ElmoMC SimplIQ Command Reference - Manual (Page 7)

ƒ CANopen Serial, multi-drop, medium speed and medium-range
communication. This type of communication requires special-
purpose host hardware and software.
This manual describes the SimplIQ commands that can be specified from each of these
sources. Most of the commands are equally available for all three sources. Certain
commands, however, are limited in scope according to type of program or
communication.
All the commands are available to CAN communication in text form through the OS
service, objects 0x1023 and 0x1024. In addition, the numerical set/get commands are
available to CAN users in short PDO form, called the “binary interpreter.” The binary
and the OS SCAN interpreters are described fully in the CANopen Implementation Guide.
CANopen may also be used to manipulate the drive using the object dictionary (OD)
method, which is the native CAN method. This manual does not cover OD manipulations
with CANopen; refer to the “Object Dictionary” section of the CANopen Implementation
Guide for full explanations.
The SimplIQ drive responds to many privileged commands — such as those used by the
Composer setup wizard — that are not documented in this manual.
1.2 Scope
This manual includes the complete list of commands used by SimplIQ servo drives. It
specifies how to use each command, along with added remarks and examples.
The commands are presented in two ways:
ƒ
A task-related listing
ƒ Alphabetically
In the task-related reference, the commands are sorted into groups of related commands.
Each group is presented in a table listing the commands with basic descriptions. The
alphabetical command listing provides a detailed explanation of each command, with
examples and references to the
SimplIQ Software Manual when necessary.
This Command Reference Manual does not cover the following topics:
ƒ
User program keywords, used for writing user programs. These, as well as other
issues of developing, running and debugging user programs, are covered in the
SimplIQ Software Manual.
ƒ Interpreter functions and operators. The SimplIQ interpreter allows complex
arithmetic expressions and supports many arithmetic, trigonometric and logical
operators. The syntax for interpreter commands is explained in the “Interpreter
Language” chapter of the
SimplIQ Software Manual.
SimplIQ Command Reference Manual Introduction
MAN-SIMCR (Ver. 4.5)
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