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HARSFEN0602
10 THE CURRENT CONTROLLER..................................................................................................................115
10.1.1 Current limiting .............................................................................................................................................. 116
10.1.2 The torque command filter ............................................................................................................................. 118
10.1.3 The PI current controller................................................................................................................................. 120
10.2 Current amplifier protections............................................................................................................................... 121
11 UNIT MODES ............................................................................................................................................... 123
11.1 Torque control: Unit mode 1................................................................................................................................. 123
11.2 Speed mode: Unit mode 2...................................................................................................................................... 124
11.2.1 The software speed command ........................................................................................................................ 124
11.2.2 The auxiliary speed command........................................................................................................................ 126
11.2.3 Stop management ........................................................................................................................................... 127
11.3 The stepper mode: Unit mode 3............................................................................................................................ 128
11.4 The Dual feedback mode: UM=4.......................................................................................................................... 129
11.5 The single feedback mode: UM=5 ........................................................................................................................ 131
12 THE POSITION REFERENCE GENERATOR .............................................................................................132
12.1 The software reference generator......................................................................................................................... 132
12.1.1 Switching Between Motion Modes ................................................................................................................ 132
12.1.2 Comparison of the PT and the PVT interpolated modes ................................................................................ 133
12.1.3 The Idle Mode and Motion Status .................................................................................................................. 133
12.1.4 Point-To-Point (PTP)...................................................................................................................................... 134
12.1.5 Jogging ........................................................................................................................................................... 138
12.1.6 PVT: Position-Velocity-Time interpolated motion ....................................................................................... 140
12.1.7 PT Motion....................................................................................................................................................... 153
12.2 The External Position Reference Generator........................................................................................................ 159
12.2.1 ECAM ............................................................................................................................................................ 162
12.2.2 Dividing ECAM table into several logical portions ....................................................................................... 165
12.2.3 On the fly ECAM programming using CAN.................................................................................................. 166
12.2.4 Initializing the external reference parameters................................................................................................. 167
12.3 The Stop management ........................................................................................................................................... 168
12.3.1 General description......................................................................................................................................... 168
12.3.2 Stop Manager Internals................................................................................................................................... 169
13 SENSORS, I/O, AND EVENTS ....................................................................................................................172
13.1 Modulo counting .................................................................................................................................................... 172
13.1.1 Modulo Counting............................................................................................................................................ 172
13.2 Digital Inputs.......................................................................................................................................................... 173
13.3 Digital Outputs....................................................................................................................................................... 173
13.4 Events, and response methods .............................................................................................................................. 174
13.4.1 Manual inquiry ............................................................................................................................................... 174
13.4.2 Periodical Inquiry........................................................................................................................................... 174
13.4.3 Automatic routines ......................................................................................................................................... 175
13.4.4 Real time – Motion management, Homing, Capture, and Flag ...................................................................... 175
13.5 Homing and Capture ............................................................................................................................................. 175
13.5.1 What Is Homing?............................................................................................................................................ 175