Elmo HARmonica, HARSFEN0602 software manual 154, PT Motion Programming The Basic Mode

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

154

Interpolated path

PvtPlan output

2000	Motion path in counts
10-864
-
-
-
-		Time (seconds)
	.	.	.	.	.
12.1.7.34
	PT Motion Programming – The Basic Mode
12.1.7.3.1The6vectorTheQP[N]PT Tabledefines the position points for PT motion.

Each108element0 of 002the vector defines004the position006 at a 008given time. 01

The QP vector has 1024 elements, and can thus specify up to 1023 consecutive PT motion segments, or 1024 PT motion segments in the cyclical mode.

The positions in the QP vectors are limited by the modulo-count of the controlled axis. At the maximum (XM=0 for UM=5 or YM=0 for UM=4) the QP[N] elements are limited to +/- 230 counts.

If the position feedback sensor counts modulo, the PT data must be so that the range of the interpolated data is [-XM...XM-1] (Set YM instead of XM here and in the next sentences if UM=4). Interpolated results in the ranges [-XM...-XM/2-1] or [XM/2...XM-1] will be folded modulo XM to the sensor range of [- XM/2...XM/2-1]. Interpolated results out of the range [-XM...XM-1] will be clipped by the Stop-Manager, refer the section on the "Stop management".

12.1.7.4Motion Management

In the PT mode, the Amplifier manages a “read pointer” for the QP[] vector.

When the read pointer is N, the present motion segment starts at the position of QP[N], and ends at QP(N+1)5. After MP[4] control sampling times, the Amplifier increments the read pointer to N+1, and reads the QP[N+2] to calculate the parameters of the next motion segment.

The user does not have to use the entire PT table for a given motion.

The parameters of a PT motion are summarized in the following table:

Parameter	Use	Comment
MP[1]	The lowest valid element of the QP vector
MP[2]	The highest valid element of the QP
	vector

5The PT mode may be cyclical, according to MP[3] – please refer the explanations below. In that case N+1 must be interpreted in the modulo sense.