SimplIQ伺服驱动器编程手册

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"Elmo Software Handbook 是一份针对Elmo驱动器的编程手册，主要面向经常使用ELMO驱动器的用户，详细介绍了SimplIQ系列伺服驱动器的使用和编程知识。" 在深入理解ELMO驱动器的SimplIQ软件之前，我们首先需要了解什么是ELMO驱动器。ELMO Motion Control Ltd是一家专业生产高性能伺服驱动器的公司，其产品广泛应用于各种自动化和运动控制领域。SimplIQ系列是ELMO推出的一款功能强大的伺服驱动器，设计用于简化伺服驱动的配置、控制和优化。该手册的重要条款和限制指出，内容包含ELMO公司的专有信息，仅供SimplIQ系列伺服驱动器的用户参考。手册中的文本和图形仅作说明和参考之用，具体规格可能随时变更，因此用户在实际应用时应保持更新意识。手册内容可能会随时更新，这反映了ELMO致力于不断改进和提升其产品的性能。此外，手册中可能包含的实例和数据可能是虚构的，除非另有明确说明，这强调了用户在实际操作时需要根据实际情况进行调整。版本历史部分显示，手册从Ver.1.0的初步发布针对Harmonica型号，到Ver.1.1的更新，涵盖了SimplIQ系列，体现了ELMO对其产品持续的升级和支持。手册的详细内容通常会涵盖以下几个方面： 1. 驱动器介绍：介绍SimplIQ系列的基本特性和技术参数，包括驱动器的功率范围、控制模式、接口类型等。 2. 安装与连接：详述如何正确安装驱动器，包括物理安装、电源连接、电机连接以及与控制器的通信连接。 3. 软件配置：介绍使用ELMO的软件工具进行驱动器的参数设置、电机校准、控制算法配置等步骤。 4. 编程指南：提供编程语言和指令集，帮助用户编写控制程序，实现精确的运动控制。 5. 故障排查与维护：列出常见问题及解决方法，以及驱动器的日常维护和保养建议。 6. 安全注意事项：强调操作过程中需要注意的安全规定，确保用户在使用驱动器时不会造成设备损坏或人身伤害。 7. 技术支持：提供ELMO公司的联系方式，以便用户在遇到问题时能够及时获得帮助。通过这份手册，用户可以系统地学习和掌握ELMO SimplIQ驱动器的操作和编程，从而充分发挥其性能，实现高效且精确的运动控制任务。对于涉及ELMO驱动器的工程技术人员来说，这是一份不可或缺的参考资料。

Chapter 3: Communication with the Host

The SimplIQ drive can operate with RS-232 communication or CANopen communication.

This chapter discusses RS-232 communication. Refer to the Elmo CANopen Implementation

Manual for detailed information about

SimplIQ drive operation with CANopen

networking.

The

SimplIQ drive can communicate by RS-232 with baud rates of up to 57,600 baud/

second, depending on the sampling time. Refer to the PP[N] command section in the

SimplIQ Command Reference Manual.

3.1 RS-232 Basics

The RS-232 communication operates only between a host and a single drive. RS-232 lines

are full duplex, enabling them to carry bi-directional communications. This means that

the host can transmit to the drive at any time, without considering the current state of the

drive.

RS-232 communication consists of ASCII printable characters only, with certain

exceptions:

 The characters 0xD (carriage return)

 Certain non-printable characters used as error codes (and listed in the EC command

section in the Harmonica Command Reference Manual)

The basic syntax for RS-232 commands may be of two types:

 An assignment: <command mnemonic>{[index]}{[equal sign><value>}<terminator>

 A free evaluation: <value><terminator>

where:

 command mnemonic Two (case sensitive) letters assigned to a command

(complete list given in

SimplIQ Command Reference Manual).

 index Index, if mnemonic refers to a vector parameter or

command.

 equal sign The “=” character (optional, if the command assigns a value

to a parameter).

 value Parameter value (optional, if the command assigns a value to

a parameter).

The parameter value may be any legitimate arithmetic or

functional expression, as explained later in this section.

 terminator <CR> (carriage return), which is the character 0xD

(13 decimal) or “;”.

An assignment evaluates an expression and stores the result in a variable. A free

evaluation evaluates an expression and sends the result to the terminal.

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Typical examples of assignments are:

MO<CR>

Asks the drive to report the value of the variable MO.

MO=1<CR>

Sets the value of 1 to the MO variable.

CA[2]=1;

Sets the value of the CA[2] variable. CA[N] denotes a

vector of parameters that can be accessed by their index.

An example of a free evaluation is:

(5+sin(PX) * sqrt(abs(VX))

Returns a numerical value to the terminal.

More details about text interpretation are given in

Chapter 4:.

The drive responds to commands communicated by the host it but never initiates a

message to the host if not requested. The syntax of the drive response is:

{<value>}{<error code>}<terminator>

where:

 value Parameter value (optional, if the command requests a

parameter)

 error code A binary number that may be interpreted according to the

error code tables (refer to the EC command in the

SimplIQ

Command Reference Manual).

 terminator “;” if the host command has been successfully executed;

otherwise “;?”

