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HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

When the amplifier shuts down by exception, the motor will continue to run by its own inertia unless brakes are used (refer the section Connecting an external brake).

We recommend the use automatic brake activation upon motor shut down (refer the OL command) for all safety critical application.

An amplifier exception shut down can be captured and reacted by placing an AUTO_ER routine in the user program.

For a full list of the exceptions that can cause automatic shutdown, refer the MF command in the Command Reference Manual.

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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 Current and torque Speed and acceleration unitsInternal Units and Conversions Electrical angle Power DC voltageSpeed Peripherals Digital inputs A/D converterDigital 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 Simple Expressions ExpressionsAssignment Expressions Time functions User variablesBuilt-in Function Calls 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 #@LABELNAME Labels Entry pointsFor iteration 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 ##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 Binary data Assisting Commands For Down/Upload LPN commandExamples Downloading a Program DL command CP commandCC command Program downloading process Uploading a Program LS command Program execution Halting and resuming a program Initiating 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 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 Rsltor REMRsltand Not Purpose Alphabetic referenceBitwise and Operator 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 = 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 Usrsubrt Return from user subroutine Usrsubj jump To User SubroutineOP2 XOR Bitwise XOR Operator ILN RecorderBG,BT 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 General 103Commutation 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 Position reference generator 12.1.1Switching Between Motion Modes132 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 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 Sensors, I/O, and Events 172Modulo 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 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 188 189 Diagnosis Monitoring motion faults14.9.2Inconsistent setup data Polling the amplifier status 190 Sensor faults Motor cannot move14.9.3Device 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 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 Double lead block Block type=12 198High Order Filter Block Types 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 Appendix a The Harmonica Flash Memory Organization Table of Contents TOC204 Main partitions Contents of Text2 Contents of Text1Contents of Text3 Contents of Text4-Text7 206 Contents of Text9 Contents of Text8207 Autoena AUTOI1 208Autostop Autobg Autorls AUTOI5 209 TOC 210Compilation Done Flag 211 Text Backup & Compiler data segmentFunction Symbol Table Virtual Machine Code Segment 212 Variable Symbol TableAutomatic 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