Elmomc SimplIQ Software Manual Manual de usuario descargar pdf (Pagina 185)

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

-0.5

0.5

1.5

x 10

Sec

Counts/sec

Figure 11-20: Speed Output of the Stop Manager

1 2 ... 180 181 182 183 184 185 186 187 188 189 190 ... 225 226

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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Elmomc SimplIQ Software Manual Manual de usuario Pagina 185

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