HARSFEN0602
13.5.2 Homing Programming.................................................................................................................................... 176
13.5.3 Homing the auxiliary encoder.........................................................................................................................176
13.5.4 On the fly position counter updates................................................................................................................ 177
13.5.5 A homing with home switch and index example............................................................................................177
13.5.6 Capturing........................................................................................................................................................ 180
14 LIMITS, PROTECTIONS, FAULTS, AND DIAGNOSIS...............................................................................181
14.1 Current limiting......................................................................................................................................................182
14.2 Speed Protection.....................................................................................................................................................183
14.3 Position Protection................................................................................................................................................. 184
14.4 Enable switch..........................................................................................................................................................185
14.5 Limit switches......................................................................................................................................................... 186
14.6 Connecting an external brake............................................................................................................................... 186
14.7 When the motor fails to start.................................................................................................................................187
14.8 Motion faults...........................................................................................................................................................187
14.9 Diagnosis................................................................................................................................................................. 189
14.9.1 Monitoring motion faults................................................................................................................................189
14.9.2 Inconsistent setup data....................................................................................................................................189
14.9.3 Device failures, and the CPU dump................................................................................................................190
14.10 Sensor faults............................................................................................................................................................190
14.10.1 The motor cannot move.................................................................................................................................. 190
14.11 Commutation is lost................................................................................................................................................191
14.11.1 General............................................................................................................................................................191
14.11.2 Reasons and effect of incorrect commutation.................................................................................................191
14.11.3 Detection of Commutation Feedback Fault.................................................................................................... 192
15 THE CONTROLLER.....................................................................................................................................193
15.1 General....................................................................................................................................................................193
15.2 Speed Control......................................................................................................................................................... 194
15.2.1 Block diagram.................................................................................................................................................194
15.2.2 The Parameters of the Speed Controller......................................................................................................... 195
15.3 The Position Controller..........................................................................................................................................196
15.3.1 Block Diagram................................................................................................................................................196
15.3.2 The Parameters of the Position Controller......................................................................................................197
15.4 The High Order Filter............................................................................................................................................198
15.4.1 Block Types....................................................................................................................................................198
15.4.2 User Interface..................................................................................................................................................200
15.5 The Gain-Scheduling Algorithm...........................................................................................................................201
15.6 Automatic Controller Gain-Scheduling................................................................................................................202
16 APPENDIX A: THE HARMONICA FLASH MEMORY ORGANIZATION.................................................... 204