Elmo SimplIQ 驱动器编程与配置指南

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"Elmo公司的SimplIQ驱动器软件手册，英文版，提供驱动器编程语言、运行模式配置等信息，适合硬件驱动学习者参考。" 本文档是Elmo Motion Control Ltd.发布的SimplIQ系列伺服驱动器的软件手册，旨在帮助用户理解和应用SimplIQ线的伺服驱动器。手册中的内容包含Elmo公司的专有信息，主要用于协助驱动器的使用者。请注意，手册内的文本和图形仅用于说明和参考，基于这些信息的具体规格可能会在没有预先通知的情况下发生变化。文档中强调了几个关键点： 1. 保密性：手册内含有的信息属于Elmo Motion Control Ltd.的专有财产，仅供SimplIQ伺服驱动器的用户使用。 2. 变更性：手册内容可能随时更新，而不事先通知。这意味着用户应定期检查更新，以获取最新的技术信息。 3. 示例性质：手册中的文字和图形示例仅供说明，其基于的规格可能变动。此外，文档还提供了修订历史，表明手册经过多次修订和完善。例如，版本1.2（2009年4月）对第15.3节进行了小的修正，版本1.1（2004年9月）更新以适应SimplIQ，而版本1.0（2003年7月）则是针对Harmonica的初步发布。 SimplIQ编程语言是手册的核心部分，它可能包括了基本指令集、高级功能、错误处理以及与硬件交互的方法。这将帮助用户编写控制伺服驱动器的程序，实现精确的运动控制。位置反馈是另一个关键标签，意味着手册会涉及如何配置和利用驱动器的反馈机制，以提高系统精度和稳定性。这可能涵盖不同类型的反馈设备（如编码器）的连接、设置和校准，以及如何解读和利用反馈数据进行实时控制。这份手册对于需要理解Elmo SimplIQ驱动器的编程和操作的工程师、技术人员或学生来说，是一份非常有价值的参考资料。它提供了详尽的操作指南和实例，有助于读者掌握驱动器的全面功能，从而有效地集成到各种自动化和运动控制系统中。

SimplIQ Software Manual Communication with the Host

MAN-SIMSW (Ver. 1.1)

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.

3-2

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.

SimplIQ Software Manual The Interpreter Language

MAN-SIMSW (Ver. 1.1)

4-1

SimplIQ Software Manual The Interpreter Language

MAN-SIMSW (Ver. 1.1)

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.

4-2

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