ElmoMC SimplIQ Software Manual - Manual (Page 30)

SimplIQ Software Manual 4BThe SimplIQ User Programming Language
MAN-SIMSW (Ver. 1.4)
5-1
Chapter 5: The SimplIQ User Programming
Language
SimplIQ servo drives read a user program in Elmo High-level language (EHL) 1 after it has
been translated by the compiler into a sequence of virtual assembly commands (described in
Chapter 6: ). The Compiler, part of the Elmo Studio IDE, is integrated into the Composer.
The compilation process can run off line inside the PC. It is not part of the SimplIQ
firmware. Before the SimplIQ drive executes a user program, the program must first be
compiled, and the compiled code must then be downloaded to the serial flash memory of
the
SimplIQ drive. By compiling code prior to downloading, text analysis can be performed
offline, saving online time and boosting user program performance. Another advantage is
that user syntax improvements can be made without upgrading the drive software.
A drive program is a list of commands in a certain order. A user program can be anything
from a simple list of commands to a very complicated machine management algorithm. The
compiled code stored in the
SimplIQ drive is a list of commands in a certain order.
This chapter describes how to write, maintain and run user programs for the SimplIQ drive.
5.1 User Program Organization
A user program is organized as follows:
ƒ
Integer and floating point variable declarations
ƒ Program text, including expressions, commands, labels and comments
ƒ An exit directive, which may be used to terminate the program
Most Interpreter commands can be used in the program text. This feature is given for each
command in the “Source” attribute of the command in the
SimplIQ Command Reference
Manual. Interpreter commands that cannot be used in a program are those that:
ƒ
Upload or download data between the drive and its host.
For example, VR cannot be used for version identification (upload process).
ƒ Store data in the flash memory or retrieve data from the flash memory
For example, CD cannot be used to reload parameters from the flash memory.
For example, XC## resumes a halted user program.
ƒ Are involved in executing the using program
1 The Elmo Clarinet, Mini-Saxophone and Saxophone digital drives use Elmo Low-level
Language (ELL). The Elmo Studio (part of the Composer) can distinguish between these
languages and activate the compilation process accordingly.