Elmomc SimplIQ Software Manual User Manual

SimplIQ Software Manual May 2011 – Version 1.4 www.elmomc.com

SimplIQ Software Manual Introduction MAN-SIMSW (Ver. 1.4) 2-2 1.2 Abbreviations The following abbreviations are used in this document: Download T

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-4 7.3 Optimizing the Controller Sampling Time Selecting a controller sampling time

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-5 7.4 The Recorder The SimplIQ drive recorder mechanism enables the user to record

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-6 7.4.1 Recorder Sequencing: Programming, Launching and Uploading Data In order to

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-7 Signal ID Signal Name (Command) Length; Type Description 9 Auxiliary Speed (VY)

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-8 Prior to being recorded, the signals listed in Table 7-3 must be mapped to the r

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-9 Note that RG specifies only the recorder sampling rate, not the trigger sampling

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-10 The trigger defines when the recorder is to start. The recorder can be programme

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-11 RP[N] Description Definition RP[3] Trigger type 0: Immediate 1: BG 2: Positiv

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-12 The SR (status register) command details the status of the recorder. SR returns

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-13 The data is uploaded in hexadecimal form in order to minimize transmission time

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 2-2  Operational software (firmware), which may be updated at the user s

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-14 BH record transmission time can be quite long. A record of 2000 long numbers is

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 8-1 Chapter 8: Commutation 8.1 General Description The SimplIQ drives’ fixed magnet motors, in whic

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-2  CA[25], motor direction is set to 0 or 1 so that the motor will rotate in the desir

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-3 You can read the electrical and mechanical angle of the motor using the following comm

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-4 The following table describes the digital Hall sensor reading. The BLDC field angle is

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-5 8.3.3 Combining Sensor Types 8.3.3.1 Initializing Encoder-based Commutation When sta

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-6 As shown in the table, change CA[25] switches the B and C phases. Actually, changing C

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-7 8.3.4.3 Encoder Parameterization Accurate commutation requires a high-resolution sens

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-8 8.4 Auto-phasing and Commutation Search When starting the motor, the rotor can be loc

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-9 The selection rules for parameters I and f are as follows:  The torque I must be as

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 2-3  Tools for associating functions to I/O connector pins  Automatic

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-10 8.4.3 Protections The method described here can work reliably in many practical situ

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-11 To optimize the torque, it is necessary to maintain o90rF≈θ−θ . The commutation error

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-12 Digital Hall sensors have evolved to support six-step commutation. The crude six step

SimplIQ Software Manual Commutation MAN-SIMSW (Ver. 1.4) 8-13 Most motors are wound to sinusoidal or trapezoidal winding forms, but no motor can be

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 9-1 Chapter 9: The Current Controller This chapter describes the current controller and its paramete

SimplIQ Software Manual The Current Controller MAN-SIMSW (Ver. 1.4) 9-2 Pre-filterTorquecommandQP+I controllerOutputCoordinatetransformDP+I control

SimplIQ Software Manual The Current Controller MAN-SIMSW (Ver. 1.4) 9-3 Do not specify MBRV]1[PL > where: VB is the DC motor supply voltage. RM

SimplIQ Software Manual The Current Controller MAN-SIMSW (Ver. 1.4) 9-4 Slower time constants in the low-pass filter permit a peak current demand f

SimplIQ Software Manual The Current Controller MAN-SIMSW (Ver. 1.4) 9-5 9.2 The PI Current Controller The controllers for the IQ and ID components

SimplIQ Software Manual The Current Controller MAN-SIMSW (Ver. 1.4) 9-6 The DC power voltage varies significantly: It decreases at high current due

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 2-4 2.3.2 Speed and Acceleration Speed is measured in counts/second and a

SimplIQ Software Manual The Current Controller MAN-SIMSW (Ver. 1.4) 9-7 The protections that are provided are: Protection MF Reports Reason Over-

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 10-1 Chapter 10: Unit Modes The SimplIQ drive’s feedback can be structured in a number of different w

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-2 The AS[1] parameter compensates for possible offsets in the driving equipment and inte

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-3 If you do not use the analog input for the torque command, set RM = 0, in order to avo

