Elmo software manual HARSFEN0602ElmoHARmonicaSoftwareManual

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