ElmoMC SimplIQ Software Manual - Manual (Page 169)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-28
11.1.7.4 PT Motion Mode Parameters
The following parameters apply to PT motion:
Parameter Use Comment
UM (Unit Mode) Units modes 3, 4 and 5 select the
position mode.
SD (Stop Deceleration) Rate of deceleration when motion is
killed by queue underflow or
exception. SD is also the acceleration to
catch up with a PT motion started with
improper initial connections.
PV (Position/Time) Set a PT motion command. Special features are
available for PT
using CAN
communication.
QP[N]: PT table entries Set values to PT table.
MP (Motion Parameters) MP[1] = First valid row in PT table.
MP[2] = Last valid row in PT table.
MP[3]: Bit0 = Cyclical motion
(0: Non-cyclical, 1: Cyclical).
MP[4] = Ratio between command
sampling time and position controller
sampling time.
MP[5] = Time for “Queue low” alarm.
MP[6] = Initial value for write pointer.
Configure a PT or
PVT motion. MP[6]
and MP[5] are for
CANopen auto-
increment mode
only.
WS[28] Sampling time of the position
controller, in microseconds. A read-only
parameter. WS[28] is
an integer multiple
of the basic sampling
time as set by TS.
Figure 11-11: PT-related Parameters