ElmoMC SimplIQ Software Manual - Manual (Page 184)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-43
0 0.5 1 1.5 2 2.5 3
-8
-6
-4
-2
0
2
4
6
8
x 10
4
S ec
Co
u
n
ts
Figure 11-19: Position Output of the Stop Manager
The input of the stop manager (the output of the position reference generator) is the red
solid line, and the output of the stop manager is the green dashed line. At the time of 0,
the PVT starts at position 17,000. The stop manager catches up with the sinusoidal
command, with an acceleration limit of SD. At the time of 1 second, a Hard Stop switch
becomes active and remains active until the time of 1.2 seconds. The stop manager
decelerates the position command to zero speed, using the SD deceleration. At the time
of 1.2 seconds, the stop manager begins to catch up again with the PVT reference, at SD
acceleration.
At the time of approximately 1.7 seconds, the PVT reference nears the limit of
VL[3]= -5000. Before the reference waveform actually reaches -5000, the stop manager
finds that the speed is too great for stopping at VL[3] with a deceleration of SD. It
therefore reduces the speed, coming to a complete stop at VL[3] with very small or no
overshoot.
At approximately 2.75 seconds, the stop manager finds that although the position
reference is not yet in range, it will be, in a short time. The stop manager begins to
accelerate the motor into the permitted range so that catching up when the reference
returns to range will be immediate, without the delay of acceleration.