Technical Explanation Revision: 5.

Q-Control Issue date:

Prepared by:
2015-05-22
CDA
Approved by: KeimTh

Keyword: SKAI2 HV, QUASAR, Motor Control Tuning, Software

1 Introduction ...............................................................................................................................2
1.1 Document Conventions ..........................................................................................................2
2 Getting started ...........................................................................................................................2
2.1 Installing the Q-Control Software ............................................................................................2
2.2 Uninstalling Q-Control ............................................................................................................2
2.3 CAN Communication ..............................................................................................................2
2.4 Starting the Q-Control Software ..............................................................................................2
2.4.1 Set the Communication Settings .......................................................................................3
2.4.2 Starting the Communication .............................................................................................3
2.4.3 Communication Errors .....................................................................................................4
3 Application Functions ..................................................................................................................5
3.1 Main Window ........................................................................................................................6
3.1.1 Communication and CANopen Commands ..........................................................................7
3.1.2 MC test modes ................................................................................................................7
3.1.3 Power Module .................................................................................................................9
3.1.4 Main Menu View ............................................................................................................ 11
3.1.5 Main Menu Commands ................................................................................................... 11
3.2 CAN Logger ........................................................................................................................ 12
3.2.1 Outgoing CAN Messages ................................................................................................ 14
3.2.2 Edit Filter ..................................................................................................................... 14
3.3 Parameters......................................................................................................................... 15
3.3.1 Parameter → File .......................................................................................................... 16
3.3.2 Parameter → Commands................................................................................................ 17
3.3.3 Parameter → Settings .................................................................................................... 17
3.4 Programming Procedure - Flash Window ................................................................................ 17
3.5 Scope ................................................................................................................................ 19
3.5.1 Global Commands Menu................................................................................................. 19
3.5.2 Variable files (*.csv) ...................................................................................................... 20
3.5.3 Channels ...................................................................................................................... 20
3.5.4 Axis settings ................................................................................................................. 21
3.5.5 Trigger Settings / Recording of Signals ............................................................................ 22
3.5.6 Real time scope Menu .................................................................................................... 22
3.5.7 Global commands Menu ................................................................................................. 25
3.5.8 View window Menu ........................................................................................................ 26
3.5.9 View Menu ................................................................................................................... 26
3.6 Tables................................................................................................................................ 27
3.6.1 Menu File ..................................................................................................................... 28
3.6.2 Menu Commands .......................................................................................................... 28
3.6.3 Table Example .............................................................................................................. 28
3.6.4 Epsilon X and Y values ................................................................................................... 28
Appendix A ................................................................................................................................... 29
3.7 Tables................................................................................................................................ 29
3.8 Figures .............................................................................................................................. 29
3.9 Terms and Abbreviations ...................................................................................................... 30
3.10 References ......................................................................................................................... 31

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PROMGT.1026/ Rev.3/ Template Technical Explanation
1 Introduction
During the commissioning of a new motor system including a SKAI2 running QUASAR or for maintenance
purposes, Q-Control PC application is needed to configure the system and to run tests.
Q-Control is designed to interact smoothly with the QUASAR software of any version. Special parameter
description files make sure that Q-Control stays compatible with any QUASAR Version.

1.1 Document Conventions

The following graphical notations are used to inform about hints and important notes.

Provides additional useful information or hints on how to improve

or simplify a specific task.

Notifies about important issues or commonly made mistakes and

how to omit them.

2 Getting started
This chapter provides a short introduction to Q-Control and shows the first main points to get started. In
the following chapters, the functions and settings are described in detail.
Please contact local sales to purchase a PCAN USB adaptor which retains a license for Q-Control.
On one PC only one instance of Q-Control can be run at the same
time. For each Q-Control instance that is run, a separate PCAN USB
adaptor is needed.

2.1 Installing the Q-Control Software

Double click the installation packet and follow the instructions on the screen.
By default this will install the application to the program file folder (Program Files\SKAItek\Q-Control) and
create some registry keys.
The following registry keys will be generated. For some special settings, some registry keys may have to be
edited:
 HKEY_CURRENT_USER\Software\SKAItek\Q-Control
The application will store some settings in here:
 HKEY_LOCAL_MACHINE\Software\SKAItek\Q-Control
The installation location and start menu group name is stored in there. This information is used for the
uninstall process.

2.2 Uninstalling Q-Control

Either select the Menu Item Uninstall or use the Add/Remove feature in the Control Panel.

2.3 CAN Communication

Q-Control supports communication by CAN with the PCAN-USB adapter from PEAK systems. The PCAN-USB
adapter includes license information to allow using Q-Control. Therefore these special adapters including
one runtime license must be purchased from local sales. For driver issues information can be found on the
PEAK system web page (http://www.peak-system.com/).

The driver for the CAN interface must be installed before starting
Q-Control.

