Elmo HARmonica, HARSFEN0602

HARSFEN0602

The next figure displays the interpolated trajectories generated by the Amplifiers for the x-axis and for the y-

axis.

0500 1000 1500 2000 2500

-6

-4

-2

6x 104

msec

Counts

X axis trajecto ry

Y axis traje ctory

Example

The Amplifier normally produces maximally smooth interpolating trajectories. For this reason, the ellipse of

the previous example could be interpolated using so few points.

Accurate corners require, however, non-smooth interpolation. Specifying zero speed for the corner points

generates hard corners. The graph below shows a 2-axes synchronized PVT trajectory of an accurate

rectangle.

-3 -2 -1 0 1 2 3

x 104

-2

-1

2x 104

0 5 10 15 20 25

-2

-1

2x 105

x spee d

y spee d

Counts/s ec

PVT points

Rectangle

Counts

For the corner points, both the x and the y speeds are specified to zero.

The interpolation error for the entire rectangle is zero.

Example

Consider the following PVT interpolation interval:

Parameter Value

Starting position 1000cnt

Contents

Main HARmonica Software Manual June 2002 Important Notice Table of Contents: Page Page Page Page Page Page Page Page 1 About This Manual 1.1 Scope 1.2 Relevant documentation 1.2.1 Glossary 2 The Harmonica 2.1 Introduction 2.2.3 The Personality 2.2 Software Organization 2.2.1 The Boot software 2.3 Related Software 2.4 Units 2.4.1 Position units 2.4.2 Speed and acceleration units 2.4.3 Current and torque 2.5.1 Current and torque: 2.5 Internal Units and Conversions Page 2.7 A/D converter 2.8 Digital inputs 2.9 Digital output 3 Communication With the Host 3.1 General 3.2 RS232 Communications 3.2.1 RS232 Basics 3.2.2 The Echo 3.2.3 Background Transmission 3.2.4 Errors and exceptions in RS232 3.3 CANopen Communication 4 The Interpreter Language 4.1 The command line 4.2 Expressions And Operators 4.2.1 Numbers 4.2.2 Mathematical And Logical Operators 4.2.3 General rules for operators 4.2.3.1 Promotion to float and truncation to integer 4.2.4 Operator details 4.2.4.1 Addition 4.2.4.2 Subtraction 4.2.4.3 Multiplication 4.2.4.4 Division 4.2.4.5 Remainder 4.2.4.7 Bitwise NOT 4.2.4.8 Bitwise OR 4.2.4.12 Logical Greater than 4.2.4.9 Bitwise AND 4.2.4.10 Logical Equality 4.2.4.13 Logical Greater than or equal 4.2.4.14 Logical Less than 4.2.4.17 Logical OR 4.2.4.15 Logical Greater than or equal 4.2.4.16 Logical AND 4.2.4.18 Logical NOT 4.2.4.19 Unary Minus 4.2.4.20 Bitwise Left Shift and Right Shift operators 4.2.5 Mathematical functions 4.2.6 Expressions 4.2.6.1 Simple Expressions 4.2.6.2 Assignment Expressions 4.2.6.3 User variables 4.2.6.4 Built-in Function Calls 4.2.6.5 Time functions 4.2.6.6 User Function Calls 4.3 Comments 5 The Harmonica User Programming Language 5.1 User Program Organization 5.2 Common 5.2.1 Line and Expression Termination 5.2.2 Line Continuation 5.2.3 Limitations 5.3 Expressions And Operators 5.3.1 Numbers 5.3.2 Mathematical and Logical Operators 5.3.3 General rules for operators 5.3.4 Operator details 5.3.5 Mathematical functions 5.3.6 Expressions 5.3.6.1 Simple Expressions 5.3.6.2 Assignment Expressions 5.3.6.3 User variables 5.3.6.4 System Commands 5.3.6.5 Built-in Function Calls 5.3.6.6 User Function Calls 5.4 Comments 5.5 Program Flow