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Elmo HARSFEN0602, HARmonica software manual 215, Idle loop

Models: HARmonica HARSFEN0602

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HARSFEN0602ElmoHARmonicaSoftwareManual

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Message						Route message to
Message			Yes			Route message to
completed?			Yes			interpreterr

215

Long Record in	Present buffer	Last data
transmission?	Yes	Yes
transmission?	done?	loaded?
		Yes
		No
		Route transmittter
	Reload buffer	to interpreter
		output

Auto routine						Set program
waiting for			Yes			counter of thread
waiting for			Yes			counter of thread
execution?						0 to auto routine
execution?						0 to auto routine

User program

Run next

Yes

Break point?

No

instruction of user

running?

program

Motion						Shut motor		& set
Motion			Yes			Shut motor		& set
Exception?			Yes			exception		flag

Node guarding

Figure 42: Idle loop

Image 217

Elmo HARSFEN0602, HARmonica software manual 215, Idle loop

Contents

HARmonica Software Manual USA Elmo Motion Control IncHARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual Scope About This ManualRelevant documentation GlossaryHarmonica Units Related SoftwarePosition units Can EDSCurrent and torque Speed and acceleration unitsInternal Units and Conversions Speed Power DC voltageElectrical angle PeripheralsDigital inputs A/D converterDigital output General RS232 Communications Communication With the Host1 RS232 Basics DescriptionEcho Errors and exceptions in RS232Background Transmission CANopen CommunicationInterpreter Language ElmoHARSFEN0602HARmonicaSoftwareManual PreliminarydraftExpressions And Operators Command lineNumbers Mathematical And Logical OperatorsXOR Operator detailsSubtraction AdditionMultiplication DivisionBitwise or Bitwise notBitwise Logical EqualityLogical Less than Logical Greater than or equalLogical Logical orUnary Minus Logical notBitwise Left Shift and Right Shift operators Mathematical functionsSimple Expressions ExpressionsAssignment Expressions Built-in Function Calls User variablesTime functions Example ca1 =Comments 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 For iteration Labels Entry points#@LABELNAME XQ ##LOOP2Infiniteloop 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 Automatic subroutines List Of Automatic Routines Killing The Call Stack##STARTNEW #@AUTOI1Autoer AutoexecAutostop AutobgAutomatic Subroutine Mask Automatic Routines Arbitration##LOOP #@AUTOI3MI=MI8 #@TESTPARSProgram Development and Execution Compilation Error ListEditing a Program CompilationHARSFEN0602ElmoHARmonicaSoftwareManual 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 CC command CP commandDownloading a Program DL command Program downloading processProgram execution Uploading a Program LS commandHalting and resuming a program Initiating a ProgramXQ##TASK1 DB command Automatic program running with power upSave to Flash Clear user program from FlashProgram status Machine statusDB##MS DB##PSNContinuation of the program Setting and clearing break pointsSingle step Run to CursorStep 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 modesRsltand REMRsltor NotBitwise and Operator Alphabetic referencePurpose AlgorithmDIV 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 OperatorRsltb Relational Operator Rsltand Logical and OperatorRsltbe Relational Operator = SP SPRsltne 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 BG,BT RecorderILN RPNSignal 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 DraftCommutation 103General Brush DC motorsBldc 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=5132 12.1.1Switching Between Motion ModesPosition reference generator Software 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 168Stop Manager Internals 169VHN,VLN XM,YMForward 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 FigurePosition output of the stop manager 171Sensors, I/O, and Events 172Modulo counting Modulo Counting Digital Outputs 173Events, and response methods 174Manual inquiry Periodical Inquiry175 Homing and Capture What Is Homing?Automatic routines Real time Motion management, Homing, Capture, and FlagHoming 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 14.9.2Inconsistent setup data Diagnosis Monitoring motion faults189 Polling the amplifier status190 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 commutation192 Detection of Commutation Feedback FaultCommutation is drifting i.e Changes in time Double sensor systemsController 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 197High Order Filter Block Types 198Double lead block Block type=12 Fist order block Block type=14Second 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 203204 Table of Contents TOCAppendix a The Harmonica Flash Memory Organization Main partitionsContents of Text2 Contents of Text1Contents of Text3 206 Contents of Text4-Text7Contents of Text9 Contents of Text8207 Autostop Autobg Autorls 208Autoena AUTOI1 AUTOI5209 TOC 210Compilation Done Flag Function Symbol Table Text Backup & Compiler data segment211 Virtual Machine Code Segment212 Variable Symbol TableAutomatic Routines Table Appendix B Harmonica Internals 213Software Structure 17.1.1The Initialization blockIdle Loop 214Idle loop 215Converter 216Converter Call Algorithm18.5 Examples 217JP##LABEL JS##LABEL Label218