ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 265)

6.1.7.4 PT Motion Mode Parameters
The following parameters apply to PT motion:
Parameter Use Comment
UM (Unit Mode) Units modes 3, 4 and 5 select the
position mode.
SD (Stop Deceleration) Rate of deceleration when motion is
killed by queue underflow or exception.
SD is also the acceleration to catch up
with a PT motion started with improper
initial connections.
PV (Position/Time) Set a PT motion command. Special features are
available for PT using
CAN communication.
QP[N]: PT table entries Set values to PT table.
MP (Motion Parameters) MP[1] = First valid row in PT table.
MP[2] = Last valid row in PT table.
MP[3]: Bit0 = Cyclical motion
(0: Non-cyclical, 1: Cyclical).
MP[4] = Ratio between command
sampling time and position controller
sampling time.
MP[5] = Time for “Queue low” alarm.
MP[6] = Initial value for write pointer.
Configure a PT or
PVT motion. MP[6]
and MP[5] are for
CANopen auto-
increment mode only.
WS[28] Sampling time of the position controller,
in microseconds. A read-only
parameter. WS[28] is
an integer multiple of
the basic sampling
time as set by TS.
Table 6-12: PT-related Parameters
The following CAN emergencies are supported:
Error
Code
(Hex) Error
Code
(Dec)
Reason
Data Field1
0x56 86 The time for the entire remaining valid PT
program has dropped below the value
stated in MP[4]. Time (milliseconds)
remaining with valid motion
program.
0x5b 91 Write pointer is out of physical range
([1…1024]) of QP vector. Reason may be an
improper setting of MP[6]. Value of MP[6]
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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