ElmoMC SimplIQ Software Manual - Manual (Page 189)

SimplIQ Software Manual Sensors, I/O and Events
MAN-SIMSW (Ver. 1.4)
12-4
12.4.2 Periodic Query
This is possible only in CAN networks. The user can map the digital input word to a
synchronous PDO. The host can collect the input state of multiple slaves as a response to
a single sync. The following table summarizes some of the periodical query properties.
Topic Comment
Capture probability Low. An input pulse may slip away unnoticed between
consecutive syncs.
Deterministic delay Yes. 0.5 milliseconds maximum + CAN network time.
Use CAN networks only. Host logics only.
Table 12-3: Periodic Query Properties
12.4.3 Automatic Routines
Many events can be tied to automatic handler routines in the user program. For more
information about automatic user program routines, refer to
section 5.8.9 . The following
table summarizes some of the automatic routine properties.
Topic Comment
Capture probability High. An input pulse may slip away unnoticed only if the user
program is not running, the input is masked or the pulse is so
short that it does not pass through the input filters.
Deterministic delay No, although in most cases, the automatic routine will start
within 2 milliseconds.
Use User program logic.
Table 12-4: Automatic Routine Properties
12.4.4 Real Time: Motion Management, Homing, Capture
and Flag
The following can be real-time responses to events:
ƒ
The motor can stop, or a move in one direction can be prevented (refer to section 11.3
and Chapter 10: ).
ƒ A new motion can begin (refer to the BG command section of the SimplIQ Command
Reference Manual and Chapter 10: of this manual).
ƒ The power amplifier can be disabled.
ƒ The position counters can be logged.
ƒ The value of the position counter can be modified, and the position counter may stop.
ƒ An output connector pin can be flagged.