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Elmo HARmonica, HARSFEN0602 software manual Elmo Motion Control Inc, Usa

Models: HARmonica HARSFEN0602

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Important Notice

This guide is delivered subject to the following conditions and restrictions:

This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the HARmonica servo amplifier.

The text and graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.

Information in this document is subject to change without notice. Corporate and individual names and data used in examples herein are fictitious unless otherwise noted.

Doc. no. HARSFEN0602

Copyright 2002

Elmo Motion ControlLtd.

All rights reserved.

The Elmo Motion Control warranty for this product covers only the elimination of problems due to manufacturing defects that result in impaired function. Specifically excluded from this warranty is the elimination of problems caused by abuse, damage, neglect, overloading, wrongful operation and unauthorized manipulations of the product. This product warranty is for a period of 12 months from the time of operational startup but no longer than 18 months from shipment from the manufacturing plant. Damage claims that exceed the warranty obligation – including consequential damages – will be rejected in all cases. If any term or condition in this warranty is at variance or inconsistent with any provision or condition (whether general or special) contained in or referred to in the Terms of Conditions of Sale outlined at the back of Elmo’s Standard Acknowledgement form, then the latter shall prevail and be effective.

Elmo Motion Control Ltd.	Elmo Motion Control Inc.	Elmo Motion Control GmbH
64 Gisin St., P.O. Box 463	900(H) River St.	Steinbeisstrasse 41
Petach Tikva	Kennedy Industrial Park	D-78056
49103	Windsor, CT 06095	Villingen-Schwenningen
Israel	USA	Germany
Tel: +972 3 929-2300	Tel: +1 860 683-0095	Tel: +49 07720 8577-60
Fax: +972 3 929-2322	Fax: +1 860 683-0036	Fax: +49 07720 8577-70

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Elmo HARmonica, HARSFEN0602 software manual Elmo Motion Control Inc, Usa

