Elmo HARmonica, HARSFEN0602 User Manual

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HARmonica

Software Manual

June 2002

www.elmomc.com

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 graphics included in this manual are for the purpose of illustration and reference only. The specifications on which they are based are subject to change without notice.

Information in this document is subject to change without notice. Corporate and individual names and data used in examples herein are fictitious unless otherwise noted.

Doc. no. HARSFEN0602

Copyright 2002

Elmo Motion Control Ltd.

All rights reserved.

The Elmo Motion Control warranty for this product covers only the elimination of problems due to manufacturing defects that result in impaired function. Specifically excluded from this warranty is the elimination of problems caused by abuse, damage, neglect, overloading, wrongful operation and unauthorized manipulations of the product. This product warranty is for a period of 12 months from the time of operational startup but no longer than 18 months from shipment from the manufacturing plant. Damage claims that exceed the warranty obligation – including consequential damages – will be rejected in all cases. If any term or condition in this warranty is at variance or inconsistent with any provision or condition (whether general or special) contained in or referred to in the Terms of Conditions of Sale outlined at the back of Elmo’s Standard Acknowledgement form, then the latter shall prevail and be effective.

Elmo Motion Control Ltd.

Elmo Motion Control Inc.

Elmo Motion Control GmbH

64 Gisin St., P.O. Box 463

900(H) River St.

Steinbeisstrasse 41

Petach Tikva

Kennedy Industrial Park

D-78056

49103

Windsor, CT 06095

Villingen-Schwenningen

Israel

USA

Germany

Tel: +972 3 929-2300

Tel: +1 860 683-0095

Tel: +49 07720 8577-60

Fax: +972 3 929-2322

Fax: +1 860 683-0036

Fax: +49 07720 8577-70

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Table of Contents:

 

 

 

 

1

ABOUT THIS MANUAL .................................................................................................................................

 

10

1.1

Scope .........................................................................................................................................................................

 

10

1.2

Relevant documentation ..........................................................................................................................................

 

10

 

1.2.1

Glossary.................................................................................................................................................................

 

10

2

THE HARMONICA .........................................................................................................................................

 

11

2.1

Introduction..............................................................................................................................................................

 

11

2.2

Software Organization.............................................................................................................................................

 

11

 

2.2.1

The Boot software .................................................................................................................................................

 

11

 

2.2.2

The Firmware ........................................................................................................................................................

 

11

 

2.2.3

The Personality......................................................................................................................................................

 

11

2.3

Related Software ......................................................................................................................................................

 

12

2.4

Units ..........................................................................................................................................................................

 

12

 

2.4.1

Position units.........................................................................................................................................................

 

12

 

2.4.2 Speed and acceleration units .................................................................................................................................

 

13

 

2.4.3

Current and torque.................................................................................................................................................

 

13

2.5

Internal Units and Conversions ..............................................................................................................................

 

13

 

2.5.1

Current and torque:................................................................................................................................................

 

13

 

2.5.2

Speed:....................................................................................................................................................................

 

14

 

2.5.3

Electrical angle:.....................................................................................................................................................

 

14

 

2.5.4

Power DC voltage .................................................................................................................................................

 

14

2.6

Peripherals................................................................................................................................................................

 

14

 

2.6.1

Position decoders...................................................................................................................................................

 

14

2.7

A/D converter ...........................................................................................................................................................

 

15

2.8

Digital inputs ............................................................................................................................................................

 

15

2.9

Digital output............................................................................................................................................................

 

15

3 COMMUNICATION WITH THE HOST...........................................................................................................

 

16

3.1

General......................................................................................................................................................................

 

16

3.2

RS232 Communications ..........................................................................................................................................

 

16

 

3.2.1

RS232 Basics ........................................................................................................................................................

 

16

 

3.2.2

The Echo ...............................................................................................................................................................

 

17

 

3.2.3

Background Transmission.....................................................................................................................................

