Elmo HARSFEN0602, HARmonica Signal mapping, Signal Signal Name Command Length Description Type

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

8.2 Signal mapping

95

The recorder can record many different signals.

The first 16 signals that may be recorded are compatible with older amplifiers. They are listed is in the table below.

Signal	Signal Name (Command)	Length –	Description
ID		Type
1	Main Speed (VX)	Long –	Speed of main feedback sensor in counts/sec
		Float
2	Main Position (PX)	Long –	Position accumulation of the main feedback sensor
		Integer	in counts
3	Position Command (DV[3])	Long –	Position reference in counts. When external
		Integer	reference mode is set (RM=1) this signals includes
			also the analog reference command.
4	Digital input pins status	Short	The IP variable (refer IP in the command reference)
		integer
5	Position Error (PE)	Long -	Position tracking error the difference between the
		Integer	main Position Reference and the main Position
			Feedback in counts.
6	Current Command (DV[1])	Short –	The Current reference to the current controller in
		Float	amperes.
7	DC Bus Voltage	Short –	Bus voltage in volts.
		Integer
8	Auxiliary Position (PY)	Long –	Position accumulation of the auxiliary feedback
		Integer	sensor in counts
9	Auxiliary Speed (VY)	Long –	Speed of auxiliary feedback sensor in counts/sec
		Float
10	Active current command	Short –	The active part of the vectored current reference in
	(IQ)	Float	amperes.
11	Reactive current command	Short –	The reactive part of the vectored current reference
	(ID)	Float	in amperes.
12	Analog Input 1 (AN[1])	Short –	Analog input 1 after offset compensation of AS[1]
		Float	in volts.
13	Reserved
14	Motor current phase A	Short –	Phase A current in amperes.
	(AN[3])	Float
15	Motor current phase B	Short –	Phase B current in amperes.
	(AN[4])	Float
16	Speed Command (DV[2])	Long –	Speed reference to the speed controller in
		Float	counts/sec.

Table 8-2: Default mapping of recorded signals

After power-on, the recorder can access the first 16 signals tabulated above. In order to access other signals, the recorder must make them available in a process called "mapping". In the mapping process, the ID's of the desired signals is mapped to the recorder "cells". On power-on, the signals of Table 8-2 are mapped to the recorder "cells"2.

The table below lists some more signals available to the recorder. The full list of recorded signals may differ for Harmonica grades and releases. It can be retrieved from the personality partition of the serial flash memory.

Signal	Signal Name (Command)	Length –	Description
ID		Type
17	Field angle	Short	Stator field angle, 1024 counts per electrical
			revolution
18	Commutation sensor	Long –	The position counter, counted modulo a mechanical

2The word "cell" is used for a logical ID that can be directly referred by the recorder.