类型号,1级类型,2级类型,参数名,参数名英,数据类型,缺省值,最小值,最大值,单位,小数位数,写权限,日志输出,EEPROM变量,选择型操作定义
A0,系统,状态监视,fpga指令,fpgaCommand,bit,800,,,,,1,1,,0-rst;1-pwmAEn;2-pwmBEn;3-pwmCEn;4-brake;5-relay1;6-relay2;7-relay3;8-relay4;9-fan;12-pr
A0,系统,状态监视,fpga状态,fpgaStatus,bit,0,,,,,,1,,0-fault1;1-fault2;2-fautl3;3-fault4;4-fault5;5-fault6;6-fault7;7-optIn1;8-optIn2;9-optIn3;10-optIn4;
A0,系统,状态监视,编码器状态,encoderStatus,float,0.0,,,,,,1,,
A0,系统,状态监视,编码器位置,encoderCounter,float,0.0,,,,,,1,,
A0,系统,状态监视,编码器圈数,encoderTurn,float,0.0,,,,,,1,,
A0,系统,状态监视,角度,theta,float,0.0,,,,,,1,,
,,,,,,,,,,,,,,
B0,AD,AD结果,getOffset,getOffset,enum,0,,,,,1,1,,0-default;1-start;2-done;3-idle
B0,AD,AD结果,ia,ia,float,49.9969482421875,,,,,,1,,
B0,AD,AD结果,ib,ib,float,49.99542236328125,,,,,,1,,
B0,AD,AD结果,ic,ic,float,49.9969482421875,,,,,,1,,
B0,AD,AD结果,io,io,float,49.99847412109375,,,,,,1,,
B0,AD,AD结果,iu,iu,float,99.98779296875,,,,,,1,,
B0,AD,AD结果,iv,iv,float,99.98779296875,,,,,,1,,
B0,AD,AD结果,idc,idc,float,50.00762939453125,,,,,,1,,
B0,AD,AD结果,vdc,vdc,float,200.0,,,,,,1,,
B0,AD,AD结果,uc,uc,float,2999.542236328125,,,,,,1,,
B0,AD,AD结果,uo,uo,float,2999.359130859375,,,,,,1,,
B0,AD,AD结果,temp1,temp1,float,0.0002929687616415322,,,,,,1,,
B0,AD,AD结果,temp2,temp2,float,0.0004394531424622983,,,,,,1,,
B0,AD,AD结果,temp3,temp3,float,0.0002929687616415322,,,,,,1,,
B0,AD,AD结果,temp4,temp4,float,0.0004394531424622983,,,,,,1,,
,,,,,,,,,,,,1,,
B0,AD,AD寄存器,ad1,AD1,int,32765,,,,,,,,
B0,AD,AD寄存器,ad2,AD2,int,32766,,,,,,,,
B0,AD,AD寄存器,ad3,AD3,int,32767,,,,,,,,
B0,AD,AD寄存器,ad4,AD4,int,32766,,,,,,,,
B0,AD,AD寄存器,ad5,AD5,int,32773,,,,,,,,
B0,AD,AD寄存器,ad6,AD6,int,32764,,,,,,,,
B0,AD,AD寄存器,ad7,AD7,int,32764,,,,,,,,
B0,AD,AD寄存器,ad8,AD8,int,32763,,,,,,,,
B0,AD,AD寄存器,ad9,AD9,int,32761,,,,,,,,
B0,AD,AD寄存器,ad10,AD10,int,32764,,,,,,,,
B0,AD,AD寄存器,ad11,AD11,int,2,,,,,,,,
B0,AD,AD寄存器,ad12,AD12,int,3,,,,,,,,
B0,AD,AD寄存器,ad13,AD13,int,2,,,,,,,,
B0,AD,AD寄存器,ad14,AD14,int,3,,,,,,,,
,,,,,,,,,,,,,,
B1,PWM,,PWM1,PWM1,float,0.5,0,1,,,1,,,
B1,PWM,,PWM2,PWM2,float,0.5,0,1,,,1,,,
B1,PWM,,PWM3,PWM3,float,0.5,0,1,,,1,,,
B1,PWM,,PWM4,PWM4,float,0.5,0,1,,,1,,,
B1,PWM,,PWM5,PWM5,float,0.5,0,1,,,1,,,
B1,PWM,,PWM6,PWM6,float,0.5,0,1,,,1,,,
B1,PWM,,PWM7,PWM7,float,0.5,0,1,,,1,,,
,,,,,,,,,,,,,,
C0,中断,cpu1中断,中断1间隔,cpu1Int1Interval,float,10000.009765625,,,,,,,,
C0,中断,cpu1中断,中断1执行时间,cpu1Int1Exec,float,1137.530029296875,,,,,,,,