 

17

 

3.2.4 Errors and exceptions in RS232 ............................................................................................................................

 

17

3.3

CANopen Communication ......................................................................................................................................

 

17

4

THE INTERPRETER LANGUAGE ................................................................................................................

 

18

4.1

The command line....................................................................................................................................................

 

19

4.2

Expressions And Operators ....................................................................................................................................

 

19

 

4.2.1

Numbers ................................................................................................................................................................

 

19

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4.2.2 Mathematical And Logical Operators....................................................................................................................

 

19

 

4.2.3 General rules for operators ....................................................................................................................................

 

20

 

4.2.4

Operator details......................................................................................................................................................

 

20

 

4.2.5

Mathematical functions .........................................................................................................................................

 

24

 

4.2.6

Expressions............................................................................................................................................................

 

25

4.3

Comments .................................................................................................................................................................

 

27

5

THE HARMONICA USER PROGRAMMING LANGUAGE ...........................................................................

 

28

5.1

User Program Organization ....................................................................................................................................

 

28

5.2

Common ....................................................................................................................................................................

 

29

 

5.2.1 Line and Expression Termination..........................................................................................................................

 

29

 

5.2.2

Line Continuation ..................................................................................................................................................

 

29

 

5.2.3

Limitations.............................................................................................................................................................

 

30

5.3

Expressions And Operators.....................................................................................................................................

 

30

 

5.3.1

Numbers ................................................................................................................................................................

 

30

 

5.3.2 Mathematical and Logical Operators.....................................................................................................................

 

30

 

5.3.3 General rules for operators ....................................................................................................................................

 

30

 

5.3.4

Operator details......................................................................................................................................................

 

31

 

5.3.5

Mathematical functions .........................................................................................................................................

 

31

 

5.3.6

Expressions............................................................................................................................................................

 

31

5.4

Comments .................................................................................................................................................................

 

33

5.5

Program Flow Commands.......................................................................................................................................

 

34

 

5.5.1

Labels (Entry points) .............................................................................................................................................

 

35

 

5.5.2

For iteration ...........................................................................................................................................................

 

35

 

5.5.3

While iteration .......................................................................................................................................................

 

36

 

5.5.4

Until iteration.........................................................................................................................................................

 

37

 

5.5.5

Wait iteration .........................................................................................................................................................

 

38

 

5.5.6

IF condition ...........................................................................................................................................................

 

38

 

5.5.7

Switch selection.....................................................................................................................................................

 

39

 

5.5.8

Break......................................................................................................................................................................

 

40

5.6

Functions ...................................................................................................................................................................

 

40

 

5.6.1

Function definition ................................................................................................................................................

 

40

 

5.6.2

Dummy variables...................................................................................................................................................

 

42

 

5.6.3 Count of output variables.......................................................................................................................................

 

42

 

5.6.4

Automatic variables ...............................................................................................................................................

 

43

 

5.6.5

Global variables.....................................................................................................................................................

 

44

 

5.6.6

Jumps.....................................................................................................................................................................

 

44

 

5.6.7 Functions and The Call Stack ................................................................................................................................

 

45

 

5.6.8 Killing The Call Stack ...........................................................................................................................................

 

47

 

5.6.9

Automatic subroutines ...........................................................................................................................................

 

47

6

PROGRAM DEVELOPMENT AND EXECUTION..........................................................................................

 

51

6.1

Editing a Program....................................................................................................................................................

 

51

6.2

Compilation...............................................................................................................................................................

 

51

 

6.2.1

Compilation Error List...........................................................................................................................................

 

51

6.3

Downloading and Uploading a Program ................................................................................................................

 

59

 

6.3.1

Binary data.............................................................................................................................................................

 

60

 

6.3.2 The Assisting Commands For Down/Upload ........................................................................................................

 

60

 

6.3.3

Downloading a Program........................................................................................................................................

