Elmo HARmonica Defining the set of recorded signals, Programming the length and the resolution

HARSFEN0602ElmoHARmonicaSoftwareManual				PRELIMINARYDRAFT
					96
			Integer	revolution, with origin at the electrical angle of
				zero.
	21	Filtered torque command	Short	The command to the Q current controller, at the
				output of the command filter.
	45	Motor DC supply voltage	Short	Sample Motor DC supply voltage.
	64	External position reference	Long -	The part of the position reference generated by
			Integer	external inputs.

Table 8-3: Some additional recorded signals

Before recording a signal from Table 8-3, this signal must be "mapped to the recorder". In the mapping process, the signal is given a logical ID that can be referred directly by the recorder.

Up to sixteen signals may be mapped to the recorder at any time. Up to 8 signals can be recorded at the same time.

The command RV[N]=x maps a signal with the ID of x to the logical ID of N, N=1..16.

RC is a bit field parameter (bit 0 to 15) that signals the recorder the actual required signal. In our case the bit N-1 of RC points to signal x.

For example, RV[2]=1 maps the signal with the ID of 1 (the main encoder speed) to the logical ID of 2. It means that in order to record the main encoder speed bit 1 of RC should be set (RC=2).

The default mapping, restored at boot, maps the signals of ID's 1 to 16 to the corresponding logical ID's 1..16. Thus the signals with the ID's 1..16 can be recorded by using the logical ID's 1..16 respectively, without further programming.

If the user desires to record only signals with ID's in the range 1..16, he need not be aware to the difference between signal ID's and logical ID's, and he need not program any mapping.

8.3 Defining the set of recorded signals

The command RC defines which of the mapped signals to record.

The RC command is a 16bit bit field. Each bit of RC specifies a logical signal ID to record. For example, consider RC=5. The value 5 has the 16bit binary value of 0000000000000101. The first and the third bits in the binary value of 5 are on, and the rest of the bits are zero.

RC=5 thus specifies that the signals with the logical ID's one and three shall be recorded, and all the other signals will not.

Example: The commands RV[1]=5;RV[2]=1;RC=3;

defines that when the recorder will be launched, it will record the main speed and the position error.

RC may define 8-recorded signals at most. In another words, the binary representation of RC may not include more than eight one's.

8.4 Programming the length and the resolution

The length and the resolution of the recorded signals is programmed by the RP[0],RL, and RG command.

RP[0] defines what is the basic time quantum of the recorder.

RP[0]=0	Synchronize the recorder to the speed or position control cycles. The time
	quantum of the recorder will be 4 TS
RP[0]=1	Synchronize the recorder to the torque cycles. The time quantum of the
	recorder will be TS.

RP[0] is set automatically by the UM (Unit mode) command.⋅

The torque mode UM=1 sets RP[0] to 0.

All the other unit modes set RP[0] to 1.

RG defines the sampling rate of the recorder, in terms of the time quantum.