#----------------------------------------------------------------------------------------------------------------------- # 属性名 权限 作用 默认值 #----------------------------------------------------------------------------------------------------------------------- # Motor%d.Config.MicroStep 只读 细分数: 1, 2, 4, 8, 16 8 # Motor%d.Config.ProtectByBus 只读 是否处理来自数据总线的防撞保护信号(0不处理/1处理) 0 # Motor%d.Config.StopKeyEnabled 只读 是否启用紧停按钮信号(0不启用/1启用) 0 # Motor%d.Config.EmmrEnabled 只读 是否启用防撞保护传感器(0不启用/1启用) 0 # Motor%d.Config.EmmrTriggerLevel 只读 防撞保护传感器触发电平, 0低触发/1高触发 0 # Motor%d.Config.Rotate 只读 是否旋转自由度(越过最大坐标可回到零点)(0否/1是) 0 # Motor%d.Config.ZeroSwitch 只读 零位传感器是否具备开关 0 # Motor%d.Config.ZeroEna 只读 零位传感器使能电平 0 # Motor%d.Config.ZeroTriggerLevel 只读 零位传感器触发电平, 0低触发/1高触发 0 # Motor%d.Config.MotorEnableLevel 只读 电机使能电平, 0低使能/1高使能 0 # Motor%d.Config.MotorCurrent 只读 电机全电流电平 0 # Motor%d.Config.MotorClockEdge 只读 电机时钟驱动的边沿, 0负边沿/1正边沿 0 # Motor%d.Config.MotorForwardLevel 只读 电机正方向电平, 0低电平/1高电平 0 # Motor%d.DistPerRound 只读 电机每圈行程(毫米) 0 # Motor%d.Direction 只读 电机正方向的运动方向: North/South/West/East/Up/Down # Motor%d.Config.Coordinate.Zero 只读 电机零位逻辑坐标(p, 1圈=3200p) 40 # Motor%d.Config.Coordinate.Limit 读写 电机最大行程(p, 1圈=3200p) 24000 # Motor%d.Config.LostStepLimit.Forward 读写 电机正向最大允许失步(p, 1圈=3200p) 16 # Motor%d.Config.LostStepLimit.Reverse 读写 电机反向最大允许失步(p, 1圈=3200p) 16 # Motor%d.Default.Move.SpeedMax 读写 电机运动默认速度(p/sec, 1圈=3200p) 3200 # Motor%d.Default.Move.Acceleration 读写 电机运动默认加速度(p/sec^2, 1圈=3200p) 3200 # Motor%d.Default.Reset.SpeedMax 读写 电机复位默认速度(p/sec, 1圈=3200p) 3200 # Motor%d.Default.Reset.Acceleration 读写 电机复位默认加速度(p/sec^2, 1圈=3200p) 3200 #----------------------------------------------------------------------------------------------------------------------- # left - X Motor0.DesId=0x0201 Motor0.Config.MicroStep=16 Motor0.Config.ProtectByBus=1 Motor0.Config.StopKeyEnabled=1 Motor0.Config.EmmrEnabled=0 Motor0.Config.EmmrTriggerLevel=0 Motor0.Config.Rotate=0 Motor0.Config.ZeroSwitch=0 Motor0.Config.ZeroEna=0 Motor0.Config.ZeroTriggerLevel=0 Motor0.Config.MotorEnableLevel=1 Motor0.Config.MotorCurrent=0 Motor0.Config.MotorClockEdge=0 Motor0.Config.MotorForwardLevel=1 Motor0.Config.Coordinate.Zero=107 Motor0.Config.Coordinate.Limit=18904 Motor0.Config.LostStepLimit.Forward=16 Motor0.Config.LostStepLimit.Reverse=16 Motor0.DistPerRound=135 Motor0.Direction=West Motor0.Default.Move.SpeedMax=25600 Motor0.Default.Move.Acceleration=25600 Motor0.Default.Reset.SpeedMax=20000 Motor0.Default.Reset.Acceleration=20000 # left - Y Motor1.DesId=0x0204 Motor1.Config.MicroStep=16 Motor1.Config.ProtectByBus=1 Motor1.Config.StopKeyEnabled=1 Motor1.Config.EmmrEnabled=0 Motor1.Config.EmmrTriggerLevel=0 Motor1.Config.Rotate=0 Motor1.Config.ZeroSwitch=0 Motor1.Config.ZeroEna=0 Motor1.Config.ZeroTriggerLevel=1 Motor1.Config.MotorEnableLevel=1 Motor1.Config.MotorCurrent=0 Motor1.Config.MotorClockEdge=0 Motor1.Config.MotorForwardLevel=0 Motor1.Config.Coordinate.Zero=142 