Initiating a Program, XQ##TASK1 | Elmo HARSFEN0602, HARmonica

HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARYDRAFT

6.4.1Initiating a Program

program is initiated by the XQ command. The XQ command states at which label the execution shall start.

The XQ command resets all the program variables. In particular, it clears the call stack (refer the chapter the Functions and the Call Stack), it kills any pending automatic routines, and it clears the interrupt mask.

The description and syntax of the XQ command see at the chapter Debugging: running, breaking and resuming

6.4.2Halting and resuming a program

A program may be halted using the HP Interpreter command.

The HP command stops the execution of the user program and the automatic routines. The HP command freezes the status of the program, and does not reset it.

A later XC command will resume the program from the instruction where the program was halted. Pending interrupts will remain pending.

The command XC restarts execution from the point where the program has been halted.

Example:

Consider the program

MO=1;	**Start motor
JV=2000;	**Set jog speed
##LOOP;	**Repetitive task
BG;
wait(1000)	**Wait & switch direction
JV=-JV;
goto##LOOP;	**Repeat

This program makes the motor travel at 2000 counts/sec for one second, then reverses the direction for one second, continuing to travel back and forth forever.

Suppose the HP command is applied when the program waits (executing the wait(1000) instruction). The motor will continue to travel at the same direction, for unlimited time.

An XC command shall reverse the direction immediately, since the waiting time already elapsed.

Example:

A servo axis in a machine has two different tasks to do, in two different machine modes. The following routine implements the two tasks.

##TASK1;
##LOOP;	**Repetitive task 1
…	**Task 1 body
goto##LOOP;	**Repeat task 1
##TASK2;
##REP;	**Repetitive task 2
…	**Task 2 body
goto##REP;	**Repeat task 2

The first task is invoked by

XQ##TASK1

In order to switch to the second task, the first task has to be killed before:

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Elmo HARSFEN0602, HARmonica software manual Initiating a Program, Halting and resuming a program, XQ##TASK1