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-4 1. Has any new BG command been accepted by the software or hardware? If yes, update t

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-5 Example 2: This example demonstrates the smoothing filter and the smoothing factor SF:

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-6 Auxiliary inputAnalog input 1 )-10 to 10 Volts(AG ]2[Count/sec/VoltΣAuxiliary speed c

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-7 Parameters Description switches (RLS or FLS) Table 10-4: Stop Manager Parameters Refe

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-8 0 0.2 0.4 0.6 0.8 10500100015002000250030003500400045005000Command generatoroutput Com

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-9 SoftwarepositioncommandΣEnable ifRM==1Stepper angle commandWS[20]Torquecommand(DV[1],

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 2-5 2.5 SimplIQ Drive Peripherals 2.5.1 Position Decoders The SimplIQ dr

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-10 SoftwarepositioncommandΣEnable ifRM==1Auxiliary positioncommandStopmanagerStop and li

SimplIQ Software Manual Unit Modes MAN-SIMSW (Ver. 1.4) 10-11 10.5 Unit Mode 5: Single Feedback Mode Single feedback mode is used when the same se

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-1 Chapter 11: The Position Reference Generator The position refere

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-2 Command Mode ST Idle: ST stops any motion. PA PTP: PA=n specif

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-3 Feature PT PVT Cyclical motion support Yes Yes On-the-fly mot

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-4 Example: The concepts of target time and target radius are demon

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-5 The parameters of PTP motion are summarized in the following tab

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-6 0 0.01 0.02 0.03 0.04 0.05 0.060100020000 0.01 0.02 0.03 0.04 0.

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-7 StartW ill stea dy deceleration at DC stop motion before target?

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-8 11.1.5 Jog In a jogging motion, the motor receives a command to

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 2-6 2.5.4 Digital Outputs The SimplIQ drive’s two digital output connecto

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-9 Example of simple jogging: Begin with the command sequence JV=30

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-10 11.1.6 Position - Velocity - Time (PVT) In a PVT motion the us

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-11 The four parameters a, b, c and d are unknown and can be solved

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-12 0 500 1000 1500 2000 2500012345678Difference(counts) msec It c

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-13 -3 -2 -1 0 1 2 3x 104-2-1012x 1040 5 10 15 20 25-2-1012x 105x s

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-14 0 1 2 3 4 5 610001020104010601080110011201140116011801200Positi

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-15 11.1.6.2 Motion Management In PVT mode, the drive manages a “r

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-16 Motionsegmentcompleted?N >= MP[2]-1Incrementread pointerRead

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-17 An unused part of the PVT table may be programmed for the next

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-18 The PDO does not specify the PVT table row to be programmed; in

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 3-1 Chapter 3: Communication with the Host The SimplIQ drive can operate with RS-232 communication o

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-19 This flow differs from the basic mode because:  The motion qu

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-20 MP[5] (number of rows remaining for “Queue low” emergency) shou

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-21 The following CAN emergencies are supported: Error Code (Hex) E

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-22 11.1.7.1 Interpolation Mathematics PT implements a third-order

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-23 0 0.02 0.04 0.06 0.08 0.1-1000-800-600-400-20002004006008001000

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-24 The parameters of a PT motion are summarized in the following t

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-25 A PT motion is initiated by stating: PT=N with 1 < N < 10

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-26 The PDO does not specify the QP vector elements to be programme

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-27 d. Programming Sequence for Auto-increment PVT Mode PT motion

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-28 11.1.7.4 PT Motion Mode Parameters The following parameters ap

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 3-2 Typical examples of assignments are: MO<CR> Asks the drive to r

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-29 The following CAN emergencies are supported: Error Code (Hex) E

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-30  Synchronizing several drives, which may be driven by an auxi

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-31 0 0.005 0.01 0.015 0.02 0.025 0.0302004006008001000120014001600

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-32 Suppose that the resolution of the conveyor encoder is similar

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-33 Commands Action EM[5] First valid index of ECAM table. The EM[

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-34 Example 1: The following figure illustrates the behavior of lin

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-35 One of the drives uses a digital output to control the flow of

