实例介绍
【实例简介】
本文档是ELMO驱动公司软件手册，虽然是英文的，但是读起来不费力。文档介绍了驱动器编程语言，几种运行模式的配置方法，对于硬件驱动部分很好的参考资料。
SimplrQ Chapter1: Introduction…..,.…….…….1-1 1.1 Scope ·.·····4:·······:··:·· 1.2 abbreviations……… .1-2 Chapter2:s; mplIQ Drive Description………… 2.1 Software Organization........,.……2-1 2.1.1 Boot software 2-1 2.1.2 Firmware 2-2 2.1.3 Personality 2-2 2.2 Related software 2-2 2.3 Units of measurement 2. 3.1 Position 2.3.2 Speed and acceleration 2.3.3 Current and Torque 2-3 2.4 Internal units of measurement and conversion ....wwow..2-4 2.5 SimplrQ Drive Peripherals 2-4 2.5.1 Position decoders 2-4 2.5.2 A/D Converter 2-4 25.3 Digital Inputs…… 25 2.5.4 Digital Outputs... 2-5 Chapter3: Communication with the host.…,.,.,,,…,…,,……,3-1 3.1RS-232 Basics…,, 3.2 The echo 春春··看看 .3-2 3.3 Background Transmission………….........2 3.4 Errors and Exceptions in Rs-232 Chapter4: The Interpreter Language…………………………………………4-1 4. 1 The Command 4.2 Expressions and Operators……………………42 4.2.1 Numbers 4-2 4.2.2 Mathematical and logical operators 4-3 42.3 General Rules for Operators……… 4-4 4.2. 4 Operator Details -4-5 4.2.5 Mathematical functions 4.2.6 Expressions 4-7 4.2.7 Comments 4-11 Chapter5: The SimplIQ USer Programming Language………………………….5-1 5. 1 User Program organization 5.2 Single and multiple command execution 5.3 Standard Conventions 5-3 5.3.1 Line and Expression Termination 5.3.2 Line Continuation ………5-4 5.3.3 Limitations 5.4 Expressions and Operators 5-4 5.4.1 Numbers 5-4 SimplE 5.4.2 Mathematical and Logical Operators.…… 5.4.3 General Operator rules 5.4.4 Operator Details 5555 5.4.5 Mathematical functions 5.4.6 Exclusive Or Operation…….…… 55 5.4.7 CAN Object Emission 5-6 5.4.8 Expressions…….,.,,…….….,…..,.,…..…..15-7 5.5 Comments… 35-11 5.5.1 Double asterisk 5-11 5.5.2 Double slash 5-11 5.5.3C- style start and End comment.…….………15-11 5.6 Fault Handling ………………5-12 5.6.1 Unexpected Fault…… 5-12 56.2 Expected Fault…….….….… 5-12 5.7 Program Flow Commands............5-12 5.7.1 Labels(Entry Points) and Subroutines 15-13 5.7.2 For iteration ∴15-14 5.7.3 While iteration 5-15 5.7.4 Until Iteration 5-16 5.7.5 Wait Iteration 5-16 5.7.6 If Condition 5-17 5.7 Switch selection -18 5.7.8 Continue 5-19 57.9 Break 5-20 57.10 Return 5.7.1lTry- Catch……… 8 Functions 5-22 5.8.1 Function declaration ··..,+·+4+“ .5-22 5.8.2 Dummy variables 。· 5-24 5.8.3 Count of Output variables 5-24 5.8.4 Automatic Variables …5-26 5.8.5G Variable 5-26 5.8.6 Jumps 垂请· 5-27 5.87 Functions and the call stack 5-27 5.8.8 Killing the Call stack 5-29 5.89 Automatic subroutines 5-30 Chapter6: Program Development and Execution……………………6-1 6.1 Editing a program…… 6.2 Compilation……………………,……,………………6-1 63 The Preprocessor… …………………………6-14 6. 4 Compiler pragmas........................... 6-15 64.1 Compiler directives….,,… ,6-15 6.4.2 Evaluating Expressions Used in Compiler Directives 6-20 6.5 Downloading and Uploading a program 6-20 6.5.1 Binary data 6-21 652 Auxiliary Upload/ Download commands…… …6-22 6.5.3 Downloading a program 6-23 6.5.4 Uploading a program 6-24 6 Program Execution……… ·.········::·········· 6-24 SimplE 6.6.1 Initiating a Program 6-25 6.6.2 Halting and Resuming a Program ..6-25 6.6.3 Automatic Program Execution with Power Up 6-26 6.6.4 Save to Flash 6-26 6.7 Debugging 6-26 6.7. 1 Running Breaking and Resuming 6-26 6.7.2 The Elmo studio 垂·; 6-27 6.7., 3 The db command 6-27 6.7.4 Machine status∴……6-28 6.7.5 Program Status 6-28 6.7.6 Error status… 6.7.7 Setting and Clearing Breakpoints 6-30 67.8 Continuing the' rogram……………… ;·:······ 6-30 6.7.9 Single step… .6-30 67.10 Getting Stack Entries……… 632 6.7.11 Setting the Stack 6-32 6. 7.12 Retrieving the Call stack 6. 7.13 Viewing Global variable “+··““““ 6-33 6.7.14 Viewing local variables 6-34 Chapter7: Development aids…...….....…...