Contents

HARmonica Software Manual Elmo Motion Control Inc USAHARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual Relevant documentation About This ManualScope GlossaryHarmonica Position units Related SoftwareUnits Can EDSInternal Units and Conversions Speed and acceleration unitsCurrent and torque Electrical angle Power DC voltageSpeed PeripheralsDigital output A/D converterDigital inputs 1 RS232 Basics Communication With the HostGeneral RS232 Communications DescriptionBackground Transmission Errors and exceptions in RS232Echo CANopen CommunicationElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft Interpreter LanguageNumbers Command lineExpressions And Operators Mathematical And Logical OperatorsOperator details XORMultiplication AdditionSubtraction DivisionBitwise Bitwise notBitwise or Logical EqualityLogical Logical Greater than or equalLogical Less than Logical orBitwise Left Shift and Right Shift operators Logical notUnary Minus Mathematical functionsAssignment Expressions ExpressionsSimple Expressions Time functions User variablesBuilt-in Function Calls Example ca1 =User Function Calls CommentsHarmonica User Programming Language User Program OrganizationLine Continuation CommonLine and Expression Termination General rules for operators LimitationsExpressions And Operators Numbers Expressions Simple Expressions SyntaxSystem Commands Built-in Function Calls Program Flow Commands #@LABELNAME Labels Entry pointsFor iteration XQ ##LOOP2While iteration InfiniteloopUntil iteration While expressionWait iteration If conditionSwitch selection OFFSyntax break BreakFunctions Function definition Function is absent Dummy variables Count of output variablesMean Automatic variablesSTD Global variables Jumps##LABEL2 Functions and The Call Stack##LABEL1 Return ##STARTNEW Killing The Call StackAutomatic subroutines List Of Automatic Routines #@AUTOI1Autostop AutoexecAutoer Autobg##LOOP Automatic Routines ArbitrationAutomatic Subroutine Mask #@AUTOI3#@TESTPARS MI=MI8Editing a Program Compilation Error ListProgram Development and Execution CompilationHARSFEN0602ElmoHARmonicaSoftwareManual Asusid@elmo.co.il Preliminarydraft Preliminarydraft Preliminarydraft Preliminarydraft Asusid@elmo.co.il Downloading and Uploading a Program #@AUTOEXECExamples Assisting Commands For Down/Upload LPN commandBinary data Downloading a Program DL command CP commandCC command Program downloading processUploading a Program LS command Program executionXQ##TASK1 Initiating a ProgramHalting and resuming a program Save to Flash Automatic program running with power upDB command Clear user program from FlashDB##MS Machine statusProgram status DB##PSNSingle step Setting and clearing break pointsContinuation of the program Run to CursorStep Out Step OverStep Getting call stack Setting stackGetting stack entries View of global variables View of local variablesHARSFEN0602ElmoHARmonicaSoftwareManual Call Stack During Function Call Virtual MachinesVirtual Machine registers Data types UsrsubjOp code structure and addressing modes Short referenceRsltor REMRsltand NotPurpose Alphabetic referenceBitwise and Operator AlgorithmCMP Compare DIV DivideAlgorithm itr iterator EOL End Of LineForitr for Loop Iteration Freevac Free Virtual Machine For Bitwise or OperatorGetcomm Get Command JMP JumpJmpeol Jump Jmplabel Jump to the labelJNZ Jump Not Zero Jnzeol Jump Not ZeroLink JZ Jump If ZeroJzeol Jump If Zero MLT Multiply MOV Assignment Operator =Not Bitwise not Operator REM ReminderRslta Relational Operator Rsltae Relational Operator =Rsltbe Relational Operator = Rsltand Logical and OperatorRsltb 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 OperatorOP2 Usrsubj jump To User SubroutineUsrsubrt Return from user subroutine XOR Bitwise XOR Operator ILN RecorderBG,BT RPNSignal mapping Signal Signal Name Command Length Description TypeExample The commands RV1=5RV2=1RC=3 Defining the set of recorded signalsProgramming the length and the resolution Trigger events and timing Trigger delay Slope and window trigger typesPreliminary DefinitionUploading recorded data 100Launching the recorder 101 Preliminary Draft Byte Number Value TypeGeneral 103Commutation Brush DC motorsMechanical and electrical motion Figures are missing 104Bldc commutation policy Commutation sensors Rotor Magnetic field sensors106 Shaft Angle SensorsHall sensors parameterization Detecting commutation errors loss of feedback107 108 Encoder parameterizationSelecting the parameters 109Commutation search General Protections 110Method limitation 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 Unit Modes Torque control Unit mode123 124 Speed mode Unit mode11.2.1The software speed command Speed Profiling using JV, AC and DC 12511.2.2The auxiliary speed command 126RLS,FLS 127Stop management Stepper mode Unit mode 128Dual feedback mode UM=4 129Dual feedback mode UM=4 130Single feedback mode UM=5 131Position reference generator 12.1.1Switching Between Motion Modes132 Software reference generator12.1.2Comparison of the PT and the PVT interpolated modes 12.1.3The Idle Mode and Motion Status133 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 JoggingExample Simple jogging Example On the fly mode switching139 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 146147 Mode TerminationPVT Motion Using can 148 PVT Motion Programming Message149 Underflow150 Programming Sequence for The Auto Increment PVT ModeParameters of The PVT Motion Mode 151 152 Interpolation Mathematics PT Motion What Is PT153 PT Motion Programming The Basic Mode 154Flow chart of the basic PT mode is depicted below 155PT Motion Programming Message PT Motion Using can156 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 166Jump-Free Motor Starting Policy 167Initializing the external reference parameters 168 Stop management 12.3.1General descriptionVHN,VLN 169Stop Manager Internals XM,YM170 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 Figure171 Position output of the stop managerModulo counting Modulo Counting 172Sensors, I/O, and Events 173 Digital OutputsManual inquiry 174Events, and response methods Periodical InquiryAutomatic routines Homing and Capture What Is Homing?175 Real time Motion management, Homing, Capture, and FlagHoming the auxiliary encoder 176Homing Programming 177 On the fly position counter updates13.5.5A homing with home switch and index example Switches location 178179 Example Double homing corrects backlash offsets180 CapturingLimits, Protections, Faults, and Diagnosis 181VLN 182Current limiting 183 Speed Protection184 Position ProtectionEnable switch 185186 Limit switchesConnecting an external brake 187 When the motor fails to startMotion faults 188 189 Diagnosis Monitoring motion faults14.9.2Inconsistent setup data Polling the amplifier status14.9.3Device failures, and the CPU dump Sensor faults Motor cannot move190 Commutation is lost General Commutation error is static i.e. Does not change in time191 Reasons and effect of incorrect commutationCommutation is drifting i.e Changes in time Detection of Commutation Feedback Fault192 Double sensor systemsKPN 193Controller Not found Speed Control 15.2.1Block diagram194 195 Parameters of the Speed ControllerPosition Controller 15.3.1Block Diagram 196197 Parameters of the Position ControllerDouble lead block Block type=12 198High Order Filter Block Types Fist order block Block type=14Scheduled Double lead block Block type=22 199Second order block Block Type=15 An Example 200User Interface 201 Gain-Scheduling Algorithm202 Automatic Controller Gain-Scheduling203 KP = SpeedKpTable k KI = SpeedKiTable kAppendix a The Harmonica Flash Memory Organization Table of Contents TOC204 Main partitionsContents of Text3 Contents of Text1Contents of Text2 Contents of Text4-Text7 206207 Contents of Text8Contents of Text9 Autoena AUTOI1 208Autostop Autobg Autorls AUTOI5209 Compilation Done Flag 210TOC 211 Text Backup & Compiler data segmentFunction Symbol Table Virtual Machine Code SegmentAutomatic Routines Table Variable Symbol Table212 Software Structure 213Appendix B Harmonica Internals 17.1.1The Initialization block214 Idle Loop215 Idle loopConverter Call 216Converter AlgorithmJP##LABEL 21718.5 Examples JS##LABEL Label218