151 | Elmo HARSFEN0602, HARmonica specs

HARSFEN0602ElmoHARmonicaSoftwareManual				PRELIMINARYDRAFT

	Stop Deceleration (SD)		The rate of deceleration in the
			case where motion is killed by
			queue underflow or by an
			exception.
			The rate off acceleration to
			catch up if PVT is started with
			bad initial conditions.
	Position/Velocity/Time		Set a PVT motion command
	(PV)
	PVT table entries: QP[N],		Set values to the PVT table	The PVT table elements can
	QV[N], QT[N]			also be set using PDOs as
				described above.
	Motion Parameters (MP)		MP[1] = First valid row in	Configure a PT or PVT
			PVT table	motion.
			MP[2] = Last valid row in	MP[6] and MP[5] are for the
			PVT table	CANopen auto increment
			MP[3]:	mode only.
			Bit0 = Cyclical motion (0
			non-cyclical, 1 cyclical)
			Bit1 = Expected stop (0 –
			Issue Emergency on stop, 1 –
			Expect stop)
			MP[5] = Number of yet
			unexecuted table rows for
			queue low alarm.
			MP[6] = Initial value for the
			write pointer
		Table 12-8 – PVT Related Parameters

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Contents

HARmonica Software Manual USA Elmo Motion Control Inc HARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual Scope About This ManualRelevant documentation Glossary Harmonica Units Related SoftwarePosition units Can EDS Speed and acceleration units Current and torqueInternal Units and Conversions Speed Power DC voltageElectrical angle Peripherals A/D converter Digital inputsDigital output General RS232 Communications Communication With the Host1 RS232 Basics Description Echo Errors and exceptions in RS232Background Transmission CANopen Communication Interpreter Language ElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft Expressions And Operators Command lineNumbers Mathematical And Logical Operators XOR Operator details Subtraction AdditionMultiplication Division Bitwise or Bitwise notBitwise Logical Equality Logical Less than Logical Greater than or equalLogical Logical or Unary Minus Logical notBitwise Left Shift and Right Shift operators Mathematical functions Expressions Simple ExpressionsAssignment Expressions Built-in Function Calls User variablesTime functions Example ca1 = Comments User Function Calls User Program Organization Harmonica User Programming Language Common Line and Expression TerminationLine Continuation Limitations Expressions And Operators NumbersGeneral rules for operators Syntax Expressions Simple Expressions System Commands Built-in Function Calls Program Flow Commands For iteration Labels Entry points#@LABELNAME XQ ##LOOP2 Infiniteloop While iteration While expression Until iteration If condition Wait iteration OFF Switch selection Break Functions Function definitionSyntax break Function is absent Count of output variables Dummy variables Automatic variables STDMean Jumps Global variables Functions and The Call Stack ##LABEL1##LABEL2 Return Automatic subroutines List Of Automatic Routines Killing The Call Stack##STARTNEW #@AUTOI1 Autoer AutoexecAutostop Autobg Automatic Subroutine Mask Automatic Routines Arbitration##LOOP #@AUTOI3 MI=MI8 #@TESTPARS Program Development and Execution Compilation Error ListEditing a Program Compilation HARSFEN0602ElmoHARmonicaSoftwareManual Asusid@elmo.co.il Preliminarydraft Preliminarydraft Preliminarydraft Preliminarydraft Asusid@elmo.co.il #@AUTOEXEC Downloading and Uploading a Program Assisting Commands For Down/Upload LPN command Binary dataExamples CC command CP commandDownloading a Program DL command Program downloading process Program execution Uploading a Program LS command Initiating a Program Halting and resuming a programXQ##TASK1 DB command Automatic program running with power upSave to Flash Clear user program from Flash Program status Machine statusDB##MS DB##PSN Continuation of the program Setting and clearing break pointsSingle step Run to Cursor Step Over StepStep Out Setting stack Getting stack entriesGetting call stack View of local variables View of global variables HARSFEN0602ElmoHARmonicaSoftwareManual Virtual Machines Virtual Machine registersCall Stack During Function Call Usrsubj Data types Short reference Op code structure and addressing modes Rsltand REMRsltor Not Bitwise and Operator Alphabetic referencePurpose Algorithm DIV Divide CMP Compare EOL End Of Line Foritr for Loop IterationAlgorithm itr iterator For Bitwise or Operator Freevac Free Virtual Machine JMP Jump Getcomm Get Command Jmplabel Jump to the label Jmpeol Jump Jnzeol Jump Not Zero JNZ Jump Not Zero JZ Jump If Zero Jzeol Jump If ZeroLink MOV Assignment Operator = MLT Multiply REM Reminder Not Bitwise not Operator Rsltae Relational Operator = Rslta Relational Operator Rsltb Relational Operator Rsltand Logical and OperatorRsltbe Relational Operator = SP SP Rsltne Relational Operator != Rslte Relational Operator == Rsltor Logical or Operator Setcomm Set Command SHL Shift Left SHR Shift Right Spadd Unarynot Logical not Operator Syssubj Jump To System Subroutine Usrsubj jump To User Subroutine Usrsubrt Return from user subroutineOP2 XOR Bitwise XOR