Elmo HARmonica, HARSFEN0602 software manual Preliminary

HARSFEN0602ElmoHARmonicaSoftwareManual			PRELIMINARY	DRAFT
					4
7.7.28		RSLTE – Relational Operator (==)		87
7.7.29		RSLTNE – Relational Operator (!=)		87
7.7.30		RSLTOR – Logical OR Operator ( )		88
7.7.31		SET_COMM – Set Command		88
7.7.32		SETINDEX		89
7.7.33		SHR – Shift Right		89
7.7.34		SHL – Shift Left		89
7.7.35		SPADD		90
7.7.36		SUB - SUBTRACT		90
7.7.37		SYSSUBJ – Jump To System Subroutine		91
7.7.38		UNARY_NOT - Logical NOT Operator (!)		91
7.7.39		USRSUBJ – jump To User Subroutine		92
7.7.40		USRSUBRT – Return from user subroutine		92
7.7.41		XOR – Bitwise XOR Operator		93
8	THE RECORDER			94
8.1	Recorder sequencing: Programming, launching, and uploading data			94
8.2	Signal mapping			95
8.3	Defining the set of recorded signals			96
8.4	Programming the length and the resolution			96
8.5	Trigger events and timing			97
8.6	Launching the recorder			100
8.7	Uploading recorded data			100
9	COMMUTATION			103
9.1	General			103
9.1.1		Brush DC motors		103
9.1.2 The Stepper Commutation Policy				103
9.1.3 The BLDC commutation policy				104
9.2	Mechanical and electrical motion Figures are missing			104
9.3	Commutation sensors			105
9.3.1 Rotor Magnetic field sensors				105
9.3.2		Shaft Angle Sensors		106
9.3.3 Combination of direct magnetic field sensors and shaft angle sensor				106
9.3.4 Parameterization of the commutation and the commutation sensors			...................................................................	107
9.4	Commutation search			109
9.4.1		General		109
9.4.2		Selecting the parameters		109
9.4.3		Method limitation		110
9.4.4		Protections		110
9.4.5 Parameters related to starting the motor with no digital Hall sensors				111
9.5	Continuous Vs. Six-Steps commutation			111
9.5.1		Six-step commutation		112
9.5.2		Continuous commutation		112
9.6	Winding shapes			113
9.6.1 Loading the commutation table				114