Elmo HARSFEN0602, HARmonica software manual 115

HARSFEN0602ElmoHARmonicaSoftwareManual			PRELIMINARYDRAFT
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10	THE CURRENT CONTROLLER		115
10.1.1		Current limiting	116
10.1.2		The torque command filter	118
10.1.3		The PI current controller	120
10.2	Current amplifier protections		121
11	UNIT MODES		123
11.1	Torque control: Unit mode 1		123
11.2	Speed mode: Unit mode 2		124
11.2.1		The software speed command	124
11.2.2		The auxiliary speed command	126
11.2.3		Stop management	127
11.3	The stepper mode: Unit mode 3		128
11.4	The Dual feedback mode: UM=4		129
11.5	The single feedback mode: UM=5		131
12 THE POSITION REFERENCE GENERATOR			132
12.1	The software reference generator		132
12.1.1		Switching Between Motion Modes	132
12.1.2		Comparison of the PT and the PVT interpolated modes	133
12.1.3		The Idle Mode and Motion Status	133
12.1.4		Point-To-Point (PTP)	134
12.1.5		Jogging	138
12.1.6		PVT: Position-Velocity-Time interpolated motion	140
12.1.7		PT Motion	153
12.2	The External Position Reference Generator		159
12.2.1		ECAM	162
12.2.2		Dividing ECAM table into several logical portions	165
12.2.3		On the fly ECAM programming using CAN	166
12.2.4		Initializing the external reference parameters	167
12.3	The Stop management		168
12.3.1		General description	168
12.3.2		Stop Manager Internals	169
13 SENSORS, I/O, AND EVENTS			172
13.1	Modulo counting		172
13.1.1		Modulo Counting	172
13.2	Digital Inputs		173
13.3	Digital Outputs		173
13.4	Events, and response methods		174
13.4.1		Manual inquiry	174
13.4.2		Periodical Inquiry	174
13.4.3		Automatic routines	175
13.4.4		Real time – Motion management, Homing, Capture, and Flag	175
13.5	Homing and Capture		175
13.5.1		What Is Homing?	175