HARSFEN0602
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