 

61

 

6.3.4

Uploading a Program.............................................................................................................................................

 

62

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6.4

The program execution............................................................................................................................................

 

62

6.4.1

Initiating a Program...............................................................................................................................................

 

63

6.4.2 Halting and resuming a program ...........................................................................................................................

 

63

6.4.3 Automatic program running with power up ..........................................................................................................

 

64

6.4.4

Save to Flash .........................................................................................................................................................

 

64

6.5

Debugging .................................................................................................................................................................

 

64

6.5.1 Running, breaking, and resuming..........................................................................................................................

 

64

6.5.2

DB command ........................................................................................................................................................

 

64

6.5.3

Machine status.......................................................................................................................................................

 

65

6.5.4

Program status.......................................................................................................................................................

 

65

6.5.5 Setting and clearing break points ..........................................................................................................................

 

66

6.5.6 Continuation of the program .................................................................................................................................

 

66

6.5.7

Single step .............................................................................................................................................................

 

66

6.5.8

Getting stack entries ..............................................................................................................................................

 

68

6.5.9

Setting stack ..........................................................................................................................................................

 

68

6.5.10

Getting call stack ..............................................................................................................................................

 

68

6.5.11

View of global variables...................................................................................................................................

 

69

6.5.12

View of local variables .....................................................................................................................................

 

69

7

THE VIRTUAL MACHINES............................................................................................................................

 

71

7.1.1 Introduction Alla please complete where necessary..............................................................................................

 

71

7.2

Virtual Machine registers........................................................................................................................................

 

71

7.3

Call Stack During Function Call ............................................................................................................................

 

71

7.4

Data types .................................................................................................................................................................

 

72

7.5

Op code structure and addressing modes ..............................................................................................................

 

73

7.6

Short reference .........................................................................................................................................................

 

73

7.7

Alphabetic reference ................................................................................................................................................

 

75

7.7.1

ADD - ADDITION ...............................................................................................................................................

 

75

7.7.2 AND – Bitwise AND Operator .............................................................................................................................

 

75

7.7.3

CMP – Compare....................................................................................................................................................

 

76

7.7.4

DIV – Divide.........................................................................................................................................................

 

76

7.7.5 EOL – End Of Line ...............................................................................................................................................

 

77

7.7.6 FORITR – FOR Loop Iteration .............................................................................................................................

 

77

7.7.7

FREE_VAC - Free Virtual Machine ....................................................................................................................

 

78

7.7.8 F_OR – Bitwise OR Operator ...............................................................................................................................

 

78

7.7.9

GETINDEX...........................................................................................................................................................

 

78

7.7.10

GET_COMM – Get Command ........................................................................................................................

 

79

7.7.11

JMP – Jump ......................................................................................................................................................

 

79

7.7.12

JMP_EOL – Jump ............................................................................................................................................

 

80

7.7.13

JMP_LABEL – Jump to the label.....................................................................................................................

 

80

7.7.14

JNZ – Jump Not Zero .......................................................................................................................................

 

81

7.7.15

JNZ_EOL – Jump Not Zero .............................................................................................................................

 

81

7.7.16

JZ – Jump If Zero .............................................................................................................................................

 

82

7.7.17

JZ_EOL – Jump If Zero....................................................................................................................................

 

82

7.7.18

LINK ................................................................................................................................................................

 

82

7.7.19

MLT – Multiply................................................................................................................................................

 

83

7.7.20

MOV – Assignment Operator (=).....................................................................................................................

 

83

7.7.21

NOT – Bitwise NOT Operator .........................................................................................................................

 

84

7.7.22

REM – Reminder..............................................................................................................................................

 

84

7.7.23

RSLTA – Relational Operator (>) ....................................................................................................................

 

85

7.7.24

RSLTAE – Relational Operator (>=) ...............................................................................................................

 

85

7.7.25

RSLTAND – Logical AND Operator (&&).....................................................................................................

