148, PVT Motion Programming Message | Elmo HARmonica, HARSFEN0602

HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

12.1.6.5.1 The PVT Motion Programming Message

An entire row of the PVT table may be programmed by a single PDO.

The PDO used is 0x300+ID where ID is the node ID of the Amplifier.

Note that before using PDO 0x300+ID it must be mapped to the object 0x2001.

The mapping of this PDO for the PVT mode is listed in the table below.

Object Dictionary Index	0x2001
Type	RECORD, 3 elements
Access	Write only
Structure:	Signed32 Position
	Signed24 Speed
	Unsigned8 Time
PDO mapping	Yes
Value limits	No
Default value	Not Applicable

The PDO does not specify the PVT table row to be programmed. The row to be programmed is specified by a “write pointer”.

The parameter MP[6] initially sets the write pointer. A new PVT CANopen message (Object 0x2001) writes the data to the table row indicated by MP[6], and then automatically increments MP[6].

The CANopen auto increment mode has the following flow diagram:

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Elmo HARmonica, HARSFEN0602 software manual 148, PVT Motion Programming Message

Contents

HARmonica Software Manual Elmo Motion Control Inc USA HARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual Relevant documentation About This ManualScope Glossary Harmonica Position units Related SoftwareUnits Can EDS Speed and acceleration units Current and torqueInternal Units and Conversions Electrical angle Power DC voltageSpeed Peripherals A/D converter Digital inputsDigital output 1 RS232 Basics Communication With the HostGeneral RS232 Communications Description Background Transmission Errors and exceptions in RS232Echo CANopen Communication ElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft Interpreter Language Numbers Command lineExpressions And Operators Mathematical And Logical Operators Operator details XOR Multiplication AdditionSubtraction Division Bitwise Bitwise notBitwise or Logical Equality Logical Logical Greater than or equalLogical Less than Logical or Bitwise Left Shift and Right Shift operators Logical notUnary Minus Mathematical functions Expressions Simple ExpressionsAssignment Expressions Time functions User variablesBuilt-in Function Calls 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 #@LABELNAME Labels Entry pointsFor iteration 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 ##STARTNEW Killing The Call StackAutomatic subroutines List Of Automatic Routines #@AUTOI1 Autostop AutoexecAutoer Autobg ##LOOP Automatic Routines ArbitrationAutomatic Subroutine Mask #@AUTOI3 #@TESTPARS MI=MI8 Editing a Program Compilation Error ListProgram Development and Execution 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 Downloading a Program DL command CP commandCC command Program downloading process Uploading a Program LS command Program execution Initiating a Program Halting and resuming a programXQ##TASK1 Save to Flash Automatic program running with power upDB command Clear user program from Flash DB##MS Machine statusProgram status DB##PSN Single step Setting and clearing break pointsContinuation of the program 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 Rsltor REMRsltand Not Purpose Alphabetic referenceBitwise and Operator 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 = Rsltbe Relational Operator = Rsltand Logical and OperatorRsltb 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 ILN RecorderBG,BT 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 General 103Commutation 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 Position reference generator 12.1.1Switching Between Motion Modes132 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 VHN,VLN 169Stop Manager Internals XM,YM 170 Right Limit Switch Marked as 3 in the FigureForward Limit Switch Marked as 4 in the Figure 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 Manual inquiry 174Events, and response methods Periodical Inquiry Automatic routines Homing and Capture What Is Homing?175 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 188 189 Diagnosis Monitoring motion faults14.9.2Inconsistent setup data Polling the amplifier status Sensor faults Motor cannot move 19014.9.3Device failures, and the CPU dump Commutation is lost General Commutation error is static i.e. Does not change in time191 Reasons and effect of incorrect commutation Commutation is drifting i.e Changes in time Detection of Commutation Feedback Fault192 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 Double lead block Block type=12 198High Order Filter Block Types 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 Appendix a The Harmonica Flash Memory Organization Table of Contents TOC204 Main partitions Contents of Text1 Contents of Text2Contents of Text3 Contents of Text4-Text7 206 Contents of Text8 Contents of Text9207 Autoena AUTOI1 208Autostop Autobg Autorls AUTOI5 209 210 TOCCompilation Done Flag 211 Text Backup & Compiler data segmentFunction Symbol Table Virtual Machine Code Segment Variable Symbol Table 212Automatic Routines Table Software Structure 213Appendix B Harmonica Internals 17.1.1The Initialization block 214 Idle Loop 215 Idle loop Converter Call 216Converter Algorithm JP##LABEL 21718.5 Examples JS##LABEL Label 218