……7-1 /1Wizardmodepasswordw.wwwwgwwwww.7-1 7.2 Simulation 7-1 72.1 Starting the Motor without a Motor Power Supply……… 7-1 7.2.2 Applying Digital Inputs without Connecting to an Input Device...7-2 723 Applying a Motor Fault……… ·请··垂垂D 7-2 7. 2.4 Applying a Follower Reference without Connecting an Encoder Signal to the Auxiliary Input… 7-2 7.2.5 Applying Analog Inputs without Connecting to an Analog Voltage Source7-3 7.3 Optimizing the Controller Sampling Time….….…..74 74 The recorder… 7-5 7.4.1 Recorder Sequencing: Programming, Launching and Uploading Data.7-6 7.4.2 Signal Mapping ··4······.··::44···4·······; ∴7-6 7.4.3 Defining the Set of Recording Signals.... 7-8 7.4.4 Programming Length and Resolution 7-8 7.4.5 Trigger Events and Timing 7-9 74.6 Launching the recorder………… 7-11 7.4.7 Uploading Recorded Data 7-12 7.5 Debugging Commands for Database Failures ............7-14 Chapter 8: Commutation 8.1 General Description........... 8.1.1 DC Brush motors… 8-1 8.1.2 Stepper Commutation 8-2 8.1.3 BLDC Commutation ···········::·············.;:·;:···· 8-2 8.2 Mechanical and electrical motion 8-2 8.3 Commutation sensors 8-3 831 Rotor Magnetic Field Sensors…… 8-3 8.3.2 Shaft Angle Sensors......….….….….… -4 8.3.3 Combining Sensor Types 8-5 8.3, 4 Parameterization of commutation and commutation errors, w. 8-5 SimplE 84 Auto-phasing and Commutation Search…… 8.4.1 Selecting parameters 8-8 8. 4.2 Method Limitation 8.4.3 Protections 8-10 8.4.4 Maximum Number of Iterations for Auto-phasing 10 845 Starting the Motor without Digital Hall Sensors……… 8-10 8.5 Continuous vs.Six- step commutation……….…..…….8-10 8.5.1Six-step( commutation………18-11 8.5.2 Continuous Commutation 8-12 8.6 Winding sha 8-12 87 Loading the commutation table…… 8-14 Chapter9: The current controller.……,…,,…,…,,…,…,…,…,……………9-1 9.1 Current limiting…… …9-2 9. 2 The pi current controller.wmwwwwwwwwm9-5 9.3 Current Amplifier protections Chapter10: Unit Modes……… 看。鲁春 10-1 10.1 Unit Mode 1: Torque Contro 10-1 10.2 Unit mode2: Speed( ontrol….….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 Mode3: Stepper Mode…… 10-8 10.4 Unit Mode4:; Dual Feedback mode.…………10-9 10.5 Unit Mode 5: Single feedback mode 10-11 Chapter11: The Position reference generator………… 11-1 11.1 Software Reference generator 111 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 ···..;··+··4············· 11-4 111.5Jog 垂看垂面垂 11-8 11.1.6 position- Velocity-Iime(VI)…… 11-10 111.7 Position-Time(PT)……… 11-21 11.2 The external position Reference generator. ................................11-29 11.2.1 Follower 垂垂;·;看垂 11-30 11.2.2ECAM 11-32 11.2.3 Dividing the ECAM Table into Logical Portions……………….11-36 11.2. 4 Fast ECAM Programming Using CAN .11-38 11.25 Initializing External Position Reference Parameters……… 11-38 1.3 Stop Manager……… 11-40 11.3.1 General Descripl 11-40 1132 Stop Manager Internal Elements…… 11-41 Chapter 12: Sensors yo and Events.......................12-1 2.1 Modulo Counting 12-1 12.2 Digital Inputs……,122 123 Digital Outputs…… 122 12.4 Events and response methods D音垂音 …12-3 SimplE 12.4.1 Manual Query ∴123 12.4.2 Periodic Query 12-4 12.4.3 Automatic routines 12-4 12.4.4 Real Time: Motion Management, Iloming, Capture and Flag .124 12.5 Homing and Capture .12-5 12.5.1 Homing Programming 12-6 125.2 Homing the auxiliary encoder….....………126 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 Chapter13: Limits, Protections, Faults and Diagnosis………………………,131 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 :.···:·:··.······················ 看看看看音看 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 Faul 13-10 13.9.2 Inconsistent Setup data 13-10 13.9.3 Device Failures and CPU Dump…………,….,13-11 13.105 ensor faults∴……13-12 13.10.1 Motor cannot move 13-12 13.11 Commutation is lost 13-13 13.1 1.1 Reasons for and effects of incorrect commutation 13-13 13.11.2 Detection of Commutation Feedback faults 13-14 Chapter 14: Filters ·:··自 14-1 14.1 Internal structure of a filter link 14-4 1411 Fixed link(Type16)…… .14-4 14.1.2 Scheduled link (Type 26) 145 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 14.2.4 First-order Element(Represented by Second-order Block 14-7 14-8 Chapter15: The Controller………5-1 15.1 Speed Control.