ElmoMC SimplIQ Software Manual - Manual (Page 19)

SimplIQ Software Manual The Interpreter Language
MAN-SIMSW (Ver. 1.4)
4-1
Chapter 4: The Interpreter Language
SimplIQ servo drives use a communication language that enables the user to:
ƒ Set up the drive
ƒ Send commands to the drive indicating what functions to perform
ƒ Inquire as to the drive status
Two methods can be used to communicate with the drive:
ƒ
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.
ƒ 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 marker to the next line feed or carriage return is ignored. The
comment marker is used to prepare documented batch files, sent later directly to the
drive.