142, Ifference Counts Msec 500 1000 1500 2000 2500

HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

4
x 10
4
3
2	Nominal ellipse
	Nominal ellipse
1
0	Motion starts and teminates here
-1		Ellipse PVT points
-2
-3
-4
-4	-2	0	2	4
				4
				x 10

The next figure takes a closer look at the error between the true ellipse and the Amplifier interpolated path.

8
7
6
5	D ifference
	(counts)
4
3
2
1
0					msec
0
0	500	1000	1500	2000	2500

We observe that with 23 PVT points only, the interpolated path never differs from the original ellipse by more than 8 counts (remember that the ellipse axes are 100000 and 50000 counts respectively)!

At the PVT points, the interpolation error is zero.

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Image 144

Elmo HARmonica, HARSFEN0602 software manual 142, Ifference Counts Msec 500 1000 1500 2000 2500

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 Speed and acceleration units Current and torqueInternal Units and Conversions Power DC voltage SpeedElectrical angle Peripherals A/D converter Digital inputsDigital output 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 Expressions Simple ExpressionsAssignment Expressions User variables Built-in Function CallsTime functions Example ca1 = User Function Calls Comments Harmonica User Programming Language User Program Organization Common Line and Expression TerminationLine Continuation Limitations Expressions And Operators NumbersGeneral rules for operators 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 Break Functions Function definitionSyntax break Function is absent Dummy variables Count of output variables Automatic variables STDMean Global variables Jumps Functions and The Call Stack ##LABEL1##LABEL2 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 Assisting Commands For Down/Upload LPN command Binary dataExamples CP command CC commandDownloading a Program DL command Program downloading process Uploading a Program LS command Program execution Initiating a Program Halting and resuming a programXQ##TASK1 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 Over StepStep Out Setting stack Getting stack entriesGetting call stack View of global variables View of local variables HARSFEN0602ElmoHARmonicaSoftwareManual Virtual Machines Virtual Machine registersCall Stack During Function Call Data types Usrsubj Op code structure and addressing modes Short reference REM RsltandRsltor Not Alphabetic reference Bitwise and OperatorPurpose Algorithm CMP Compare DIV Divide EOL End Of Line Foritr for Loop IterationAlgorithm itr iterator 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 JZ Jump If Zero Jzeol Jump If ZeroLink 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 Usrsubj jump To User Subroutine Usrsubrt Return from user subroutineOP2 XOR Bitwise XOR Operator Recorder BG,BTILN RPN Signal mapping Signal Signal Name Command Length Description Type Defining the set of recorded signals Programming the length and the resolutionExample The commands RV1=5RV2=1RC=3 Trigger events and timing Trigger delay Slope and window trigger types Preliminary Definition 100 Launching the recorderUploading recorded data 101 Preliminary Draft Byte Number Value Type 103 CommutationGeneral Brush DC motors 104 Bldc commutation policyMechanical and electrical motion Figures are missing Commutation sensors Rotor Magnetic field sensors 106 Shaft Angle Sensors Detecting commutation errors loss of feedback 107Hall sensors parameterization 108 Encoder parameterization 109 Commutation search GeneralSelecting the parameters 110 Method limitationProtections 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 Torque control Unit mode 123Unit Modes Speed mode Unit mode 11.2.1The software speed command124 Speed Profiling using JV, AC and DC 125 11.2.2The auxiliary speed command 126 127 Stop managementRLS,FLS 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 12.1.3The Idle Mode and Motion Status 13312.1.2Comparison of the PT and the PVT interpolated modes 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 On the fly mode switching 139Example Simple jogging 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 Mode Termination PVT Motion Using can147 148 PVT Motion Programming Message 149 Underflow Programming Sequence for The Auto Increment PVT Mode Parameters of The PVT Motion Mode150 151 152 PT Motion What Is PT 153Interpolation Mathematics PT Motion Programming The Basic Mode 154 Flow chart of the basic PT mode is depicted below 155 PT Motion Using can 156PT Motion Programming Message 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 166 167 Initializing the external reference parametersJump-Free Motor Starting Policy 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 172 Sensors, I/O, and EventsModulo counting Modulo Counting 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 176 Homing ProgrammingHoming the auxiliary encoder On the fly position counter updates 13.5.5A homing with home switch and index example177 Switches location 178 179 Example Double homing corrects backlash offsets 180 Capturing Limits, Protections, Faults, and Diagnosis 181 182 Current limitingVLN 183 Speed Protection 184 Position Protection Enable switch 185 Limit switches Connecting an external brake186 When the motor fails to start Motion faults187 188 Diagnosis Monitoring motion faults 14.9.2Inconsistent setup data189 Polling the amplifier status Sensor faults Motor cannot move 19014.9.3Device failures, and the CPU dump 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 193 ControllerKPN Speed Control 15.2.1Block diagram 194Not found 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=14 199 Second order block Block Type=15Scheduled Double lead block Block type=22 200 User InterfaceAn Example 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 Text1 Contents of Text2Contents of Text3 Contents of Text4-Text7 206 Contents of Text8 Contents of Text9207 208 Autostop Autobg AutorlsAutoena AUTOI1 AUTOI5 209 210 TOCCompilation Done Flag Text Backup & Compiler data segment Function Symbol Table211 Virtual Machine Code Segment Variable Symbol Table 212Automatic Routines Table 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

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