Elmomc SimplIQ Software Manual manuals

Elmomc SimplIQ Software Manual User Manual (226 pages)

Brand: Elmomc | Category: Software | Size: 1.37 MB |

English

Table of contents

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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