155 | Elmo HARSFEN0602, HARmonica specification

HARSFEN0602ElmoHARmonicaSoftwareManual			PRELIMINARYDRAFT

	MP[3]	0: Motion is to stop if the read pointer		Cyclical behavior definition.
		reaches MP[2]
		1: Motion is to continue when the read
		pointer reaches MP[2]. The next row of
		the table is MP[1].
	MP[4]	The number of controller sampling times
		in each PT motion segment.

155

Table 12-10 – PT Motion Parameters

The flow chart of the basic PT mode is depicted below.

Initial

conditions: PT read pointer equals

N

Motion

segment

completed

?

Yes

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

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

Yes

			Increment
No			Increment
No			read pointer

Read the N+1 element of the PQ vector and calculate the parameters of the next motion segment

Interpolate position command

Go to position controller

Set the read

pointer to MP[1]

Figure 28 – PT Decisions Flow Chart

A PT motion starts by stating PT=N with 1 N 1024 , and BG.

The command PT=N sets the read pointer of the QP vector to N.

Image 157

Elmo HARSFEN0602, HARmonica software manual 155, Flow chart of the basic PT mode is depicted below

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 Current and torque Speed and acceleration unitsInternal Units and Conversions Speed Power DC voltageElectrical angle Peripherals Digital inputs A/D converterDigital 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 Simple Expressions ExpressionsAssignment Expressions Built-in Function Calls User variablesTime functions Example ca1 = Comments User Function Calls User Program Organization Harmonica User Programming Language Line and Expression Termination CommonLine Continuation Expressions And Operators Numbers LimitationsGeneral 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 Functions Function definition BreakSyntax break Function is absent Count of output variables Dummy variables STD Automatic variablesMean Jumps Global variables ##LABEL1 Functions and The Call Stack##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 Binary data Assisting Commands For Down/Upload LPN commandExamples CC command CP commandDownloading a Program DL command Program downloading process Program execution Uploading a Program LS command Halting and resuming a program Initiating 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 Step OverStep Out Getting stack entries Setting stackGetting call stack View of local variables View of global variables HARSFEN0602ElmoHARmonicaSoftwareManual Virtual Machine registers Virtual MachinesCall 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 Foritr for Loop Iteration EOL End Of LineAlgorithm 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 Jzeol Jump If Zero JZ 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 Usrsubrt Return from user subroutine Usrsubj jump To User SubroutineOP2 XOR Bitwise XOR Operator BG,BT RecorderILN RPN Signal Signal Name Command Length Description Type Signal mapping Programming the length and the resolution Defining the set of recorded signalsExample The commands RV1=5RV2=1RC=3 Trigger events and timing Slope and window trigger types Trigger delay Definition Preliminary Launching the recorder 100Uploading recorded data 101 Byte Number Value Type Preliminary Draft Commutation 103General Brush DC motors Bldc commutation policy 104Mechanical and electrical motion Figures are missing Rotor Magnetic field sensors Commutation sensors Shaft Angle Sensors 106 107 Detecting commutation errors loss of feedbackHall sensors parameterization Encoder parameterization 108 Commutation search General 109Selecting the parameters Method limitation 110Protections 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 121 122 123 Torque control Unit modeUnit Modes 11.2.1The software speed command Speed mode Unit mode124 125 Speed Profiling using JV, AC and DC 126 11.2.2The auxiliary speed command Stop management 127RLS,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 133 12.1.3The Idle Mode and Motion Status12.1.2Comparison 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 138 139 Example On the fly mode switchingExample 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 PVT Motion Using can Mode Termination147 PVT Motion Programming Message 148 Underflow 149 Parameters of The PVT Motion Mode Programming Sequence for The Auto Increment PVT Mode150 151 152 153 PT Motion What Is PTInterpolation Mathematics 154 PT Motion Programming The Basic Mode 155 Flow chart of the basic PT mode is depicted below 156 PT Motion Using canPT 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 Initializing the external reference parameters 167Jump-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 Sensors, I/O, and Events 172Modulo 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 Homing Programming 176Homing the auxiliary encoder 13.5.5A homing with home switch and index example On the fly position counter updates177 178 Switches location Example Double homing corrects backlash offsets 179 Capturing 180 181 Limits, Protections, Faults, and Diagnosis Current limiting 182VLN Speed Protection 183 Position Protection 184 185 Enable switch Connecting an external brake Limit switches186 Motion faults When the motor fails to start187 188 14.9.2Inconsistent setup data Diagnosis Monitoring motion faults189 Polling the amplifier status 190 Sensor faults Motor cannot move14.9.3Device 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 Controller 193KPN 194 Speed Control 15.2.1Block diagramNot 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 Second order block Block Type=15 199Scheduled Double lead block Block type=22 User Interface 200An 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 Text2 Contents of Text1Contents of Text3 206 Contents of Text4-Text7 Contents of Text9 Contents of Text8207 Autostop Autobg Autorls 208Autoena AUTOI1 AUTOI5 209 TOC 210Compilation Done Flag Function Symbol Table Text Backup & Compiler data segment211 Virtual Machine Code Segment 212 Variable Symbol TableAutomatic 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