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

Models: HARmonica HARSFEN0602

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HARSFEN0602ElmoHARmonicaSoftware

PRELIMINARYDRAFT

146

Initial

conditions: PVT read pointer equals

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

Page 148

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

Contents

HARmonica Software Manual Elmo Motion Control Inc USAHARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual About This Manual ScopeRelevant documentation GlossaryHarmonica Related Software UnitsPosition units Can EDSCurrent and torque Speed and acceleration unitsInternal Units and Conversions Power DC voltage SpeedElectrical angle PeripheralsDigital inputs A/D converterDigital output Communication With the Host General RS232 Communications1 RS232 Basics DescriptionErrors and exceptions in RS232 EchoBackground Transmission CANopen CommunicationElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft Interpreter LanguageCommand line Expressions And OperatorsNumbers Mathematical And Logical OperatorsOperator details XORAddition SubtractionMultiplication DivisionBitwise not Bitwise orBitwise Logical EqualityLogical Greater than or equal Logical Less thanLogical Logical orLogical not Unary MinusBitwise Left Shift and Right Shift operators Mathematical functionsSimple Expressions ExpressionsAssignment Expressions User variables Built-in Function CallsTime functions Example ca1 =User Function Calls CommentsHarmonica User Programming Language User Program OrganizationLine and Expression Termination CommonLine Continuation Expressions And Operators Numbers LimitationsGeneral rules for operators Expressions Simple Expressions SyntaxSystem Commands Built-in Function Calls Program Flow Commands Labels Entry points For iteration#@LABELNAME XQ ##LOOP2While iteration InfiniteloopUntil iteration While expressionWait iteration If conditionSwitch selection OFFFunctions Function definition BreakSyntax break Function is absent Dummy variables Count of output variablesSTD Automatic variablesMean Global variables Jumps##LABEL1 Functions and The Call Stack##LABEL2 Return Killing The Call Stack Automatic subroutines List Of Automatic Routines##STARTNEW #@AUTOI1Autoexec AutoerAutostop AutobgAutomatic Routines Arbitration Automatic Subroutine Mask##LOOP #@AUTOI3#@TESTPARS MI=MI8Compilation Error List Program Development and ExecutionEditing a Program CompilationHARSFEN0602ElmoHARmonicaSoftwareManual Asusid@elmo.co.il Preliminarydraft Preliminarydraft Preliminarydraft Preliminarydraft Asusid@elmo.co.il Downloading and Uploading a Program #@AUTOEXECBinary data Assisting Commands For Down/Upload LPN commandExamples CP command CC commandDownloading a Program DL command Program downloading processUploading a Program LS command Program executionHalting and resuming a program Initiating a ProgramXQ##TASK1 Automatic program running with power up DB commandSave to Flash Clear user program from FlashMachine status Program statusDB##MS DB##PSNSetting and clearing break points Continuation of the programSingle step Run to CursorStep Step OverStep Out Getting stack entries Setting stackGetting call stack View of global variables View of local variablesHARSFEN0602ElmoHARmonicaSoftwareManual Virtual Machine registers Virtual MachinesCall Stack During Function Call Data types UsrsubjOp code structure and addressing modes Short referenceREM RsltandRsltor NotAlphabetic reference Bitwise and OperatorPurpose AlgorithmCMP Compare DIV DivideForitr for Loop Iteration EOL End Of LineAlgorithm itr iterator Freevac Free Virtual Machine For Bitwise or OperatorGetcomm Get Command JMP JumpJmpeol Jump Jmplabel Jump to the labelJNZ Jump Not Zero Jnzeol Jump Not ZeroJzeol Jump If Zero JZ Jump If ZeroLink MLT Multiply MOV Assignment Operator =Not Bitwise not Operator REM ReminderRslta Relational Operator Rsltae Relational Operator =Rsltand Logical and Operator Rsltb Relational OperatorRsltbe Relational Operator = SP SPRslte Relational Operator == Rsltne Relational Operator !