ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 14)

1.3 Command Specification
Commands for SimplIQ drives may be specified from the following sources:
ƒ User program A program loaded to the servo drive via one of the
communication options. After program execution begins, the
program is managed by the drive.
ƒ RS-232 Serial, point-to-point, short-range communication. Although this
method is rather slow, RS-232 is very easy to use and
requirements are minimal: a standard PC with serial port and
ASCII terminal software.
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 Maestro 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 CAN manual.
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 manual for full
explanations.
The Maestro drive responds to many privileged commands — such as those used by the
Composer setup wizard — that are not documented in this manual.
1.4 Scope
This manual includes the complete list of commands used by the Maestro servo drives.
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.
Maestro Software Manual Introduction
MAN-MASSW (Ver. Q)
1-3