 

86

7.7.26

RSLTB – Relational Operator (<) ....................................................................................................................

 

86

7.7.27

RSLTBE – Relational Operator (<=)................................................................................................................

 

86

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7.7.28

RSLTE – Relational Operator (==)...................................................................................................................

 

 

87

7.7.29

RSLTNE – Relational Operator (!=).................................................................................................................

 

 

87

7.7.30

RSLTOR – Logical OR Operator ( || ) ..............................................................................................................

 

 

88

7.7.31

SET_COMM – Set Command ..........................................................................................................................

 

 

88

7.7.32

SETINDEX.......................................................................................................................................................

 

 

89

7.7.33

SHR – Shift Right .............................................................................................................................................

 

 

89

7.7.34

SHL – Shift Left ...............................................................................................................................................

 

 

89

7.7.35

SPADD .............................................................................................................................................................

 

 

90

7.7.36

SUB - SUBTRACT ..........................................................................................................................................

 

 

90

7.7.37

SYSSUBJ – Jump To System Subroutine.........................................................................................................

 

 

91

7.7.38

UNARY_NOT - Logical NOT Operator (!) .....................................................................................................

 

 

91

7.7.39

USRSUBJ – jump To User Subroutine.............................................................................................................

 

 

92

7.7.40

USRSUBRT – Return from user subroutine.....................................................................................................

 

 

92

7.7.41

XOR – Bitwise XOR Operator .........................................................................................................................

 

 

93

8

THE RECORDER ...........................................................................................................................................

 

 

94

8.1

Recorder sequencing: Programming, launching, and uploading data. ...............................................................

 

94

8.2

Signal mapping .........................................................................................................................................................

 

 

95

8.3

Defining the set of recorded signals ........................................................................................................................

 

 

96

8.4

Programming the length and the resolution ..........................................................................................................

 

 

96

8.5

Trigger events and timing........................................................................................................................................

 

 

97

8.6

Launching the recorder .........................................................................................................................................

 

 

100

8.7

Uploading recorded data .......................................................................................................................................

 

 

100

9

COMMUTATION...........................................................................................................................................

 

 

103

9.1

General ....................................................................................................................................................................

 

 

103

9.1.1

Brush DC motors .................................................................................................................................................

 

 

103

9.1.2 The Stepper Commutation Policy........................................................................................................................

 

 

103

9.1.3 The BLDC commutation policy ..........................................................................................................................

 

 

104

9.2

Mechanical and electrical motion Figures are missing .......................................................................................

 

 

104

9.3

Commutation sensors.............................................................................................................................................

 

 

105

9.3.1 Rotor Magnetic field sensors ...............................................................................................................................

 

 

105

9.3.2

Shaft Angle Sensors.............................................................................................................................................

 

 

106

9.3.3 Combination of direct magnetic field sensors and shaft angle sensor .................................................................

 

106

9.3.4 Parameterization of the commutation and the commutation sensors

...................................................................

 

107

9.4

Commutation search ..............................................................................................................................................

 

 

109

9.4.1

General ................................................................................................................................................................

 

 

109

9.4.2

Selecting the parameters ......................................................................................................................................

 

 

109

9.4.3

Method limitation ................................................................................................................................................

 

 

110

9.4.4

Protections ...........................................................................................................................................................

 

 

110

9.4.5 Parameters related to starting the motor with no digital Hall sensors..................................................................

 

111

9.5

Continuous Vs. Six-Stepscommutation................................................................................................................

 

 

111

9.5.1

Six-stepcommutation ..........................................................................................................................................

 

 

112

9.5.2

Continuous commutation.....................................................................................................................................

 

 

112

9.6

Winding shapes.......................................................................................................................................................

 

 

113

9.6.1 Loading the commutation table ...........................................................................................................................

 

 

114

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10

THE CURRENT CONTROLLER..................................................................................................................

