Elmomc SimplIQ Software Manual Bedienungsanleitung Seite 8
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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 Struct
ure 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
- 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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