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Simpliq, Figure – ElmoMC SimplIQ Software Manual User Manual

Page 167

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SimplIQ

Software Manual

The Position Reference Generator

MAN-SIMSW (Ver. 1.4)

11-26

The PDO does not specify the QP vector elements to be programmed; instead, a write
pointer specifies them. The parameter MP[6] sets the value of the write pointer, which
may be set once for the entire motion. The write pointer is incremented automatically by
two each time the drive receives a new PT motion-programming message. 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 to the

QP vector and calculate the

parameters of the next motion

segment

Initial

conditions:

PT read

pointer equals

N

Interpolate

position

command

Go to

position

controller

Exit PT 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

11-10: PT Auto-increment Mode Flowchart

This flow differs from the basic mode because:
ƒ

The read pointer reaching the write pointer identifies motion queue underflow.

ƒ

Emergency objects are issued for the queue low and queue underflow events.