 

115

10.1.1

Current limiting ..............................................................................................................................................

 

116

10.1.2

The torque command filter .............................................................................................................................

 

118

10.1.3

The PI current controller.................................................................................................................................

 

120

10.2

Current amplifier protections...............................................................................................................................

 

121

11

UNIT MODES ...............................................................................................................................................

 

123

11.1

Torque control: Unit mode 1.................................................................................................................................

 

123

11.2

Speed mode: Unit mode 2......................................................................................................................................

 

124

11.2.1

The software speed command ........................................................................................................................

 

124

11.2.2

The auxiliary speed command........................................................................................................................

 

126

11.2.3

Stop management ...........................................................................................................................................

 

127

11.3

The stepper mode: Unit mode 3............................................................................................................................

 

128

11.4

The Dual feedback mode: UM=4..........................................................................................................................

 

129

11.5

The single feedback mode: UM=5 ........................................................................................................................

 

131

12 THE POSITION REFERENCE GENERATOR .............................................................................................

 

132

12.1

The software reference generator.........................................................................................................................

 

132

12.1.1

Switching Between Motion Modes ................................................................................................................

 

132

12.1.2

Comparison of the PT and the PVT interpolated modes ................................................................................

 

133

12.1.3

The Idle Mode and Motion Status ..................................................................................................................

 

133

12.1.4

Point-To-Point(PTP)......................................................................................................................................

 

134

12.1.5

Jogging ...........................................................................................................................................................

 

138

12.1.6

PVT: Position-Velocity-Timeinterpolated motion .......................................................................................

 

140

12.1.7

PT Motion.......................................................................................................................................................

 

153

12.2

The External Position Reference Generator........................................................................................................

 

159

12.2.1

ECAM ............................................................................................................................................................

 

162

12.2.2

Dividing ECAM table into several logical portions .......................................................................................

 

165

12.2.3

On the fly ECAM programming using CAN..................................................................................................

 

166

12.2.4

Initializing the external reference parameters.................................................................................................

 

167

12.3

The Stop management ...........................................................................................................................................

 

168

12.3.1

General description.........................................................................................................................................

 

168

12.3.2

Stop Manager Internals...................................................................................................................................

 

169

13 SENSORS, I/O, AND EVENTS ....................................................................................................................

 

172

13.1

Modulo counting ....................................................................................................................................................

 

172

13.1.1

Modulo Counting............................................................................................................................................

 

172

13.2

Digital Inputs..........................................................................................................................................................

 

173

13.3

Digital Outputs .......................................................................................................................................................

 

173

13.4

Events, and response methods ..............................................................................................................................

 

174

13.4.1

Manual inquiry ...............................................................................................................................................

 

174

13.4.2

Periodical Inquiry ...........................................................................................................................................

 

174

13.4.3

Automatic routines .........................................................................................................................................

 

175

13.4.4

Real time – Motion management, Homing, Capture, and Flag ......................................................................

 

175

13.5

Homing and Capture .............................................................................................................................................

 

175

13.5.1

What Is Homing?............................................................................................................................................

 

175

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13.5.2

Homing Programming ....................................................................................................................................

 

176

13.5.3

Homing the auxiliary encoder.........................................................................................................................

 

176

13.5.4

On the fly position counter updates ................................................................................................................

 

177

13.5.5

A homing with home switch and index example ............................................................................................

 

177

13.5.6

Capturing ........................................................................................................................................................

 

180

14 LIMITS, PROTECTIONS, FAULTS, AND DIAGNOSIS...............................................................................

 

181

14.1

Current limiting......................................................................................................................................................

 

182

14.2

Speed Protection .....................................................................................................................................................

 

183

14.3

Position Protection .................................................................................................................................................

 

184

14.4

Enable switch ..........................................................................................................................................................

 

185

14.5

Limit switches .........................................................................................................................................................

 

186

14.6

Connecting an external brake ...............................................................................................................................

