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Elmo HARSFEN0602, HARmonica software manual 209

Models: HARmonica HARSFEN0602

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HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

If the priority is –1 if the Harmonica can’t service this function.

16.2.8Contents of Text10

This file lists all the possible run-time errors of a specific Harmonica, including their codes. Text10 has the following format:

1 , motor must be off

2 , out of range

In each line the number is the error code and the string follow it is the meaning of the error. For example if error code is 1 we know that motor is on and it must be shut down.

Another usage of text10 presence in the serial flash is by having the ability to display the error description for the user instead of just showing him the error code.

209

16.2.9Contents of Binary1

To be read by the reset procedure to UserPars

16.2.10Contents of Binary2

Unused memory space for possible later use

16.2.11Contents of Binary3

Unused memory space for possible later use

16.3Parameters Partition

The parameters partition includes the UserPars parameters.

The parameters are saved to flash by SV command and loaded to ram by LD command.

The parameters are saved in the serial flash due to space limitation in the flash of the DSP56F800 processor. The parameters partition occupies the fixed 10kbyte space of the flash.

16.4Factory Code Partition

The factory code partition includes factory programs. Factory programs are:

-Routines used for the auto-tuning process

-Functions given for various other purposes.

The firmware partition can be accessed by DL command only in download firmware. The firmware partition can be accessed by LS command.

The factory code partition is defined only for future compatibility.

The Factory Code partition shall be loaded as a part of the firmware downloading process. The Factory Code shall be later accessible for running as any other user program compiled code.

The parameters partition occupies the fixed 10kbyte space of the flash.

16.5User Code partition

The user code partition carries the information concerning the user program.

The user code partition can be accessed by DL command.

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Elmo HARSFEN0602, HARmonica software manual 209