Operator BG,BT RecorderILN RPN Signal Signal Name Command Length Description Type Signal mapping Defining the set of recorded signals Programming the length and the resolutionExample The commands RV1=5RV2=1RC=3 Trigger events and timing Slope and window trigger types Trigger delay Definition Preliminary 100 Launching the recorderUploading recorded data 101 Byte Number Value Type Preliminary Draft Commutation 103General Brush DC motors 104 Bldc commutation policyMechanical and electrical motion Figures are missing Rotor Magnetic field sensors Commutation sensors Shaft Angle Sensors 106 Detecting commutation errors loss of feedback 107Hall sensors parameterization Encoder parameterization 108 109 Commutation search GeneralSelecting the parameters 110 Method limitationProtections Continuous Vs. Six-Steps commutation 111 Continuous commutation 112 Winding shapes 113 Loading the commutation table 114 Current controller 115 ID = I hθ + 90 + Ib hθ + 210 + Ic hθ + 116 Peak/Continuous current limit selection 117 118 Torque command filter 32768 119 PI current controller 120 Current amplifier protections 121 122 Torque control Unit mode 123Unit Modes Speed mode Unit mode 11.2.1The software speed command124 125 Speed Profiling using JV, AC and DC 126 11.2.2The auxiliary speed command 127 Stop managementRLS,FLS 128 Stepper mode Unit mode 129 Dual feedback mode UM=4 130 Dual feedback mode UM=4 131 Single feedback mode UM=5 132 12.1.1Switching Between Motion ModesPosition reference generator Software reference generator 12.1.3The Idle Mode and Motion Status 13312.1.2Comparison of the PT and the PVT interpolated modes 12.1.4Point-To-Point PTP Basic Point-To-Point 134 Example 135 More Complicated PTP Motions 136 Example On-The-Fly Change of The Position Target 137 Jogging 138 Example On the fly mode switching 139Example Simple jogging 140 Vt = 3at − t0 2 + 2bt − t0 + c 141 Ifference Counts Msec 500 1000 1500 2000 2500 142 143 QP… QV… QT… 144 Motion Management 145 146 PVT Decisions Flow Chart Mode Termination PVT Motion Using can147 PVT Motion Programming Message 148 Underflow 149 Programming Sequence for The Auto Increment PVT Mode Parameters of The PVT Motion Mode150 151 152 PT Motion What Is PT 153Interpolation Mathematics 154 PT Motion Programming The Basic Mode 155 Flow chart of the basic PT mode is depicted below PT Motion Using can 156PT Motion Programming Message 157 Programming Sequence for The Auto Increment PT Mode 158 Parameters of The PT Motion Mode External Position Reference Generator 159 External position reference generator 160 Xt = 10000 ⋅ cos2πt + ct 161 Ecam 162 163 164 Dividing Ecam table into several logical portions 165 166 On the fly Ecam programming using can 167 Initializing the external reference parametersJump-Free Motor Starting Policy Stop management 12.3.1General description 168 Stop Manager Internals 169VHN,VLN XM,YM Forward Limit Switch Marked as 4 in the Figure Right Limit Switch Marked as 3 in the Figure170 Rate and Acceleration Marked as 5 in the Figure Position output of the stop manager 171 172 Sensors, I/O, and EventsModulo counting Modulo Counting Digital Outputs 173 Events, and response methods 174Manual inquiry Periodical Inquiry 175 Homing and Capture What Is Homing?Automatic 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 178 Switches location Example Double homing corrects backlash offsets 179 Capturing 180 181 Limits, Protections, Faults, and Diagnosis 182 Current limitingVLN Speed Protection 183 Position Protection 184 185 Enable switch Limit switches Connecting an external brake186 When the motor fails to start Motion faults187 188 14.9.2Inconsistent setup data Diagnosis Monitoring motion faults189 Polling the amplifier status Sensor faults Motor cannot move 19014.9.3Device failures, and the CPU dump 191 Commutation error is static i.e. Does not change in timeCommutation is lost General Reasons and effect of incorrect commutation 192 Detection of Commutation Feedback FaultCommutation is drifting i.e Changes in time Double sensor systems 193 ControllerKPN Speed Control 15.2.1Block diagram 194Not found Parameters of the Speed Controller 195 196 Position Controller 15.3.1Block Diagram Parameters of the Position Controller 197 High Order Filter Block Types 198Double 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 Gain-Scheduling Algorithm 201 Automatic Controller Gain-Scheduling 202 KP = SpeedKpTable k KI = SpeedKiTable k 203 204 Table of Contents TOCAppendix a The Harmonica Flash Memory Organization Main partitions Contents of Text1 Contents of Text2Contents of Text3 206 Contents of Text4-Text7 Contents of Text8 Contents of Text9207 Autostop Autobg Autorls 208Autoena AUTOI1 AUTOI5 209 210 TOCCompilation Done Flag Function Symbol Table Text Backup & Compiler data segment211 Virtual Machine Code Segment Variable Symbol Table 212Automatic Routines Table Appendix B Harmonica Internals 213Software Structure 17.1.1The Initialization block Idle Loop 214 Idle loop 215 Converter 216Converter Call Algorithm 18.5 Examples 217JP##LABEL JS##LABEL Label 218