2.4 Starting the Q-Control Software

Navigate to the Start menu → Q-Control and start Q-Control. The main window appears.

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2.4.1 Set the Communication Settings
In the View Menu select Communication settings.

Figure 1 - Communication settings window

2
3

1) Select the Baudrate of your CAN network and 11 Bit ID (default Baudrate 250kbit/s, can be
changed with the parameter: CANOpen -> Bitrate [20F1])
2) Enter the Node ID of the Motor Control device 1 (default is 0x7A, can be changed with the
parameter: CANOpen -> Node ID [20F3])
3) Enter the Node ID of the scope data 1 (default is 0x7E, can be changed with the parameter:
CANOpen -> Scope node ID [20F4])
4) Click Apply and close window
To switch from one device to another in a faster way there is the
possibility to define a second pair of CAN node IDs.
On the main window it is then possible to select the node 1 or 2 to
communicate with.

2.4.2 Starting the Communication

On the main window click Open com to communicate with the selected device. 1 & 2 refers to the defined
node ID pairs in the communication settings

Figure 2 - Communication and CANopen commands

 If the State: OK is displayed, the selected baud rate is correct.

 RxD blinks green when messages are received.

 TxD blinks when Q-Control sends messages (normally some SDO are sent to get a part of the
actual values and settings).
 Click on Start node to start the communication and activate the Send SYNC checkbox to receive
the TxPDO1 – TxPDO4 in the specified interval.
If the communication is not working properly, refer to 2.4.3 Communication Errors for trouble shooting.

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2.4.3 Communication Errors
Communication errors can have different reasons. The following table shall help to localize the error.

Table 1 – Communications error handling

Step Title Description

1 SKAI2  Verify if the SKAI2 is correctly supplied. This includes the power supply and
the boot mode selection (BMS or ELX pin).
2 Cabling  Is everything well connected?
 Is there a terminating resistor used?
3 Other devices  Please disconnect all the other CAN devices from the CAN bus
on the bus
4 Communication  Refer to chapter 2.4.1.
settings  Make sure the baud rate and the node id is correct
5 USB-PCAN  Is the red LED of the Adapter blinking?
Adapter o No  check the driver installation or the USB port of the PC
o Yes go to the next step
6 Communication Close and open the communication and check the communication state:
state  The State is OK  Go to the next
 The State is BUSHEAVY  Go to step 10
7 State OK The State is OK: Click on Start node
Are messages received in the CAN logger window?
 No  Go to the next step
Are the actual values on the main window updated?
 No  Activate the Send SYNC check box in CANopen commands part of
the main window
8 Restart SKAI2 The state is OK, but no messages are received in the CAN logger.
 Open the CAN logger and restart the SKAI2
 Is there a boot up message received?
o Check the node id of the message  change the node id of the
communication settings to this node id

If no message is received, the baud rate is probably not set correctly in Q-

Control.
o Change the baud rate (refer to chapter 2.4.1).
o Restart the SKAI2 again.
o Repeat until you receive a boot up message
9 Firmware The state is OK, the boot up message was received and the node id was
adjusted to the node id received in the boot up message.
If still only the TxD led is blinking the do the following steps:
o Open the Flash window in the view menu.
o Click on the button “Read target info”
o In the lower part of the window, the version of the firmware is
displayed
o If FLASH ERASED is displayed, there is no firmware programmed
If this step fails, click the button “Clear Errors” and click the button “Read
target info” again.
10 State The communication state is BUSHEAVY
BUSHEAVY  Refer to chapter 2.4.1 to check the CANopen settings
 Make sure the baud rate is correct

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3 Application Functions
The GUI consists of several windows, all accessible from the main window view menu.

Figure 3: Function overview

CAN logger
 send CANopen messages
 send custom messages
 log incoming messages
 log outgoing messages

Parameters
 read and write to the parameters
of QUASAR
 reset default values
 store changes persistently

Flash
 perform firmware updates of
Main window
QUASAR
 communication control  read firmware version information
 control most functions of
QUASAR NOTE: only for development purpose
 indicates quasar state
 indicates warning and errors Scope
 indicates actual values
 trace internal signals of QUASAR
 indicates firmware revision in real time
and hardware version  log measured values
 open other views
 perform commands
Tables
 Import/export of motor
characteristic tables containing
currents, inductances and torque

Communication settings
 settings for CAN communication
for main window and scope

Error Log
 Read error log data
 Export error log to csv file
 Clear the error log

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3.1 Main Window
From the main window all the functions or views can be accessed. It represents the control center for the
QUASAR motor control software.

Figure 4: Main window of Q-Control

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3.1.1 Communication and CANopen Commands

Figure 5 - Communication and CANopen commands

 After modifying any communication setting, click Close com and Open com.

 If the State: OK is displayed the selected baud rate is correct.

