146, PVT Decisions Flow Chart | Elmo HARmonica, HARSFEN0602 specs

HARSFEN0602ElmoHARmonicaSoftware

PRELIMINARYDRAFT

146

Initial

conditions: PVT read pointer equals

N

Motion

segment

completed

?

Yes

N >= MP[2]-1		Yes	MP[3]==1		No

Exit PVT mode: Set Stop motion, using the SD deceleration

Yes

			Increment
No			Increment
No			read pointer

Read the N+1 row of the PVT table and calculate the parameters of the next motion segment

Interpolate position command

Go to position controller

Set the read

pointer to MP[1]

Figure 26 – PVT Decisions Flow Chart

Image 148

Elmo HARmonica, HARSFEN0602 software manual 146, PVT Decisions Flow Chart

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 Current and torque Speed and acceleration unitsInternal Units and Conversions Power DC voltage SpeedElectrical angle Peripherals Digital inputs A/D converterDigital 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 Simple Expressions ExpressionsAssignment Expressions User variables Built-in Function CallsTime functions Example ca1 = User Function Calls Comments Harmonica User Programming Language User Program Organization Line and Expression Termination CommonLine Continuation Expressions And Operators Numbers LimitationsGeneral 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 Functions Function definition BreakSyntax break Function is absent Dummy variables Count of output variables STD Automatic variablesMean Global variables Jumps ##LABEL1 Functions and The Call Stack##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 Binary data Assisting Commands For Down/Upload LPN commandExamples CP command CC commandDownloading a Program DL command Program downloading process Uploading a Program LS command Program execution Halting and resuming a program Initiating 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 Step OverStep Out Getting stack entries Setting stackGetting call stack View of global variables View of local variables HARSFEN0602ElmoHARmonicaSoftwareManual Virtual Machine registers Virtual MachinesCall 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 Foritr for Loop Iteration EOL End Of LineAlgorithm 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 Jzeol Jump If Zero JZ 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 Usrsubrt Return from user subroutine Usrsubj jump To User SubroutineOP2 XOR Bitwise XOR Operator Recorder BG,BTILN RPN Signal mapping Signal Signal Name Command Length Description Type Programming the length and the resolution Defining the set of recorded signalsExample The commands RV1=5RV2=1RC=3 Trigger events and timing Trigger delay Slope and window trigger types Preliminary Definition Launching the recorder 100Uploading recorded data 101 Preliminary Draft Byte Number Value Type 103 CommutationGeneral Brush DC motors Bldc commutation policy 104Mechanical and electrical motion Figures are missing Commutation sensors Rotor Magnetic field sensors 106 Shaft Angle Sensors 107 Detecting commutation errors loss of feedbackHall sensors parameterization 108 Encoder parameterization Commutation search General 109Selecting the parameters Method limitation 110Protections 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 122 123 Torque control Unit modeUnit Modes 11.2.1The software speed command Speed mode Unit mode124 Speed Profiling using JV, AC and DC 125 11.2.2The auxiliary speed command 126 Stop management 127RLS,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 133 12.1.3The Idle Mode and Motion Status12.1.2Comparison 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 139 Example On the fly mode switchingExample 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 PVT Motion Using can Mode Termination147 148 PVT Motion Programming Message 149 Underflow Parameters of The PVT Motion Mode Programming Sequence for The Auto Increment PVT Mode150 151 152 153 PT Motion What Is PTInterpolation Mathematics PT Motion Programming The Basic Mode 154 Flow chart of the basic PT mode is depicted below 155 156 PT Motion Using canPT 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 Initializing the external reference parameters 167Jump-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 Sensors, I/O, and Events 172Modulo 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 Homing Programming 176Homing the auxiliary encoder 13.5.5A homing with home switch and index example On the fly position counter updates177 Switches location 178 179 Example Double homing corrects backlash offsets 180 Capturing Limits, Protections, Faults, and Diagnosis 181 Current limiting 182VLN 183 Speed Protection 184 Position Protection Enable switch 185 Connecting an external brake Limit switches186 Motion faults When the motor fails to start187 188 Diagnosis Monitoring motion faults 14.9.2Inconsistent setup data189 Polling the amplifier status 190 Sensor faults Motor cannot move14.9.3Device 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 Controller 193KPN 194 Speed Control 15.2.1Block diagramNot 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 Second order block Block Type=15 199Scheduled Double lead block Block type=22 User Interface 200An 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 Text2 Contents of Text1Contents of Text3 Contents of Text4-Text7 206 Contents of Text9 Contents of Text8207 208 Autostop Autobg AutorlsAutoena AUTOI1 AUTOI5 209 TOC 210Compilation Done Flag Text Backup & Compiler data segment Function Symbol Table211 Virtual Machine Code Segment 212 Variable Symbol TableAutomatic 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