Contents

HARmonica Software Manual USA Elmo Motion Control Inc HARSFEN0602ElmoHARmonicaSoftwareManual HARSFEN0602ElmoHARmonicaSoftwareManual Program execution Preliminary 115 HARSFEN0602ElmoHARmonicaSoftwareManual Language 100 HARSFEN0602ElmoHARmonicaSoftwareManual Scope About This ManualRelevant documentation Glossary Harmonica Units Related SoftwarePosition units Can EDS Internal Units and Conversions Speed and acceleration unitsCurrent and torque Speed Power DC voltageElectrical angle Peripherals Digital output A/D converterDigital inputs General RS232 Communications Communication With the Host1 RS232 Basics Description Echo Errors and exceptions in RS232Background Transmission CANopen Communication Interpreter Language ElmoHARSFEN0602HARmonicaSoftwareManual Preliminarydraft Expressions And Operators Command lineNumbers Mathematical And Logical Operators XOR Operator details Subtraction AdditionMultiplication Division Bitwise or Bitwise notBitwise Logical Equality Logical Less than Logical Greater than or equalLogical Logical or Unary Minus Logical notBitwise Left Shift and Right Shift operators Mathematical functions Assignment Expressions ExpressionsSimple Expressions Built-in Function Calls User variablesTime functions Example ca1 = Comments User Function Calls User Program Organization Harmonica User Programming Language Line Continuation CommonLine and Expression Termination General rules for operators LimitationsExpressions And Operators Numbers Syntax Expressions Simple Expressions System Commands Built-in Function Calls Program Flow Commands For iteration Labels Entry points#@LABELNAME XQ ##LOOP2 Infiniteloop While iteration While expression Until iteration If condition Wait iteration OFF Switch selection Syntax break BreakFunctions Function definition Function is absent Count of output variables Dummy variables Mean Automatic variablesSTD Jumps Global variables ##LABEL2 Functions and The Call Stack##LABEL1 Return Automatic subroutines List Of Automatic Routines Killing The Call Stack##STARTNEW #@AUTOI1 Autoer AutoexecAutostop Autobg Automatic Subroutine Mask Automatic Routines Arbitration##LOOP #@AUTOI3 MI=MI8 #@TESTPARS Program Development and Execution Compilation Error ListEditing a Program Compilation HARSFEN0602ElmoHARmonicaSoftwareManual Asusid@elmo.co.il Preliminarydraft Preliminarydraft Preliminarydraft Preliminarydraft Asusid@elmo.co.il #@AUTOEXEC Downloading and Uploading a Program Examples Assisting Commands For Down/Upload LPN commandBinary data CC command CP commandDownloading a Program DL command Program downloading process Program execution Uploading a Program LS command XQ##TASK1 Initiating a ProgramHalting and resuming a program DB command Automatic program running with power upSave to Flash Clear user program from Flash Program status Machine statusDB##MS DB##PSN Continuation of the program Setting and clearing break pointsSingle step Run to Cursor Step Out Step OverStep Getting call stack Setting stackGetting stack entries View of local variables View of global variables HARSFEN0602ElmoHARmonicaSoftwareManual Call Stack During Function Call Virtual MachinesVirtual Machine registers Usrsubj Data types Short reference Op code structure and addressing modes Rsltand REMRsltor Not Bitwise and Operator Alphabetic referencePurpose Algorithm DIV Divide CMP Compare Algorithm itr iterator EOL End Of LineForitr for Loop Iteration For Bitwise or Operator Freevac Free Virtual Machine JMP Jump Getcomm Get Command Jmplabel Jump to the label Jmpeol Jump Jnzeol Jump Not Zero JNZ Jump Not Zero Link JZ Jump If ZeroJzeol Jump If Zero MOV Assignment Operator = MLT Multiply REM Reminder Not Bitwise not Operator Rsltae Relational Operator = Rslta Relational Operator Rsltb Relational Operator Rsltand Logical and OperatorRsltbe Relational Operator = SP SP Rsltne Relational Operator != Rslte Relational Operator == Rsltor Logical or Operator Setcomm Set Command SHL Shift Left SHR Shift Right Spadd Unarynot Logical not Operator Syssubj Jump To System Subroutine OP2 Usrsubj jump To User SubroutineUsrsubrt Return from user subroutine XOR Bitwise XOR Operator BG,BT RecorderILN RPN Signal Signal Name Command Length Description Type Signal mapping Example The commands RV1=5RV2=1RC=3 Defining the set of recorded signalsProgramming the length and the resolution Trigger events and timing Slope and window trigger types Trigger delay Definition Preliminary Uploading recorded data 100Launching the recorder 101 Byte Number Value Type Preliminary Draft Commutation 103General Brush DC motors Mechanical and electrical motion Figures are missing 104Bldc commutation policy Rotor Magnetic field sensors Commutation sensors