Document Outline

• Revision History
• Head Office
• North America
• Europe
• China
• Asia Pacific
• Chapter 1: Introduction
  • 1.1 Scope
  • 1.2 Abbreviations
• Chapter 2: SimplIQ Drive Description
  • 2.1 Software Organization
    • 2.1.1 Boot Software
    • 2.1.2 Firmware
    • 2.1.3 Personality
  • 2.2 Related Software
  • 2.3 Units of Measurement
    • 2.3.1 Position
    • 2.3.2 Speed and Acceleration
    • 2.3.3 Current and Torque
  • 2.4 Internal Units of Measurement and Conversion
  • 2.5 SimplIQ Drive Peripherals
    • 2.5.1 Position Decoders
    • 2.5.2 A/D Converter
    • 2.5.3 Digital Inputs
    • 2.5.4 Digital Outputs
• Chapter 3: Communication with the Host
  • 3.1 RS-232 Basics
  • 3.2 The Echo
  • 3.3 Background Transmission
  • 3.4 Errors and Exceptions in RS-232
• Chapter 4: The Interpreter Language
  • 4.1 The Command Line
  • 4.2 Expressions and Operators
    • 4.2.1 Numbers
    • 4.2.2 Mathematical and Logical Operators
    • 4.2.3 General Rules for Operators
    • 4.2.4 Operator Details
    • 4.2.5 Mathematical Functions
    • 4.2.6 Expressions
      • 4.2.6.1 Simple Expressions
      • 4.2.6.2 Assignment Expressions
      • 4.2.6.3 User Variables
      • 4.2.6.4 Built-in Function Calls
      • 4.2.6.5 Time Functions
      • 4.2.6.6 User Function Calls
    • 4.2.7 Comments
• Chapter 5: The SimplIQ User Programming Language
  • 5.1 User Program Organization
  • 5.2 Single and Multiple Command Execution
  • 5.3 Standard Conventions
    • 5.3.1 Line and Expression Termination
    • 5.3.2 Line Continuation
    • 5.3.3 Limitations
  • 5.4 Expressions and Operators
    • 5.4.1 Numbers
    • 5.4.2 Mathematical and Logical Operators
    • 5.4.3 General Operator Rules
    • 5.4.4 Operator Details
    • 5.4.5 Mathematical Functions
    • 5.4.6 Exclusive OR Operation
    • 5.4.7 CAN Object Emission
      • 5.4.7.1 The Emit Function
      • 5.4.7.2 The EMCY Function
    • 5.4.8 Expressions
      • 5.4.8.1 Simple Expressions
      • 5.4.8.2 Constant Expressions
      • 5.4.8.3 Assignment Expressions
      • 5.4.8.4 User Variables
      • 5.4.8.5 System Commands
      • 5.4.8.6 Built-in Function Calls
      • 5.4.8.7 User Function Calls
  • 5.5 Comments
    • 5.5.1 Double Asterisk
    • 5.5.2 Double Slash
    • 5.5.3 C-style Start and End Comment
  • 5.6 Fault Handling
    • 5.6.1 Unexpected Fault
    • 5.6.2 Expected Fault
  • 5.7 Program Flow Commands
    • 5.7.1 Labels (Entry Points) and Subroutines
    • 5.7.2 For Iteration
    • 5.7.3 While Iteration
    • 5.7.4 Until Iteration
    • 5.7.5 Wait Iteration
    • 5.7.6 If Condition
    • 5.7.7 Switch Selection
    • 5.7.8 Continue
    • 5.7.9 Break
    • 5.7.10 Return
    • 5.7.11 Try-Catch
  • 5.8 Functions
    • 5.8.1 Function Declaration
    • 5.8.2 Dummy Variables
    • 5.8.3 Count of Output Variables
    • 5.8.4 Automatic Variables
    • 5.8.5 Global Variables
    • 5.8.6 Jumps
    • 5.8.7 Functions and the Call Stack
    • 5.8.8 Killing the Call Stack
    • 5.8.9 Automatic Subroutines
      • 5.8.9.1 List of Automatic Routines
      • 5.8.9.2 Automatic Routine Arbitration
      • 5.8.9.3 The Automatic Subroutine Mask
• Chapter 6: Program Development and Execution
  • 6.1 Editing a Program
  • 6.2 Compilation
  • 6.3 The Preprocessor
  • 6.4 Compiler Pragmas
    • 6.4.1 Compiler Directives
      • 6.4.1.1 #define
      • 6.4.1.2 #if
      • 6.4.1.3 #else
      • 6.4.1.4 #elseif
      • 6.4.1.5 #endif
      • 6.4.1.6 #ifdef
      • 6.4.1.7 #ifndef
      • 6.4.1.8 #undef
    • 6.4.2 Evaluating Expressions Used in Compiler Directives
  • 6.5 Downloading and Uploading a Program