 RxD blinks green when messages are received.

 TxD blinks when Q-Control sends messages (normally some SDO are sent to get a part of the
actual values and settings).

To modify the communication settings, navigate to

Communication settings in the View menu (see chapter 3.1.4).

3.1.2 MC test modes

The Q-Control includes different control and test modes. Please refer to the CANopen specification for more
details (refer to [1]).
 ECU simulation
 Current regulator
 Closed loop control
 Automatic test
It is only possible to enable the PWM’s, if the communication is
working correctly, node guarding is activated and no errors are
active.

3.1.2.1 ECU simulation

The ECU simulation (electronic control unit simulation) allows controlling the QUASAR motor control device
from the GUI. These controls do mainly send the RxPDO1, RxPDO2 and RxPDO3. Please refer to the
QUASAR protocol description for more details.
To select the mode use the respective drop down list and select ECU simulation.

Figure 6 - ECU simulation settings

The state of the digital outputs 1 and 2 can be controlled.

If Activate node guarding is checked, Q-Control will send node guard requests to the QUASAR device
with an interval of about 450ms.
In torque control the reference torque is applied and the maximum speed acts as limiting speed.
In speed control the reference speed is applied and maximum torque acts as limiting torque.
It is possible to have asymmetric limitations. For this activate the Asymmetric limits checkbox.

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3.1.2.2 Current Regulator
The current regulator test mode allows directly providing reference values for the current controller. This
mode is used for tuning the current controllers for a specific motor.
To give Id and Iq reference currents select the “Cartesian” radio button. If a vector length of the current
and an angel are provided, select the “Polar” radio button.

Figure 7 - Current regulator settings

3.1.2.3 Closed-Loop Control

This test applies a current with a specific rotor frequency. The fixed speed is simulated.
Figure 8 - Closed-loop control settings

3.1.2.4 Automatic Test

The Automatic test can be used to follow a specific sequence of commands defined in a *.csv file.
Figure 9 - Automatic test settings

The installation of Q-Control provides a default AutoMode.csv file. This file can be used to specify a
sequence.
Auto Mode-File
With the Select file… button the Auto Mode-File can be opened. The Auto Mode-File defines current,
torque or speed steps.
 The first column defines how long the value is applied in 0.1s.
 The second column defines the current or torque (depending on column 4). If the speed mode
is chosen, then this value is used as limit.

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 The third column defines the speed, if the current or torque mode is chosen, then the speed is
used as limiting value.
 If the current mode is used, then the fourth column defines the current angle. The Current
Angle describes if Iq or Id will be applied.
 0° → Iq
 90° → Id
Example: The following table defines a step from 0A to 10A. This example file can also be found in the Q-
Control install folder: Start  All Programs  Q-Control  Example files

Table 2 – Example Auto Mode File

3.1.3 Power Module

The power module sections allows monitoring of status and actual values provided by QUASAR. QUASAR
support two mappings called PDO mapping V1 and PDO mapping V2. Q-Control will automatically switch
between the different views depending on the settings in QUASAR (refer to parameter PDO map version
[0x20F6])
The section shows mainly information provided in TxPDO1 to TxPDO4 CANopen messages. Check the
protocol description for more details.
The information about the version of the firmware and hardware and the information about the error
details are only updated by clicking the Update button next to the desired information.
The update of the analogue input data is done with an interval of 500ms (default value). This leads to
permanent traffic over the CAN-interface. It is possible to change the interval or even stop the traffic by
changing the Registry-Variable UpdateIntervalActualValues. If the variable is set to 0 the traffic is
stopped.
Registry-Key:
 HKEY_CURRENT_USER\Software\SKAItek\Q-Control\main\updateIntervalMs
The power module section for PDO mapping V2 gives better feedback about the actual state of QUASAR.
Further all status and error information is directly indicated with texts instead of numbers that need to be
interpreted by the user.

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Figure 10 - Power module of Q-Control for PDO mapping V2

The power module section for PDO mapping V1 only gives limited feedback. Further control sequences are
less save because commands are partially sent over SDO messages.
PDO mapping V1 is only provided for backwards compatibility. It
must NOT be used for serial applications because the limited
feedback cannot guarantee save operation.

Figure 11 - Power module of Q-Control for PDO mapping V1

Double click
to get more
information
about the
error

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3.1.4 Main Menu View

Figure 12 - View menu of Q-Control

From the main menu View the other windows of Q-Control can be accessed. For more details please refer
to the specific chapter of the windows.

3.1.5 Main Menu Commands

Figure 13 - Commands menu of Q-Control

Some commonly used commands are listed in this menu for easier access.
3.1.5.1 Clear Errors
This sends a command to clear all errors.
Errors can only be cleared if QUASAR is in Error State. Errors that occur during initialization of QUASAR
lead to the Initialization failed State. To leave this state, the reported problem has to be solved and
QUASAR has to be restarted.
Any error reported by QUASAR will not be cleared automatically
even if the error condition was removed. Therefore the error must
always be cleared using the “Clear Errors” command.

