Elmo ElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft, Interpreter Language

ElmoHARSFEN0602HARmonicaSoftwareManual PRELIMINARYDRAFT

4 The Interpreter Language

The amplifier has language that enables the user to communicate with the Amplifier. Using this language, the user can

Setup the Amplifier

Command the Amplifier what to do

•Inquire the Amplifier status

There are two methods for communicating with the Amplifier.

The first of them is to use the communication interfaces, either the RS232 or the CANopen interface, to pass commands to the Amplifier, and accept the Amplifier immediate response. This method requires on line communication and close cooperation between the Amplifier and its host.

The other method is to write a program in the Amplifier language and to store it in the Amplifier. The Amplifier can run the program with minimal or no host assistance.

The physics and the standards of the RS232, and CANopen communication methods imply differences in the command syntax used by each method.

This section describes the Amplifier language in the basic “RS232” or CAN “OS” syntax.

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 response.

This is the most economical way minimizes both the communication load and the Amplifier 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 is beyond the scope of this manual. Please refer the CANopen Communication Manual.

Programs use the interpreter syntax, with extension that are necessary to support program flow instructions and in line documentation.

The full set of the Amplifier commands is documented in the Amplifier Command Reference Manual.

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