ElmoMC SimplIQ Software Manual - Manual (Page 142)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-1
Chapter 11: The Position Reference
Generator
The position reference signal is generated by the following components
ƒ
Software reference generator
ƒ External position reference generator
ƒ Stop manager
11.1 Software Reference Generator
The SimplIQ drive supports five modes of software referencing:
ƒ Idle: motor standing in place
This is the default mode after setting motor on, and after an interpolated motion is
complete.
ƒ PTP: point-to-point
The user specifies the position in which the motor is to stand, and the limits subject to
which the trajectory to the target should be designed. The
SimplIQ drive
automatically designs a minimum-time trajectory and executes it.
ƒ Jog
The user specifies the speed at which the motor should steadily move and the
acceleration limits to implement towards that speed. The
SimplIQ drive automatically
designs a minimum-time trajectory and executes it.
ƒ PT: position/time
The user specifies a set of points to be visited at fixed points of time. The
SimplIQ
drive interpolates a third-order polynomial between the user’s points. The speeds at
the user points are selected in order to form a smooth motion trajectory. Using PT,
complex motions are easily designed. PT data may be transferred to the drive online
using an efficient CAN PDO protocol, so that infinite PT motions are possible.
ƒ PVT: position/velocity/time
The user specifies a set of motion points, each of which includes a position and the
speed and time at which the position should be visited. The user points are
interpolated using third-order polynomials. PVT mode allows absolute time
specification so that several drives may compose a fully-synchronized motion. PVT
data can be transferred to the drive online using an efficient CAN PDO protocol, so
that infinite PVT motions are possible.
In order to initiate a software motion, its parameters must be initialized and a mode
command issued. The next BG (software, hardware or timed) will start the motion. The
following are the mode commands: