ElmoMC SimplIQ Software Manual - Manual (Page 165)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-24
The parameters of a PT motion are summarized in the following table:
Parameter Use Comment
MP[1] Lowest valid element of QP vector.
MP[2] Highest valid row of QP vector.
MP[3] 0: Motion stops if read pointer reaches
MP[2].
1: Motion continues when read pointer
reaches MP[2]. The next row of the
table is MP[1]. Cyclical behavior definition.
MP[4] Number of controller sampling times
in each PT motion segment.
Table 11-8: PT Motion Parameters
The following flowchart depicts the basic PT mode:
Motion
segment
completed
?
N >= MP[2]-1
Increment
read pointer
Read the N+1 element of the
PQ vector and calculate the
parameters of the next motion
segment
Initial
conditions:
PT read
pointer equals
N
Interpolate
position
command
Go to
position
controller
MP[3]==1
Exit PT mode:
Set Stop motion,
using the SD
deceleration
Set the read
pointer to
MP[1]
Yes No
Yes
Yes
No
Figure 11-9: PT Decisions Flowchart