User's Manual

HARSFEN0602
The personality data is loaded to the serial flash memory. The personality data includes a
file allocation table and several files. The personality files include data about the Harmonica.
A partial list is:
List of supported command
List of error code
CAN EDS
All these data items enable an IDE to deal with the Harmonica. The File Allocation table
reserves place for storage of application parameters and of user programs. The personality
data is burnt into the serial flash using the firmware software.
The firmware can boot without personality data, but it will not become fully functional
before the personality data is programmed in place.
Full explanations of the personality data are given in the chapter “Appendix A: The
Harmonica Flash Memory Organization”.
2.3 Related Software
The Harmonica requires supporting software for setup, tuning, programming, and
performance assessment. The support software is called “Composer”. It runs on a PC
computer, under Windows.
The Composer includes the following functions (among many others):
Terminal for direct user interface by RS232 or by CAN
A recorder with advanced scope controls. You can observe up to 8 signals
simultaneously, triggered by a selection of events.
Setup and tuning tools:
Menus for entering basic application data and limits
Tools for associating functions to I/O connector pins
Automatic tuning of current controller
Automatic tuning for commutation
Manual and automatic Speed controller tuning
Manual and automatic Position controller tuning
Application database maintenance
Save and load application database
Edit application parameters, with help
Advanced IDE for user program development:
Editor
Compiler
Downloading and uploading of user programs
Debugger, with:
Various break point and stepping options
Watches for local and global variables
Call stack watch
The Composer software reads the personality data from the Harmonica, and can therefore
adapt to the specific amplifier model you bought.
2.4 Units
This section describes how the Harmonica measures time, position, speed, voltage, and
current.
2.4.1 Position units
The Harmonica refers to position by sensor counts. The sensor counts may be related to
physical units using the following commands:
Command Description
CA[18]
For rotary motors, CA[18] is the number of sensor counts per one full