Elmomc SimplIQ Software Manual Manual do Utilizador Página 170
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SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-29
The following CAN emergencies are supported:
Error
Code
(Hex)
Error
Code
(Dec)
Reason
Data Field1
0x56 86 The time for the entire remaining valid PT
program has dropped below the value
stated in MP[4].
Time (milliseconds)
remaining with valid
motion program.
0x5b 91 Write pointer is out of physical range
([1…1024]) of QP vector. Reason may be
an improper setting of MP[6].
Value of MP[6]
0x5c 92 PDO 0x3xx is not mapped.
0x34 52 An attempt was made to program more
PT points than supported by queue.
Index of PT table entry that
could not be programmed
0x7 7 Cannot initialize motion due to bad setup
data. The write pointer is outside the
range specified by the start pointer and
the end pointer.
0x8 8 Mode terminated and motor has been
automatically stopped (in MO=1).
Reasons:
End of trajectory in non-cyclical mode
(MP[3] = 0 ) [additional code 1]
A zero or negative time was specified
for a motion interval [additional code 2]
Read pointer reached write pointer
[additional code 3]
Read pointer.
Figure 11-12: PVT CAN Emergency Messages
11.2 The External Position Reference Generator
This section summarizes how the drive generates the external motion command for the
position controller. The external position reference is useful for:
Positioning a manipulator on a moving object. The desired position of the
manipulator with respect to the object on the conveyor can be programmed as a
software motion, such as PTP or PVT. The position of the conveyor is not known in
advance and must be measured online; using the auxiliary encoder input, for
example. The reading of the auxiliary input is scaled by the follower ratio parameter
(FR[3]), and added to the software command.
Driving the drive as a slave in a larger arrangement. For example, when the drive
moves a valve in a pressure control system, its position command may be an analog
output of a pressure controller.
- SimplIQ 1
- Important Notice 2
- Elmo Worldwide 3
- Contents 4
- Software Manual Contents 5
- Chapter 1: Introduction 9
- SimplIQ Drive Description 10
- 2.2 Related Software 11
- 2.3 Units of Measurement 12
- 2.3.3 Current and Torque 13
- SimplIQ Drive Peripherals 14
- 2.5.4 Digital Outputs 15
- 3.1 RS-232 Basics 16
- 3.2 The Echo 17
- 3.3 Background Transmission 17
- SimplIQ drive will normally 18
- 4.1 The Command Line 19
- 4.2.1 Numbers 20
- 4.2.4 Operator Details 23
- SimplIQ Interpreter 24
- 4.2.6 Expressions 25
- 4.2.6.3 User Variables 27
- 4.2.7 Comments 29
- SimplIQ User Programming 30
- 5.3 Standard Conventions 32
- 5.3.2 Line Continuation 33
- 5.3.3 Limitations 33
- 5.4.1 Numbers 33
- 5.4.4 Operator Details 34
- 5.4.7 CAN Object Emission 35
- 5.4.8 Expressions 36
- 4.2.6.1) 37
- 5.4.8.5 System Commands 38
- 5.4.8.7 User Function Calls 39
- 5.5 Comments 40
- 5.6 Fault Handling 41
- 5.7 Program Flow Commands 41
- 5.7.2 For Iteration 43
- 5.7.3 While Iteration 44
- 5.7.4 Until Iteration 45
- 5.7.5 Wait Iteration 45
- 5.7.6 If Condition 46
- 5.7.7 Switch Selection 47
- 5.7.8 Continue 48
- 5.7.9 Break 49
- 5.7.10 Return 49
- 5.7.11 Try-Catch 50
- 5.8 Functions 51
- 5.8.2 Dummy Variables 53
- 5.8.4 Automatic Variables 55
- 5.8.5 Global Variables 55
- 5.8.6 Jumps 56
- 5.8.9 Automatic Subroutines 59
- #@AUTO_I3 60