Commands 5.5.1 Labels (Entry points) 5.5.2 For iteration 5.5.3 While iteration 5.5.4 Until iteration 5.5.5 Wait iteration 5.5.6 IF condition 5.5.7 Switch selection 5.5.8 Break 5.6 Functions 5.6.1 Function definition Page 5.6.2 Dummy variables 5.6.3 Count of output variables 5.6.4 Automatic variables 5.6.5 Global variables 5.6.6 Jumps 5.6.7 Functions and The Call Stack Page 5.6.8 Killing The Call Stack 5.6.9 Automatic subroutines 5.6.9.1 List Of Automatic Routines Page 5.6.9.2 Automatic Routines Arbitration 5.6.9.3 The Automatic Subroutine Mask Page 6 Program Development and Execution 6.1 Editing a Program 6.2 Compilation 6.2.1 Compilation Error List Page Page Page Page Page Page Page 6.3 Downloading and Uploading a Program 6.3.1 Binary data 6.3.2 The Assisting Commands For Down/Upload 6.3.2.1 The LP[N] command 6.3.2.2 The CP command 6.3.2.3 The CC command 6.3.3.2 Program downloading process 6.3.3 Downloading a Program 6.3.3.1 The DL command 6.3.4 Uploading a Program 6.3.4.1 The LS command 6.4 The program execution 6.4.1 Initiating a Program 6.4.2 Halting and resuming a program 6.4.3 Automatic program running with power up 6.4.4 Save to Flash 6.4.4.1 Clear user program from Flash 6.5 Debugging 6.5.1 Running, breaking, and resuming 6.5.3 Machine status 6.5.4 Program status 6.5.5 Setting and clearing break points 6.5.6 Continuation of the program 6.5.7 Single step 6.5.7.1 Run to Cursor 6.5.7.2 Step Over 6.5.7.3 Step In 6.5.7.4 Step Out 6.5.8 Getting stack entries 6.5.9 Setting stack 6.5.10 Getting call stack 6.5.11 View of global variables 6.5.12 View of local variables Page 7 The Virtual Machines 7.1.1 Introduction Alla please complete where necessary 7.2 Virtual Machine registers 7.3 Call Stack During Function Call 7.4 Data types 7.5 Op code structure and addressing modes 7.6 Short reference Page 7.7 Alphabetic reference 7.7.1 ADD - ADDITION 7.7.2 AND Bitwise AND Operator 7.7.3 CMP Compare 7.7.4 DIV Divide 7.7.5 EOL End Of Line 7.7.6 FORITR FOR Loop Iteration 7.7.7 FREE_VAC - Free Virtual Machine 7.7.8 F_OR Bitwise OR Operator 7.7.9 GETINDEX 7.7.10 GET_COMM Get Command 7.7.11 JMP Jump 7.7.12 JMP_EOL Jump 7.7.13 JMP_LABEL Jump to the label 7.7.14 JNZ Jump Not Zero 7.7.15 JNZ_EOL Jump Not Zero 7.7.16 JZ Jump If Zero 7.7.17 JZ_EOL Jump If Zero 7.7.18 LINK 7.7.19 MLT Multiply 7.7.20 MOV Assignment Operator (=) 7.7.21 NOT Bitwise NOT Operator 7.7.22 REM Reminder 7.7.23 RSLTA Relational Operator (>) 7.7.24 RSLTAE Relational Operator (>=) 7.7.25 RSLTAND Logical AND Operator (&&) 7.7.26 RSLTB Relational Operator (<) 7.7.27 RSLTBE Relational Operator (<=) 7.7.28 RSLTE Relational Operator (==) 7.7.29 RSLTNE Relational Operator (!=) 7.7.30 RSLTOR Logical OR Operator ( || ) 7.7.31 SET_COMM Set Command 7.7.32 SETINDEX 7.7.33 SHR Shift Right 7.7.34 SHL Shift Left 7.7.35 SPADD 7.7.36 SUB - SUBTRACT 7.7.37 SYSSUBJ Jump To System Subroutine 7.7.38 UNARY_NOT - Logical NOT Operator (!) 