3 idle mode and motion status, Idle mode and motion status -3 – ElmoMC SimplIQ Software Manual User Manual
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SimplIQ
Software Manual
The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-3
Feature PT
PVT
Cyclical motion support
Yes
Yes
On-the-fly motion
programming with
handshake host protocol
Yes Yes
Table
11-2: Tabulated Motion Differences
Feature Preferred
Long preprogrammed motions
PT
Ease of use
PT
Variable command sampling time
PVT
Motion design independent of controller sampling time
PVT
Synchronized, multiple-axis motions
PVT
Table
11-3: Tabulated Feature Preferences
11.1.3 Idle Mode and Motion Status
After motor on, the position profiler is idle, meaning that the software position command
is fixed. The idle mode is revisited whenever a mode terminates (a PTP or tabulated
motion is completed) or a stop (ST) command is issued.
Idle mode is the only mode in the parameters of the external reference generator can be
changed. This mode can be identified by the MS (motion status) variable, which can be
read as follows:
MS Value
Description
0
Position reference generator is idle and motor position is stabilized
within target radius for a satisfactory length of time.
1
Position reference generator is idle or the motor is off (MO=0).
2
Position reference generator is active in one of the optional motion
profilers: PTP, jog, PT or PVT.
Table
11-4: Motion Status Indications
When MS is 1 or less, the parameters of the external reference generator can be switched.
The condition MS=0 implies that the motor position is indeed stabilized, meaning that
the motor position is within the target radius, for at least the target time. The target
radius is given by RS[1] counts, and the target time is TR[2] milliseconds.