288 lines
10 KiB
Plaintext
288 lines
10 KiB
Plaintext
***********RS485模式下的JSON命令*********
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JSON: {"command": "1 dev"}
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HEX: 55 AA 00 00 13 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 31 20 64 65 76 22 7D EE EE
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****************************************
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// 使能设备
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JSON: {"command": "ena"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 65 6E 61 22 7D EE EE
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// 关闭设备
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JSON: {"command": "off"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 6F 66 66 22 7D EE EE
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// 开始运行
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JSON: {"command": "mov"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 6D 6F 76 22 7D EE EE
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// 停止运行(减速停止)
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JSON: {"command": "stp", "value": 0}
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HEX: 55 AA 00 00 1B 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 74 70 22 2C 22 76 61 6C 75 65 22 3A 30 7D EE EE
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// 停止运行(立即停止)
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JSON: {"command": "stp", "value": 1}
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HEX: 55 AA 00 00 1B 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 74 70 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 绝对位置移动
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JSON: {"command": "pos", "value": 1000}
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HEX: 55 AA 00 00 1E 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 70 6F 73 22 2C 22 76 61 6C 75 65 22 3A 31 30 30 30 7D EE EE
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// 相对位置移动
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JSON: {"command": "rmv", "value": 500}
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HEX: 55 AA 00 00 1D 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 72 6D 76 22 2C 22 76 61 6C 75 65 22 3A 35 30 30 7D EE EE
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// 脉冲频率设置
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JSON: {"command": "pps", "value": 2000}
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HEX: 55 AA 00 00 1E 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 70 70 73 22 2C 22 76 61 6C 75 65 22 3A 32 30 30 30 7D EE EE
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// 查询脉冲频率
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JSON: {"command": "pps"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 70 70 73 22 7D EE EE
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// 原点归零
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JSON: {"command": "org"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 6F 72 67 22 7D EE EE
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// 开始归零
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JSON: {"command": "zero_start"}
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HEX: 55 AA 00 00 18 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 7A 65 72 6F 5F 73 74 61 72 74 22 7D EE EE
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// 停止归零
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JSON: {"command": "zero_stop"}
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HEX: 55 AA 00 00 17 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 7A 65 72 6F 5F 73 74 6F 70 22 7D EE EE
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// 设备信息查询
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JSON: {"command": "dev"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 64 65 76 22 7D EE EE
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// 状态查询
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JSON: {"command": "sts"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 74 73 22 7D EE EE
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// 配置查询
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JSON: {"command": "cfg"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 22 7D EE EE
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// 波特率配置
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JSON: {"command": "cfg_bdr", "value": 9600}
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HEX: 55 AA 00 00 22 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 62 64 72 22 2C 22 76 61 6C 75 65 22 3A 39 36 30 30 7D EE EE
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// 微步细分配置
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JSON: {"command": "cfg_mcs", "value": 8}
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HEX: 55 AA 00 00 1F 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 6D 63 73 22 2C 22 76 61 6C 75 65 22 3A 38 7D EE EE
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// 运行速度配置
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JSON: {"command": "cfg_spd", "value": 1000}
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HEX: 55 AA 00 00 22 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 70 64 22 2C 22 76 61 6C 75 65 22 3A 31 30 30 30 7D EE EE
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// 加速度配置
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JSON: {"command": "cfg_acc", "value": 500}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 61 63 63 22 2C 22 76 61 6C 75 65 22 3A 35 30 30 7D EE EE
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// 减速度配置
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JSON: {"command": "cfg_dec", "value": 500}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 64 65 63 22 2C 22 76 61 6C 75 65 22 3A 35 30 30 7D EE EE
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// 加速电流配置
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JSON: {"command": "cfg_cra", "value": 80}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 63 72 61 22 2C 22 76 61 6C 75 65 22 3A 38 30 7D EE EE
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// 匀速电流配置
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JSON: {"command": "cfg_crn", "value": 60}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 63 72 6E 22 2C 22 76 61 6C 75 65 22 3A 36 30 7D EE EE
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// HOLD电流配置
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JSON: {"command": "cfg_crh", "value": 40}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 63 72 68 22 2C 22 76 61 6C 75 65 22 3A 34 30 7D EE EE
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// 传感器S3触发事件配置
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JSON: {"command": "cfg_s3f", "value": 1}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 33 66 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 传感器S4触发事件配置
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JSON: {"command": "cfg_s4f", "value": 2}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 34 66 22 2C 22 76 61 6C 75 65 22 3A 32 7D EE EE
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// 传感器S5触发事件配置
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JSON: {"command": "cfg_s5f", "value": 3}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 35 66 22 2C 22 76 61 6C 75 65 22 3A 33 7D EE EE
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// 传感器S6触发事件配置
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JSON: {"command": "cfg_s6f", "value": 4}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 36 66 22 2C 22 76 61 6C 75 65 22 3A 34 7D EE EE
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// 传感器S3工作模式配置
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JSON: {"command": "cfg_s3", "value": 1}
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HEX: 55 AA 00 00 1F 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 33 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 传感器S4工作模式配置
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JSON: {"command": "cfg_s4", "value": 0}
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HEX: 55 AA 00 00 1F 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 34 22 2C 22 76 61 6C 75 65 22 3A 30 7D EE EE
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// 传感器S5工作模式配置
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JSON: {"command": "cfg_s5", "value": 1}
