Elmo HARSFEN0602 - Manual

Elmo HARSFEN0602

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Table of Contents:

  • Page 2 – Important Notice; Copyright
  • Page 3 – Elmo HARmonica Software Manual
  • Page 10 – Harmonica
  • Page 12 – About This Manual; documentation
  • Page 13 – The Harmonica; Organization
  • Page 14 – Software; simultaneously, triggered by a selection of events.
  • Page 15 – mechanical revolution.; Internal Units and Conversions; the electrical cycle to 1024.
  • Page 16 – Speeds are represented internally by the units of counts/(2; Hz; This section summarizes the set of Harmonica peripherals.
  • Page 17 – converter; The three phase currents, sampled simultaneously; Table; inputs
  • Page 18 – Communication With the Host; Communications
  • Page 19 – Parameter value (Optional, if the command asks to report parameter); Echo
  • Page 20 – The Interpreter Language; • Command the Amplifier what to do
  • Page 21 – The command line; Operator Description
  • Page 22 – General rules for operators
  • Page 23 – Promotion to float and truncation to integer
  • Page 24 – NOT
  • Page 25 – Logical Less than
  • Page 26 – Logical NOT
  • Page 27 – Expressions
  • Page 28 – variables; User variables of User Programming Language; Built-in Function Calls; Mathematical Functions; functions
  • Page 29 – User Function Calls; The XQ command enables a user function call. See
  • Page 30 – The Harmonica User Programming Language; The Virtual; User Program Organization; A user program is organized as follows:; • An exit directive may be used to terminate the program.; • Commands concerning the execution of the user program.
  • Page 31 – Line and Expression Termination
  • Page 32 – • Maximal length of user program text; Expressions And Operators; The number syntax is the similar to the Interpreter Language (see; Mathematical and Logical Operators; Operators of the Interpreter; General rules of the Interpreter
  • Page 33 – details
  • Page 34 – Automatic Variables; Commands
  • Page 35 – BG; Built-in function call of the
  • Page 36 – Program Flow Commands
  • Page 37 – The program start; iteration
  • Page 39 – Digital output 1 is OFF; int IsFirstFinished
  • Page 40 – ... Do some work ...; Wait 20 milliseconds; condition
  • Page 41 – selection
  • Page 42 – definition; function
  • Page 43 – function y1 = func5
  • Page 44 – Dummy variables
  • Page 45 – Declare the global variables; Automatic variables
  • Page 47 – Functions and The Call Stack
  • Page 48 – →BG; return
  • Page 49 – Killing The Call Stack; routine; subroutines
  • Page 50 – Function definition
  • Page 51 – Automatic Routines Arbitration; LOOP
  • Page 53 – Program Development and Execution; • Program editing – Writing\editing the program.; Editing a Program; User Partition of the; Compilation Error List
  • Page 61 – Downloading and Uploading a Program
  • Page 62 – Binary data; The characters that are problematic to send on the RS232 lines are:; The Assisting Commands For Down/Upload
  • Page 63 – The CP command; • Set the program ready flag.; Downloading a Program
  • Page 64 – Verify that your image block will fit inside the allocated space.; Uploading a Program
  • Page 65 – Initiating a Program; the Functions and the Call Stack; Halting and resuming a program; task
  • Page 66 – Automatic program running with power up
  • Page 67 – • set and remove break points; status
  • Page 68 – Setting and clearing break points
  • Page 69 – Over; the start of the loop.; Step In
  • Page 70 – • End of the loop; Getting stack entries
  • Page 71 – Return address; View of global variables; • Check the current status: if it is not halted, return error.
  • Page 73 – The Virtual Machines; Alla please complete where necessary
  • Page 74 – types
  • Page 75 – INTEGER: 32 BIT SIGNED INTEGER; Op code structure and addressing modes; MEANING; reference
  • Page 77 – → int; AND – Bitwise AND Operator
  • Page 78 – → Int; CMP – Compare
  • Page 79 – EOL – End Of Line; FORITR – FOR Loop Iteration; → step
  • Page 80 – F_OR – Bitwise OR Operator; GETINDEX
  • Page 81 – GET_COMM – Get Command
  • Page 82 – JMP_LABEL – Jump to the label; → Immediate value
  • Page 83 – JNZ – Jump Not Zero; JNZ_EOL – Jump Not Zero; PC
  • Page 84 – JZ – Jump If Zero; JZ_EOL – Jump If Zero; LINK
  • Page 85 – SP; MLT – Multiply
  • Page 86 – NOT – Bitwise NOT Operator; REM – Reminder
  • Page 88 – → SP – 1
  • Page 90 – SET_COMM – Set Command; → ArrayIndex; VAL
  • Page 91 – SETINDEX; SHL – Shift Left
  • Page 92 – SPADD
  • Page 93 – SYSSUBJ – Jump To System Subroutine
  • Page 94 – USRSUBJ – jump To User Subroutine; → BP; USRSUBRT – Return from user subroutine
  • Page 95 – XOR – Bitwise XOR Operator
  • Page 96 – Recorder
  • Page 97 – mapping; Description
  • Page 98 – Defining the set of recorded signals; TS
  • Page 99 – , the recorder will fail to record the; Trigger events and timing; Level 1
  • Page 100 – Figure 1 - Slope and window trigger types; RR
