ユーザーズマニュアル目次ABOUT THIS MANUAL10Scope10Relevant documentation10Glossary10THE HARMONICA11Introduction11Software Organization11The Boot software11The Firmware11The Personality11Related Software12Units12Position units12Speed and acceleration units13Current and torque13Internal Units and Conversions13Current and torque:13Speed:14Electrical angle:14Power DC voltage14Peripherals14Position decoders14A/D converter15Digital inputs15Digital output15Table 2-1: Analog sampled signals15COMMUNICATION WITH THE HOST16General16RS232 Communications16RS232 Basics16Table 3-1 – RS232 Rx Item Description16The Echo17Background Transmission17Errors and exceptions in RS23217CANopen Communication17Table 3-2 – RS232 Tx Item Description17THE INTERPRETER LANGUAGE18The command line19Expressions And Operators19Numbers19Mathematical And Logical Operators19General rules for operators20Operator details20Table 4-1 – Mathematical and Logical Operators20Mathematical functions24Expressions25Comments27THE HARMONICA USER PROGRAMMING LANGUAGE28User Program Organization28Common29Line and Expression Termination29Line Continuation29Limitations30Expressions And Operators30Numbers30Mathematical and Logical Operators30General rules for operators30Operator details31Mathematical functions31Expressions31Comments33Program Flow Commands34Labels (Entry points)35For iteration35While iteration36Until iteration37Wait iteration38IF condition38Switch selection39Break40Functions40Function definition40Dummy variables42Count of output variables42Automatic variables43Global variables44Jumps44Functions and The Call Stack45Killing The Call Stack47Automatic subroutines47Table 5-1 – Automatic subroutines and their priority49PROGRAM DEVELOPMENT AND EXECUTION51Editing a Program51Compilation51Compilation Error List51Downloading and Uploading a Program59Binary data60The Assisting Commands For Down/Upload60Downloading a Program61Uploading a Program62The program execution62Initiating a Program63Halting and resuming a program63Automatic program running with power up64Save to Flash64Debugging64Running, breaking, and resuming64DB command64Machine status65Program status65Setting and clearing break points66Continuation of the program66Single step66Getting stack entries68Setting stack68Getting call stack68View of global variables69View of local variables69THE VIRTUAL MACHINES717.1.1 Introduction Alla please complete where necessary71Virtual Machine registers71Call Stack During Function Call71Data types72Op code structure and addressing modes73Short reference73Alphabetic reference75ADD - ADDITION75AND – Bitwise AND Operator75Table 7-1 – Harmonica op codes75CMP – Compare76DIV – Divide76EOL – End Of Line77FORITR – FOR Loop Iteration77FREE_VAC - Free Virtual Machine78F_OR – Bitwise OR Operator78GETINDEX78GET_COMM – Get Command79JMP – Jump79JMP_EOL – Jump80JMP_LABEL – Jump to the label80JNZ – Jump Not Zero81JNZ_EOL – Jump Not Zero81JZ – Jump If Zero82JZ_EOL – Jump If Zero82LINK82MLT – Multiply83MOV – Assignment Operator (=)83NOT – Bitwise NOT Operator84REM – Reminder84RSLTA – Relational Operator (>)85RSLTAE – Relational Operator (>=)85RSLTAND – Logical AND Operator (&&)86RSLTB – Relational Operator (<)86RSLTBE – Relational Operator (<=)86RSLTE – Relational Operator (==)87RSLTNE – Relational Operator (!=)87RSLTOR – Logical OR Operator ( || )88SET_COMM – Set Command88SETINDEX89SHR – Shift Right89SHL – Shift Left89SPADD90SUB - SUBTRACT90SYSSUBJ – Jump To System Subroutine91UNARY_NOT - Logical NOT Operator (!)91USRSUBJ – jump To User Subroutine92USRSUBRT – Return from user subroutine92XOR – Bitwise XOR Operator93THE RECORDER94Recorder sequencing: Programming, launching, and uploading data.94Table 8-1: Commands relevant to the recorder94Signal mapping95Table 8-2: Default mapping of recorded signals95Defining the set of recorded signals96Programming the length and the resolution96Table 8-3: Some additional recorded signals96Trigger events and timing97Figure 1 - Slope and window trigger types98Figure 2 – Pre trigger delay99Launching the recorder100Uploading recorded data100Table 8-4: RR command options100Table 8-5: RR reports100Table 8-6: SR recorder status reports100Table 8-7:Parameters for uploading recorded data100Table 8-8: BH – record structure102COMMUTATION103General103Brush DC motors103The Stepper Commutation Policy103The BLDC commutation policy104Mechanical and electrical motion Figures are missing104Figure 3: Two phased linear motor104Figure 4: Three phased linear motor104Figure 5: Three phase rotary motor104Commutation sensors105Rotor Magnetic field sensors105Table 9-1: Hall sensor values105Shaft Angle Sensors106Combination of direct magnetic field sensors and shaft angle sensor106Figure 6: Digital Hall sensors readout106Parameterization of the commutation and the commutation sensors107Commutation search109General109Selecting the parameters109Method limitation110Protections110Parameters related to starting the motor with no digital Hall sensors111Continuous Vs. Six-Steps commutation111Six-step commutation112Continuous commutation112Table 9-2: Six-Steps commutation112Figure 7: Loss of torque due to commutation miss112Winding shapes113Figure 8: Winding shape function for a Trapeze motor113Loading the commutation table114Figure 9: Winding shape function for sinusoidal motor114THE CURRENT CONTROLLER115Figure 10: Current controller structure115Current limiting116Figure 11: Peak/Continuous current limit selection117The torque command