ElmoMC SimplIQ Software Manual - Manual (Page 162)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-21
The following CAN emergencies are supported:
Error
Code
(Hex) Error
Code
(Dec)
Reason
Data Field
0x56 86 Queue is low. Number of yet
unexecuted PVT table rows has
dropped below the value stated in
MP[4]. Field 1: Write pointer
Field 2: Read pointer
0x5b 91 Write pointer is out of physical range
([1…64]) of PVT table. Reason may be
an improper setting of MP[6]. Value of MP[6]
0x5c 92 PDO 0x3xx is not mapped.
0x34 52 An attempt has been made to program
more PVT points than are available in
queue. Field 1: Index of PVT table
entry that could not be
programmed
0x7 7 Cannot initialize motion due to bad
setup data. The write pointer is outside
the range specified by the start and end
pointers.
0x8 8 Mode terminated and motor has been
automatically stopped (in MO=1).
Data field 1: Write pointer
Data field 2:
1: End of trajectory in non-
cyclical mode
2: A zero or negative time
specified for a motion
interval
3: Read pointer reached
write pointer
0x9 9 A CAN message has been lost.
Figure 11-8: PVT CAN Emergency Messages
11.1.7 Position - Time (PT)
In a PT motion, the user specifies a sequence of absolute positions with equal time spaces
to be visited by the drive. The time space must be an integer multiple of the drive
sampling time. Between the user-specified positions, the drive interpolates smooth
motion. The position specifications are absolute.