3.1.5.2 Send NMT to active Node

You can send NMT messages to the active node by clicking on one of the sub menu items. If you want
more control (e.g. sending a NMT broadcast), check the CAN logger view.

Figure 14 - NMT commands

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3.1.5.3 Bootloader Commands
If the QUASAR device stays in the bootloader (e.g. after firmware update) it can only be left by a so called
bootloader command. The command will be sent to the active node. More bootloader commands are
available in the Menu View → Flash.

Figure 15 - Bootloader commands

Jump to reset vector

The bootloader will jump to the reset vector. Use this function unless otherwise instructed.
Jump to application
The bootloader will jump to the application entry point without jump to the reset vector first.
Forced jump to application
This button has the function to bypass some security tests in the bootloader - in normal operating mode it
is not used.

These commands are usually not required and are only for
development purposes.

3.2 CAN Logger

The CAN logger can be used to trace incoming and outgoing messages. The terms incoming and outgoing
are defined in view of Q-Control:
Outgoing: Messages sent by Q-Control to QUASAR
Incoming: Messages sent by QUASAR to Q-Control
For incoming and outgoing messages filters can be defined. The view also allows logging the traced
messages into a file in CSV format.

Figure 16 - CAN logger overview

Outgoing messages
CAN logger  log outgoing messages
 send CANopen messages
 send custom messages
 log incoming messages
 access to Edit Filter (incoming / outgoing)
 define filters for messages to be
o Outgoing CAN
logged
messages
o Edit Filter

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Figure 17 - CAN logger

Log messages to a file

Opens the Outgoing CAN

messages window

Set a filter

 The CAN logger gives access to some CAN functions and CAN logging features.
 Typically there are a lot of messages on a CAN bus. It can be hard to track a specific CAN message,
therefore Q-Control has the possibility to add filters, which allows to define which CAN messages should
be displayed. The defined filters are applied to the CAN messages table and the file logging.
Displaying the CAN data in “real time” requires a lot of PC
resources. The more traffic on the CAN bus, the more resources
needed.
Use the Size of list to adjust the list size as preferred.
The log files are stored in the user profiles application data folder.
In Windows 7 this folder can be found in
C:\Users\<username>\AppData\Roaming\SKAItek\Q-
Control\CANLog or %APPDATA%\SKAItek\Q-Control\CANlog

Logging the CAN data into a file generates a lot of file access I/O.
Be aware of this fact when logging CAN networks with high traffic.

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3.2.1 Outgoing CAN Messages
This window is opened by clicking on the Show outgoing messages… button in the CAN logger window.
It allows checking the messages which are sent by Q-Control. Q-Control offers the same features for
outgoing messages as for incoming messages like filtering, logging etc.

Figure 18 - Outgoing CAN messages window

3.2.2 Edit Filter

In the CAN logger window and the Outgoing CAN messages window it is possible to define filters to reduce
the amount of displayed and logged messages. It is possible to define filters on COB IDs and/or the data
bytes. Each filter can either be a block or a pass filter.

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Figure 19 - Filter settings for CAN logger

3.3 Parameters

Parameters
 read and write to the parameters
of QUASAR
 reset default values
 store changes persistently

This window allows accessing to the parameters of the QUASAR device. This view will show parameters
according to meta data defined in the file para.defintion_Vx.xx.x.csv delivered with each version of
QUASAR.
After installing Q-Control for the first time an error will be prompted that indicates the missing parameter
information. Further the parameter tree and parameter details will not be displayed. Use the menu “File →
Load and set default file…” to select the parameter definition for the software you plan to use.
This command will load the parameter definition. The parameter definition is the meta data defining the
parameter tree and the names, descriptions, ranges, etc. of all parameters.
The read / write actions will change the parameters in RAM of the inverter. Therefore they are not stored
persistently. To make the changes persistent, please use the menu “Commands → Store parameters
(from RAM to EEPROM)”

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Figure 20 - Parameter window

If a Read resp. Write button of a parameter group (marked with

“struct”) is clicked, all parameters in that group are read resp.
written.
To read the whole parameter tree, click the Read button of the top
most “Parameters” group.
QUASAR will check the ranges and control the access of each parameter. If an error occurs it will be
displayed in the “State” field. By hovering over the error number, the decoded error will be shown.
Error states will be propagated up to the parameter group, in order they can easily be detected.
Parameter names and their values can be copied by clicking the right mouse button and selecting the
actions to be performed.

3.3.1 Parameter → File

With the menu File it is possible to import a parameter file or export the current parameters to a *.csv file.

