Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Instrukcja Użytkownika Pobierz pdf (Strona 239)

Feature PT PVT

On-the-fly motion

programming with

handshake host protocol

Yes Yes

Table 6-2: Tabulated Motion Differences

Feature Preferred

Long preprogrammed motions PT

Ease of use PT

Variable command sampling time PVT

Motion design independent of controller sampling time PVT

Synchronized, multiple-axis motions PVT

Table 6-3: Tabulated Feature Preferences

6.1.3 Idle Mode and Motion Status

After motor on, the position profiler is idle, meaning that the software position command

is fixed. The idle mode is revisited whenever a mode terminates (a PTP or tabulated

motion is completed) or a stop (ST) command is issued.

Idle mode is the only mode in the parameters of the external reference generator can be

changed. This mode can be identified by the MS (motion status) variable, which can be

read as follows:

MS Value Description

0 Position reference generator is idle and motor position is stabilized

within target radius for a satisfactory length of time.

1 Position reference generator is idle or the motor is off (MO=0).

2 Position reference generator is active in one of the optional motion

profilers: PTP, jog, PT or PVT.

Table 6-4: Motion Status Indications

When MS is 1 or less, the parameters of the external reference generator can be switched.

The condition MS=0 implies that the motor position is indeed stabilized, meaning that

the motor position is within the target radius, for at least the target time. The target

radius is given by RS[1] counts, and the target time is TR[2] milliseconds.

Example:

The concepts of target time and target radius are demonstrated in the following figure.

SimplIQ for Steppers Application Note The Position Reference Generator

MAN-STECR (Ver. 1.1)

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Elmomc SimplIQ Digital Servo Drives-Bell Command Referenc Instrukcja Użytkownika Strona 239