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HARSFEN0602
13.5.2 Homing Programming ....................................................................................................................................176
13.5.3 Homing the auxiliary encoder.........................................................................................................................176
13.5.4 On the fly position counter updates ................................................................................................................177
13.5.5 A homing with home switch and index example ............................................................................................177
13.5.6 Capturing ........................................................................................................................................................180
14 LIMITS, PROTECTIONS, FAULTS, AND DIAGNOSIS...............................................................................181
14.1 Current limiting......................................................................................................................................................182
14.2 Speed Protection.....................................................................................................................................................183
14.3 Position Protection .................................................................................................................................................184
14.4 Enable switch ..........................................................................................................................................................185
14.5 Limit switches .........................................................................................................................................................186
14.6 Connecting an external brake ...............................................................................................................................186
14.7 When the motor fails to start.................................................................................................................................187
14.8 Motion faults...........................................................................................................................................................187
14.9 Diagnosis .................................................................................................................................................................189
14.9.1 Monitoring motion faults................................................................................................................................189
14.9.2 Inconsistent setup data ....................................................................................................................................189
14.9.3 Device failures, and the CPU dump................................................................................................................190
14.10 Sensor faults............................................................................................................................................................190
14.10.1 The motor cannot move ..................................................................................................................................190
14.11 Commutation is lost................................................................................................................................................191
14.11.1 General............................................................................................................................................................191
14.11.2 Reasons and effect of incorrect commutation.................................................................................................191
14.11.3 Detection of Commutation Feedback Fault ....................................................................................................192
15 THE CONTROLLER.....................................................................................................................................193
15.1 General....................................................................................................................................................................193
15.2 Speed Control .........................................................................................................................................................194
15.2.1 Block diagram.................................................................................................................................................194
15.2.2 The Parameters of the Speed Controller .........................................................................................................195
15.3 The Position Controller..........................................................................................................................................196
15.3.1 Block Diagram................................................................................................................................................196
15.3.2 The Parameters of the Position Controller......................................................................................................197
15.4 The High Order Filter............................................................................................................................................198
15.4.1 Block Types....................................................................................................................................................198
15.4.2 User Interface..................................................................................................................................................200
15.5 The Gain-Scheduling Algorithm...........................................................................................................................201
15.6 Automatic Controller Gain-Scheduling................................................................................................................202
16 APPENDIX A: THE HARMONICA FLASH MEMORY ORGANIZATION....................................................204