7.7.39 USRSUBJ jump To User Subroutine 7.7.40 USRSUBRT Return from user subroutine 7.7.41 XOR Bitwise XOR Operator 8 The Recorder 8.1 Recorder sequencing: Programming, launching, and uploading data. 8.2 Signal mapping 8.3 Defining the set of recorded signals 8.4 Programming the length and the resolution Page - Triggered by a digital signal: The Harmonica will support this only in the future, TBD. Page 8.6 Launching the recorder 8.7 Uploading recorded data Page Page 9 Commutation 9.1 General 9.1.2 The Stepper Commutation Policy )cos(IKT e= K 9.1.3 The BLDC commutation policy 9.2 Mechanical and electrical motion Figures are missing 9.3 Commutation sensors 9.3.1 Rotor Magnetic field sensors 9.3.2 Shaft Angle Sensors revolutionshaftpercounts pairspoleofnumber 360 mod(p1, pairspoleofnumber revolutionshaftpercounts ) 9.3.3.2 Detecting commutation errors (loss of feedback) 9.3.4 Parameterization of the commutation and the commutation sensors 9.3.4.1 Winding order 9.3.4.2 Hall sensors parameterization 9.3.4.3 Encoder parameterization 9.4 Commutation search 9.4.1 General )sin(IKT T= (1) K )tf2sin(IKT rT = (3) ))f(tf2sin(IK)f(A)t(P rT = , where 9.4.3 Method limitation 9.4.4 Protections 9.4.5 Parameters related to starting the motor with no digital Hall sensors 9.5 Continuous Vs. Six-Steps commutation )sin(IKT rFT = (1) () 90 = , Ideally .0= )cos(IKT T= we see that for a miss of 5, we lose about 0.4% of the torque. With a 9.5.1 Six-step commutation 9.5.2 Continuous commutation 9.6 Winding shapes ))240(hI)120(hI)(hI(KT bba ++= )240(hII),120(hII),(hII 0c0b0a === for some value 0 I 9.6.1 Loading the commutation table 10 The current controller )240(hI)120(hI)(hIIQ cba ++++= )330(hI)210(hI)90(hIID cba +++++= )90(gV)(gVVA DQ ++= )210(gV)120(gVVB DQ +++= )330(gV)240(gVVC DQ +++= V ]1[PL >, where V R ]1[ ]1[ 1log PL CL 32768 ]6[XP log TS 10 10.2.2 The PI current controller 32768 10 25 8 TS ]4[XP log Page 11 Unit Modes 11.1 Torque control: Unit mode 1 11.2 Speed mode: Unit mode 2 11.2.1 The software speed command Page Page 11.2.3 Stop management 11.3 The stepper mode: Unit mode 3 11.4 The Dual feedback mode: UM=4 -- 11.5 The single feedback mode: UM=5 -- 12 The position reference generator 12.1 The software reference generator 12.1.1 Switching Between Motion Modes 12.1.2 Comparison of the PT and the PVT interpolated modes 12.1.3 The Idle Mode and Motion Status 12.1.4 Point-To-Point (PTP ) 12.1.4.1 Basic Point-To-Point 12.1.4.2 Example 12.1.4.3 More Complicated PTP Motions Page 12.1.5 Jogging 12.1.5.1 Example Simple jogging 12.1.5.2 Example On the fly mode switching 12.1.6 PVT: Position-Velocity-Time interpolated motion 12.1.6.1 What is PVT? t d ) t t ( c ) t t ( b ) t t ( a ) t ( P c ) t t ( b 2 ) t t ( a 3 ) t ( V Page Page 12.1.6.2 The PVT Table 12.1.6.3 Motion Management Figure 26 PVT Decisions Flow Chart 12.1.6.4 Mode Termination 12.1.6.5 PVT Motion Using CAN 12.1.6.5.1 The PVT Motion Programming Message Figure 27 PVT Auto Increment Mode Flow Chart 12.1.6.5.2 Programming Sequence for The Auto Increment PVT Mode 12.1.6.6 The Parameters of The PVT Motion Mode Page Page 12.1.7 PT Motion 12.1.7.1 What Is PT T m T 2 T m 12.1.7.3 PT Motion Programming The Basic Mode 12.1.7.3.1 The PT Table 12.1.7.4 Motion Management Page 12.1.7.5 Mode Termination 12.1.7.6 PT Motion Using CAN 12.1.7.7 The PT Motion Programming Message 12.1.7.8 Programming Sequence for The Auto Increment PT Mode Figure 29 PT Auto Increment Mode Flow Chart 12.1.7.9 The Parameters of The PT Motion Mode 12.2 The External Position Reference Generator Page )t(c)t2cos(10000)t(x += 12.2.1 ECAM Page Page 12.2.2 Dividing ECAM table into several logical portions 12.2.3 On the fly ECAM programming using CAN 12.2.4 Initializing the external reference parameters. 