Motor1.Config.Coordinate.Limit=22542 Motor1.Config.LostStepLimit.Forward=32 Motor1.Config.LostStepLimit.Reverse=32 Motor1.DistPerRound=45 Motor1.Direction=South Motor1.Default.Move.SpeedMax=25600 Motor1.Default.Move.Acceleration=192000 Motor1.Default.Reset.SpeedMax=26667 Motor1.Default.Reset.Acceleration=70000 # left - Z Motor2.DesId=0x0208 Motor2.Config.MicroStep=16 Motor2.Config.ProtectByBus=1 Motor2.Config.StopKeyEnabled=1 Motor2.Config.EmmrEnabled=0 Motor2.Config.EmmrTriggerLevel=0 Motor2.Config.Rotate=0 Motor2.Config.ZeroSwitch=0 Motor2.Config.ZeroEna=0 Motor2.Config.ZeroTriggerLevel=1 Motor2.Config.MotorEnableLevel=1 Motor2.Config.MotorCurrent=0 Motor2.Config.MotorClockEdge=0 Motor2.Config.MotorForwardLevel=0 Motor2.Config.Coordinate.Zero=131 Motor2.Config.Coordinate.Limit=11836 Motor2.Config.LostStepLimit.Forward=40 Motor2.Config.LostStepLimit.Reverse=40 Motor2.DistPerRound=36.576 Motor2.Direction=Down Motor2.Default.Move.SpeedMax=25600 Motor2.Default.Move.Acceleration=256000 Motor2.Default.Reset.SpeedMax=26667 Motor2.Default.Reset.Acceleration=100000 # left - P Motor3.DesId=0x0202 Motor3.Config.MicroStep=16 Motor3.Config.ProtectByBus=1 Motor3.Config.StopKeyEnabled=1 Motor3.Config.EmmrEnabled=0 Motor3.Config.EmmrTriggerLevel=0 Motor3.Config.Rotate=0 Motor3.Config.ZeroSwitch=0 Motor3.Config.ZeroEna=1 Motor3.Config.ZeroTriggerLevel=1 Motor3.Config.MotorEnableLevel=1 Motor3.Config.MotorCurrent=0 Motor3.Config.MotorClockEdge=0 Motor3.Config.MotorForwardLevel=1 Motor3.Config.Coordinate.Zero=300 Motor3.Config.Coordinate.Limit=32640 Motor3.Config.LostStepLimit.Forward=300 Motor3.Config.LostStepLimit.Reverse=300 Motor3.DistPerRound=1.27 Motor3.Direction=Down Motor3.Default.Move.SpeedMax=25600 Motor3.Default.Move.Acceleration=102400 Motor3.Default.Reset.SpeedMax=12800 Motor3.Default.Reset.Acceleration=51200 # right - X Motor4.DesId=0x0210 Motor4.Config.MicroStep=16 Motor4.Config.ProtectByBus=1 Motor4.Config.StopKeyEnabled=1 Motor4.Config.EmmrEnabled=0 Motor4.Config.EmmrTriggerLevel=0 Motor4.Config.Rotate=0 Motor4.Config.ZeroSwitch=0 Motor4.Config.ZeroEna=1 Motor4.Config.ZeroTriggerLevel=0 Motor4.Config.MotorEnableLevel=1 Motor4.Config.MotorCurrent=0 Motor4.Config.MotorClockEdge=0 Motor4.Config.MotorForwardLevel=0 Motor4.Config.Coordinate.Zero=107 Motor4.Config.Coordinate.Limit=21700 Motor4.Config.LostStepLimit.Forward=16 Motor4.Config.LostStepLimit.Reverse=16 Motor4.DistPerRound=135 Motor4.Direction=West Motor4.Default.Move.SpeedMax=25600 Motor4.Default.Move.Acceleration=25600 Motor4.Default.Reset.SpeedMax=20000 Motor4.Default.Reset.Acceleration=20000 # right - Y Motor5.DesId=0x0220 Motor5.Config.MicroStep=16 Motor5.Config.ProtectByBus=1 Motor5.Config.StopKeyEnabled=1 Motor5.Config.EmmrEnabled=0 Motor5.Config.EmmrTriggerLevel=0 Motor5.Config.Rotate=0 Motor5.Config.ZeroSwitch=0 Motor5.Config.ZeroEna=0 Motor5.Config.ZeroTriggerLevel=1 Motor5.Config.MotorEnableLevel=1 Motor5.Config.MotorCurrent=0 