Shaft Angle Sensors 106 Hall sensors parameterization Detecting commutation errors loss of feedback107 Encoder parameterization 108 Selecting the parameters 109Commutation search General Protections 110Method limitation Continuous Vs. Six-Steps commutation 111 Continuous commutation 112 Winding shapes 113 Loading the commutation table 114 Current controller 115 ID = I hθ + 90 + Ib hθ + 210 + Ic hθ + 116 Peak/Continuous current limit selection 117 118 Torque command filter 32768 119 PI current controller 120 Current amplifier protections 121 122 Unit Modes Torque control Unit mode123 124 Speed mode Unit mode11.2.1The software speed command 125 Speed Profiling using JV, AC and DC 126 11.2.2The auxiliary speed command RLS,FLS 127Stop management 128 Stepper mode Unit mode 129 Dual feedback mode UM=4 130 Dual feedback mode UM=4 131 Single feedback mode UM=5 132 12.1.1Switching Between Motion ModesPosition reference generator Software reference generator 12.1.2Comparison of the PT and the PVT interpolated modes 12.1.3The Idle Mode and Motion Status133 12.1.4Point-To-Point PTP Basic Point-To-Point 134 Example 135 More Complicated PTP Motions 136 Example On-The-Fly Change of The Position Target 137 Jogging 138 Example Simple jogging Example On the fly mode switching139 140 Vt = 3at − t0 2 + 2bt − t0 + c 141 Ifference Counts Msec 500 1000 1500 2000 2500 142 143 QP… QV… QT… 144 Motion Management 145 146 PVT Decisions Flow Chart 147 Mode TerminationPVT Motion Using can PVT Motion Programming Message 148 Underflow 149 150 Programming Sequence for The Auto Increment PVT ModeParameters of The PVT Motion Mode 151 152 Interpolation Mathematics PT Motion What Is PT153 154 PT Motion Programming The Basic Mode 155 Flow chart of the basic PT mode is depicted below PT Motion Programming Message PT Motion Using can156 157 Programming Sequence for The Auto Increment PT Mode 158 Parameters of The PT Motion Mode External Position Reference Generator 159 External position reference generator 160 Xt = 10000 ⋅ cos2πt + ct 161 Ecam 162 163 164 Dividing Ecam table into several logical portions 165 166 On the fly Ecam programming using can Jump-Free Motor Starting Policy 167Initializing the external reference parameters Stop management 12.3.1General description 168 Stop Manager Internals 169VHN,VLN XM,YM Forward 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 Figure Position output of the stop manager 171 Modulo counting Modulo Counting 172Sensors, I/O, and Events Digital Outputs 173 Events, and response methods 174Manual inquiry Periodical Inquiry 175 Homing and Capture What Is Homing?Automatic routines Real time Motion management, Homing, Capture, and Flag Homing the auxiliary encoder 176Homing Programming 177 On the fly position counter updates13.5.5A homing with home switch and index example 178 Switches location Example Double homing corrects backlash offsets 179 Capturing 180 181 Limits, Protections, Faults, and Diagnosis VLN 182Current limiting Speed Protection 183 Position Protection 184 185 Enable switch 186 Limit switchesConnecting an external brake 187 When the motor fails to startMotion faults 188 14.9.2Inconsistent setup data Diagnosis Monitoring motion faults189 Polling the amplifier status 14.9.3Device failures, and the CPU dump Sensor faults Motor cannot move190 191 Commutation error is static i.e. Does not change in timeCommutation is lost General Reasons and effect of incorrect commutation 192 Detection of Commutation Feedback FaultCommutation is drifting i.e Changes in time Double sensor systems KPN 193Controller Not found Speed Control 15.2.1Block diagram194 Parameters of the Speed Controller 195 196 Position Controller 15.3.1Block Diagram Parameters of the Position Controller 197 High Order Filter Block Types 198Double lead block Block type=12 Fist order block Block type=14 Scheduled Double lead block Block type=22 199Second order block Block Type=15 An Example 200User Interface Gain-Scheduling Algorithm 201 Automatic Controller Gain-Scheduling 202 KP = SpeedKpTable k KI = SpeedKiTable k 203 204 Table of Contents TOCAppendix a The Harmonica Flash Memory Organization Main partitions Contents of Text3 Contents of Text1Contents of Text2 206 Contents of Text4-Text7 207 Contents of Text8Contents of Text9 Autostop Autobg Autorls 208Autoena AUTOI1 AUTOI5 209 Compilation Done Flag 210TOC Function Symbol Table Text Backup & Compiler data segment211 Virtual Machine Code Segment Automatic Routines Table Variable Symbol Table212 Appendix B Harmonica Internals 213Software Structure 17.1.1The Initialization block Idle Loop 214 Idle loop 215 Converter 216Converter Call Algorithm 18.5 Examples 217JP##LABEL JS##LABEL Label 218