Contents

HARmonica Software Manual USA Elmo Motion Control IncHARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual Glossary About This ManualScope Relevant documentationHarmonica Can EDS Related SoftwareUnits Position unitsCurrent and torque Speed and acceleration unitsInternal Units and Conversions Peripherals Power DC voltageSpeed Electrical angleDigital inputs A/D converterDigital output Description Communication With the HostGeneral RS232 Communications 1 RS232 BasicsCANopen Communication Errors and exceptions in RS232Echo Background TransmissionInterpreter Language ElmoHARSFEN0602HARmonicaSoftwareManual PreliminarydraftMathematical And Logical Operators Command lineExpressions And Operators NumbersXOR Operator detailsDivision AdditionSubtraction MultiplicationLogical Equality Bitwise notBitwise or BitwiseLogical or Logical Greater than or equalLogical Less than LogicalMathematical functions Logical notUnary Minus Bitwise Left Shift and Right Shift operatorsSimple Expressions ExpressionsAssignment Expressions Example ca1 = User variablesBuilt-in Function Calls Time functionsComments User Function CallsUser Program Organization Harmonica User Programming LanguageLine and Expression Termination CommonLine Continuation Expressions And Operators Numbers LimitationsGeneral rules for operators Syntax Expressions Simple ExpressionsSystem Commands Built-in Function Calls Program Flow Commands XQ ##LOOP2 Labels Entry pointsFor iteration #@LABELNAMEInfiniteloop While iterationWhile expression Until iterationIf condition Wait iterationOFF Switch selectionFunctions Function definition BreakSyntax break Function is absent Count of output variables Dummy variablesSTD Automatic variablesMean Jumps Global variables##LABEL1 Functions and The Call Stack##LABEL2 Return #@AUTOI1 Killing The Call StackAutomatic subroutines List Of Automatic Routines ##STARTNEWAutobg AutoexecAutoer Autostop#@AUTOI3 Automatic Routines ArbitrationAutomatic Subroutine Mask ##LOOPMI=MI8 #@TESTPARSCompilation Compilation Error ListProgram Development and Execution Editing a ProgramHARSFEN0602ElmoHARmonicaSoftwareManual Asusid@elmo.co.il Preliminarydraft Preliminarydraft Preliminarydraft Preliminarydraft Asusid@elmo.co.il #@AUTOEXEC Downloading and Uploading a ProgramBinary data Assisting Commands For Down/Upload LPN commandExamples Program downloading process CP commandCC command Downloading a Program DL commandProgram execution Uploading a Program LS commandHalting and resuming a program Initiating a ProgramXQ##TASK1 Clear user program from Flash Automatic program running with power upDB command Save to FlashDB##PSN Machine statusProgram status DB##MSRun to Cursor Setting and clearing break pointsContinuation of the program Single stepStep Step OverStep Out Getting stack entries Setting stackGetting call stack View of local variables View of global variablesHARSFEN0602ElmoHARmonicaSoftwareManual Virtual Machine registers Virtual MachinesCall Stack During Function Call Usrsubj Data typesShort reference Op code structure and addressing modesNot REMRsltand RsltorAlgorithm Alphabetic referenceBitwise and Operator PurposeDIV Divide CMP CompareForitr for Loop Iteration EOL End Of LineAlgorithm itr iterator For Bitwise or Operator Freevac Free Virtual MachineJMP Jump Getcomm Get CommandJmplabel Jump to the label Jmpeol JumpJnzeol Jump Not Zero JNZ Jump Not ZeroJzeol Jump If Zero JZ Jump If ZeroLink MOV Assignment Operator = MLT MultiplyREM Reminder Not Bitwise not OperatorRsltae Relational Operator = Rslta Relational OperatorSP SP Rsltand Logical and OperatorRsltb Relational Operator Rsltbe Relational Operator =Rsltne Relational Operator != Rslte Relational Operator ==Rsltor Logical or Operator Setcomm Set CommandSHL Shift Left SHR Shift RightSpadd Unarynot Logical not Operator Syssubj Jump To System SubroutineUsrsubrt Return from user subroutine Usrsubj jump To User SubroutineOP2 XOR Bitwise XOR Operator RPN RecorderBG,BT ILNSignal Signal Name Command Length Description Type Signal mappingProgramming 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 delayDefinition PreliminaryLaunching the recorder 100Uploading recorded data 101 Byte Number Value Type Preliminary DraftBrush DC motors 103Commutation GeneralBldc commutation policy 104Mechanical and electrical motion Figures are missing Rotor Magnetic field sensors Commutation sensorsShaft Angle Sensors 106107 Detecting commutation errors loss of feedbackHall sensors parameterization Encoder parameterization 108Commutation search General 109Selecting the parameters Method limitation 110Protections Continuous Vs. Six-Steps commutation 111Continuous commutation 112Winding shapes 113Loading the commutation table 114Current controller 115ID = I hθ + 90 + Ib hθ + 210 + Ic hθ + 116Peak/Continuous current limit selection 117118 Torque command filter32768 119PI current controller 120Current amplifier protections 121122 123 Torque control Unit modeUnit Modes 11.2.1The software speed command Speed mode Unit mode124 125 Speed Profiling using JV, AC and DC126 11.2.2The auxiliary speed commandStop management 127RLS,FLS 128 Stepper mode Unit mode129 Dual feedback mode UM=4130 Dual feedback mode UM=4131 Single feedback mode UM=5Software reference generator 12.1.1Switching Between Motion Modes132 Position reference generator133 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 134Example 135More Complicated PTP Motions 136Example On-The-Fly Change of The Position Target 137Jogging 138139 Example On the fly mode switchingExample Simple jogging 140 Vt = 3at − t0 2 + 2bt − t0 + c 141Ifference Counts Msec 500 1000 1500 2000 2500 142143 QP… QV… QT… 144Motion Management 145146 PVT Decisions Flow ChartPVT Motion Using can Mode Termination147 PVT Motion Programming Message 148Underflow 149Parameters 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 Mode155 Flow chart of the basic PT mode is depicted below156 PT Motion Using canPT Motion Programming Message 157 Programming Sequence for The Auto Increment PT Mode158 Parameters of The PT Motion ModeExternal Position Reference Generator 159External position reference generator 160Xt = 10000 ⋅ cos2πt + ct 161Ecam 162163 164 Dividing Ecam table into several logical portions 165166 On the fly Ecam programming using canInitializing the external reference parameters 167Jump-Free Motor Starting Policy Stop management 12.3.1General description 168XM,YM 169Stop Manager Internals VHN,VLNRate and Acceleration Marked as 5 in the Figure Right Limit Switch Marked as 3 in the FigureForward Limit Switch Marked as 4 in the Figure 170Position output of the stop manager 171Sensors, I/O, and Events 172Modulo counting Modulo Counting Digital Outputs 173Periodical Inquiry 174Events, and response methods Manual inquiryReal time Motion management, Homing, Capture, and Flag Homing and Capture What Is Homing?175 Automatic routinesHoming Programming 176Homing the auxiliary encoder 13.5.5A homing with home switch and index example On the fly position counter updates177 178 Switches locationExample Double homing corrects backlash offsets 179Capturing 180181 Limits, Protections, Faults, and DiagnosisCurrent limiting 182VLN Speed Protection 183Position Protection 184185 Enable switchConnecting an external brake Limit switches186 Motion faults When the motor fails to start187 188 Polling the amplifier status Diagnosis Monitoring motion faults14.9.2Inconsistent setup data 189190 Sensor faults Motor cannot move14.9.3Device failures, and the CPU dump Reasons and effect of incorrect commutation Commutation error is static i.e. Does not change in time191 Commutation is lost GeneralDouble sensor systems Detection of Commutation Feedback Fault192 Commutation is drifting i.e Changes in timeController 193KPN 194 Speed Control 15.2.1Block diagramNot found Parameters of the Speed Controller 195196 Position Controller 15.3.1Block DiagramParameters of the Position Controller 197Fist order block Block type=14 198High Order Filter Block Types Double lead block Block type=12Second order block Block Type=15 199Scheduled Double lead block Block type=22 User Interface 200An Example Gain-Scheduling Algorithm 201Automatic Controller Gain-Scheduling 202KP = SpeedKpTable k KI = SpeedKiTable k 203Main partitions Table of Contents TOC204 Appendix a The Harmonica Flash Memory OrganizationContents of Text2 Contents of Text1Contents of Text3 206 Contents of Text4-Text7Contents of Text9 Contents of Text8207 AUTOI5 208Autostop Autobg Autorls Autoena AUTOI1209 TOC 210Compilation Done Flag Virtual Machine Code Segment Text Backup & Compiler data segmentFunction Symbol Table 211212 Variable Symbol TableAutomatic Routines Table 17.1.1The Initialization block 213Appendix B Harmonica Internals Software StructureIdle Loop 214Idle loop 215Algorithm 216Converter Converter CallJS##LABEL Label 21718.5 Examples JP##LABEL218