Elmo software manual HARSFEN0602ElmoHARmonicaSoftwareManual

HARSFEN0602ElmoHARmonicaSoftwareManual	PRELIMINARY	DRAFT
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List of Figures:
Figure 1 - Slope and window trigger types		98
Figure 2 – Pre trigger delay		99
Figure 3: Two phased linear motor		104
Figure 4: Three phased linear motor		104
Figure 5: Three phase rotary motor		104
Figure 6: Digital Hall sensors readout		106
Figure 7: Loss of torque due to commutation miss		112
Figure 8: Winding shape function for a Trapeze motor		113
Figure 9: Winding shape function for sinusoidal motor		114
Figure 10: Current controller structure		115
Figure 11: Peak/Continuous current limit selection		117
Figure 12: Time constant selection (Small signal) for the torque input filter		119
Figure 13: Rate limiting for the torque input filter		120
Figure 14: Current PI controller		120
Figure 15: Unit mode 1 (Torque) structure		123
Figure 16: Unit mode 2 (Speed) structure		124
Figure 17 – Speed Profiling using JV, AC and DC		125
Figure 18 – Speed command for different smooth Factor		126
Figure 19: Auxiliary speed command generation		127
Figure 20: Speed mode Stop Manager		127
Figure 21: Stepper mode (UM=3)		129
Figure 22: Dual feedback mode (UM=4)		130
Figure 23: Dual feedback mode (UM=5)		131
Figure 24 – PTP Decisions Flow Chart		137
Figure 25 – Jog Decisions Flow Chart		138
Figure 26 – PVT Decisions Flow Chart		146
Figure 27 – PVT Auto Increment Mode Flow Chart		149
Figure 28 – PT Decisions Flow Chart		155
Figure 29 – PT Auto Increment Mode Flow Chart		157
Figure 30: External position reference generator		160
Figure 31: Print On A Moving Box Application		168
Figure 32: Stop Manager Block Manager		169
Figure 33: Position output of the stop manager		171
Figure 34: Speed output of the Stop Manager		171
Figure 35 – Switches location		178
Figure 36: Speed command and feedback limits		184
Figure 37: Position command and feedback limits		185
Figure 38: Brake output connection		186
Figure 39: Normal Brake Activation Timing		187
Figure 40 – A Block Diagram of the Speed Controller		195
Figure 41 – Block Diagram of The Dual Loop Controller		197
Figure 42: Idle loop		215