{"command": "cfg"}
{"command": "ena"}
{"command": "off"}
{"command": "mov"}
{"command": "org"}
{"command": "dev"}
{"command": "sts"}
{"command": "zero_start"}
{"command": "zero_stop"}
{"command": "sav"}

{"command": "pos", "PA": {"value": 1000}}
{"command": "rmv", "PA": {"value": 500}}
{"command": "pps", "PA": {"value": 1000}}
{"command": "stp", "PA": {"value": 1}}

{"command": "cfg_bdr", "PA": {"value": 115200}}
{"command": "cfg_mcs", "PA": {"value": 5}}
{"command": "cfg_spd", "PA": {"value": 10000}}
{"command": "cfg_acc", "PA": {"value": 100000}}
{"command": "cfg_dec", "PA": {"value": 100000}}
{"command": "cfg_cra", "PA": {"value": 1.5}}
{"command": "cfg_crn", "PA": {"value": 1.0}}
{"command": "cfg_crh", "PA": {"value": 0.5}}

{"command": "cfg_zmd", "PA": {"value": 2}}
{"command": "cfg_snr", "PA": {"value": 1}}
{"command": "cfg_osv", "PA": {"value": 0}}
{"command": "cfg_zsd", "PA": {"value": 5000}}
{"command": "cfg_zsp", "PA": {"value": 100}}

{"command": "cfg_dmd", "PA": {"value": 1}}
{"command": "cfg_dar", "PA": {"value": 30}}

{"command": "cfg_msr", "PA": {"value": 3}}
{"command": "cfg_msv", "PA": {"value": 0}}
{"command": "cfg_psr", "PA": {"value": 4}}
{"command": "cfg_psv", "PA": {"value": 1}}

//编码器配置命令
{"command": "cfg_pae", "PA": {"value": 1}}
{"command": "cfg_emod", "PA": {"value": 2}}
{"command": "cfg_elns", "PA": {"value": 1000}}
{"command": "cfg_estp", "PA": {"value": 200}}
{"command": "cfg_erty", "PA": {"value": 3}}
{"command": "cfg_edir", "PA": {"value": 0}}
{"command": "cfg_ez", "PA": {"value": 5}}
{"command": "cfg_ewr", "PA": {"value": 1}}

//S3-S6传感器触发事件配置命令
{"command": "cfg_s3f", "PA": {"value": 5}}
{"command": "cfg_s3r", "PA": {"value": 6}}
{"command": "cfg_s4f", "PA": {"value": 7}}
{"command": "cfg_s4r", "PA": {"value": 8}}
{"command": "cfg_s5f", "PA": {"value": 9}}
{"command": "cfg_s5r", "PA": {"value": 0}}
{"command": "cfg_s6f", "PA": {"value": 1}}
{"command": "cfg_s6r", "PA": {"value": 2}}

{"command": "cfg_s3", "PA": {"value": 1}}
{"command": "cfg_s4", "PA": {"value": 0}}
{"command": "cfg_s5", "PA": {"value": 1}}
{"command": "cfg_s6", "PA": {"value": 0}}

//S3-S6端口输出控制命令
{"command": "s3_on"}
{"command": "s3_off"}
{"command": "s4_on"}
{"command": "s4_off"}
{"command": "s5_on"}
{"command": "s5_off"}
{"command": "s6_on"}
{"command": "s6_off"}