 

186

14.7

When the motor fails to start.................................................................................................................................

 

187

14.8

Motion faults...........................................................................................................................................................

 

187

14.9

Diagnosis .................................................................................................................................................................

 

189

14.9.1

Monitoring motion faults ................................................................................................................................

 

189

14.9.2

Inconsistent setup data ....................................................................................................................................

 

189

14.9.3

Device failures, and the CPU dump................................................................................................................

 

190

14.10

Sensor faults............................................................................................................................................................

 

190

14.10.1

The motor cannot move ..................................................................................................................................

 

190

14.11

Commutation is lost................................................................................................................................................

 

191

14.11.1

General............................................................................................................................................................

 

191

14.11.2

Reasons and effect of incorrect commutation.................................................................................................

 

191

14.11.3

Detection of Commutation Feedback Fault ....................................................................................................

 

192

15

THE CONTROLLER.....................................................................................................................................

 

193

15.1

General ....................................................................................................................................................................

 

193

15.2

Speed Control .........................................................................................................................................................

 

194

15.2.1

Block diagram.................................................................................................................................................

 

194

15.2.2

The Parameters of the Speed Controller .........................................................................................................

 

195

15.3

The Position Controller..........................................................................................................................................

 

196

15.3.1

Block Diagram................................................................................................................................................

 

196

15.3.2

The Parameters of the Position Controller ......................................................................................................

 

197

15.4

The High Order Filter............................................................................................................................................

 

198

15.4.1

Block Types ....................................................................................................................................................

 

198

15.4.2

User Interface..................................................................................................................................................

 

200

15.5

The Gain-SchedulingAlgorithm ...........................................................................................................................

 

201

15.6

Automatic Controller Gain-Scheduling................................................................................................................

 

202

16 APPENDIX A: THE HARMONICA FLASH MEMORY ORGANIZATION....................................................

204

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16.1

Main partitions.......................................................................................................................................................

 

204

16.2

The firmware partition..........................................................................................................................................

 

204

16.2.1

Table of Contents (TOC) ................................................................................................................................

 

204

16.2.2

Contents of Text1 ...........................................................................................................................................

 

205

16.2.3

Contents of Text2 ...........................................................................................................................................

 

205

16.2.4

Contents of Text3 ...........................................................................................................................................

 

205

16.2.5

Contents of Text4 - Text7 .................................................................................................................................

 

206

16.2.6

Contents of Text8 ...........................................................................................................................................

 

207

16.2.7

Contents of Text9 ...........................................................................................................................................

 

207

16.2.8

Contents of Text10 .........................................................................................................................................

 

209

16.2.9

Contents of Binary1 ........................................................................................................................................

 

209

16.2.10

Contents of Binary2 ........................................................................................................................................

 

209

16.2.11

Contents of Binary3 ........................................................................................................................................

 

209

16.3

Parameters Partition..............................................................................................................................................

 

209

16.4

Factory Code Partition ..........................................................................................................................................

 

209

16.5

User Code partition................................................................................................................................................

 

209

16.5.1

The TOC .........................................................................................................................................................

 

210

16.5.2

The Compilation Done Flag ...........................................................................................................................

 

210

16.5.3

The Virtual Machine Code Segment ..............................................................................................................

 

211

16.5.4

The Text Backup & Compiler data segment ..................................................................................................

 

211

16.5.5

The Function Symbol Table ...........................................................................................................................

 

211

16.5.6

The Variable Symbol Table ............................................................................................................................

 

212

16.5.7

The Automatic Routines Table .......................................................................................................................

 

212

17 APPENDIX B: HARMONICA INTERNALS .................................................................................................

 

213

17.1

Software Structure.................................................................................................................................................

 

213

17.1.1

The Initialization block ...................................................................................................................................

 

213

17.1.2

The periodic Interrupt .....................................................................................................................................

 

213

17.1.3

The Idle Loop .................................................................................................................................................

