Elmo software manual HARSFEN0602ElmoHARmonicaSoftwareManual

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

Table of Contents:

1

1	ABOUT THIS MANUAL		10
1.1		Scope	10
1.2		Relevant documentation	10
	1.2.1	Glossary	10
2	THE HARMONICA		11
2.1		Introduction	11
2.2		Software Organization	11
	2.2.1	The Boot software	11
	2.2.2	The Firmware	11
	2.2.3	The Personality	11
2.3		Related Software	12
2.4		Units	12
	2.4.1	Position units	12
	2.4.2 Speed and acceleration units		13
	2.4.3	Current and torque	13
2.5		Internal Units and Conversions	13
	2.5.1	Current and torque:	13
	2.5.2	Speed:	14
	2.5.3	Electrical angle:	14
	2.5.4	Power DC voltage	14
2.6		Peripherals	14
	2.6.1	Position decoders	14
2.7		A/D converter	15
2.8		Digital inputs	15
2.9		Digital output	15
3	COMMUNICATION WITH THE HOST		16
3.1		General	16
3.2		RS232 Communications	16
	3.2.1	RS232 Basics	16
	3.2.2	The Echo	17
	3.2.3	Background Transmission	17
	3.2.4 Errors and exceptions in RS232		17
3.3		CANopen Communication	17
4	THE INTERPRETER LANGUAGE		18
4.1		The command line	19
4.2		Expressions And Operators	19
	4.2.1	Numbers	19