HARSFEN0602ElmoHARmonicaSoftwareManual

PRELIMINARY

DRAFT

 

 

 

 

 

 

 

 

 

6

 

 

 

 

 

 

 

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

 

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Elmo software manual HARSFEN0602ElmoHARmonicaSoftwareManual