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-36 External position commandECAM table input0EM[4]ET[3]EM[4]-EM[7]

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-37 Example: In the previous example of the chocolate bear, it was

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-38 11.2.4 Fast ECAM Programming Using CAN ECAM table points can b

SimplIQ Software Manual Communication with the Host MAN-SIMSW (Ver. 1.4) 3-3 3.4 Errors and Exceptions in RS-232 If an error is intercepted (over-

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-39 11.2.5.1 Jump-free Motor Starting Policy Upon starting a motor

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-40 Example: Consider a manipulator that works a conveyor. Whenever

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-41  Limits the magnitude of the controller command to the maximu

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-42 Position Command Clipping (No. 1 in Figure 11-18) The position

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-43 0 0.5 1 1.5 2 2.5 3-8-6-4-202468x 104SecCounts Figure 11-19: P

SimplIQ Software Manual The Position Reference Generator MAN-SIMSW (Ver. 1.4) 11-44 0 0.5 1 1.5 2 2.5 3-2-1.5-1-0.500.511.52x 107SecCounts/sec Figu

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 12-1 Chapter 12: Sensors, I/O and Events SimplIQ drives have two encoder inputs for feedback, commuta

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-2 The axis will travel 100,000 * (75 * 10-6 * 4) = 30 counts per one contro

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-3 12.4 Events and Response Methods SimplIQ drives identify the following e

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-4 12.4.2 Periodic Query This is possible only in CAN networks. The user ca

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-1 Chapter 4: The Interpreter Language SimplIQ servo drives use a communica

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-5 The following table summarizes some of the real-time properties: Topic Co

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-6 Example: TS = 80 Torque controller sampling time, in microseconds IF[1]

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-7  In jog motions, the position command is jumped according to the positi

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-8 The following user program performs the algorithm: function [int status]

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-9 return function [int status]=WaitHome(int TimeOut) /* Wait until HM=0

SimplIQ Software Manual Sensors, I/O and Events MAN-SIMSW (Ver. 1.4) 12-10 OldMi=MI;MI=MI|0x16; /* Prevent operational AUTO_RLS routine while in ho

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 13-1 Chapter 13: Limits, Protections, Faults and Diagnosis This chapter describes the limits and prot

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-2 Command Description ER[N] Tracking error exception lim

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-3 The maximum time for which the peak current can be main

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-4 13.2 Speed Protection The reference to the speed contr

Important Notice This guide is delivered subject to the following conditions and restrictions:  This guide contains proprietary information belon

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-2 Example: Command Line Results Remarks 3+4; 7 PX=7; PX-3; 4 PX is set

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-5 In order to avoid spurious motor shutdowns, always: 

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-6 0Within position command and feedback limits VL[3] VH[

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-7 13.5 Limit Switches SimplIQ drives have six digital in

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-8 The normal waveforms for brake activation are as follow

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-9 The motor will not start if the voltage of the power su

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-10 13.9 Diagnosis 13.9.1 Monitoring Motion Faults Motio

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-11 Before enabling the motor, the drive tests all paramet

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-12 13.10 Sensor Faults 13.10.1 Motor Cannot Move When th

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-13 13.11 Commutation is Lost The drive uses the feedback

SimplIQ Software Manual Limits, Protections, Faults and Diagnosis MAN-SIMSW (Ver. 1.4) 13-14  The commutation is drifting (that is, Δθ changes in

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-3 SimplIQ drives cannot evaluate numbers with an absolute value greater tha

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 14-1 Chapter 14: Filters The filter serves as a basic building block for the SimplIQ drive algorithms

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-2 Filter Parameters Maximum Order Speed controller high-order filter KV[0]…KV[47] Pos

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-3 Parameter Description Value Range KV[65]…KV[69] Parameters of fourth link KV[70]…K

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-4 14.1 Internal Structure of a Filter Link There are two types of filter links:  Type

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-5 14.1.2 Scheduled Link (Type 26) Only one block of this type can be used. The basic

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-6 14.2.1 Low-pass (Complex Pole) Element (Represented by Second-order Block) The basic c

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-7 The discrete equivalent form is: 2122120azazbzbzb++++ where:  qcpb1110++=, qpb)1(211−

