114, Loading the commutation table | Elmo HARmonica, HARSFEN0602

HARSFEN0602ElmoHARmonicaSoftwareManual						PRELIMINARY			DRAFT
	0.8
	0.6
	0.4
	0.2
h(theta)	0
h(theta)	-0.2
	-0.2
	-0.4
	-0.6
	-0.8
	0	50	100	150	200	250	300	350	400

Theta (degrees)

Figure 9: Winding shape function for sinusoidal motor

In order to optimize the Harmonica to as many motors as possible, the Harmonica can be programmed to any winding shape function. The Harmonica comes from the factory programmed by default for sinusoidal motors, but using a tool in the Composer program the motor waveform may be changed.

9.6.1Loading the commutation table

The commutation table can be programmed using the HV command.

The syntax of the HV command is not standard. For a detailed description of commutation table loading, refer HV in the Command Reference Manual.

114

Page 116

Image 116

Elmo HARmonica, HARSFEN0602 software manual 114, Loading the commutation table

Contents

HARmonica Software Manual Elmo Motion Control Inc USA HARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual About This Manual ScopeRelevant documentation Glossary Harmonica Related Software UnitsPosition units Can EDS Internal Units and Conversions Speed and acceleration unitsCurrent and torque Power DC voltage SpeedElectrical angle Peripherals Digital output A/D converterDigital inputs Communication With the Host General RS232 Communications1 RS232 Basics Description Errors and exceptions in RS232 EchoBackground Transmission CANopen Communication ElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft Interpreter Language Command line Expressions And OperatorsNumbers Mathematical And Logical Operators Operator details XOR Addition SubtractionMultiplication Division Bitwise not Bitwise orBitwise Logical Equality Logical Greater than or equal Logical Less thanLogical Logical or Logical not Unary MinusBitwise Left Shift and Right Shift operators Mathematical functions Assignment Expressions ExpressionsSimple Expressions User variables Built-in Function CallsTime functions Example ca1 = User Function Calls Comments Harmonica User Programming Language User Program Organization Line Continuation CommonLine and Expression Termination General rules for operators LimitationsExpressions And Operators Numbers Expressions Simple Expressions Syntax System Commands Built-in Function Calls Program Flow Commands Labels Entry points For iteration#@LABELNAME XQ ##LOOP2 While iteration Infiniteloop Until iteration While expression Wait iteration If condition Switch selection OFF Syntax break BreakFunctions Function definition Function is absent Dummy variables Count of output variables Mean Automatic variablesSTD Global variables Jumps ##LABEL2 Functions and The Call Stack##LABEL1 Return Killing The Call Stack Automatic subroutines List Of Automatic Routines##STARTNEW #@AUTOI1 Autoexec AutoerAutostop Autobg Automatic Routines Arbitration Automatic Subroutine Mask##LOOP #@AUTOI3 #@TESTPARS MI=MI8 Compilation Error List Program Development and ExecutionEditing a Program Compilation HARSFEN0602ElmoHARmonicaSoftwareManual Asusid@elmo.co.il Preliminarydraft Preliminarydraft Preliminarydraft Preliminarydraft Asusid@elmo.co.il Downloading and Uploading a Program #@AUTOEXEC Examples Assisting Commands For Down/Upload LPN commandBinary data CP command CC commandDownloading a Program DL command Program downloading process Uploading a Program LS command Program execution XQ##TASK1 Initiating a ProgramHalting and resuming a program Automatic program running with power up DB commandSave to Flash Clear user program from Flash Machine status Program statusDB##MS DB##PSN Setting and clearing break points Continuation of the programSingle step Run to Cursor Step Out Step OverStep Getting call stack Setting stackGetting stack entries View of global variables View of local variables HARSFEN0602ElmoHARmonicaSoftwareManual Call Stack During Function Call Virtual MachinesVirtual Machine registers Data types Usrsubj Op code structure and addressing modes Short reference REM RsltandRsltor Not Alphabetic reference Bitwise and OperatorPurpose Algorithm CMP Compare DIV Divide Algorithm itr iterator EOL End Of LineForitr for Loop Iteration Freevac Free Virtual Machine For Bitwise or Operator Getcomm Get Command JMP Jump Jmpeol Jump Jmplabel Jump to the label JNZ Jump Not Zero Jnzeol Jump Not Zero Link JZ Jump If ZeroJzeol Jump If Zero MLT Multiply MOV Assignment Operator = Not Bitwise not Operator REM Reminder Rslta Relational Operator Rsltae Relational Operator = Rsltand Logical and Operator Rsltb Relational OperatorRsltbe Relational Operator = SP SP Rslte Relational Operator == Rsltne Relational Operator != Setcomm Set Command Rsltor Logical or Operator SHR Shift Right SHL Shift Left Spadd Syssubj Jump To System Subroutine Unarynot Logical not Operator OP2 Usrsubj jump To User SubroutineUsrsubrt Return from user subroutine XOR Bitwise XOR Operator Recorder BG,BTILN RPN Signal mapping Signal Signal Name Command Length Description Type Example The commands RV1=5RV2=1RC=3 Defining the set of recorded signalsProgramming the length and the resolution Trigger events and timing Trigger delay Slope and window trigger types