  • Page 101 – Figure 2 – Pre trigger delay; reserved for future digital input trigger option.
  • Page 102 – Launching the recorder; RR Value; RR Report; Uploading recorded data; Parameter Description
  • Page 104 – Byte Number; Byte
  • Page 105 – Commutation; Angle between the magnet and the field of the winding; Brush DC motors; Set to 1 for a DC motor; Stepper
  • Page 106 – drawback is that normally; The BLDC commutation policy; away from the rotor; Mechanical and electrical motion; Figure 3: Two phased linear motor
  • Page 107 – sensors; Direct field sensors that sense the magnetic field of the motor.; Rotor Magnetic field sensors; Hall B
  • Page 108 – d e g; Figure 6: Digital Hall sensors readout; Shaft Angle Sensors
  • Page 109 – Detecting commutation errors (loss of feedback); arrangements (known as
  • Page 110 – parameterization
  • Page 111 – search
  • Page 112 – The frequency is; frequency; that frequency the phase angle; Method limitation; not accelerate significantly if no current is applied.
  • Page 114 – Figure 7: Loss of torque due to commutation miss; Two principal methods are used to keep
  • Page 115 – near zero continuously,; shapes; Torque; Figure 8: Winding shape function for a Trapeze motor
  • Page 116 – Figure 9: Winding shape function for sinusoidal motor; Loading the commutation table
  • Page 117 – 0 The current controller; Figure 10: Current controller structure
  • Page 118 – IQ; VA
  • Page 119 – is not enough to drive MC amperes into the motor. Do not specify; Figure 11: Peak/Continuous current limit selection
  • Page 120 – MC; after the current demand has been zero for a long time, is -; log; The torque command filter
  • Page 121 – Torque command filter bandwidth =; XP; Hz where TS is the sampling time
  • Page 122 – Figure 13: Rate limiting for the torque input filter; The PI current controller; Figure 14: Current PI controller
  • Page 123 – Current amplifier protections; • Mapping the Motor Fault event to an event-driven CAN PDO.
  • Page 124 – model – please refer product user manual.
  • Page 125 – Modes; Torque control mode.; Torque control: Unit mode 1; • If hard-stop is active, the torque command is set to zero
  • Page 126 – Speed mode: Unit mode 2
  • Page 127 – ST; T arg et speed; Figure 17 – Speed Profiling using JV, AC and DC
  • Page 128 – Figure 18 – Speed command for different smooth Factor
  • Page 129 – Figure 19: Auxiliary speed command generation; The stop manager does the following functions:; Figure 20: Speed mode Stop Manager
  • Page 130 – limiting the rate of reference change to SD counts/sec
  • Page 131 – The stepper angle command is generated by:
  • Page 132 – The block diagram of the dual feedback mode UM=4 is depicted below:
  • Page 133 – The position and the speed commands are generated by:
  • Page 134 – 2 The position reference generator; • Software command generator; The software reference generator
  • Page 135 – Comparison of the PT and the PVT interpolated modes
  • Page 136 – MS
  • Page 137 – sec; • Go to PA
  • Page 139 – Figure 24 – PTP Decisions Flow Chart
  • Page 140 – Figure 25 – Jog Decisions Flow Chart
  • Page 141 – P o s i ti o n re fe re nc e
  • Page 142 – PVT implements a 3
  • Page 143 – • The starting position and speed, denoted by P0 and V0, respectively; order interpolating polynomial:; VT; Example
  • Page 144 – N o m i na l e lli p s e; m s e c
  • Page 147 – Management; Parameter
  • Page 148 – Figure 26 – PVT Decisions Flow Chart
  • Page 149 – Termination; The PVT motion terminates upon one of the following cases:
  • Page 151 – Figure 27 – PVT Auto Increment Mode Flow Chart
  • Page 152 – Parameters; What
  • Page 153 – Set a PVT motion command
  • Page 154 – Reason Data
  • Page 155 – Motion; T is the sampling time of the PT trajectory
  • Page 157 – Cyclical behavior definition.; The command PT=N sets the read pointer of the QP vector to N.
  • Page 158 – • The motor is shut down, either by programming MO=0 or by an exception.
  • Page 159 – Figure 29 – PT Auto Increment Mode Flow Chart; Programming Sequence for The Auto Increment PT Mode
  • Page 161 – Reason; The External Position Reference Generator
  • Page 162 – Figure 30: External position reference generator; Parameter Action
  • Page 163 – M o v in g c o n v e ye r; x m o to r m o ti o n c o m m a nd
  • Page 164 – As a result to IET the response may be:
  • Page 165 – abl; Set 1000 counts at the input of the ECAM function for 1v of input
  • Page 166 – is equivalent to 1000 counts
  • Page 167 – Dividing ECAM table into several logical portions
  • Page 168 – D ra w in g x -y m a n ip u la to r; C a m e ra s ta tio n; On the fly ECAM programming using CAN
  • Page 169 – Initializing the external reference parameters.; Analog gain
  • Page 170 – Figure 31: Print On A Moving Box Application; The Stop management; A switch stops the motion abruptly.
  • Page 171 – The maximum rate that the motor can accelerate/decelerate.; Figure 32: Stop Manager Block Manager
  • Page 172 – but with too great speed.
