ElmoMC SimplIQ Software Manual - Manual (Page 182)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-41
ƒ Limits the magnitude of the controller command to the maximum allowed range.
This is necessary because even if the software command is generated within the
permitted limits and the external command is also within the permitted limits, their
total value may exceed the permitted limits.
The stop manager prevents the position reference generator from driving the motor to
undesired positions. It does not affect the reference generator.
The commands relevant to the stop manager are:
Command Description
SD Maximum rate that the motor can accelerate/decelerate
IL[N] Input logic: define the functions associated with the digital inputs
VH[N], VL[N] Maximum allowed controller command
XM[N], YM[N] Modulo count for main and auxiliary sensors
Table 11-11: Stop Manager Commands
11.3.2 Stop Manager Internal Elements
The stop manager is depicted in the following diagram:
Position
command
(Software and
External)
Clip Position command
to range
Select zero if
hard-stop
Prevent backwards motion
Select
direction limit
if RLS
Select
direction limit
if FLS
Prevent Forward Motion
Rate &
Acceleration
limiter
Position command to
motion controller
1
2
3
4
5
Figure 11-18: Stop Manager Block Diagram