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-8 14.2.4 First-order Element (Represented by Second-order Block) The basic continuous-t

SimplIQ Software Manual 13BFilters MAN-SIMSW (Ver. 1.4) 14-9 The value of KV[N] parameters for N = 12…47 is not important. Float2Par indicates the

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 15-1 Chapter 15: The Controller This chapter, which provides details about the speed and position con

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-4 The default precedence can be overridden using parentheses, as in the fol

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-2 The following table lists the parameters of the algorithms referred to in this cha

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-3 DV[2]ΣSpeed command-Torquecommand(DV[1], Amp)Speedcontroller:KP,KIHigh orderfilter

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-4 KSPEED is the conversion factor from the D/A scale to current in amperes: BITSVALU

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-5 15.2 The Position Controller 15.2.1 Block Diagram The position controller compri

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-6 15.2.2 Position Controller Parameters The position controller is implemented as a

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-7 15.3 The Gain Scheduling Algorithm Gain scheduling (GS) is implemented for speed

SimplIQ Software Manual The Controller MAN-SIMSW (Ver. 1.4) 15-8 Only a subset of the controller parameters can be scheduled. The KG[N] parameters

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-5 4.2.4 Operator Details The following table describes the operators in de

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-6 Operator / Description Nota- tion No. of Arguments Output Type Examples

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-7 Operator Description Returns fix Truncate to integer: fix(3.8) is 3 fix (

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-8 Examples: Command Line Results Remarks SP*2/5+AC 101,000 The order is

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-9 Example: A floating point variable “temp” is defined in a user program.

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-10 Operator Description Returns emcy(n) Issues an emergency message from a

SimplIQ Software Manual The Interpreter Language MAN-SIMSW (Ver. 1.4) 4-11 4.2.6.5 Time Functions The TM command is used to read the system 32-bit

Elmo Worldwide Head Office Elmo Motion Control Ltd. 64 Gisin St., P.O. Box 463, Petach Tikva 49103 Israel Tel: +972 (3) 929-2300 • Fax: +972 (

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-1 Chapter 5: The SimplIQ User Programming Language SimplIQ

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-2 In addition to the Interpreter commands, a program may inc

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-3 5.2 Single and Multiple Command Execution A single line i

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-4 5.3.2 Line Continuation A user program may contain a line

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-5 5.4.2 Mathematical and Logical Operators The description

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-6  Any floating-point type operand is converted to an inte

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-7 Example: The following code sends an EMCY from a routine i

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-8 5.4.8.1 Simple Expressions The description and syntax of

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-9 Example: function func (int a) Function definition int b

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-10 Examples: a = AC This expression assigns a value of the

SimplIQ Software Manual Introduction MAN-SIMSW (Ver. 1.4) i Contents Chapter 1: Introduction ...

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-11 5.5 Comments Comments are texts that are written into th

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-12 5.6 Fault Handling 5.6.1 Unexpected Fault In order to r

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-13 if - elseif - else - end Conditional expression. switch-c

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-14 Example 1: ##START; Start program. ##LOOP1; Label … Body

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-15  The iteration variable k must be declared as a variabl

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-16 5.7.4 Until Iteration Syntax: until (expression) ; The u

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-17 This sequence initiates a motion using the until (MS == 0

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-18 5.7.7 Switch Selection Syntax: switch (expression) case

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-19 Example: The following example selects the size of a poin

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-20 Example 2: while 1 . . . try . . . for k=0:5 if IB[

SimplIQ Software Manual Contents MAN-SIMSW (Ver. 1.4) ii 5.4.2 Mathematical and Logical Operators ...

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-21 Global variables can still be used and monitored by the

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-22 5.8 Functions Functions are program sections that can be

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-23 Example 6: function [float y1] = func4 () ; A prototype o

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-24 y2 = y1 + y2 ; Executable code Return Function end Before

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-25 If a function does not return any output by definition, a

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-26 5.8.4 Automatic Variables A variable declared within a f

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-27 global int vec[] Redeclare global variable vec. Notice th

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-28 This code executes the sequence: JV=1000;IA[1]=1;BG; Afte

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-29 5.8.8 Killing the Call Stack In rare situations, it may

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-30 5.8.9 Automatic Subroutines 5.8.9.1 List of Automatic R

SimplIQ Software Manual Contents MAN-SIMSW (Ver. 1.4) iii 6.6.1 Initiating a Program ...

