Interlude - Motion Control Software libraries

The Interlude is a set of software libraries for Elmo's intelligent digital servo drives.

The target of this application programming interface (API) is the fast and simple communication between the user's application and the Elmo's SimplIQ line of digital servo drives.

The Interlude DLL (dynamic language library), integrated directly into the user application, operates as an embedded part of it and supports the synchronized communication protocols RS232 and CANopen DS-301. The main interfaces provided through the Interlude API are the IDriver and the ICANservice.

The IDriver interface contains the following group of functions:

• Establish and disconnect communication between the user application and the Elmo drive.
• Upload and download applications from and to the drive.
• Download firmware.
• Create and load network configuration files.
• Define and activate a callback mechanism for error handling.
• Check for CANopen communication as a first step in operating fast motion modes via CANopen.

The ICanService is the interface used to run the fast motion modes through CANopen, performing the following functions:

• Initiate fast motion (PVT and PT) operation.
• Define PVT or PT trajectories.
• Start and stop the fast motion.
• Activate (and cancel) a synchronization mechanism.
• Define and activate a defined emergency callback mechanism.