 

214

18 APPENDIX C: CONVERTING CLARINET/SAXOPHONE PROGRAMS TO THE HARMONICA

 

LANGUAGE

..........................................................................................................................................................

 

216

18.1

The Converter ........................................................................................................................................................

 

216

18.2

The Converter ................................................................................................................................................Call

 

216

18.3

The Algorithm ........................................................................................................................................................

 

216

18.4

The Conversion .........................................................................................................................................Process

 

216

18.5

Examples.................................................................................................................................................................

 

217

Elmo HARmonica Software Manual

P R E L I M I N A R Y

D R A F T

 

 

 

 

8

HARSFEN0602

 

 

 

List of Tables:

 

 

 

Table 2-1:Analog sampled signals .........................................................................................................................

 

 

15

Table 3-1– RS232 Rx Item Description .................................................................................................................

 

 

16

Table 3-2– RS232 Tx Item Description .................................................................................................................

 

 

17

Table 4-1– Mathematical and Logical Operators ...................................................................................................

 

 

20

Table 5-1– Automatic subroutines and their priority .............................................................................................

 

 

49

Table 7-1Harmonica op codes ...........................................................................................................................

 

 

75

Table 8-1:Commands relevant to the recorder .......................................................................................................

 

 

94

Table 8-2:Default mapping of recorded signals .....................................................................................................

 

 

95

Table 8-3:Some additional recorded signals...........................................................................................................

 

 

96

Table 8-4:RR command options...........................................................................................................................

 

 

100

Table 8-5:RR reports ............................................................................................................................................

 

 

100

Table 8-6:SR recorder status reports ....................................................................................................................

 

 

100

Table 8-7:Parametersfor uploading recorded data................................................................................................

 

 

100

Table 8-8:BH – record structure...........................................................................................................................

 

 

102

Table 9-1:Hall sensor values ................................................................................................................................

 

 

105

Table 9-2:Six-Stepscommutation ........................................................................................................................

 

 

112

Table 10-1:Bandwidth selections for bus voltage filter........................................................................................

 

 

121

Table 12-1:Software motion mode commands.....................................................................................................

 

 

132

Table 12-2– Tabulated Motion Difference...........................................................................................................

 

 

133

Table 12-3– Tabulated Feature Preference...........................................................................................................

 

 

133

Table 12-4:Motion status indications ...................................................................................................................

 

 

134

Table 12-5– Parameter of PTP Motion.................................................................................................................

 

 

135

Table 12-6– PVT Table ........................................................................................................................................

 

 

144

Table 12-7– PVT Motion Parameters...................................................................................................................

 

 

145

Table 12-8– PVT Related Parameters ..................................................................................................................

 

 

151

Table 12-9– PVT CAN Emergency Messages .....................................................................................................

 

 

152

Table 12-10– PT Motion Parameters....................................................................................................................

 

 

155

Table 12-11– PT Related Parameters ...................................................................................................................

 

 

159

Table 12-12– PT CAN Emergency Messages......................................................................................................

 

 

159

Table 12-13– ECAM Related Command .............................................................................................................

 

 

162

Table 13-1:Commands relevant to modulo counting ...........................................................................................

 

 

172

Table 14-1:Commands relevant to limits, protection, and diagnosis ...................................................................

 

 

182

Table 14-2:Cases where feedback limits do not apply .........................................................................................

 

 

184

Table 14-3- CD Reported Elements .....................................................................................................................

 

 

190

Table 15-1– Unit Mode Values and Definitions...................................................................................................

 

 

193

Table 15-2– List of all control parameters ...........................................................................................................

 

 

194

Table 15-3:Programming sets of controller parameters for gain schedulilng ......................................................

 

202

Table 15-4– Automatic Gain Scheduling Process................................................................................................

 

 

203

Table 15-5– Gain scheduling automatic indexing parameter ...............................................................................

 

 

203