Elmo HARmonica, HARSFEN0602 software manual 116, ID = I hθ + 90 + Ib hθ + 210 + Ic hθ +

ElmoHARSFEN0602HARmonicaSoftwareManual PRELIMINARYDRAFT

IQ = I h(θ) + Ib h(θ +120 ) + Ic h(θ + 240 ) and

ID = I h(θ + 90 ) + Ib h(θ + 210 ) + Ic h(θ + 330 )

Above, is the commutation angle and h(θ) is the input winding function.

The outputθcoordinate transform predicts the variation of the phase voltages during the motor rotation:

VA = VQg(θ) + VDg(θ + 90 )

VB = VQg(θ +120 ) + VDg(θ + 210 )

VC = VQg(θ + 240 ) + VDg(θ + 330 )

Above, g(θ) is the output winding function.

For sinusoidal motors, we have h(θ) ≡ cos(θ) and also g(θ) ≡ cos(θ) .

The harmonica tabulates both h(θ) and g(θ) . The tables for these commutation functions can be programmed using the HV command.

10.1.1Current limiting

10.2The maximum phase current of the Harmonica is given by the parameter MC. The parameter MC describes the hardware of the power stage and cannot be changed. The peak current limit for a given application is programmed to the parameter PL[1] Amperes. Please refer the definition of motor Amperage at Section 2.3: "Related Software

The Harmonica requires supporting software for setup, tuning, programming, and performance assessment. The support software is called “Composer”. It runs on a PC computer, under Windows.

The Composer includes the following functions (among many others): Terminal for direct user interface by RS232 or by CAN

A recorder with advanced scope controls. You can observe up to 8 signals

•simultaneously, triggered by a selection of events. Setup and tuning tools:

Menus for entering basic application data and limits Tools for associating functions to I/O connector pins Automatic tuning of current controller Automatic tuning for commutation

Manual and automatic Speed controller tuning Manual and automatic Position controller tuning

Application database maintenance Save and load application database

••Edit application parameters, with help

Advanced IDE for user program development:

Editor

Compiler

Downloading and uploading of user programs

•Debugger, with:

Various break point and stepping options

Watches for local and global variables

•Call stack watch

The Composer software reads the personality data from the Harmonica, and can therefore

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