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HARSFEN0602
7.7.28 RSLTE – Relational Operator (==)...................................................................................................................87
7.7.29 RSLTNE – Relational Operator (!=).................................................................................................................87
7.7.30 RSLTOR – Logical OR Operator ( || ) ..............................................................................................................88
7.7.31 SET_COMM – Set Command..........................................................................................................................88
7.7.32 SETINDEX.......................................................................................................................................................89
7.7.33 SHR – Shift Right.............................................................................................................................................89
7.7.34 SHL – Shift Left ...............................................................................................................................................89
7.7.35 SPADD .............................................................................................................................................................90
7.7.36 SUB - SUBTRACT ..........................................................................................................................................90
7.7.37 SYSSUBJ – Jump To System Subroutine.........................................................................................................91
7.7.38 UNARY_NOT - Logical NOT Operator (!) .....................................................................................................91
7.7.39 USRSUBJ – jump To User Subroutine.............................................................................................................92
7.7.40 USRSUBRT – Return from user subroutine.....................................................................................................92
7.7.41 XOR – Bitwise XOR Operator .........................................................................................................................93
8 THE RECORDER ...........................................................................................................................................94
8.1 Recorder sequencing: Programming, launching, and uploading data. ...............................................................94
8.2 Signal mapping .........................................................................................................................................................95
8.3 Defining the set of recorded signals ........................................................................................................................96
8.4 Programming the length and the resolution ..........................................................................................................96
8.5 Trigger events and timing........................................................................................................................................97
8.6 Launching the recorder .........................................................................................................................................100
8.7 Uploading recorded data .......................................................................................................................................100
9 COMMUTATION...........................................................................................................................................103
9.1 General....................................................................................................................................................................103
9.1.1 Brush DC motors.................................................................................................................................................103
9.1.2 The Stepper Commutation Policy........................................................................................................................103
9.1.3 The BLDC commutation policy ..........................................................................................................................104
9.2 Mechanical and electrical motion Figures are missing .......................................................................................104
9.3 Commutation sensors.............................................................................................................................................105
9.3.1 Rotor Magnetic field sensors...............................................................................................................................105
9.3.2 Shaft Angle Sensors.............................................................................................................................................106
9.3.3 Combination of direct magnetic field sensors and shaft angle sensor .................................................................106
9.3.4 Parameterization of the commutation and the commutation sensors...................................................................107
9.4 Commutation search ..............................................................................................................................................109
9.4.1 General ................................................................................................................................................................109
9.4.2 Selecting the parameters......................................................................................................................................109
9.4.3 Method limitation ................................................................................................................................................110
9.4.4 Protections ...........................................................................................................................................................110
9.4.5 Parameters related to starting the motor with no digital Hall sensors..................................................................111
9.5 Continuous Vs. Six-Steps commutation................................................................................................................111
9.5.1 Six-step commutation ..........................................................................................................................................112
9.5.2 Continuous commutation.....................................................................................................................................112
9.6 Winding shapes.......................................................................................................................................................113
9.6.1 Loading the commutation table ...........................................................................................................................114