Elmo HARmonica, HARSFEN0602 software manual Related Software, Units, Position units, Can EDS

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

The personality data is loaded to the serial flash memory. The personality data includes a file allocation table and several files. The personality files include data about the Harmonica.

partial list is:

List of supported command List of error code

CAN EDS

All these data items enable an IDE to deal with the Harmonica. The File Allocation table reserves place for storage of application parameters and of user programs. The personality data is burnt into the serial flash using the firmware software.

The firmware can boot without personality data, but it will not become fully functional before the personality data is programmed in place.

Full explanations of the personality data are given in the chapter “Appendix A: The Harmonica Flash Memory Organization”.

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 adapt to the specific amplifier model you bought.

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2.4 Units

This section describes how the Harmonica measures time, position, speed, voltage, and current.

2.4.1 Position units

The Harmonica refers to position by sensor counts. The sensor counts may be related to physical units using the following commands:

Command	Description
CA[18]	For rotary motors, CA[18] is the number of sensor counts per one full