Preliminary Definition Uploading recorded data 100Launching the recorder 101 Preliminary Draft Byte Number Value Type 103 CommutationGeneral Brush DC motors Mechanical and electrical motion Figures are missing 104Bldc commutation policy Commutation sensors Rotor Magnetic field sensors 106 Shaft Angle Sensors Hall sensors parameterization Detecting commutation errors loss of feedback107 108 Encoder parameterization Selecting the parameters 109Commutation search General Protections 110Method limitation 111 Continuous Vs. Six-Steps commutation 112 Continuous commutation 113 Winding shapes 114 Loading the commutation table 115 Current controller 116 ID = I hθ + 90 + Ib hθ + 210 + Ic hθ + 117 Peak/Continuous current limit selection Torque command filter 118 119 32768 120 PI current controller 121 Current amplifier protections 122 Unit Modes Torque control Unit mode123 124 Speed mode Unit mode11.2.1The software speed command Speed Profiling using JV, AC and DC 125 11.2.2The auxiliary speed command 126 RLS,FLS 127Stop management Stepper mode Unit mode 128 Dual feedback mode UM=4 129 Dual feedback mode UM=4 130 Single feedback mode UM=5 131 12.1.1Switching Between Motion Modes 132Position reference generator Software reference generator 12.1.2Comparison of the PT and the PVT interpolated modes 12.1.3The Idle Mode and Motion Status133 134 12.1.4Point-To-Point PTP Basic Point-To-Point 135 Example 136 More Complicated PTP Motions 137 Example On-The-Fly Change of The Position Target 138 Jogging Example Simple jogging Example On the fly mode switching139 140 141 Vt = 3at − t0 2 + 2bt − t0 + c 142 Ifference Counts Msec 500 1000 1500 2000 2500 143 144 QP… QV… QT… 145 Motion Management PVT Decisions Flow Chart 146 147 Mode TerminationPVT Motion Using can 148 PVT Motion Programming Message 149 Underflow 150 Programming Sequence for The Auto Increment PVT ModeParameters of The PVT Motion Mode 151 152 Interpolation Mathematics PT Motion What Is PT153 PT Motion Programming The Basic Mode 154 Flow chart of the basic PT mode is depicted below 155 PT Motion Programming Message PT Motion Using can156 Programming Sequence for The Auto Increment PT Mode 157 Parameters of The PT Motion Mode 158 159 External Position Reference Generator 160 External position reference generator 161 Xt = 10000 ⋅ cos2πt + ct 162 Ecam 163 164 165 Dividing Ecam table into several logical portions On the fly Ecam programming using can 166 Jump-Free Motor Starting Policy 167Initializing the external reference parameters 168 Stop management 12.3.1General description 169 Stop Manager InternalsVHN,VLN XM,YM Right Limit Switch Marked as 3 in the Figure Forward Limit Switch Marked as 4 in the Figure170 Rate and Acceleration Marked as 5 in the Figure 171 Position output of the stop manager Modulo counting Modulo Counting 172Sensors, I/O, and Events 173 Digital Outputs 174 Events, and response methodsManual inquiry Periodical Inquiry Homing and Capture What Is Homing? 175Automatic routines Real time Motion management, Homing, Capture, and Flag Homing the auxiliary encoder 176Homing Programming 177 On the fly position counter updates13.5.5A homing with home switch and index example Switches location 178 179 Example Double homing corrects backlash offsets 180 Capturing Limits, Protections, Faults, and Diagnosis 181 VLN 182Current limiting 183 Speed Protection 184 Position Protection Enable switch 185 186 Limit switchesConnecting an external brake 187 When the motor fails to startMotion faults 188 Diagnosis Monitoring motion faults 14.9.2Inconsistent setup data189 Polling the amplifier status 14.9.3Device failures, and the CPU dump Sensor faults Motor cannot move190 Commutation error is static i.e. Does not change in time 191Commutation is lost General Reasons and effect of incorrect commutation Detection of Commutation Feedback Fault 192Commutation is drifting i.e Changes in time Double sensor systems KPN 193Controller Not found Speed Control 15.2.1Block diagram194 195 Parameters of the Speed Controller Position Controller 15.3.1Block Diagram 196 197 Parameters of the Position Controller 198 High Order Filter Block TypesDouble lead block Block type=12 Fist order block Block type=14 Scheduled Double lead block Block type=22 199Second order block Block Type=15 An Example 200User Interface 201 Gain-Scheduling Algorithm 202 Automatic Controller Gain-Scheduling 203 KP = SpeedKpTable k KI = SpeedKiTable k Table of Contents TOC 204Appendix a The Harmonica Flash Memory Organization Main partitions Contents of Text3 Contents of Text1Contents of Text2 Contents of Text4-Text7 206 207 Contents of Text8Contents of Text9 208 Autostop Autobg AutorlsAutoena AUTOI1 AUTOI5 209 Compilation Done Flag 210TOC Text Backup & Compiler data segment Function Symbol Table211 Virtual Machine Code Segment Automatic Routines Table Variable Symbol Table212 213 Appendix B Harmonica InternalsSoftware Structure 17.1.1The Initialization block 214 Idle Loop 215 Idle loop 216 ConverterConverter Call Algorithm 217 18.5 ExamplesJP##LABEL JS##LABEL Label 218

HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARY

DRAFT

Figure 9: Winding shape function for sinusoidal motor

9.6.1Loading the commutation table

114