=Setcomm Set Command Rsltor Logical or OperatorSHR Shift Right SHL Shift LeftSpadd Syssubj Jump To System Subroutine Unarynot Logical not OperatorUsrsubrt Return from user subroutine Usrsubj jump To User SubroutineOP2 XOR Bitwise XOR Operator Recorder BG,BTILN RPNSignal mapping Signal Signal Name Command Length Description TypeProgramming 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 typesPreliminary DefinitionLaunching the recorder 100Uploading recorded data 101 Preliminary Draft Byte Number Value Type103 CommutationGeneral Brush DC motorsBldc commutation policy 104Mechanical and electrical motion Figures are missing Commutation sensors Rotor Magnetic field sensors106 Shaft Angle Sensors107 Detecting commutation errors loss of feedbackHall sensors parameterization 108 Encoder parameterizationCommutation search General 109Selecting the parameters Method limitation 110Protections 111 Continuous Vs. Six-Steps commutation112 Continuous commutation113 Winding shapes114 Loading the commutation table115 Current controller116 ID = I hθ + 90 + Ib hθ + 210 + Ic hθ +117 Peak/Continuous current limit selectionTorque command filter 118119 32768120 PI current controller121 Current amplifier protections122 123 Torque control Unit modeUnit Modes 11.2.1The software speed command Speed mode Unit mode124 Speed Profiling using JV, AC and DC 12511.2.2The auxiliary speed command 126Stop management 127RLS,FLS Stepper mode Unit mode 128Dual feedback mode UM=4 129Dual feedback mode UM=4 130Single feedback mode UM=5 13112.1.1Switching Between Motion Modes 132Position reference generator Software reference generator133 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-Point135 Example136 More Complicated PTP Motions137 Example On-The-Fly Change of The Position Target138 Jogging139 Example On the fly mode switchingExample Simple jogging 140 141 Vt = 3at − t0 2 + 2bt − t0 + c142 Ifference Counts Msec 500 1000 1500 2000 2500143 144 QP… QV… QT…145 Motion ManagementPVT Decisions Flow Chart 146PVT Motion Using can Mode Termination147 148 PVT Motion Programming Message149 UnderflowParameters 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 154Flow chart of the basic PT mode is depicted below 155156 PT Motion Using canPT Motion Programming Message Programming Sequence for The Auto Increment PT Mode 157Parameters of The PT Motion Mode 158159 External Position Reference Generator160 External position reference generator161 Xt = 10000 ⋅ cos2πt + ct162 Ecam163 164 165 Dividing Ecam table into several logical portionsOn the fly Ecam programming using can 166Initializing the external reference parameters 167Jump-Free Motor Starting Policy 168 Stop management 12.3.1General description169 Stop Manager InternalsVHN,VLN XM,YMRight 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 Figure171 Position output of the stop managerSensors, I/O, and Events 172Modulo counting Modulo Counting 173 Digital Outputs174 Events, and response methodsManual inquiry Periodical InquiryHoming and Capture What Is Homing? 175Automatic routines Real time Motion management, Homing, Capture, and FlagHoming Programming 176Homing the auxiliary encoder 13.5.5A homing with home switch and index example On the fly position counter updates177 Switches location 178179 Example Double homing corrects backlash offsets180 CapturingLimits, Protections, Faults, and Diagnosis 181Current limiting 182VLN 183 Speed Protection184 Position ProtectionEnable switch 185Connecting 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 status190 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 commutationDetection of Commutation Feedback Fault 192Commutation is drifting i.e Changes in time Double sensor systemsController 193KPN 194 Speed Control 15.2.1Block diagramNot found 195 Parameters of the Speed ControllerPosition Controller 15.3.1Block Diagram 196197 Parameters of the Position Controller198 High Order Filter Block TypesDouble lead block Block type=12 Fist order block Block type=14Second order block Block Type=15 199Scheduled Double lead block Block type=22 User Interface 200An Example 201 Gain-Scheduling Algorithm202 Automatic Controller Gain-Scheduling203 KP = SpeedKpTable k KI = SpeedKiTable kTable of Contents TOC 204Appendix a The Harmonica Flash Memory Organization Main partitionsContents of Text2 Contents of Text1Contents of Text3 Contents of Text4-Text7 206Contents of Text9 Contents of Text8207 208 Autostop Autobg AutorlsAutoena AUTOI1 AUTOI5209 TOC 210Compilation Done Flag Text Backup & Compiler data segment Function Symbol Table211 Virtual Machine Code Segment212 Variable Symbol TableAutomatic Routines Table 213 Appendix B Harmonica InternalsSoftware Structure 17.1.1The Initialization block214 Idle Loop215 Idle loop216 ConverterConverter Call Algorithm217 18.5 ExamplesJP##LABEL JS##LABEL Label218