Motor5.Config.MotorClockEdge=0 Motor5.Config.MotorForwardLevel=0 Motor5.Config.Coordinate.Zero=142 Motor5.Config.Coordinate.Limit=22542 Motor5.Config.LostStepLimit.Forward=32 Motor5.Config.LostStepLimit.Reverse=32 Motor5.DistPerRound=45 Motor5.Direction=South Motor5.Default.Move.SpeedMax=25600 Motor5.Default.Move.Acceleration=192000 Motor5.Default.Reset.SpeedMax=26667 Motor5.Default.Reset.Acceleration=70000 # right - Z Motor6.DesId=0x0240 Motor6.Config.MicroStep=16 Motor6.Config.ProtectByBus=1 Motor6.Config.StopKeyEnabled=1 Motor6.Config.EmmrEnabled=0 Motor6.Config.EmmrTriggerLevel=0 Motor6.Config.Rotate=0 Motor6.Config.ZeroSwitch=0 Motor6.Config.ZeroEna=0 Motor6.Config.ZeroTriggerLevel=1 Motor6.Config.MotorEnableLevel=1 Motor6.Config.MotorCurrent=0 Motor6.Config.MotorClockEdge=0 Motor6.Config.MotorForwardLevel=0 Motor6.Config.Coordinate.Zero=131 Motor6.Config.Coordinate.Limit=11297 Motor6.Config.LostStepLimit.Forward=40 Motor6.Config.LostStepLimit.Reverse=40 Motor6.DistPerRound=36.576 Motor6.Direction=Down Motor6.Default.Move.SpeedMax=25600 Motor6.Default.Move.Acceleration=256000 Motor6.Default.Reset.SpeedMax=26667 Motor6.Default.Reset.Acceleration=100000 # right - P Motor7.DesId=0x0240 Motor7.Config.MicroStep=16 Motor7.Config.ProtectByBus=1 Motor7.Config.StopKeyEnabled=1 Motor7.Config.EmmrEnabled=0 Motor7.Config.EmmrTriggerLevel=0 Motor7.Config.Rotate=0 Motor7.Config.ZeroSwitch=0 Motor7.Config.ZeroEna=0 Motor7.Config.ZeroTriggerLevel=1 Motor7.Config.MotorEnableLevel=1 Motor7.Config.MotorCurrent=0 Motor7.Config.MotorClockEdge=0 Motor7.Config.MotorForwardLevel=1 Motor7.Config.Coordinate.Zero=300 Motor7.Config.Coordinate.Limit=32640 Motor7.Config.LostStepLimit.Forward=300 Motor7.Config.LostStepLimit.Reverse=300 Motor7.DistPerRound=1.27 Motor7.Direction=Down Motor7.Default.Move.SpeedMax=25600 Motor7.Default.Move.Acceleration=102400 Motor7.Default.Reset.SpeedMax=12800 Motor7.Default.Reset.Acceleration=51200 #liquid Motor8.Config.PressureChCnt=0 #left capacity liquid level detecter Motor9.Config.PressureChCnt=1 Motor9.Config.CapEnabled=1 #right capacity liquid level detecter Motor10.Config.PressureChCnt=1 Motor10.Config.CapEnabled=1 # right - 试剂盘R Motor11.DesId=0x0240 Motor11.Config.MicroStep=16 Motor11.Config.ProtectByBus=0 Motor11.Config.StopKeyEnabled=1 Motor11.Config.EmmrEnabled=0 Motor11.Config.EmmrTriggerLevel=0 Motor11.Config.Rotate=1 Motor11.Config.ZeroSwitch=0 Motor11.Config.ZeroEna=0 Motor11.Config.ZeroTriggerLevel=1 Motor11.Config.MotorEnableLevel=1 Motor11.Config.MotorCurrent=0 Motor11.Config.MotorClockEdge=0 Motor11.Config.MotorForwardLevel=1 Motor11.Config.Coordinate.Zero=300 Motor11.Config.Coordinate.Limit=57600 Motor11.Config.LostStepLimit.Forward=135 Motor11.Config.LostStepLimit.Reverse=135 Motor11.DistPerRound=1.27 Motor11.Direction=Down Motor11.Default.Move.SpeedMax=20000 Motor11.Default.Move.Acceleration=80000 Motor11.Default.Reset.SpeedMax=20000 Motor11.Default.Reset.Acceleration=80000