…….15-2 15.1.1 Block diagran...............,.,,,15-2 1512 Speed Controller Parameters………… 15-3 15.2 The position controller ·着普D。音。普D非音。非 15-5 1521 Block diagram………… …………………1355 15.2.2 Position Controller parameters 15-6 15.3 The Gain Scheduling Algorithm 15-7 15.4 Automatic Controller Gain Scheduling 15-8 Simple This manual describes, in detail, the software used with the SimpliQ line of digital servo drives. It is an integral part of the SimpllQ documentation set, which includes SimplIQproduct line Installation Guides, which provide full instructions for installing a simplif drive The Composer user manual, which includes explanations of all the software tools that are a part of Elmo's Composer software environment The SimplIQ Command Reference Manual, which describes all of the software commands used to manipulate SimplIQdrives The Elmo CANopen Implementation Guide, an auxiliary document that describes the Can communication objects used with SimpllQ drives The following diagram illustrates the hierarchy of SimpltQ documentation CANopen Implementation Guide Simplo software manual SimplrQ Command Reference manual Programming Composer llser manual Setup Simplo servo drive Installation Installation guides Simple The following abbreviations are used in this document Download Transfer of data from the host to the drive DSP Digital signal processor EDS Electronic data sheet. The list of Can objects supported by a device, in a form suitable for standard configuration software IDE Integrated development environment PDO Process data object. A CAN message type, which eliminates the need for lloca tion the data payload for object addressing by pre-agreement concerning the message contents (Pdo mapping Upload Transfer of data from the drive to the host Simple SimplE SimpliQ drives are sophisticated, network-oriented, single-axis digital drives, featuring State-of-the-art control algorithms including high-order filters and gain scheduling A sophisticated reference generation algorithm, which includes absolute time interpolated motion, auxiliary signal following and ECAM Synchronization capability for network operation Conformance to Canopen standards User-friendly programming Advanced analysis tool for setup Built-in auto-tuning facilities Built-in database maintenance tools Built-in firmware maintenance tools All these features are implemented in the tiny dsp environment In the SimplIQ family of drives, the DSP software is divided into three parts Boot software, which is permanently burnt into the internal DSP flash memory and cannot be upgraded during product life. The boot software includes data that assists the firmware in identifying the exact drive model in which it is operating. The data includes the maximal motor phase current, the nominal bus voltage, the hardware of the communication sensors and l/o interface, and the grade(model)of the drive (Standard or Advanced Operational software(firmware), which may be updated at the user site if upgrades or modifications are required A supportive database that is loaded to the serial flash memory. This database serves as a filing system for personality descriptions, storage of the application database and storage of factory- or user-provided programs The boot software performs the following functions Initializes certain dsp registers Automatically validates test codes. If code validation fails it transfers automatically to Download firmware mode Handles and interprets degenerated communication, at the level required for firmware downloading functions Supports firmware downloads to the on-chip flash memory Transfers control to firmware 【实例截图】
【核心代码】
