Elmo Network Hardware HARSFEN0602 ユーザーズマニュアル
Elmo HARmonica Software Manual
P R E L I M I N A R Y D R A F T
HARSFEN0602
116
)
240
(
h
I
)
120
(
h
I
)
(
h
I
IQ
c
b
a
o
o
+
θ
+
+
θ
+
θ
=
and
)
330
(
h
I
)
210
(
h
I
)
90
(
h
I
ID
c
b
a
o
o
o
+
θ
+
+
θ
+
+
θ
=
Above,
θ
is the commutation angle and
)
(
h
θ
is the input winding function.
The output coordinate transform predicts the variation of the phase voltages during the
motor rotation:
)
90
(
g
V
)
(
g
V
VA
D
Q
o
+
θ
+
θ
=
)
210
(
g
V
)
120
(
g
V
VB
D
Q
o
o
+
θ
+
+
θ
=
)
330
(
g
V
)
240
(
g
V
VC
D
Q
o
o
+
θ
+
+
θ
=
Above,
)
(
g
θ
is the output winding function.
For sinusoidal motors, we have
)
cos(
)
(
h
θ
≡
θ
and also
)
cos(
)
(
g
θ
≡
θ
.
The harmonica tabulates both
)
(
h
θ
and
)
(
g
θ
. The tables for these commutation functions
can be programmed using the HV command.
10.1.1 Current limiting
10.2 The maximum phase current of the Harmonica is given by the parameter
MC. The parameter MC describes the hardware of the power stage and
cannot be changed. The peak current limit for a given application is
programmed to the parameter PL[1] Amperes. Please refer the definition of
motor Amperage at Section
cannot be changed. The peak current limit for a given application is
programmed to the parameter PL[1] Amperes. Please refer the definition of
motor Amperage at Section
2.3: "Related Software
The Harmonica requires supporting software for setup, tuning, programming, and
performance assessment. The support software is called “Composer”. It runs on a PC
computer, under Windows.
The Composer includes the following functions (among many others):
performance assessment. The support software is called “Composer”. It runs on a PC
computer, under Windows.
The Composer includes the following functions (among many others):
• Terminal for direct user interface by RS232 or by CAN
• A recorder with advanced scope controls. You can observe up to 8 signals
simultaneously, triggered by a selection of events.
• Setup and tuning tools:
• Menus for entering basic application data and limits
• Tools for associating functions to I/O connector pins
• Automatic tuning of current controller
• Automatic tuning for commutation
• Manual and automatic Speed controller tuning
• Manual and automatic Position controller tuning
• Application database maintenance
• Save and load application database
• Edit application parameters, with help
• Advanced IDE for user program development:
• Editor
• Compiler
• Downloading and uploading of user programs
• Debugger, with:
• Various break point and stepping options
• Watches for local and global variables
• Call stack watch
The Composer software reads the personality data from the Harmonica, and can therefore