ElmoMC SimplIQ Software Manual - Manual (Page 4)

SimplIQ Software Manual Introduction
MAN-SIMSW (Ver. 1.4)
i
Contents
Chapter 1: Introduction ........................................................................................ 1-1
1.1 Scope ............................................................................................................... 1-1
1.2 Abbreviations ................................................................................................. 1-2
Chapter 2: SimplIQ Drive Description ................................................................. 2-2
2.1 Software Organization .................................................................................. 2-2
2.1.1 Boot Software .................................................................................................... 2-2
2.1.2 Firmware ............................................................................................................ 2-2
2.1.3 Personality ......................................................................................................... 2-2
2.2 Related Software ............................................................................................ 2-2
2.3 Units of Measurement ................................................................................... 2-3
2.3.1 Position ............................................................................................................... 2-3
2.3.2 Speed and Acceleration .................................................................................... 2-4
2.3.3 Current and Torque .......................................................................................... 2-4
2.4 Internal Units of Measurement and Conversion ....................................... 2-4
2.5 SimplIQ Drive Peripherals .............................................................................. 2-5
2.5.1 Position Decoders ............................................................................................. 2-5
2.5.2 A/D Converter .................................................................................................. 2-5
2.5.3 Digital Inputs ..................................................................................................... 2-5
2.5.4 Digital Outputs .................................................................................................. 2-6
Chapter 3: Communication with the Host ......................................................... 3-1
3.1 RS-232 Basics .................................................................................................. 3-1
3.2 The Echo ......................................................................................................... 3-2
3.3 Background Transmission ............................................................................ 3-2
3.4 Errors and Exceptions in RS-232 .................................................................. 3-3
Chapter 4: The Interpreter Language ................................................................. 4-1
4.1 The Command Line ....................................................................................... 4-1
4.2 Expressions and Operators ........................................................................... 4-2
4.2.1 Numbers ............................................................................................................ 4-2
4.2.2 Mathematical and Logical Operators .............................................................. 4-3
4.2.3 General Rules for Operators ............................................................................ 4-4
4.2.4 Operator Details ................................................................................................ 4-5
4.2.5 Mathematical Functions ................................................................................... 4-6
4.2.6 Expressions ........................................................................................................ 4-7
4.2.7 Comments ........................................................................................................ 4-11
Chapter 5: The SimplIQ User Programming Language ...................................... 5-1
5.1 User Program Organization ......................................................................... 5-1
5.2 Single and Multiple Command Execution .................................................. 5-3
5.3 Standard Conventions .................................................................................. 5-3
5.3.1 Line and Expression Termination ................................................................... 5-3
5.3.2 Line Continuation ............................................................................................. 5-4
5.3.3 Limitations ......................................................................................................... 5-4
5.4 Expressions and Operators ........................................................................... 5-4
5.4.1 Numbers ............................................................................................................ 5-4