ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 207)

The exception is the synthesis of speed and current commands from analog and pulse
input data. This synthesis is carried out by the motion processor, to allow minimum
delay.
The cycle time of the SimplIQ for Steppers processor is fixed and will normally be 360
µsec. The WI[4] command returns this value.
The TT[1] command sets the sampling time for the motion processor.
2.2. Storing Non-volatile Application Data
SimplIQ for Steppers stores application data permanently in flash memories.
This data includes:
- Controller, sensor, and IO parameters
- The user-defined program
- Cogging and commutation correction tables.
All this data is stored in a serial flash which ensures that the application data survives
minor firmware updates (updates that do not change the database structure).
The Controller, sensor, and IO parameters, as well as the correction tables, are saved
by the SV command, and restored by the LD command.
The user program uses a special flash segment. This assures that user program editing
can take place without risking the controller, sensor, and IO parameters. User
program maintenance includes the CP, CC, DL and LP commands. User program
downloading detail is described in the User Program Manual.
The cogging and the commutation correction tables present a special challenge. These
are large data blocks that need be accessed in real-time by the motion processor. For
this reason, the correction tables have another copy stored in the flash memory of the
motion controller.
The two copies of the correction tables can be synchronized by the SI command.
Correction tables synchronization is checked on power-on: if the two copies of the
tables do not match, motion is disabled. The correction table synchronization is only
checked once. If the user changes the correction tables in the SimplIQ for Steppers
database, but does not synchronize the motion processor, this change will have no
effect on the motion.
SimplIQ for Steppers Application Note Device and Software Organization
MAN-STECR (Ver. 1.1)
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