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Elmo HARmonica Software Manual
P R E L I M I N A R Y D R A F T
HARSFEN0602
1
Table of Contents:
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