Elmo HARSFEN0602, HARmonica software manual Harmonica

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

2The Harmonica

2.1Introduction

The Harmonica sophisticated and capable network-oriented single-axis amplifier, with:

-State of the art control algorithms, including high order filters and gain scheduling

-State of the art reference generation algorithm, including absolute timed interpolated motion, auxiliary signal following, and ECAM.

-Synchronization capability for network operation

-Conformance to CANopen standards

-User friendly programming

-Advanced analyzing tool for setup behavior

-Built in auto-tuning facilities

-Built in database maintenance tools.

-Built in firmware maintenance tools.

All these are implemented in the extremely small environment of the DSP.

2.2 Software Organization

The DSP software is divided into three parts.

The first part is the boot software. The boot software is permanently burnt into the code flash internal to the DSP, and cannot be upgraded during product life. The boot software includes some data that helps the firmware identify the exact amplifier model it is operating. The data includes the maximal motor phase current, the nominal bus voltage, the hardware of the communication sensors and I/O interface, and the grade of the amplifier (basic or with extended capabilities).

The second part is the operational software (firmware). The firmware may be updated at the user site if some upgrading or modifications are required.

The third part is a supportive database that must be loaded to the serial flash. This supportive part provides a file system for personality description, storage of application database, and factory or user provided programs.

2.2.1 The Boot software

The Boot software has the following functions:

-Initialize some of the registers of the DSP

-Test code validity automatically. If code validation fails, pass automatically to the "Download Firmware" mode.

-Degenerated RS232 communication handling and interpreter, only in the level required for firmware downloading functions.

-Support firmware downloads into the on-chip flash memory.

-Pass control to start of firmware.

2.2.2The Firmware

The firmware implements all the other software functions, as described in this manual and in the Command Reference manual.

The firmware will pass control to the boot software when a DF command initiates a firmware version upgrade. At the end of the firmware downloading process, the Harmonica reboots.

2.2.3 The Personality

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