本文档是ELMO驱动公司软件手册，虽然是英文的，但是读起来不费力。文档介绍了驱动器编程语言，几种运行模式的配置方法，对于硬件驱动部分很好的参考资料。
SimplrQ Chapter1: Introduction…..,.…….…….1-1 1.1 Scope ·.·····4:·······:··:·· 1.2 abbreviations……… .1-2 Chapter2:s; mplIQ Drive Description………… 2.1 Software Organization........,.……2-1 2.1.1 Boot software 2-1 2.1.2 Firmware 2-2 2.1.3 Personality 2-2 2.2 Related software 2-2 2.3 Units of measurement 2. 3.1 Position 2.3.2 Speed and acceleration 2.3.3 Current and Torque 2-3 2.4 Internal units of measurement and conversion ....wwow..2-4 2.5 SimplrQ Drive Peripherals 2-4 2.5.1 Position decoders 2-4 2.5.2 A/D Converter 2-4 25.3 Digital Inputs…… 25 2.5.4 Digital Outputs... 2-5 Chapter3: Communication with the host.…,.,.,,,…,…,,……,3-1 3.1RS-232 Basics…,, 3.2 The echo 春春··看看 .3-2 3.3 Background Transmission………….........2 3.4 Errors and Exceptions in Rs-232 Chapter4: The Interpreter Language…………………………………………4-1 4. 1 The Command 4.2 Expressions and Operators……………………42 4.2.1 Numbers 4-2 4.2.2 Mathematical and logical operators 4-3 42.3 General Rules for Operators……… 4-4 4.2. 4 Operator Details -4-5 4.2.5 Mathematical functions 4.2.6 Expressions 4-7 4.2.7 Comments 4-11 Chapter5: The SimplIQ USer Programming Language………………………….5-1 5. 1 User Program organization 5.2 Single and multiple command execution 5.3 Standard Conventions 5-3 5.3.1 Line and Expression Termination 5.3.2 Line Continuation ………5-4 5.3.3 Limitations 5.4 Expressions and Operators 5-4 5.4.1 Numbers 5-4 SimplE 5.4.2 Mathematical and Logical Operators.…… 5.4.3 General Operator rules 5.4.4 Operator Details 5555 5.4.5 Mathematical functions 5.4.6 Exclusive Or Operation…….…… 55 5.4.7 CAN Object Emission 5-6 5.4.8 Expressions…….,.,,…….….,…..,.,…..…..15-7 5.5 Comments… 35-11 5.5.1 Double asterisk 5-11 5.5.2 Double slash 5-11 5.5.3C- style start and End comment.…….………15-11 5.6 Fault Handling ………………5-12 5.6.1 Unexpected Fault…… 5-12 56.2 Expected Fault…….….….… 5-12 5.7 Program Flow Commands............5-12 5.7.1 Labels(Entry Points) and Subroutines 15-13 5.7.2 For iteration ∴15-14 5.7.3 While iteration 5-15 5.7.4 Until Iteration 5-16 5.7.5 Wait Iteration 5-16 5.7.6 If Condition 5-17 5.7 Switch selection -18 5.7.8 Continue 5-19 57.9 Break 5-20 57.10 Return 5.7.1lTry- Catch……… 8 Functions 5-22 5.8.1 Function declaration ··..,+·+4+“ .5-22 5.8.2 Dummy variables 。· 5-24 5.8.3 Count of Output variables 5-24 5.8.4 Automatic Variables …5-26 5.8.5G Variable 5-26 5.8.6 Jumps 垂请· 5-27 5.87 Functions and the call stack 5-27 5.8.8 Killing the Call stack 5-29 5.89 Automatic subroutines 5-30 Chapter6: Program Development and Execution……………………6-1 6.1 Editing a program…… 6.2 Compilation……………………,……,………………6-1 63 The Preprocessor… …………………………6-14 6. 4 Compiler pragmas........................... 6-15 64.1 Compiler directives….,,… ,6-15 6.4.2 Evaluating Expressions Used in Compiler Directives 6-20 6.5 Downloading and Uploading a program 6-20 6.5.1 Binary data 6-21 652 Auxiliary Upload/ Download commands…… …6-22 6.5.3 Downloading a program 6-23 6.5.4 Uploading a program 6-24 6 Program Execution……… ·.········::·········· 6-24 SimplE 6.6.1 Initiating a Program 6-25 6.6.2 Halting and Resuming a Program ..6-25 6.6.3 Automatic Program Execution with Power Up 6-26 6.6.4 Save to Flash 6-26 6.7 Debugging 6-26 6.7. 1 Running Breaking and Resuming 6-26 6.7.2 The Elmo studio 垂·; 6-27 6.7., 3 The db command 6-27 6.7.4 Machine status∴……6-28 6.7.5 Program Status 6-28 6.7.6 Error status… 6.7.7 Setting and Clearing Breakpoints 6-30 67.8 Continuing the' rogram……………… ;·:······ 6-30 6.7.9 Single step… .6-30 67.10 Getting Stack Entries……… 632 6.7.11 Setting the Stack 6-32 6. 7.12 Retrieving the Call stack 6. 7.13 Viewing Global variable “+··““““ 6-33 6.7.14 Viewing local variables 6-34 Chapter7: Development aids…...….....…...……7-1 /1Wizardmodepasswordw.wwwwgwwwww.7-1 7.2 Simulation 7-1 72.1 Starting the Motor without a Motor Power Supply……… 7-1 7.2.2 Applying Digital Inputs without Connecting to an Input Device...7-2 723 Applying a Motor Fault……… ·请··垂垂D 7-2 7. 