Figure 21 - File menu of parameter window

When the parameter view is opened, then a default parameter file is read which contains the parameter
tree. After starting up the first time this parameter definition file has to be selected. Depending on the
QUASAR release, the parameter definition may vary and you may change the file.

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Choose “Import from file…” to import the actual values and the parameter definition of the selected file into
the parameter view.
Choose “Load and set default file…” to import the actual values and the parameter definition of the selected
file and set it as default parameter definition file.
Choose “Load data from file…” to only load the actual values of the selected file into the parameter view.
The parameter definition will remain unchanged. An information window may appear to indicate if some
parameter values cannot be imported, because they do not exist in the currently loaded parameter
definition.
The file selected as default file will only be read but never be written. For export the format of the currently
loaded parameter file is used.
To export the configuration of QUASAR read all parameters. Then choose “Export to file…” to export the
actual values and the parameter definition to a file.
For a backup of the parameters, first read all parameters and
then export them to a file. Otherwise some parameters won’t have
the current values.

3.3.2 Parameter → Commands

Restore default parameters does restore default settings for all parameters. The restored values are
copied into the RAM.
Store parameters does store the actual settings (which are stored in RAM) to the EEPROM.

Figure 22 - Commands menu of parameter window

If the parameters are only written and not stored to the EEPROM,
they are only saved to RAM. Therefore if a reset is done, the
changed values are lost.

3.3.3 Parameter → Settings

The Read parameter on select menu defines whether the parameters are automatically read by selecting
them in the parameter tree.
If activated, it has a checkmark in front of the menu item.

Figure 23 - Settings menu of parameter window

3.4 Programming Procedure - Flash Window

Flash
 perform firmware updates
of QUASAR
 read firmware version
information

The Flash window is used for firmware updates on your QUASAR device.

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The programming over Q-control must not be used to update serial
devices. The function shall only be used for development purpose.
Using this update procedure will only update a part of QUASAR
firmware containing the motor control, but not the update function
itself.
Follow these steps to update your firmware:

Figure 24 - Flash window

1) Be sure, that the communication settings are set to correct values

2) Click on “Read target info”, the application communication will be closed because the bootloader
will do the programming.
a. If the communication is okay, the target info in the lower part of the window will show the
details of the actual programmed version of the firmware.
b. If an error occurs, the communication is not correctly working. Check the wiring and check
also if a termination resistor is needed.
3) Define the firmware file to download to your QUASAR device by clicking on Select firmware file…
4) Click Program firmware…
5) Set the burn date in the appearing pop up window. Use the actual date and time (default) or set it
manually if you want (max 32 characters). Click Program firmware.
6) Click Verify to check, if the firmware update was done without error.

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7) Click Jump to application. This command will close the communication with the bootloader and
set the start address to the application start address. Close the Flash Window.
If an error occurred, click Reset error to be able to repeat the
procedure.
The second CAN-Interface (CAN_B) is not supported in the current
version.

3.5 Scope

Scope
 Trace signals of QUASAR device
in real time
 logging of recorded data

In the scope window Q-Control does offer different features to trace signals in function of time.

Figure 25 - Scope window

3.5.1 Global Commands Menu

Figure 26 - Commands menu of scope

 The signals which can be chosen for displaying in the scope window are saved in a list (variable
file). It is important that the variable file delivered with the used QUASAR version is selected,
otherwise the scope will not work properly.
 Further it is possible to synchronize the settings in the MCU on the QUASAR device with the
settings in the GUI.

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 It is possible to save and load the workspace to/from a *.ssf file. This function allows saving the
channel settings, the triggers and axis settings. The saved workspace can be loaded in a later
session.

3.5.2 Variable files (*.csv)

The defined variables in QUASAR are represented by an address for scoping these variables the correct
address of each variable need to be known. The variable file is used to allocate the selected addresses in
the scope to the addresses in QUASAR. The QUASAR software is delivered with an associated Variable file.
If the Variable file is not correct, no or wrong signals may be shown on the scope.

Figure 27 - Variable-file allows right allocating of address

QUASAR

Signal Address
…. ….
Electrical Speed: 0x0000DC48
Reference Speed: 0x0000651E

3.5.3 Channels
A channel is used to display a signal. All channels do have the same time resolution; all other settings of a
channel are individual per channel.
To select a signal to display on the scope do the following:
 Open the channel settings
 Select a signal from a list and define its data type
 Define a factor and an offset, if the signal should be scaled
See 0 for details
The number of channels is adjustable, set it as preferred. The fewer channels are used the faster the
signals will be displayed on the screen.
Be aware, that if there are too many channels, the number of
points per channel will decrease because of limited RAM on the
QUASAR device and therefore the result will be imprecisely.

