ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 266)

Error
Code
(Hex) Error
Code
(Dec)
Reason
Data Field1
0x5c 92 PDO 0x3xx is not mapped.
0x34 52 An attempt was made to program more PT
points than supported by queue. Index of PT table entry that
could not be programmed
0x7 7 Cannot initialize motion due to bad setup
data. The write pointer is outside the range
specified by the start pointer and the end
pointer.
0x8 8 Mode terminated and motor has been
automatically stopped (in MO=1). Reasons:
End of trajectory in non-cyclical mode
(MP[3] = 0 ) [additional code 1]
A zero or negative time was specified
for a motion interval [additional code 2]
Read pointer reached write pointer
[additional code 3]
Read pointer.
Table 6-13: PVT CAN Emergency Messages
6.2. The External Position Reference Generator
This section summarizes how the drive generates the external motion command for the
position controller. The external position reference is useful for:
Positioning a manipulator on a moving object. The desired position of the
manipulator with respect to the object on the conveyor can be programmed as a
software motion, such as PTP or PVT. The position of the conveyor is not known
in advance and must be measured online; using the auxiliary encoder input, for
example. The reading of the auxiliary input is scaled by the follower ratio
parameter (FR[3]), and added to the software command.
Driving the drive as a slave in a larger arrangement. For example, when the drive
moves a valve in a pressure control system, its position command may be an
analog output of a pressure controller.
Synchronizing several drives, all driven by the same auxiliary encoder signal.
Each of the drives uses its ECAM table to derive its own motion path from the
auxiliary signal.
The external position reference is generated by the following scheme:
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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