2.4 Applying a Follower Reference without Connecting an Encoder Signal to the Auxiliary Input… 7-2 7.2.5 Applying Analog Inputs without Connecting to an Analog Voltage Source7-3 7.3 Optimizing the Controller Sampling Time….….…..74 74 The recorder… 7-5 7.4.1 Recorder Sequencing: Programming, Launching and Uploading Data.7-6 7.4.2 Signal Mapping ··4······.··::44···4·······; ∴7-6 7.4.3 Defining the Set of Recording Signals.... 7-8 7.4.4 Programming Length and Resolution 7-8 7.4.5 Trigger Events and Timing 7-9 74.6 Launching the recorder………… 7-11 7.4.7 Uploading Recorded Data 7-12 7.5 Debugging Commands for Database Failures ............7-14 Chapter 8: Commutation 8.1 General Description........... 8.1.1 DC Brush motors… 8-1 8.1.2 Stepper Commutation 8-2 8.1.3 BLDC Commutation ···········::·············.;:·;:···· 8-2 8.2 Mechanical and electrical motion 8-2 8.3 Commutation sensors 8-3 831 Rotor Magnetic Field Sensors…… 8-3 8.3.2 Shaft Angle Sensors......….….….….… -4 8.3.3 Combining Sensor Types 8-5 8.3, 4 Parameterization of commutation and commutation errors, w. 8-5 SimplE 84 Auto-phasing and Commutation Search…… 8.4.1 Selecting parameters 8-8 8. 4.2 Method Limitation 8.4.3 Protections 8-10 8.4.4 Maximum Number of Iterations for Auto-phasing 10 845 Starting the Motor without Digital Hall Sensors……… 8-10 8.5 Continuous vs.Six- step commutation……….…..…….8-10 8.5.1Six-step( commutation………18-11 8.5.2 Continuous Commutation 8-12 8.6 Winding sha 8-12 87 Loading the commutation table…… 8-14 Chapter9: The current controller.……,…,,…,…,,…,…,…,…,……………9-1 9.1 Current limiting…… …9-2 9. 2 The pi current controller.wmwwwwwwwwm9-5 9.3 Current Amplifier protections Chapter10: Unit Modes……… 看。鲁春 10-1 10.1 Unit Mode 1: Torque Contro 10-1 10.2 Unit mode2: Speed( ontrol….….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 Mode3: Stepper Mode…… 10-8 10.4 Unit Mode4:; Dual Feedback mode.…………10-9 10.5 Unit Mode 5: Single feedback mode 10-11 Chapter11: The Position reference generator………… 11-1 11.1 Software Reference generator 111 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 ···..;··+··4············· 11-4 111.5Jog 垂看垂面垂 11-8 11.1.6 position- Velocity-Iime(VI)…… 11-10 111.7 Position-Time(PT)……… 11-21 11.2 The external position Reference generator. ................................11-29 11.2.1 Follower 垂垂;·;看垂 11-30 11.2.2ECAM 11-32 11.2.3 Dividing the ECAM Table into Logical Portions……………….11-36 11.2. 4 Fast ECAM Programming Using CAN .11-38 11.25 Initializing External Position Reference Parameters……… 11-38 1.3 Stop Manager……… 11-40 11.3.1 General Descripl 11-40 1132 Stop Manager Internal Elements…… 11-41 Chapter 12: Sensors yo and Events.......................12-1 2.1 Modulo Counting 12-1 12.2 Digital Inputs……,122 123 Digital Outputs…… 122 12.4 Events and response methods D音垂音 …12-3 SimplE 12.4.1 Manual Query ∴123 12.4.2 Periodic Query 12-4 12.4.3 Automatic routines 12-4 12.4.4 Real Time: Motion Management, Iloming, Capture and Flag .124 12.5 Homing and Capture .12-5 12.5.1 Homing Programming 12-6 125.2 Homing the auxiliary encoder….....………126 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 Chapter13: Limits, Protections, Faults and Diagnosis………………………,131 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 :.···:·:··.······················ 看看看看音看 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 Faul 13-10 13.9.2 Inconsistent Setup data 13-10 13.9.3 Device Failures and CPU Dump…………,….,13-11 13.105 ensor faults∴……13-12 13.10.1 Motor cannot move 13-12 13.11 Commutation is lost 13-13 13.1 1.1 Reasons for and effects of incorrect commutation 13-13 13.11.2 Detection of Commutation Feedback faults 13-14 Chapter 14: Filters ·:··自 14-1 14.1 Internal structure of a filter link 14-4 1411 Fixed link(Type16)…… .14-4 14.1.2 Scheduled link (Type 26) 145 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 14.2.4 First-order Element(Represented by Second-order Block 14-7 14-8 Chapter15: The Controller………5-1 15.1 Speed Control.…….15-2 15.1.1 Block diagran...............,.,,,15-2 1512 Speed Controller Parameters………… 15-3 15.2 The position controller ·着普D。音。普D非音。非 15-5 1521 Block diagram………… …………………1355 15.2.2 Position Controller parameters 15-6 15.3 The Gain Scheduling Algorithm 15-7 15.4 Automatic Controller Gain Scheduling 15-8 Simple This manual describes, in detail, the software used with the SimpliQ line of digital servo drives. It is an integral part of the SimpllQ documentation set, which includes SimplIQproduct line Installation Guides, which provide full instructions for installing a simplif drive The Composer user manual, which includes explanations of all the software tools that are a part of Elmo's Composer software environment The SimplIQ Command Reference Manual, which describes all of the software commands used to manipulate SimplIQdrives The Elmo CANopen Implementation Guide, an auxiliary document that describes the Can communication objects used with SimpllQ drives The following diagram illustrates the hierarchy of SimpltQ documentation CANopen Implementation Guide Simplo software manual SimplrQ Command Reference manual Programming Composer llser manual Setup Simplo servo drive Installation Installation guides Simple The following abbreviations are used in this document Download Transfer of data from the host to the drive DSP Digital signal processor EDS Electronic data sheet. The list of Can objects supported by a device, in a form suitable for standard configuration software IDE Integrated development environment PDO Process data object. A CAN message type, which eliminates the need for lloca tion the data payload for object addressing by pre-agreement concerning the message contents (Pdo mapping Upload Transfer of data from the drive to the host Simple SimplE SimpliQ drives are sophisticated, network-oriented, single-axis digital drives, featuring State-of-the-art control algorithms including high-order filters and gain scheduling A sophisticated reference generation algorithm, which includes absolute time interpolated motion, auxiliary signal following and ECAM Synchronization capability for network operation Conformance to Canopen standards User-friendly programming Advanced analysis tool for setup Built-in auto-tuning facilities Built-in database maintenance tools Built-in firmware maintenance tools All these features are implemented in the tiny dsp environment In the SimplIQ family of drives, the DSP software is divided into three parts Boot software, which is permanently burnt into the internal DSP flash memory and cannot be upgraded during product life. The boot software includes data that assists the firmware in identifying the exact drive model in which it is operating. The data includes the maximal motor phase current, the nominal bus voltage, the hardware of the communication sensors and l/o interface, and the grade(model)of the drive (Standard or Advanced Operational software(firmware), which may be updated at the user site if upgrades or modifications are required A supportive database that is loaded to the serial flash memory. This database serves as a filing system for personality descriptions, storage of the application database and storage of factory- or user-provided programs The boot software performs the following functions Initializes certain dsp registers Automatically validates test codes. If code validation fails it transfers automatically to Download firmware mode Handles and interprets degenerated communication, at the level required for firmware downloading functions Supports firmware downloads to the on-chip flash memory Transfers control to firmware 【实例截图】
【核心代码】
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