ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 161)

SI - Synchronize Motion Processor Tables
Purpose:
Transfers the motor description tables to the motion processor.
The motion tables describe some fine motor modeling aspects that help to improve
control quality. Among them are cogging compensation tables, as well as winding
shape compensation tables.
Since this tabular data must be available to the motion processor on real-time, it must
be downloaded as a block to the motion processor before any motion starts.
The SI command downloads the entire table block, as programmed by the TV
command, to the motion processor, and stores it in the flash memory there.
Attributes: Type: Command, with integer parameter
Source: RS-232, CANopen
Restrictions: MO=0, User program not running
Range 1: Activate
Unit modes: All
Activation: Immediate
SimplIQ: New
command
Under most circumstances, this command is used only by the tuning
environment.
Notes:
The SI command may take a few hundreds of milliseconds to execute, during
which the communication drivers are disabled. If an SI command is executed by
an RS-232 command, a CAN message may be lost in the interim, and vice versa.
SI synchronizes the contents of the TV[N] vector with the motion processor. The
stored TV[N] commands are the last programmed set, not the copy stored in the
flash memory.
This command operates on the motion processor's flash memory. Note that the
flash memory is limited by the number of times data may be saved to it (about
10000 saves). Therefore, never use SI in a user program.
SI is only relevant to implementations that have a separate motion processor. For
single processor implementations SI will not return an error – it will simply do
nothing.
See also:
CD , TV[N] , LD
Application notes:
Storing non-volatile application data
The motion processor
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