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3.5.3.1 Channel Settings
By clicking on the channel number, the setting panel is shown and the settings for this channel can be
changed. Click on the channel number at the right for changing specific values. Select the Variables button
to get a list of all possible signals to display. Select one to close the list. See 3.5.1 for more information
about the list of signals.
The Type and Unit is set automatically depending on the selected variable. The Display factor as well as
the Display offset can be chosen so that the values are displayed as preferred.
The signal value displayed will be:
𝑉𝑎𝑙𝑢𝑒𝐷𝑖𝑠𝑝𝑙𝑎𝑦𝑒𝑑 = 𝑀𝑒𝑎𝑠𝑢𝑟𝑒𝑑𝑉𝑎𝑙𝑢𝑒 ∗ 𝐷𝑖𝑠𝑝𝑙𝑎𝑦𝐹𝑎𝑐𝑡𝑜𝑟 + 𝐷𝑖𝑠𝑝𝑙𝑎𝑦𝑂𝑓𝑓𝑠𝑒𝑡
To modify the color of the signal, click on the channel number when the channel settings panel is
expanded.

Figure 28 - Channel settings

Channel settings Opens the list with signals

3.5.3.2 Add / Remove Channels

The easiest way to add or remove channels is to click on the buttons in the top left corner of the channel
list. You do also have the possibility to modify the number of channels in the Settings view, see chapter
3.5.6.1 for details.

Figure 29 - Channel adding/removing

3.5.4 Axis settings

In the right part of the bottom panel the settings for the axis can be set.

Figure 30 - Axis settings for scope window

Resolution of time Resolution of y-axis

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3.5.5 Trigger Settings / Recording of Signals
In the left part of the bottom panel the trigger and mode settings can be changed.
Trigger settings: By clicking the button with the trigger symbol you get access to controls to define
the trigger channel, slope and pre-trigger.
Trigger mode: The scope supports auto, single or normal mode.

Figure 31 - Trigger and recording settings for scope

Trigger
mode Change trigger settings

Start Stop Synchronize MCU / PC

3.5.6 Real time scope Menu

Figure 32 - Diagram menu of scope

Synchronize settings This item helps to synchronize the MCU and the PC with
MCU and PC each other
Show settings Settings of the MCU and Q-Control useful to check if the data
matches. See chapter 3.5.6.1.
Display options This menu item allows settings for the look of the diagram. Set them to your
needs.
Clear cursors If the cursors were used they can be cleared again with this item.
Show legend This feature shows the legend of the signals on the scope screen.
File logging The measured data can be logged. To start and stop it uses this item. See
chapter 3.5.6.2.
Saving screen data as The current screen can be saved in different formats (as image, as *.csv, or
as *.txt file).
Print This feature can be used if the screen shall be printed.
Auto save This function allows saving automatically the screens as *.csv
or *.wmf file. See chapter 3.5.6.3.

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3.5.6.1 Show settings
In the settings window, the current settings of the MCU on the QUASAR device and the GUI are shown.
This allows seeing, if they are synchronized. If not, it is possible to synchronize MCU with PC in the
menu Commands. Further this window allows changing the number of channels or the number of points
per channel.
For real time logging, the data is first acquired to a buffer in the
RAM of the MCU of your QUASAR device and is then transferred by
CAN to your computer.
The number of points per channel defines how many points are
logged for one screen. Due to the fact that there has always to be
one point more than intervals, it is preferably to set this value to
81, 101, 201, etc. (the time per division is calculated with number
of intervals).

Figure 33 - Settings window of scope

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3.5.6.2 File Logging
The data which is shown on the screen can be logged to a file. The menu File logging allows to start /
stop logging and to choose the file name for the logging. If the logging is started without specifying a
specific file name, a default name is used and the file will be saved in the default logging path.

Figure 34 - File logging menu of scope

File Logger Settings

Another feature for the logging is the setting of the resolution and the offset.
Resolution / Log interval: This setting specifies which point should be logged.
Offset / Log start point: With the offset, the user can define which point the log should start with.

Figure 35 - File logger settings of scope

3.5.6.3 Auto save

Auto save allows saving the screen automatically. It is active as long as auto an auto save format is
selected. The status of auto save is indicated on the left of the time resolution in the scope view.
This is convenient, if the signal has to be logged for a longer period of time.
In the Auto save settings window the logging interval and the number of screens saved can be set.

Figure 36 - Auto save settings of scope

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3.5.7 Global commands Menu

Figure 37 – Global commands menu of scope

 The signals which can be chosen for displaying in the scope window are saved in a list (variable
file). It is important that the variable file delivered with the used QUASAR version is selected,
otherwise the scope will not work properly.
 Further it is possible to synchronize the settings in the MCU on the QUASAR device with the
settings in the GUI.
 It is possible to save and load the workspace to/from a *.ssf file. This function allows saving the
channel settings, the triggers and axis settings. The saved workspace can be loaded in a later
session.
3.5.7.1 Variable files (*.csv)
The defined variables in QUASAR are represented by an address for scoping these variables the correct
address of each variable need to be known. The variable file is used to allocate the selected addresses in
the scope to the addresses in QUASAR. The QUASAR software is delivered with an associated Variable file.
If the Variable file is not correct, no or wrong signals may be shown on the scope.

