ElmoMC SimplIQ Software Manual - Manual (Page 8)

SimplIQ Software Manual Contents
MAN-SIMSW (Ver. 1.4)
v
12.4.2 Periodic Query ................................................................................................ 12-4
12.4.3 Automatic Routines ........................................................................................ 12-4
12.4.4 Real Time: Motion Management, Homing, Capture and Flag .................. 12-4
12.5 Homing and Capture .................................................................................. 12-5
12.5.1 Homing Programming ................................................................................... 12-6
12.5.2 Homing the Auxiliary Encoder ..................................................................... 12-6
12.5.3 On-the-fly Position Counter Updates ........................................................... 12-6
12.5.4 Example 1: Homing with Home Switch and Index ..................................... 12-7
12.5.5 Example: Double Homing Corrects Backlash Offsets ................................. 12-9
12.5.6 Capture ........................................................................................................... 12-10
Chapter 13: Limits, Protections, Faults and Diagnosis .................................. 13-1
13.1 Current Limiting .......................................................................................... 13-2
13.2 Speed Protection .......................................................................................... 13-4
13.3 Position Protection ...................................................................................... 13-5
13.4 Enable Switch ............................................................................................... 13-6
13.5 Limit Switches .............................................................................................. 13-7
13.6 Connecting an External Brake .................................................................... 13-7
13.7 When the Motor Fails to Start .................................................................... 13-8
13.8 Motion Faults ............................................................................................... 13-9
13.9 Diagnosis .................................................................................................... 13-10
13.9.1 Monitoring Motion Faults ............................................................................ 13-10
13.9.2 Inconsistent Setup Data ................................................................................ 13-10
13.9.3 Device Failures and CPU Dump ................................................................. 13-11
13.10 Sensor Faults .............................................................................................. 13-12
13.10.1 Motor Cannot Move ...................................................................................... 13-12
13.11 Commutation is Lost ................................................................................. 13-13
13.11.1 Reasons for and Effects of Incorrect Commutation ................................... 13-13
13.11.2 Detection of Commutation Feedback Faults .............................................. 13-14
Chapter 14: Filters ................................................................................................ 14-1
14.1 Internal Structure of a Filter Link .............................................................. 14-4
14.1.1 Fixed Link (Type 16) ....................................................................................... 14-4
14.1.2 Scheduled Link (Type 26) ............................................................................... 14-5
14.2 Examples of Filter Implementation ........................................................... 14-5
14.2.1 Low-pass (Complex Pole) Element (Represented by Second-order Block)14-6
14.2.2 Notch Filter Element (Represented by Second-order Block) ...................... 14-6
14.2.3 Double-lead Element (Represented by Second-order Block) ..................... 14-7
14.2.4 First-order Element (Represented by Second-order Block) ....................... 14-8
Chapter 15: The Controller ................................................................................. 15-1
15.1 Speed Control ............................................................................................... 15-2
15.1.1 Block Diagram ................................................................................................. 15-2
15.1.2 Speed Controller Parameters ......................................................................... 15-3
15.2 The Position Controller ............................................................................... 15-5
15.2.1 Block Diagram ................................................................................................. 15-5
15.2.2 Position Controller Parameters...................................................................... 15-6
15.3 The Gain Scheduling Algorithm ................................................................ 15-7
15.4 Automatic Controller Gain Scheduling .................................................... 15-8