ElmoMC SimplIQ Software Manual - Manual (Page 6)

SimplIQ Software Manual Contents
MAN-SIMSW (Ver. 1.4)
iii
6.6.1 Initiating a Program ........................................................................................ 6-25
6.6.2 Halting and Resuming a Program ................................................................. 6-25
6.6.3 Automatic Program Execution with Power Up ........................................... 6-26
6.6.4 Save to Flash .................................................................................................... 6-26
6.7 Debugging .................................................................................................... 6-26
6.7.1 Running, Breaking and Resuming ................................................................ 6-26
6.7.2 The Elmo Studio .............................................................................................. 6-27
6.7.3 The DB Command ........................................................................................... 6-27
6.7.4 Machine Status ................................................................................................ 6-28
6.7.5 Program Status ................................................................................................ 6-28
6.7.6 Error Status ...................................................................................................... 6-29
6.7.7 Setting and Clearing Breakpoints .................................................................. 6-30
6.7.8 Continuing the Program ................................................................................. 6-30
6.7.9 Single Step ....................................................................................................... 6-30
6.7.10 Getting Stack Entries ...................................................................................... 6-32
6.7.11 Setting the Stack .............................................................................................. 6-32
6.7.12 Retrieving the Call Stack ................................................................................ 6-33
6.7.13 Viewing Global Variables .............................................................................. 6-33
6.7.14 Viewing Local Variables ................................................................................. 6-34
Chapter 7: Development Aids ............................................................................. 7-1
7.1 Wizard Mode Password ............................................................................... 7-1
7.2 Simulation ...................................................................................................... 7-1
7.2.1 Starting the Motor without a Motor Power Supply ...................................... 7-1
7.2.2 Applying Digital Inputs without Connecting to an Input Device ............... 7-2
7.2.3 Applying a Motor Fault .................................................................................... 7-2
7.2.4 Applying a Follower Reference without Connecting an Encoder Signal to
the Auxiliary Input ........................................................................................................ 7-2
7.2.5 Applying Analog Inputs without Connecting to an Analog Voltage Source7-3
7.3 Optimizing the Controller Sampling Time ................................................. 7-4
7.4 The Recorder .................................................................................................. 7-5
7.4.1 Recorder Sequencing: Programming, Launching and Uploading Data ...... 7-6
7.4.2 Signal Mapping ................................................................................................. 7-6
7.4.3 Defining the Set of Recording Signals ............................................................. 7-8
7.4.4 Programming Length and Resolution ............................................................ 7-8
7.4.5 Trigger Events and Timing .............................................................................. 7-9
7.4.6 Launching the Recorder ................................................................................. 7-11
7.4.7 Uploading Recorded Data .............................................................................. 7-12
7.5 Debugging Commands for Database Failures ......................................... 7-14
Chapter 8: Commutation ...................................................................................... 8-1
8.1 General Description....................................................................................... 8-1
8.1.1 DC Brush Motors .............................................................................................. 8-1
8.1.2 Stepper Commutation ...................................................................................... 8-2
8.1.3 BLDC Commutation ......................................................................................... 8-2
8.2 Mechanical and Electrical Motion ............................................................... 8-2
8.3 Commutation Sensors ................................................................................... 8-3
8.3.1 Rotor Magnetic Field Sensors .......................................................................... 8-3
8.3.2 Shaft Angle Sensors .......................................................................................... 8-4
8.3.3 Combining Sensor Types ................................................................................. 8-5
8.3.4 Parameterization of Commutation and Commutation Errors .................... 8-5