Figure 38 - Variable-file allows right allocating of address

QUASAR

Signal Address
…. ….
Electrical Speed: 0x0000DC48
Reference Speed: 0x0000651E

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3.5.7.2 Scope settings files (*.ssf)
The scope settings files are used to save user-defined settings. This is especially useful if a certain tuning
needs to be done several times. For example if the field weakening is tuned, different signals need to be
measured with the scope to do a good tuning. If the user has a good setting for this tuning it is possible to
save those settings and reload them afterwards again if the tuning needs to be redone.
Predefined Scope settings files
The Q-Control install version installs some predefined scope settings files which are most often used.

3.5.8 View window Menu

This menu gives access to other windows, which are described in the next sections.

Figure 39 - View menu of scope

3.5.8.1 Read addresses

This view can be used for non-real time logging of signals. Each of the signals is requested from QUASAR
one by one. This method is slow (smallest update interval is 80ms), but can be useful for e.g. states or
error codes. The last read value is shown on the left (right click for hexadecimal representation).

Figure 40 - Read addresses window of scope

Change settings of the signal

Activate to update data

3.5.9 View Menu

This menu gives access to other windows, which are described in the next sections.

Figure 41 - View menu of scope

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3.5.9.1 Read addresses
This view can be used for non-real time logging of signals. Each of the signals is requested from QUASAR
one by one. This method is slow (smallest update interval is 80ms), but can be useful for e.g. states or
error codes. The last read value is shown on the left (right click for hexadecimal representation).

Figure 42 - Read addresses window of scope

Change settings of the signal

Activate to update data

3.6 Tables

Tables
 Import/export of motor
characteristic tables containing
currents, inductances and
torque

There are several tables used to tune IPM machines for best efficiency. QUASAR implements these tables
that can be configured over CANopen interface.
Q-Control allows downloading and uploading tables. In the install packet of Q-Control is an example of a
table included (Start  All Programs  Q-Control  Example files), which shows exactly how the tables
have to look like. Please refer to this example and the QUASAR user manual [2] for more specific
definitions of the tables
IPM motor characteristics must be either given by the motor manufacturer in a datasheet or must be
measured on a test bench. In case they are available, the scales may need to be adapted to fit the rules
defined in the QUASAR user manual [2].
In the View Menu select Tables, the following window is opened.

Figure 43 - Tables window

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3.6.1 Menu File
In the File menu it is possible to import and export the tables.

Figure 44 - Menu File of Table window

3.6.2 Menu Commands

The Commands menu allows writing and storing tables to the MCU. It is also possible to read the current
table from the MCU or verify the table.

Figure 45 - Menu Commands of Table window

3.6.3 Table Example

Please refer to the provided example of table in the Q-Control package: Start  All Programs  Q-Control
 Example files.

3.6.4 Epsilon X and Y values

Maximum linearity fault can be set by changing the registry keys.
Registry-Key:
 HKEY_CURRENT_USER\Software\SKAItek\Q-Control\table\epsilonX
 HKEY_CURRENT_USER\Software\SKAItek\Q-Control\table\epsilonY

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Appendix A

3.7 Tables
Table 1 – Communications error handling ...........................................................................................4
Table 2 – Example Auto Mode File......................................................................................................9
Table 3 - Terms and Abbreviations ................................................................................................... 30

