Elmo HARmonica, HARSFEN0602 software manual 134, 12.1.4Point-To-Point PTP Basic Point-To-Point

HARSFEN0602ElmoHARmonicaSoftwareManual		PRELIMINARYDRAFT
	MS	Description
	Value

0The position reference generator is idle. Moreover, the Motor position stabilized within the target radius for long enough time.

1The position reference generator is idle, or the motor is off (MO=0).

2The position reference generator is active in one of the optional motion profilers – PTP, Jog, PT, or PVT.

Table 12-4: Motion status indications

When MS is 1 or less, it is possible to switch the parameters of the external reference generator.

The condition MS=0 is stronger – it implies that the motor position is indeed stabilized. The motor position is considered stable if the motor position is within the target radius, for

the target time at least. The target radius is given by TR[1] counts, and the target time is TR[2] msec.

Example

The target time and the target radius concepts are demonstrated in the drawing below.

1400
1200
1000
800	Target
600
400
200
			Time
0	0.011 0.012	0.046	0.050	0.074

In this drawing we see an overshooting settling of the motor position on a target at 1000 counts. The target radius is 20. The motor position is within target radius is the range of [980-1020] counts.

For the dynamics of the example, it is reasonable to select the target time TR[2]=30. If TR[2] is selected too low, false "On Target" decisions may result. For example, if the target time is set as 3msec, a final stabilization will be concluded at the time of 0.049 sec, since during the time interval [0.046, 0.049] the motor was within the allowed position error [980- 1020] counts.

12.1.4Point-To-Point (PTP)

12.1.4.1Basic Point-To-Point

In this motion mode the motor will move from its present position to a final point. The final point is arrived in zero speed and the motor stays there.

The trajectory to the final point is calculated based on the speed, acceleration, and deceleration limits, as set by the AC, DC, and SP parameters respectively.

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