12.2.4.1 Jump-Free Motor Starting Policy 12.2.4.2 Switching the parameters of the external reference on the fly 12.3 The Stop management 12.3.1 General description 12.3.2 Stop Manager Internals Page Figure 33: Position output of the stop manager Figure 34: Speed output of the Stop Manager 13 Sensors, I/O, and Events 13.1 Modulo counting 13.1.1 Modulo Counting 13.2 Digital Inputs 13.3 Digital Outputs 13.4 Events, and response methods 13.4.1 Manual inquiry 13.4.2 Periodical Inquiry 13.4.3 Automatic routines 13.4.4 Real time Motion management, Homing, Capture, and Flag 13.5 Homing and Capture 13.5.1 What Is Homing? ()() count44 1 00 0 13.5.4 On the fly position counter updates 13.5.5 A homing with home switch and index example Page 13.5.5.1 Example: Double homing corrects backlash offsets 13.5.6 Capturing 14 Limits, Protections, Faults, and Diagnosis Page 14.2 Speed Protection Page ! 14.5 Limit switches 14.6 Connecting an external brake 14.7 When the motor fails to start 14.8 Motion faults Page 14.9 Diagnosis 14.9.1 Monitoring motion faults 14.9.1.1 Polling the amplifier status 14.9.1.2 Observing AOK 14.9.2 Inconsistent setup data 14.9.3 Device failures, and the CPU dump 14.10 Sensor faults 14.10.1 The motor cannot move 14.11 Commutation is lost 14.11.1 General )sin(IKe 3 T 14.11.2 Reasons and effect of incorrect commutation 14.11.3 Detection of Commutation Feedback Fault 15 The Controller 15.1 General sx xdt T 15.2.2 The Parameters of the Speed Controller The basic continuous time PI controller is = ]2[ t p t e K d e K K t I 15.3 The Position Controller 15.3.1 Block Diagram 15.3.2 The Parameters of the Position Controller )()()( tkPosFeedbactPosCommandtePOS = [counts] ))(()))((2)),((min( tesignteabsteabsKPO SPOSPOS )()( teKtCommandPI POS K as a b + -z )-z(1 G)-(1 G k k )( 21 bb + Float, represented by )k(-z )k(bs k b Float, represented by a )k(as )k(a ) k ( b 15.4.2 User Interface 15.4.2.1 An Example 15.5 The Gain-Scheduling Algorithm 15.6 Automatic Controller Gain-Scheduling XmYmY )1()()1( + = + < =)(, Page 16 Appendix A: The Harmonica Flash Memory Organization 16.1 Main partitions 16.2 The firmware partition 16.2.1 Table of Contents (TOC) Name Size Byte location in the firmware partition Comment Page 16.2.5 Contents of Text4-Text7 16.2.6 Contents of Text8 16.2.7 Contents of Text9 Page 16.2.8 Contents of Text10 16.2.9 Contents of Binary1 16.2.10 Contents of Binary2 16.2.11 Contents of Binary3 16.3 Parameters Partition 16.5.1 The TOC 16.5.2 The Compilation Done Flag 16.5.3 The Virtual Machine Code Segment 16.5.4 The Text Backup & Compiler data segment 16.5.5 The Function Symbol Table 16.5.6 The Variable Symbol Table 16.5.7 The Automatic Routines Table 17 Appendix B: Harmonica Internals 17.1 Software Structure 17.1.1 The Initialization block 17.1.2 The periodic Interrupt 17.1.3 The Idle Loop Figure 42: Idle loop 18 Appendix C: Converting Clarinet/Saxophone programs to the Harmonica language 18.1 The Converter 18.2 The Converter Call 18.3 The Algorithm 18.4 The Conversion Process 18.5 Examples