    • 6.5.1 Binary Data
    • 6.5.2 Auxiliary Upload/Download Commands
      • 6.5.2.1 The LP[N] Command
      • 6.5.2.2 The CP Command
      • 6.5.2.3 The CC Command
    • 6.5.3 Downloading a Program
      • 6.5.3.1 The DL Command
      • 6.5.3.2 The Program Download Process
    • 6.5.4 Uploading a Program
      • 6.5.4.1 The LS Command
      • 6.5.4.2 The Program Upload Process
  • 6.6 Program Execution
    • 6.6.1 Initiating a Program
    • 6.6.2 Halting and Resuming a Program
    • 6.6.3 Automatic Program Execution with Power Up
    • 6.6.4 Save to Flash
  • 6.7 Debugging
    • 6.7.1 Running, Breaking and Resuming
    • 6.7.2 The Elmo Studio
    • 6.7.3 The DB Command
    • 6.7.4 Machine Status
    • 6.7.5 Program Status
    • 6.7.6 Error Status
    • 6.7.7 Setting and Clearing Breakpoints
    • 6.7.8 Continuing the Program
    • 6.7.9 Single Step
      • 6.7.9.1 Run to Cursor
      • 6.7.9.2 Step Over
      • 6.7.9.3 Step In
      • 6.7.9.4 Step Out
    • 6.7.10 Getting Stack Entries
    • 6.7.11 Setting the Stack
    • 6.7.12 Retrieving the Call Stack
    • 6.7.13 Viewing Global Variables
    • 6.7.14 Viewing Local Variables
• Chapter 7: Development Aids
  • 7.1 Wizard Mode Password
  • 7.2 Simulation
    • 7.2.1 Starting the Motor without a Motor Power Supply
    • 7.2.2 Applying Digital Inputs without Connecting to an Input Device
    • 7.2.3 Applying a Motor Fault
    • 7.2.4 Applying a Follower Reference without Connecting an Encoder Signal to the Auxiliary Input
    • 7.2.5 Applying Analog Inputs without Connecting to an Analog Voltage Source
  • 7.3 Optimizing the Controller Sampling Time
  • 7.4 The Recorder
    • 7.4.1 Recorder Sequencing: Programming, Launching and Uploading Data
    • 7.4.2 Signal Mapping
    • 7.4.3 Defining the Set of Recording Signals
    • 7.4.4 Programming Length and Resolution
    • 7.4.5 Trigger Events and Timing
    • 7.4.6 Launching the Recorder
    • 7.4.7 Uploading Recorded Data
  • 7.5 Debugging Commands for Database Failures
• Chapter 8: Commutation
  • 8.1 General Description
    • 8.1.1 DC Brush Motors
    • 8.1.2 Stepper Commutation
    • 8.1.3 BLDC Commutation
  • 8.2 Mechanical and Electrical Motion
  • 8.3 Commutation Sensors
    • 8.3.1 Rotor Magnetic Field Sensors
    • 8.3.2 Shaft Angle Sensors
    • 8.3.3 Combining Sensor Types
      • 8.3.3.1 Initializing Encoder-based Commutation
      • 8.3.3.2 Detecting Commutation Errors (Loss of Feedback)
    • 8.3.4 Parameterization of Commutation and Commutation Errors
      • 8.3.4.1 Winding Order
      • 8.3.4.2 Hall Sensor Parameterization
      • 8.3.4.3 Encoder Parameterization
  • 8.4 Auto-phasing and Commutation Search
    • 8.4.1 Selecting Parameters
    • 8.4.2 Method Limitation
    • 8.4.3 Protections
    • 8.4.4 Maximum Number of Iterations for Auto-phasing
    • 8.4.5 Starting the Motor without Digital Hall Sensors
  • 8.5 Continuous vs. Six-step Commutation
    • 8.5.1 Six-step Commutation
    • 8.5.2 Continuous Commutation
  • 8.6 Winding Shapes
• Chapter 9: The Current Controller
  • 9.1 Current Limiting
  • 9.2 The PI Current Controller
  • 9.3 Current Amplifier Protections
• Chapter 10: Unit Modes
  • 10.1 Unit Mode 1: Torque Control
  • 10.2 Unit Mode 2: Speed Control
    • 10.2.1 Software Speed Command
    • 10.2.2 The Auxiliary Speed Command
    • 10.2.3 Stop Management
  • 10.3 Unit Mode 3: Stepper Mode
  • 10.4 Unit Mode 4: Dual Feedback Mode
  • 10.5 Unit Mode 5: Single Feedback Mode
• Chapter 11: The Position Reference Generator
  • 11.1 Software Reference Generator
