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HARmonica
Software Manual
June 2002
www.elmomc.com
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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 t
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 1 HARSFEN0602 Table of Contents: 1 ABOUT THIS MANUAL .................................................................................................................................10 1.1 Scope ......................................................................................................................................................................... 10 1.2 Relevant documentation ............................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 2 HARSFEN0602 4.2.2 Mathematical And Logical Operators....................................................................................................................19 4.2.3 General rules for operators ....................................................................................................................................20 4.2.4 Operator details............................................................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 3 HARSFEN0602 6.4 The program execution............................................................................................................................................ 62 6.4.1 Initiating a Program............................................................................................................................................... 63 6.4.2 Halting and resuming a program ...............................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 4 HARSFEN0602 7.7.28 RSLTE – Relational Operator (==)...................................................................................................................87 7.7.29 RSLTNE – Relational Operator (!=).................................................................................................................87 7.7.30 RSLTOR – Logical OR Operator ( || ) ......................................................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 5 HARSFEN0602 10 THE CURRENT CONTROLLER..................................................................................................................115 10.1.1 Current limiting .............................................................................................................................................. 116 10.1.2 The torque command filter ...............................................................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 6 HARSFEN0602 13.5.2 Homing Programming ....................................................................................................................................176 13.5.3 Homing the auxiliary encoder.........................................................................................................................176 13.5.4 On the fly position counter updates .............................................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 7 HARSFEN0602 16.1 Main partitions....................................................................................................................................................... 204 16.2 The firmware partition.......................................................................................................................................... 204 16.2.1 Table of Contents (TOC)..................................
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Elmo HARmonica Software Man ual 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 ........................................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 9 HARSFEN0602 List of Figures: Figure 1 - Slope and window trigger types .............................................................................................................98 Figure 2 – Pre trigger delay.....................................................................................................................................99 Figure 3: Two phased linear motor ........................................
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 10 HARSFEN0602 1 About This Manual 1.1 Scope This specification presents relevant data for understanding and using the Harmonica software. The Software Specification complements the Command Reference Manual. The Command Reference Manual lists each single command with all its options. The Software Specification Manual is designed to give wider view of the Harmonica system. The topics are covered functionally, with re
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 11 HARSFEN0602 2 The Harmonica 2.1 Introduction The Harmonica a sophisticated and capable network-oriented single-axis amplifier, with: - State of the art control algorithms, including high order filters and gain scheduling - State of the art reference generation algorithm, including absolute timed interpolated motion, auxiliary signal following, and ECAM. - Synchronization capability for network operation - Confo
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 12 HARSFEN0602 The personality data is loaded to the serial flash memory. The personality data includes a file allocation table and several files. The personality files include data about the Harmonica. A partial list is: List of supported command List of error code CAN EDS All these data items enable an IDE to deal with the Harmonica. The File Allocation table reserves place for storage of application parameters a
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 13 HARSFEN0602 mechanical revolution. CA[23] For linear motors, CA[23] stores the number of counts per user unit (Meter, or any other unit the user may select). CA[23] is stored only for convenience – the Harmonica software does not use this number for any internal calculation. For rotary motors, set CA[23]=0. YA[1],YA[3] YA[1] is the auxiliary feedback resolution, counts/physical unit. YA[3] sets what a physical uni
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 14 HARSFEN0602 The internal representation of phase currents is by A/D bits. Torque commands, and the active and the reactive parts of the current have another representation, since the coordinate transformations from phase current to torque introduce scaling. The relation between internal phase currents, internal torque, and Amperes is given by the following commands: Command Description MC The full current range
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 15 HARSFEN0602 a decoder is 20mHz, without input filter. If input filter is applied, the maximum pulse rate is reduced, as explained at the EF[N] command in the Command Reference Manual. The encoder input is not protected. There is no hardware to identify illegal transitions. Exceeding the maximal pulse rate will cause loss of counts that cannot be detected. 2.7 A/D converter The A/D samples the following: Signal
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 16 HARSFEN0602 3 Communication With the Host 3.1 General 3.2 RS232 Communications The Harmonica can communicate by RS232 with baud rates up to 115200baud/sec. The maximum baud rate depends in the sampling time. The baud rate of 115200baud/sec works only when TS equals or is less than 70. The communication rate of 57600 baud/sec works with all sampling time options. Please refer to PP[] command in the Command Refere
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 17 HARSFEN0602 Sets the value of 1 to the MO variable. CA[2]=1; Sets the value of the CA[2] variable. CA[N] denotes a vector of parameters that can be accessed by their index. The free evaluation (5+sin(PX))*sqrt(abs(VX)) Returns a numerical value to the terminal. More detail about text interpreting is given in the chapter "The Interpreter Language". The amplifier responds to the host communicated commands. It
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Elmo HARmonica Software Man ual P R E L I M I N A R Y D R A F T 18 HARSFEN0602 4 The Interpreter Language The amplifier has a language that enables the user to communicate with the Amplifier. Using this language, the user can Setup the Amplifier Command the Amplifier what to do Inquire the Amplifier status There are two methods for communicating with the Amplifier. The first of them is to use the communication interfaces, either the RS232 or the CANopen interface, to pass co
