ElmoMC SimplIQ Software Manual - Manual (Page 159)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-18
The PDO does not specify the PVT table row to be programmed; instead, a write pointer
specifies the row. The parameter MP[6] initially sets the write pointer. A new PVT
CANopen message (object 0x2001) write the data to the table row indicated by MP[6] and
then automatically increments MP[6]. The CANopen auto-increment mode is described
in the following flowchart:
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 11-6: PVT Auto-increment Mode Flowchart