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HARSFEN0602
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