- 5-1. When the 61
- Execution 63
- SimplIQ drives 72
- SimplIQ drive does not 72
- SimplIQ drive setup 73
- SimplIQ drive; 75
- 6.3 The Preprocessor 76
- 6.4 Compiler Pragmas 77
- 6.4.1.2 #if 79
- 6.4.1.3 #else 79
- 6.4.1.4 #elseif 80
- 6.4.1.5 #endif 80
- 6.4.1.6 #ifdef 80
- 6.4.1.7 #ifndef 81
- 6.4.1.8 #undef 81
- 6.5.1 Binary Data 83
- 6.5.2.1 The LP[N] Command 84
- 6.5.2.2 The CP Command 84
- 6.5.2.3 The CC Command 84
- 6.5.3 Downloading a Program 85
- 6.6 Program Execution 86
- 6.6.1 Initiating a Program 87
- 6.7 Debugging 88
- 6.7.2 The Elmo Studio 89
- 6.7.3 The DB Command 89
- 6.7.4 Machine Status 90
- 6.7.5 Program Status 90
- 6.7.6 Error Status 91
- 6.7.9 Single Step 92
- 6.7.11 Setting the Stack 94
- DB##PS[N]; 96
- DB##GS[N]=BP-3,BP-2; 96
- Chapter 7: Development Aids 97
- Input Device 98
- Analog Voltage Source 99
- SimplIQ drive can always 100
- 7.4 The Recorder 101
- Uploading Data 102
- 7.4.2 Signal Mapping 102
- 7-2. To access 103
- RV[1]=5; RV[2]=1; RC=3; 104
- MAN-SIMSW (Ver. 1.4) 105
- 7-2: Pre-trigger Delay 106
- 7-4: Trigger Parameters 107
- SimplIQ drive 108
- SimplIQ drive message 108
- 7-7: BH Record Structure 109
- Chapter 8: Commutation 111
- 8.1.2 Stepper Commutation 112
- 8.1.3 BLDC Commutation 112
- 8.3 Commutation Sensors 113
- 8.3.2 Shaft Angle Sensors 114
- Commutation Errors 115
- 8-3: Encoder Parameters 117
- 8.4.1 Selecting Parameters 118
- 8.4.2 Method Limitation 119
- 8.4.3 Protections 120
- 8.5.1 Six-step Commutation 121
- 8.6 Winding Shapes 122
- SimplIQ Software Manual 124
- )(h θ and )(g θ 125
- ]1[PL > 126
- 9-4: Current PI Controller 128
- Chapter 10: Unit Modes 131
- 10-2) 132
- Software Manual Unit Modes 133
- FR[2] Follower gain 135
- 10.2.3 Stop Management 136
- 10-8: Stepper Mode (UM=3) 139
- Generator 142
- 11.3) 143
- 11.1.4 Point-to-Point (PTP) 145
- 11-5: PTP Motion Parameters 146
- 11.1.5 Jog 149
- 11.1.6.1 The PVT Table 155
- 11.1.6.2 Motion Management 156
- 11.1.6.3 Mode Termination 158
- 11.1.7 Position - Time (PT) 162
- 11.1.7.2 The PT Table 164
- 11.1.7.3 Motion Management 164
- 11-8: PT Motion Parameters 165
- 11.2.1 Follower 171
- 11-14: Follower Ratio 172
- 11.2.2 ECAM 173
- 11.2.2.1 Linear ECAM 174
- 11-15: Linear ECAM 175
- 11.2.2.2 Cyclical ECAM 176
- 11-16: Cyclical ECAM 177
- 11.2.5.1) 177
- Drawing x-y manipulator 178
- Camera station 178
- Parameters 180
- 11.3 Stop Manager 181
- VL[3]= -5000 183
- 12.1 Modulo Counting 186
- 12.2 Digital Inputs 187
- 12.3 Digital Outputs 187
- 12.4.1 Manual Query 188
- 12.4.2 Periodic Query 189
- 12.4.3 Automatic Routines 189
- and Flag 189
- 12.5 Homing and Capture 190
- 280004.020000 191
- ]1[004.0 191
- 12.5.6 Capture 195
- 5.8.9) 196
- 13.1 Current Limiting 197
- 13.2 Speed Protection 199
- 13.3 Position Protection 200
- 13.4 Enable Switch 201
- 13.5 Limit Switches 202
- 13.9.2) 203
- 13.8 Motion Faults 204
- 13.9 Diagnosis 205
- 13-2: CD Reported Elements 206
- 13.10 Sensor Faults 207
- 13.11 Commutation is Lost 208
- Chapter 14: Filters 210
- Software Manual 13BFilters 211
- 14.1.1 Fixed Link (Type 16) 213
- 14-6 to convert them 214
- 14.2.2 Notch Filter Element 215
- 14.2.3 Double-lead Element 216
- 14.2.4 First-order Element 217
- Chapter 15: The Controller 219
- 15.1 Speed Control 220
- SPEEDISpeed 221
- 15.2.1 Block Diagram 223
- K is replaced by: 224
- 15.4) 225
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