    • 11.1.1 Switching Between Motion Modes
    • 11.1.2 Comparing PT and PVT Interpolated Modes
    • 11.1.3 Idle Mode and Motion Status
    • 11.1.4 Point-to-Point (PTP)
      • 11.1.4.1 Basic PTP
      • 11.1.4.2 More Complex PTP Motions
    • 11.1.5 Jog
    • 11.1.6 Position - Velocity - Time (PVT)
      • 11.1.6.1 The PVT Table
      • 11.1.6.2 Motion Management
      • 11.1.6.3 Mode Termination
      • 11.1.6.4 PVT Motion Using CAN
      • 11.1.6.5 PVT Motion Mode Parameters
    • 11.1.7 Position - Time (PT)
      • 11.1.7.1 Interpolation Mathematics
      • 11.1.7.2 The PT Table
      • 11.1.7.3 Motion Management
      • 11.1.7.4 PT Motion Mode Parameters
  • 11.2 The External Position Reference Generator
    • 11.2.1 Follower
    • 11.2.2 ECAM
      • 11.2.2.1 Linear ECAM
      • 11.2.2.2 Cyclical ECAM
    • 11.2.3 Dividing the ECAM Table into Logical Portions
    • 11.2.4 Fast ECAM Programming Using CAN
    • 11.2.5 Initializing External Position Reference Parameters
      • 11.2.5.1 Jump-free Motor Starting Policy
      • 11.2.5.2 On-the-fly Switching of External Reference Parameters
  • 11.3 Stop Manager
    • 11.3.1 General Description
    • 11.3.2 Stop Manager Internal Elements
      • Position Command Clipping (No. 1 in Figure ‎1118)
      • Hard Stop (No. 2 in Figure ‎1118)
      • Reverse Limit Switch (No. 3 in Figure ‎1118)
      • Forward Limit Switch (No. 4 in Figure ‎1118)
      • Rate and Acceleration (No. 5 in Figure ‎1118)
• Chapter 12: Sensors, I/O and Events
  • 12.1 Modulo Counting
  • 12.2 Digital Inputs
  • 12.3 Digital Outputs
  • 12.4 Events and Response Methods
    • 12.4.1 Manual Query
    • 12.4.2 Periodic Query
    • 12.4.3 Automatic Routines
    • 12.4.4 Real Time: Motion Management, Homing, Capture and Flag
  • 12.5 Homing and Capture
    • 12.5.1 Homing Programming
    • 12.5.2 Homing the Auxiliary Encoder
    • 12.5.3 On-the-fly Position Counter Updates
    • 12.5.4 Example 1: Homing with Home Switch and Index
    • 12.5.5 Example: Double Homing Corrects Backlash Offsets
    • 12.5.6 Capture
• Chapter 13: Limits, Protections, Faults and Diagnosis
  • 13.1 Current Limiting
  • 13.2 Speed Protection
  • 13.3 Position Protection
  • 13.4 Enable Switch
  • 13.5 Limit Switches
  • 13.6 Connecting an External Brake
  • 13.7 When the Motor Fails to Start
  • 13.8 Motion Faults
  • 13.9 Diagnosis
    • 13.9.1 Monitoring Motion Faults
      • 13.9.1.1 Polling the Drive Status
      • 13.9.1.2 Observing AOK
    • 13.9.2 Inconsistent Setup Data
    • 13.9.3 Device Failures and CPU Dump
  • 13.10 Sensor Faults
    • 13.10.1 Motor Cannot Move
  • 13.11 Commutation is Lost
    • 13.11.1 Reasons for and Effects of Incorrect Commutation
    • 13.11.2 Detection of Commutation Feedback Faults
• Chapter 14: Filters
  • 14.1 Internal Structure of a Filter Link
    • 14.1.1 Fixed Link (Type 16)
    • 14.1.2 Scheduled Link (Type 26)
  • 14.2 Examples of Filter Implementation
    • 14.2.1 Low-pass (Complex Pole) Element(Represented by Second-order Block)
    • 14.2.2 Notch Filter Element(Represented by Second-order Block)
    • 14.2.3 Double-lead Element(Represented by Second-order Block)
    • 14.2.4 First-order Element (Represented by Second-order Block)
• Chapter 15: The Controller
  • 15.1 Speed Control
    • 15.1.1 Block Diagram
    • 15.1.2 Speed Controller Parameters
  • 15.2 The Position Controller
    • 15.2.1 Block Diagram
    • 15.2.2 Position Controller Parameters
  • 15.3 The Gain Scheduling Algorithm
  • 15.4 Automatic Controller Gain Scheduling
• Word Bookmarks
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