ElmoMC SimplIQ Command Reference - Manual (Page 108)

MP[N] - Motion (PT/PVT) Parameters
Purpose:
Programs the parameters of PVT or PT motions. PT or PVT motion is programmed as a
sequence of points that are visited at programmed times.
The QP[N] array stores the position reference points used for PT or PVT motion. The
QV[N] and QT[N] arrays store the speed and timing data that is additionally required for
PVT motions. The entries of the QP[N], QV[N] and QT[N] arrays used for a certain
motion may be programmed, in order to enable part of an array to be used for running
the motion while another part of the array is programmed for subsequent motions.
The QP[N], QV[N] and QT[N] arrays may be referred to as cyclical buffers. In cyclical
mode, periodic motions can be set to run forever. In addition, the host may program the
table on-the-fly, generating an infinite, online updated motion.
The MP[N] array defines how the QP[N], QV[N] and QT[N] tables are used for PVT and
PT motions, as detailed in the following table.
Parameter Description
MP[1] First index in the QP[N], QV[N] and QT[N] arrays to be used for the motion.
MP[2] Last index in the QP[N], QV[N] and QT[N] arrays to be used for the motion.
MP[3] 0: The motion is to terminate after the last (MP[2]) element of the QP[N], so
QV[N] and QT[N] arrays are used. A PT or a PVT motion terminates by
decelerating the motor to a complete stop, using the SD deceleration.
When using CAN, an emergency object is transmitted.
1: The motion is to be cyclical, so after using the last (MP[2]) element of the
QP[N], QV[N] and QT[N] arrays, the first (MP[1]) element is used again.
2: Reserved
3: CAN is being used and the motion is to be terminated without an
emergency object.
MP[4] Used for PT motions only. The number of drive sampling times between
consecutive specifications of position reference points. Note that MP[4]
counts sampling times for the position controller. This sampling time is given
by WS[55].
MP[5] If CANopen communication is used, allows the drive to send an emergency
object to the host when only a predefined number of valid reference points
has been left in the QP[N], QV[N] and QT[N] motion arrays. This way, the
host is released from polling the status continuously for the motion queue.
MP[5] programs the number of valid motion points remaining when an
emergency object is sent to the host. If MP[5]=0, no emergency object is sent.
MP[6] Reports the next entry index (write pointer) for the following point in the
PVT/PT table. This report is required for running PVT and PT motions using
CANopen and special high-speed motion referencing methods that are
available only for CANopen.
Table 3-33: MP[N] Parameters
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
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