3.2 The Echo

When using RS-232, each character received by the drive is echoed back to the host. The

echo is immediate, per each received character. The echo can be turned off using the

EO=0 command.

When communicating via RS-232, the Composer must have the echo turned on in

order to operate.

3.3 Background Transmission

When the host sends the BH=n command to the drive, the drive uploads the recorder

data to the host. The uploading process may take a few seconds, during which time the

drive is available to receive new commands from the host.

For the command sequence BH=1;MO=0<CR>, the drive will begin to transmit the

recorder data immediately. A few milliseconds later, while the recorder data is still being

transmitted, the drive will execute the MO=0 command. It will then store the response

message to the command in order to transmit it later, immediately after the record

upload terminates.

If the host has not been informed of the communication parameters, it may

transmit a series of terminators and attempt to use several baud rates until it

receives a matching sequence of echoes.

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Chapter 4: The Interpreter Language

SimplIQ servo drives use a communication language that enables the user to:

 Set up the drive

 Send commands to the drive indicating what functions to perform

 Inquire as to the drive status

Two methods can be used to communicate with the drive:

 Using a communication interface — either RS-232 or CANopen — to transfer

commands to the drive and receive an immediate response from the drive. This

method requires on-line communication and close cooperation between the drive and

its host. The physics and standards of RS-232 and CANopen communication require

different command syntax per method. This chapter describes the drive language

according to basic RS-232 or CAN “OS” syntax.

 Writing a program in the drive language and storing it in the drive memory. The

drive can then run the program with minimal or no host assistance.

The CANopen communication method can access simple numeric interpreter “get” and

“set” commands very efficiently. The CAN binary interpreter uses PDO objects to issue

interpreter commands and to collect the responses. This is the most economical way to

minimize both the communication load and the drive CPU load.

The CAN OS (command prompt) method can be used to access the entire set of

interpreter services, including those inaccessible by the binary CAN interpreter, using a

text format. The CANopen communication method is a broad topic and beyond the scope

of this manual (it is covered in the Elmo CAN Implementation Manual).

Software programs use the interpreter syntax, with extensions that are needed to support

program flow instructions and in-line documentation.

The full set of drive commands is documented in the

SimplIQ Command Reference Manual.

4.1 The Command Line

The Interpreter evaluates input strings, called “expressions,” which are sequences of

characters, terminated by a semicolon (;), a line feed or a carriage return.

The maximum length of a legal expression is limited to 511 symbols.

A command line may include a comment marker, which is two consecutive asterisks (**).

All text from the comment market to the next line feed or carriage return is ignored. The

comment market is used to prepare documented batch files, sent later directly to the

drive.

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Example:

Command Line Results Remarks

3+4;

PS=7; PX-3;

4 PX is set to 7 and 3 is then subtracted.

(3.2+4)/2;

3.6

4.2 Expressions and Operators

The drive language supports operators, which specify a mathematical, logical or

conditional operation/relation between two or more operands. Operands (or parameters)

and operators may be combined in almost any way to create an expression. The following

sections describe the operators and expression syntax rules.

4.2.1 Numbers

SimplIQ drives use two number types: 32-bit integers and 32-bit floating-point numbers

(“floats”). At text inputs, numbers containing a decimal point or an exponent notation are

interpreted as floats. Other numbers are interpreted as integers.

The range for integers is [-2,147,483,648…2,147,483,647]. If an integer number exceeds the

integer range, it is interpreted as an error. For example, if 2,147,483,648 is entered, the

SimplIQ drive will respond with a Bad Command Format error.

The lowest integer – -2,147,483,648 – cannot be entered explicitly through the

interpreter due to the means by which immediate numbers are internally

evaluated. Nevertheless, this integer value is valid and can be entered in

hexadecimal form as 0x80,000,000.

Positive integers may be written as decimal or as hexadecimal.

The hexadecimal notation 0x10 is equivalent to the decimal number 16.

An integer value is always truncated to the nearest lower number. For example, 5/2 is 2,

whereas 5/2.0 is 2.5. If an integer exceeds the integer range, it is interpreted as an error.

The range for floating-point numbers is [-1e20…1e20].

A floating-point number may be written with or without an exponent.

2.5e4 is equivalent to 25,000.0. It is not equivalent to 25,000, because the latter number is

interpreted as an integer. If a floating-point number exceeds the floating-point range, it is

also interpreted as an error.

SimplIQ drives evaluate floating-point numbers with the standard IEEE floating

point precision of approximately six significant decimal digits. For example, the

number 12,345.0 has an exact IEEE floating point representation. The number 1,

234,568.0 is understood by the

SimplIQ drive to be 12,345,680.0 due to truncation

into float IEEE format.

SimplIQ Software Manual The Interpreter Language

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