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-31 Routine Name Priority Activated by Mask (MI) AUTO_I2

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-32 5.8.9.2 Automatic Routine Arbitration Each automatic rou

SimplIQ Software Manual 4BThe SimplIQ User Programming Language MAN-SIMSW (Ver. 1.4) 5-33 The mask may also be used to prevent switch bouncing from

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-1 Chapter 6: Program Development and Execution The process of Sim

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-2 The following table enumerates the list of compilation errors. E

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-3 Error Code Error String Meaning Example 8 Operator is expecte

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-4 Error Code Error String Meaning Example 16 Out of memory Comp

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-5 Error Code Error String Meaning Example 24 Name is keyword A

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-6 Error Code Error String Meaning Example  The global keywor

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-7 Error Code Error String Meaning Example 33 Bad function forma

SimplIQ Software Manual Contents MAN-SIMSW (Ver. 1.4) iv 8.4 Auto-phasing and Commutation Search ...

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-8 Error Code Error String Meaning Example 41 Case must follow s

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-9 Error Code Error String Meaning Example 49 Misplaced break Br

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-10 Error Code Error String Meaning Example 58 Variable is not a

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-11 Error Code Error String Meaning Example 65 Compiled code is

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-12 Error Code Error String Meaning Example  A global label fr

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-13 Error Code Error String Meaning Example 81 System function t

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-14 Error Code Error String Meaning Example 90 Condition is miss

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-15  Checks the conditions of #if, #elseif, #else, #ifdef and #if

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-16 Example 1: #define DEBUG_FLAG Defines the identifier DEBUG_FLAG

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-17 6.4.1.2 #if The #if directive checks the conditional expressio

SimplIQ Software Manual Contents MAN-SIMSW (Ver. 1.4) v 12.4.2 Periodic Query ...

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-18 6.4.1.4 #elseif The #elseif directive marks an optional clause

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-19 Example: #define DEBUG_FLAG . . . #ifdef DEBUG_FLAG MO=0 UM=5 M

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-20 6.4.2 Evaluating Expressions Used in Compiler Directives The #

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-21 After a successful download, global variables can be used — f

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-22 6.5.2 Auxiliary Upload/Download Commands 6.5.2.1 The LP[N] Co

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-23 6.5.3 Downloading a Program 6.5.3.1 The DL Command The DL com

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-24 5. Use the CC=checksum command to declare the end of loading a

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-25 6.6.1 Initiating a Program A program is initiated by the XQ co

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-26 The first task is invoked by XQ##TASK1. In order to switch to t

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-27 KL=0 kills all virtual machines, if any are running. KL stops t

SimplIQ Software Manual Introduction MAN-SIMSW (Ver. 1.4) 1-1 Chapter 1: Introduction 1.1 Scope This manual describes, in detail, the software use

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-28 6.7.4 Machine Status The DB##MS command returns the status of

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-29 When an error occurs inside a specified VAC machine, it returns

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-30 6.7.7 Setting and Clearing Breakpoints The SimplIQ drive suppo

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-31 6.7.9.2 Step Over The DB##SO command executes a step over by r

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-32  Run to the nearest end of line.  Compare the current base

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-33 6.7.12 Retrieving the Call Stack There is no direct command fo

SimplIQ Software Manual Program Development and Execution MAN-SIMSW (Ver. 1.4) 6-34 6.7.14 Viewing Local Variables Local variables cannot be acces

SimplIQ Software Manual MAN-SIMSW (Ver. 1.4) 7-1 Chapter 7: Development Aids SimplIQ hardware and software include a number of features that facil

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-2 Once you have entered the password, you enter MO=1 to initiate “motor on” state,

SimplIQ Software Manual Development Aids MAN-SIMSW (Ver. 1.4) 7-3 The auxiliary encoder will read a simulated encoder signal with a speed of n coun