ElmoMC SimplIQ Software Manual - Manual (Page 144)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-3
Feature PT PVT
Cyclical motion support Yes Yes
On-the-fly motion
programming with
handshake host protocol Yes Yes
Table 11-2: 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 11-3: Tabulated Feature Preferences
11.1.3 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 11-4: 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.