ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 202)

4.3.1.3 Protections .................................................................................................... 30
4.3.1.4 Maximum Number of Iterations for Auto-phasing.................................. 30
4.3.1.5 Starting the Motor without Digital Hall Sensors...................................... 31
Chapter 5: Limits, Protections, Faults and Diagnosis ......................................................... 32
5.1. Current Limiting ............................................................................................................. 33
5.2. Sensor Faults.................................................................................................................... 35
5.2.1 Motor Does Not Move Protection................................................................... 35
5.2.2 Commutation Faults ........................................................................................ 36
5.2.2.1 Matching the Hall Sensors with an Incremental Position Sensor ........... 36
Chapter 6: The Position Reference Generator...................................................................... 38
6.1. Software Reference Generator ....................................................................................... 38
6.1.1 Switching Between Motion Modes................................................................. 39
6.1.2 Comparing PT and PVT Interpolated Modes................................................ 39
6.1.3 Idle Mode and Motion Status.......................................................................... 40
6.1.4 Point-to-Point (PTP)......................................................................................... 41
6.1.4.1 Basic PTP....................................................................................................... 41
6.1.4.2 More Complex PTP Motions....................................................................... 43
6.1.5 Jog ...................................................................................................................... 45
6.1.6 Position - Velocity - Time (PVT) ..................................................................... 47
6.1.6.1 The PVT Table .............................................................................................. 51
6.1.6.2 Motion Management ................................................................................... 52
6.1.6.3 Mode Termination ....................................................................................... 54
6.1.6.4 PVT Motion Using CAN ............................................................................. 54
6.1.6.5 PVT Motion Mode Parameters ................................................................... 58
6.1.7 Position - Time (PT) ......................................................................................... 59
6.1.7.1 Interpolation Mathematics.......................................................................... 60
6.1.7.2 The PT Table................................................................................................. 61
6.1.7.3 Motion Management ................................................................................... 61
6.1.7.4 PT Motion Mode Parameters...................................................................... 66
6.2. The External Position Reference Generator.................................................................. 67
6.2.1 Follower ............................................................................................................ 68
SimplIQ for Steppers Application Note Contents
MAN-STECR (Ver. 1.1)
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