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HEX: 55 AA 00 00 1F 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 35 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 传感器S6工作模式配置
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JSON: {"command": "cfg_s6", "value": 0}
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HEX: 55 AA 00 00 1F 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 36 22 2C 22 76 61 6C 75 65 22 3A 30 7D EE EE
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// S3端口输出开启
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JSON: {"command": "s3_on"}
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HEX: 55 AA 00 00 13 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 33 5F 6F 6E 22 7D EE EE
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// S3端口输出关闭
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JSON: {"command": "s3_off"}
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HEX: 55 AA 00 00 14 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 33 5F 6F 66 66 22 7D EE EE
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// S4端口输出开启
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JSON: {"command": "s4_on"}
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HEX: 55 AA 00 00 13 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 34 5F 6F 6E 22 7D EE EE
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// S4端口输出关闭
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JSON: {"command": "s4_off"}
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HEX: 55 AA 00 00 14 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 34 5F 6F 66 66 22 7D EE EE
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// S5端口输出开启
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JSON: {"command": "s5_on"}
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HEX: 55 AA 00 00 13 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 35 5F 6F 6E 22 7D EE EE
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// S5端口输出关闭
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JSON: {"command": "s5_off"}
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HEX: 55 AA 00 00 14 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 35 5F 6F 66 66 22 7D EE EE
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// S6端口输出开启
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JSON: {"command": "s6_on"}
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HEX: 55 AA 00 00 13 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 36 5F 6F 6E 22 7D EE EE
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// S6端口输出关闭
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JSON: {"command": "s6_off"}
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HEX: 55 AA 00 00 14 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 36 5F 6F 66 66 22 7D EE EE
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// 归零功能配置
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JSON: {"command": "cfg_zmd", "value": 1}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 7A 6D 64 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 归零用传感器配置
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JSON: {"command": "cfg_snr", "value": 3}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 73 6E 72 22 2C 22 76 61 6C 75 65 22 3A 33 7D EE EE
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// 归零传感器OPEN时电平配置
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JSON: {"command": "cfg_osv", "value": 0}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 6F 73 76 22 2C 22 76 61 6C 75 65 22 3A 30 7D EE EE
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// 归零速度配置
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JSON: {"command": "cfg_zsd", "value": 200}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 7A 73 64 22 2C 22 76 61 6C 75 65 22 3A 32 30 30 7D EE EE
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// 归零后安全位置配置
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JSON: {"command": "cfg_zsp", "value": 100}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 7A 73 70 22 2C 22 76 61 6C 75 65 22 3A 31 30 30 7D EE EE
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// 离线运行模式配置
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JSON: {"command": "cfg_dmd", "value": 1}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 64 6D 64 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 无握手启动时间配置
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JSON: {"command": "cfg_dar", "value": 1000}
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HEX: 55 AA 00 00 22 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 64 61 72 22 2C 22 76 61 6C 75 65 22 3A 31 30 30 30 7D EE EE
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// 负极限传感器配置
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JSON: {"command": "cfg_msr", "value": 3}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 6D 73 72 22 2C 22 76 61 6C 75 65 22 3A 33 7D EE EE
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// 负极限触发电平配置
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JSON: {"command": "cfg_msv", "value": 0}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 6D 73 76 22 2C 22 76 61 6C 75 65 22 3A 30 7D EE EE
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// 正极限传感器配置
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JSON: {"command": "cfg_psr", "value": 4}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 70 73 72 22 2C 22 76 61 6C 75 65 22 3A 34 7D EE EE
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// 正极限触发电平配置
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JSON: {"command": "cfg_psv", "value": 1}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 70 73 76 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 上电使能配置
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JSON: {"command": "cfg_pae", "value": 1}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 70 61 65 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 编码器模式配置
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JSON: {"command": "cfg_emod", "value": 1}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 6D 6F 64 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 编码器线数配置
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JSON: {"command": "cfg_elns", "value": 1000}
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HEX: 55 AA 00 00 22 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 6C 6E 73 22 2C 22 76 61 6C 75 65 22 3A 31 30 30 30 7D EE EE
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// 电机每圈整步数配置
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JSON: {"command": "cfg_estp", "value": 200}
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HEX: 55 AA 00 00 22 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 73 74 70 22 2C 22 76 61 6C 75 65 22 3A 32 30 30 7D EE EE
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// 堵转后重试次数配置
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JSON: {"command": "cfg_erty", "value": 3}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 72 74 79 22 2C 22 76 61 6C 75 65 22 3A 33 7D EE EE
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// 编码器方向配置
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JSON: {"command": "cfg_edir", "value": 0}
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HEX: 55 AA 00 00 21 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 64 69 72 22 2C 22 76 61 6C 75 65 22 3A 30 7D EE EE
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// 编码器灵敏度配置
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JSON: {"command": "cfg_ez", "value": 5}
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HEX: 55 AA 00 00 1F 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 7A 22 2C 22 76 61 6C 75 65 22 3A 35 7D EE EE
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// 堵转后动作配置
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JSON: {"command": "cfg_ewr", "value": 1}
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HEX: 55 AA 00 00 20 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 63 66 67 5F 65 77 72 22 2C 22 76 61 6C 75 65 22 3A 31 7D EE EE
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// 保存配置
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JSON: {"command": "sav"}
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HEX: 55 AA 00 00 11 7B 22 63 6F 6D 6D 61 6E 64 22 3A 22 73 61 76 22 7D EE EE
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