  • Page 173 – Figure 33: Position output of the stop manager; Figure 34: Speed output of the Stop Manager
  • Page 174 – Modulo counting; YM
  • Page 175 – The largest possible modulo is; Digital Outputs
  • Page 176 – The Harmonica identifies the following events
  • Page 177 – Deterministic delay:; Homing and Capture; Homing of the main position counter (PX) typically serves for:
  • Page 178 – • Relative work in the dual-feedback position-control mode.; count; Homing the auxiliary encoder
  • Page 179 – On the fly position counter updates; so that the motion is unaffected by the position counter update.; A homing with home switch and index example
  • Page 180 – Figure 35 – Switches location; The following user program does the algorithm:
  • Page 182 – Program Example 1 - Double Sided Homing.
  • Page 183 – • Bad or inconsistent setup data prevents motor starting.
  • Page 184 – Command low limits for position and speed; limiting; The time constant of the low-pass filter is; , where MC is the maximum
  • Page 185 – Speed Protection; Over error protection.
  • Page 186 – Figure 36: Speed command and feedback limits; Position Protection
  • Page 187 – Figure 37: Position command and feedback limits; Specify the largest ER[3] you can tolerate; switch; • If the motor is off, MO=1 will not start the motor
  • Page 188 – switches; Connecting an electrical brake to a motor helps safety where:; Figure 38: Brake output connection; • The brake must be engaged when there is no current in the brake coil.
  • Page 189 – Figure 39: Normal Brake Activation Timing; When the motor fails to start; The main reasons for failure to start the motor are:; Motion faults
  • Page 191 – You can monitor motion faults by:; AOK
  • Page 192 – Sensor faults; • The motor average torque is high
  • Page 193 – Commutation is lost; Ke; Reasons and effect of incorrect commutation; does not change as a function of the motor position):
  • Page 194 – • Excessive noise on the encoder lines; . At this point, the current in the motor will not produce any torque.; Detection of Commutation Feedback Fault
  • Page 195 – Controller; Notch filters for notching resonance.
  • Page 196 – zx; Control
  • Page 197 – Figure 40 – A Block Diagram of the Speed Controller; The Parameters of the Speed Controller; BITS
  • Page 198 – The Position Controller
  • Page 199 – Figure 41 – Block Diagram of The Dual Loop Controller; The Parameters of the Position Controller; PosFeedbac; CommandPI; sign; GS
  • Page 200 – The High Order Filter; Block structure
  • Page 201 – As
  • Page 202 – Interface
  • Page 203 – The Gain-Scheduling Algorithm; DoubleLeadBeta
  • Page 204 – Automatic Controller Gain-Scheduling; Saturate speed command; where
  • Page 205 – Get the gains; Range
  • Page 206 – 6 Appendix A: The Harmonica Flash Memory Organization; partitions; The flash has four main partitions at the following order.; The firmware partition; unsigned short; Name
  • Page 207 – Contents of Text1; Contents of Text3; Unused memory space for possible later use
  • Page 208 – Contents of Text4-Text7
  • Page 209 – Contents of Text8
  • Page 211 – To be read by the reset procedure to UserPars
  • Page 212 – • A virtual machine code segment; TOC
  • Page 213 – error; The Virtual Machine Code Segment; Any general comment.; The Function Symbol Table; Number of functions in the table (signed short)
  • Page 214 – The Variable Symbol Table; Number of variables in the table (signed short); The Automatic Routines Table
  • Page 215 – 7 Appendix B: Harmonica Internals; Software Structure
  • Page 217 – Figure 42: Idle loop
  • Page 218 – 8 Appendix C: Converting Clarinet/Saxophone programs to; The Converter; The converter program does the following:; The Conversion Process; Saxophone/Clarinet Harmonica
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HARmonica

Software Manual


June 2002







www.elmomc.com

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Summary

Page 2 - Important Notice; Copyright

Important Notice This guide is delivered subject to the following conditions and restrictions: This guide contains proprietary information belonging to Elmo Motion Control Ltd. Such information is supplied solely for the purpose of assisting users of the HARmonica servo amplifier. The text and graph...

Page 3 - Elmo HARmonica Software Manual

Elmo HARmonica Software Manual P R E L I M I N A R Y D R A F T HARSFEN0602 1 Table of Contents: 1 ABOUT THIS MANUAL ................................................................................................................................. 10 1.1 Scope ............................................

Page 10 - Harmonica

Elmo HARmonica Software Manual P R E L I M I N A R Y D R A F T HARSFEN0602 8 List of Tables: Table 2-1: Analog sampled signals .........................................................................................................................15 Table 3-1 – RS232 Rx Item Description ..............

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