ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 255)

Motion
segment
completed
?
N >= MP[2]-1
Increment
read pointer
Read the read pointer row of
the PVT table and calculate
the parameters of the next
motion segment
Initial
conditions:
PVT read
pointer equals
N
Interpolate
position
command
Go to
position
controller
Exit PVT mode:
Set Stop motion,
using the SD
deceleration
Set the read
pointer to
MP[1]
Yes
No
No
EMERGENCY:
QUEUE
UNDERFLOW
MP[4]>0 and
(Write pointer ==
N+1 or
left time < MP[4])
EMERGENCY:
QUEUE LOW
Yes
No
Read pointer ==
Write pointer
Yes
Yes
Figure 6-7: PVT Auto-increment Mode Flowchart
This flow differs from the basic mode because:
The motion queue underflow is diagnosed by the read pointer reaching the write
pointer.
Emergency objects are issued for the queue low and queue underflow events.
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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