3.8 Figures
Figure 1 - Communication settings window .........................................................................................3
Figure 2 - Communication and CANopen commands .............................................................................3
Figure 3: Function overview ..............................................................................................................5
Figure 4: Main window of Q-Control ...................................................................................................6
Figure 5 - Communication and CANopen commands .............................................................................7
Figure 6 - ECU simulation settings .....................................................................................................7
Figure 7 - Current regulator settings ..................................................................................................8
Figure 8 - Closed-loop control settings ...............................................................................................8
Figure 9 - Automatic test settings ......................................................................................................8
Figure 10 - Power module of Q-Control for PDO mapping V2 ............................................................... 10
Figure 11 - Power module of Q-Control for PDO mapping V1 ............................................................... 10
Figure 12 - View menu of Q-Control ................................................................................................. 11
Figure 13 - Commands menu of Q-Control ........................................................................................ 11
Figure 14 - NMT commands ............................................................................................................ 11
Figure 15 - Bootloader commands ................................................................................................... 12
Figure 16 - CAN logger overview ..................................................................................................... 12
Figure 17 - CAN logger ................................................................................................................... 13
Figure 18 - Outgoing CAN messages window ..................................................................................... 14
Figure 19 - Filter settings for CAN logger .......................................................................................... 15
Figure 20 - Parameter window ......................................................................................................... 16
Figure 21 - File menu of parameter window ...................................................................................... 16
Figure 22 - Commands menu of parameter window............................................................................ 17
Figure 23 - Settings menu of parameter window ................................................................................ 17
Figure 24 - Flash window ................................................................................................................ 18
Figure 25 - Scope window ............................................................................................................... 19
Figure 26 - Commands menu of scope.............................................................................................. 19
Figure 27 - Variable-file allows right allocating of address ................................................................... 20
Figure 28 - Channel settings ........................................................................................................... 21
Figure 29 - Channel adding/removing............................................................................................... 21
Figure 30 - Axis settings for scope window ........................................................................................ 21
Figure 31 - Trigger and recording settings for scope ........................................................................... 22
Figure 32 - Diagram menu of scope ................................................................................................. 22
Figure 33 - Settings window of scope ............................................................................................... 23
Figure 34 - File logging menu of scope ............................................................................................. 24
Figure 35 - File logger settings of scope ............................................................................................ 24
Figure 36 - Auto save settings of scope ............................................................................................ 24
Figure 37 – Global commands menu of scope .................................................................................... 25
Figure 38 - Variable-file allows right allocating of address ................................................................... 25
Figure 39 - View menu of scope....................................................................................................... 26
Figure 40 - Read addresses window of scope ..................................................................................... 26
Figure 41 - View menu of scope....................................................................................................... 26
Figure 42 - Read addresses window of scope ..................................................................................... 27
Figure 43 - Tables window .............................................................................................................. 27
Figure 44 - Menu File of Table window .............................................................................................. 28
Figure 45 - Menu Commands of Table window ................................................................................... 28

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3.9 Terms and Abbreviations

Table 3 - Terms and Abbreviations

Letter Symbol Term

ACIM Alternating current induction motor

Base speed Motor speed where field weakening starts (at rated DC link voltage)

BLDC Brushless DC motor

BOT Bottom IGBT

CAN Controller Area Network

CANopen Communication protocol for CAN bus

COB-ID Communication Object Identifier

DUT Device under test (tuning)

ECU Engine control unit (or Electronic Control Unit)

Term used for rotor position sensing devices. This applies for all types of
Encoder
position sensing devices.

FOC Field Oriented Control (vector control)

FW Field weakening

HW Hardware

ID Identifier (e.g. CANopen node ID)

IPM Interior permanent magnet synchronous motor

LCU Logic Control Unit

MC Motor Control, the part in QUASAR controlling the motor

In this document “motor” is used as a general term. When referencing to

Motor “motor”, an electric machine in generator or motor mode or any other load or
source is meant.

NLSF Non-linear state feedback (Cross-coupling decoupling)

NMT Network Management (CANopen)

PC Personal Computer

PCB Printed Circuit Board

PDO Process Data Object (CANopen)

PSM Surface-mount permanent magnet synchronous motor

RTR Remote Transmit Request (CANopen)

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Rx Receive (CAN messages)

SDO Service Data Object (CANopen)

SKAI2 SEMIKRON (SK) advanced integration, 3 phase inverter with DSP controller

SKAI2 HV High voltage SKAI2

SW Software

SYNC Synchronization Object (CANopen)

TOP Top IGBT

Tx Transmit (CAN messages)

VCU Vehicle control unit

A detailed explanation of the terms and symbols can be found in the "Application Manual Power
Semiconductors" [2]

3.10 References
[1] Andres Linder, QUASAR CAN Protocol, “QUASAR CAN Protocol”, CAN protocol definition for QUASAR
0013_DO_Quasar_CAN Protocol.pdf
[2] Claudia Aebischer, “QUASAR User Manual”, User manual of QUASAR 0011_DO_Quasar_User
Manual.pdf

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HISTORY
SEMIKRON reserves the right to make changes without further notice herein

DISCLAIMER
SEMIKRON reserves the right to make changes without further notice herein to improve reliability, function
or design. Information furnished in this document is believed to be accurate and reliable. However, no
representation or warranty is given and no liability is assumed with respect to the accuracy or use of such
information, including without limitation, warranties of non-infringement of intellectual property rights of
any third party. SEMIKRON does not assume any liability arising out of the application or use of any
product or circuit described herein. Furthermore, this technical information may not be considered as an
assurance of component characteristics. No warranty or guarantee expressed or implied is made regarding
delivery, performance or suitability. This document supersedes and replaces all information previously
supplied and may be superseded by updates without further notice.

SEMIKRON products are not authorized for use in life support appliances and systems without the express
written approval by SEMIKRON.

SEMIKRON INTERNATIONAL GmbH

P.O. Box 820251 • 90253 Nuremberg • Germany
Tel: +49 911-65 59-234 • Fax: +49 911-65 59-262
[email protected] • www.semikron.com

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