ElmoMC SimplIQ Software Manual - Manual (Page 170)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-29
The following CAN emergencies are supported:
Error
Code
(Hex) Error
Code
(Dec)
Reason
Data Field1
0x56 86 The time for the entire remaining valid PT
program has dropped below the value
stated in MP[4]. Time (milliseconds)
remaining with valid
motion program.
0x5b 91 Write pointer is out of physical range
([1…1024]) of QP vector. Reason may be
an improper setting of MP[6]. Value of MP[6]
0x5c 92 PDO 0x3xx is not mapped.
0x34 52 An attempt was made to program more
PT points than supported by queue. Index of PT 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 pointer and
the end pointer.
0x8 8 Mode terminated and motor has been
automatically stopped (in MO=1).
Reasons:
ƒ End of trajectory in non-cyclical mode
(MP[3] = 0 ) [additional code 1]
ƒ A zero or negative time was specified
for a motion interval [additional code 2]
ƒ Read pointer reached write pointer
[additional code 3]
Read pointer.
Figure 11-12: PVT CAN Emergency Messages
11.2 The External Position Reference Generator
This section summarizes how the drive generates the external motion command for the
position controller. The external position reference is useful for:
ƒ
Positioning a manipulator on a moving object. The desired position of the
manipulator with respect to the object on the conveyor can be programmed as a
software motion, such as PTP or PVT. The position of the conveyor is not known in
advance and must be measured online; using the auxiliary encoder input, for
example. The reading of the auxiliary input is scaled by the follower ratio parameter
(FR[3]), and added to the software command.
ƒ Driving the drive as a slave in a larger arrangement. For example, when the drive
moves a valve in a pressure control system, its position command may be an analog
output of a pressure controller.