Elmo HARmonica, HARSFEN0602 software manual 214, Idle Loop

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-Decide if to use the peak current limit or the continuous current limit.

-Match digital hall readout to encoder data, to detect loss of commutation

-Detect "Motor stuck" condition

17.1.3The Idle Loop

The term "Idle loop" describes the repetitive task performed filling the entire time when the processor is free from interrupt handling.

Idle loop processing starts immediately after the initialization sequence is complete. The Idle loop does:

-Run user programs

oRun one line of user program for one virtual machine

oRespond to events –interrupt routines, break points and single step debug mode.

-Interpret terminal commands

-Interpret CAN low priority messages:

oCAN interpreter commands

oSDO

oNode guarding

-Calculate status and cleanup after motion fault exceptions.

-Route to the RS232 transmitter either data from the recorder or the output of the interpreter.

The sampling time parameter TS controls how much CPU power is reserved for idle-loop processing. Lower TS will deliver ultimate motion control performance, but will consume more CPU time for motion control algorithms. The CPU power remaining for idle loop processing decreases.

The following block diagram describes the idle loop.

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