C0,中断,cpu1中断,中断2间隔,cpu1Int2Interval,float,100.33499908447266,,,,,,,,
C0,中断,cpu1中断,中断2执行时间,cpu1Int2Exec,float,15.75,,,,,,,,
C0,中断,cpu1中断,中断3间隔,cpu1Int3Interval,float,20.71500015258789,,,,,,,,
C0,中断,cpu1中断,中断3执行时间,cpu1Int3Exec,float,7.929999828338623,,,,,,,,
,,,,,,,,,,,,,,
C1,中断,cpu2中断,中断1间隔,cpu2Int1Interval,float,10000.0,,,,,,,,
C1,中断,cpu2中断,中断1执行时间,cpu2Int1Exec,float,2176.0849609375,,,,,,,,
C1,中断,cpu2中断,中断2间隔,cpu2Int2Interval,float,100.34500122070312,,,,,,,,
C1,中断,cpu2中断,中断2执行时间,cpu2Int2Exec,float,54.15999984741211,,,,,,,,
C1,中断,cpu2中断,中断3间隔,cpu2Int3Interval,float,20.689998626708984,,,,,,,,
C1,中断,cpu2中断,中断3执行时间,cpu2Int3Exec,float,10.764999389648438,,,,,,,,
,,,,,,,,,,,,,,
D0,电机控制,,iKp,iKp,float,100.0,,,,,1,,1,
D0,电机控制,,iKi,iKi,float,200.0,,,,,1,,1,
D0,电机控制,,uRefMax,uRefMax,float,300.0,,,,,1,,1,
D0,电机控制,,vKp,vKp,float,400.0,,,,,1,,1,
D0,电机控制,,vKi,vKi,float,500.0,,,,,1,,1,
D0,电机控制,,iRefMax,iRefMax,float,600.0,,,,,1,,1,
D0,电机控制,,pK,pK,float,700.0,,,,,1,,1,
D0,电机控制,,vRefMax,vRefMax,float,800.0,,,,,1,,1,
D1,电机控制,,mode,mode,enum,0,,,,,1,,,0-电流环;1-速度环;2-位置环;3-rsvd;4-Ualphabeta;5-旋转电压
D1,电机控制,,iqRef,iqRef,float,0.0,,,A,,1,,,
D1,电机控制,,velRef,velRef,float,0.0,,,m/s,,1,,,
D1,电机控制,,posRef,posRef,float,0.0,,,m,,1,,,
D1,电机控制,,Ualpha,Ualpha,float,0.0,,,V,,1,,,
D1,电机控制,,Ubeta,Ubeta,float,0.0,,,V,,1,,,
D1,电机控制,,vvvf_K,vvvfK,float,0.0,0,,V/Hz,,1,,,
D1,电机控制,,vvvf_f,vvvfF,float,0.0,0,,Hz,,1,,,
D1,电机控制,,pos,pos,float,0.0,,,,,,,,
D1,电机控制,,vel,vel,float,0.0,,,,,,,,
D1,电机控制,,id,id,float,0.0,,,,,,,,
D1,电机控制,,iq,iq,float,0.0,,,,,,,,
D1,电机控制,,ia,ia,float,0.0,,,,,,,,
D1,电机控制,,ib,ib,float,0.0,,,,,,,,
D1,电机控制,,ic,ic,float,0.0,,,,,,,,
,,,,,,,,,,,,,,
E0,姿态传感器,姿态控制,校准控制,calibrationCtr,enum,128,,,,0,1,,,0-读数据;1-角度参考;2-加速度校准;32-角度校准失败;64-加速度校准失败;128-读取失败
E1,姿态传感器,姿态数据,加速度X,AX,float,0.0,,,m/s2,,,,,
E1,姿态传感器,姿态数据,加速度Y,AY,float,0.0,,,m/s2,,,,,
E1,姿态传感器,姿态数据,加速度Z,AZ,float,0.0,,,m/s2,,,,,
E1,姿态传感器,姿态数据,角速度X,GX,float,0.0,,,°/s,,,,,
E1,姿态传感器,姿态数据,角速度Y,GY,float,0.0,,,°/s,,,,,
E1,姿态传感器,姿态数据,角速度Z,GZ,float,0.0,,,°/s,,,,,
E1,姿态传感器,姿态数据,磁场X,HX,float,0.0,,,uT,,,,,
E1,姿态传感器,姿态数据,磁场Y,HY,float,0.0,,,uT,,,,,
E1,姿态传感器,姿态数据,磁场Z,HZ,float,0.0,,,uT,,,,,
E1,姿态传感器,姿态数据,横滚角X,Roll,float,0.0,,,°,,,,,
E1,姿态传感器,姿态数据,俯仰角Y,Pitch,float,0.0,,,°,,,,,
E1,姿态传感器,姿态数据,航向角Z,Yaw,float,0.0,,,°,,,,,
E1,姿态传感器,姿态数据,温度,Temp,float,0.0,,,°C,,,,,
,,,,,,,,,,,,,,
F1,CPU2,延迟开关,延迟开关,buttonDelay,enum,0,,,,,1,,,0-禁止;1-使能;