\u4fe1_elmo canopen-CSDN \u535a\u5ba2 https:\/\/blog.csdn.net\/heqiunong\/article\/details\/143574044<\/li>\n
                • Elmo \u9a71\u52a8\u5668\u7684\u7b80\u5355\u8c03\u8bd5\u8fc7\u7a0b\u4e0e\u8fd0\u52a8\u7a0b\u5e8f – \u77e5\u4e4e https:\/\/zhuanlan.zhihu.com\/p\/273295434<\/li>\n
                • elmo \u9a71\u52a8\u5668\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u8c03\u8bd5\u6307\u5357 esaii – \u77e5\u4e4e https:\/\/zhuanlan.zhihu.com\/p\/622341905<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"

                  \u6ce8：\u672c\u6587\u4e3a \u201cElmo \u9a71\u52a8\u5668\u201d \u76f8\u5173\u5408\u8f91\u3002 \u56fe\u7247\u6e05\u6670\u5ea6\u53d7\u5f15\u6587\u539f\u56fe\u6240\u9650\u3002 \u7565\u4f5c\u91cd\u6392，\u672a\u6574\u7406\u53bb\u91cd\u3002 \u5982\u6709\u5185\u5bb9\u5f02\u5e38，\u8bf7\u770b\u539f\u6587\u3002 Elmo \u9a71\u52a8\u5668\u4e0a\u4f4d\u673a\u8f6f\u4ef6\u7684\u57fa\u7840\u914d\u7f6e
                  \n\u6c5f\u6e56\u4e0a\u90fd\u53eb\u6211\u79cb\u535a \u5df2\u4e8e 2024-12-11 11:02:37 \u4fee\u6539
                  \n\u4e00 \u786c\u4ef6\u63a5\u7ebf\u89c4\u8303
                  \n1 \u7535\u673a\/\u7f16\u7801\u5668 \u4e0e Elmo \u9a71\u52a8\u5668\u7684\u63a5\u7ebf
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