ElmoMC SimplIQ Software Manual - Manual (Page 7)

SimplIQ Software Manual Contents
MAN-SIMSW (Ver. 1.4)
iv
8.4 Auto-phasing and Commutation Search .................................................... 8-8
8.4.1 Selecting Parameters ......................................................................................... 8-8
8.4.2 Method Limitation ............................................................................................ 8-9
8.4.3 Protections ....................................................................................................... 8-10
8.4.4 Maximum Number of Iterations for Auto-phasing ..................................... 8-10
8.4.5 Starting the Motor without Digital Hall Sensors ......................................... 8-10
8.5 Continuous vs. Six-step Commutation ..................................................... 8-10
8.5.1 Six-step Commutation .................................................................................... 8-11
8.5.2 Continuous Commutation ............................................................................. 8-12
8.6 Winding Shapes ........................................................................................... 8-12
Chapter 9: The Current Controller ...................................................................... 9-1
9.1 Current Limiting ............................................................................................ 9-2
9.2 The PI Current Controller ............................................................................. 9-5
9.3 Current Amplifier Protections ..................................................................... 9-6
Chapter 10: Unit Modes ...................................................................................... 10-1
10.1 Unit Mode 1: Torque Control ..................................................................... 10-1
10.2 Unit Mode 2: Speed Control ....................................................................... 10-2
10.2.1 Software Speed Command ............................................................................. 10-3
10.2.2 The Auxiliary Speed Command .................................................................... 10-5
10.2.3 Stop Management ........................................................................................... 10-6
10.3 Unit Mode 3: Stepper Mode ....................................................................... 10-8
10.4 Unit Mode 4: Dual Feedback Mode ........................................................... 10-9
10.5 Unit Mode 5: Single Feedback Mode ....................................................... 10-11
Chapter 11: The Position Reference Generator .............................................. 11-1
11.1 Software Reference Generator ................................................................... 11-1
11.1.1 Switching Between Motion Modes ................................................................ 11-2
11.1.2 Comparing PT and PVT Interpolated Modes .............................................. 11-2
11.1.3 Idle Mode and Motion Status ........................................................................ 11-3
11.1.4 Point-to-Point (PTP) ........................................................................................ 11-4
11.1.5 Jog ..................................................................................................................... 11-8
11.1.6 Position - Velocity - Time (PVT) .................................................................. 11-10
11.1.7 Position - Time (PT) ...................................................................................... 11-21
11.2 The External Position Reference Generator ............................................ 11-29
11.2.1 Follower ......................................................................................................... 11-30
11.2.2 ECAM ............................................................................................................. 11-32
11.2.3 Dividing the ECAM Table into Logical Portions ....................................... 11-36
11.2.4 Fast ECAM Programming Using CAN ....................................................... 11-38
11.2.5 Initializing External Position Reference Parameters ................................. 11-38
11.3 Stop Manager ............................................................................................. 11-40
11.3.1 General Description ...................................................................................... 11-40
11.3.2 Stop Manager Internal Elements ................................................................. 11-41
Chapter 12: Sensors, I/O and Events ................................................................. 12-1
12.1 Modulo Counting ........................................................................................ 12-1
12.2 Digital Inputs ............................................................................................... 12-2
12.3 Digital Outputs ............................................................................................ 12-2
12.4 Events and Response Methods .................................................................. 12-3
12.4.1 Manual Query ................................................................................................. 12-3