filter118Figure 12: Time constant selection (Small signal) for the torque input filter119The PI current controller120Figure 13: Rate limiting for the torque input filter120Figure 14: Current PI controller120Current amplifier protections121Table 10-1: Bandwidth selections for bus voltage filter121UNIT MODES123Torque control: Unit mode 1123Figure 15: Unit mode 1 (Torque) structure123Speed mode: Unit mode 2124The software speed command124Figure 16: Unit mode 2 (Speed) structure124Figure 17 – Speed Profiling using JV, AC and DC125The auxiliary speed command126Figure 18 – Speed command for different smooth Factor126Stop management127Figure 19: Auxiliary speed command generation127Figure 20: Speed mode Stop Manager127The stepper mode: Unit mode 3128The Dual feedback mode: UM=4129Figure 21: Stepper mode (UM=3)129Figure 22: Dual feedback mode (UM=4)130The single feedback mode: UM=5131Figure 23: Dual feedback mode (UM=5)131THE POSITION REFERENCE GENERATOR132The software reference generator132Switching Between Motion Modes132Table 12-1: Software motion mode commands132Comparison of the PT and the PVT interpolated modes133The Idle Mode and Motion Status133Table 12-2 – Tabulated Motion Difference133Table 12-3 – Tabulated Feature Preference133Point-To-Point (PTP)134Table 12-4: Motion status indications134Table 12-5 – Parameter of PTP Motion135Figure 24 – PTP Decisions Flow Chart137Jogging138Figure 25 – Jog Decisions Flow Chart138PVT: Position-Velocity-Time interpolated motion140Table 12-6 – PVT Table144Table 12-7 – PVT Motion Parameters145Figure 26 – PVT Decisions Flow Chart146Figure 27 – PVT Auto Increment Mode Flow Chart149Table 12-8 – PVT Related Parameters151Table 12-9 – PVT CAN Emergency Messages152PT Motion153Table 12-10 – PT Motion Parameters155Figure 28 – PT Decisions Flow Chart155Figure 29 – PT Auto Increment Mode Flow Chart157The External Position Reference Generator159Table 12-11 – PT Related Parameters159Table 12-12 – PT CAN Emergency Messages159Figure 30: External position reference generator160ECAM162Table 12-13 – ECAM Related Command162Dividing ECAM table into several logical portions165On the fly ECAM programming using CAN166Initializing the external reference parameters167The Stop management168General description168Figure 31: Print On A Moving Box Application168Stop Manager Internals169Figure 32: Stop Manager Block Manager169Figure 33: Position output of the stop manager171Figure 34: Speed output of the Stop Manager171SENSORS, I/O, AND EVENTS172Modulo counting172Modulo Counting172Table 13-1: Commands relevant to modulo counting172Digital Inputs173Digital Outputs173Events, and response methods174Manual inquiry174Periodical Inquiry174Automatic routines175Real time – Motion management, Homing, Capture, and Flag175Homing and Capture175What Is Homing?175Homing Programming176Homing the auxiliary encoder176On the fly position counter updates177A homing with home switch and index example177Figure 35 – Switches location178Capturing180LIMITS, PROTECTIONS, FAULTS, AND DIAGNOSIS181Current limiting182Table 14-1: Commands relevant to limits, protection, and diagnosis182Speed Protection183Position Protection184Table 14-2: Cases where feedback limits do not apply184Figure 36: Speed command and feedback limits184Enable switch185Figure 37: Position command and feedback limits185Limit switches186Connecting an external brake186Figure 38: Brake output connection186When the motor fails to start187Motion faults187Figure 39: Normal Brake Activation Timing187Diagnosis189Monitoring motion faults189Inconsistent setup data189Device failures, and the CPU dump19014.10 Sensor faults19014.10.1 The motor cannot move190Table 14-3 - CD Reported Elements19014.11 Commutation is lost19114.11.1 General19114.11.2 Reasons and effect of incorrect commutation19114.11.3 Detection of Commutation Feedback Fault192THE CONTROLLER193General193Table 15-1 – Unit Mode Values and Definitions193Speed Control194Block diagram194Table 15-2 – List of all control parameters194The Parameters of the Speed Controller195Figure 40 – A Block Diagram of the Speed Controller195The Position Controller196Block Diagram196The Parameters of the Position Controller197Figure 41 – Block Diagram of The Dual Loop Controller197The High Order Filter198Block Types198User Interface200The Gain-Scheduling Algorithm201Automatic Controller Gain-Scheduling202Table 15-3: Programming sets of controller parameters for gain schedulilng202Table 15-4 – Automatic Gain Scheduling Process203Table 15-5 – Gain scheduling automatic indexing parameter203APPENDIX A: THE HARMONICA FLASH MEMORY ORGANIZATION204Main partitions204The firmware partition204Table of Contents (TOC)204Contents of Text1205Contents of Text2205Contents of Text3205Contents of Text4-Text7206Contents of Text8207Contents of Text9207Contents of Text10209Contents of Binary1209Contents of Binary2209Contents of Binary3209Parameters Partition209Factory Code Partition209User Code partition209The TOC210The Compilation Done Flag210The Virtual Machine Code Segment211The Text Backup & Compiler data segment211The Function Symbol Table211The Variable Symbol Table212The Automatic Routines Table212APPENDIX B: HARMONICA INTERNALS213Software Structure213The Initialization block213The periodic Interrupt213The Idle Loop214Figure 42: Idle loop215LANGUAGE216The Converter216The Converter Call216The Algorithm216The Conversion Process216Examples217サイズ: 1.61MBページ数: 220Language: Englishマニュアルを開く