Elmo HARSFEN0602, HARmonica 157, Programming Sequence for The Auto Increment PT Mode

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

157

Initial

conditions: PT read pointer equals

N

Motion

segment

completed

?

Yes

Read pointer ==

Exit PT mode:

Set Stop motion,

Write pointer

Yes

using the SD deceleration

No
N >= MP[2]-1		Yes
		EMERGENCY:
		QUEUE
		UNDERFLOW
Increment		Set the read
		pointer to
read pointer
		MP[1]
No
Read the read pointer to the
QP vector and calculate the
parameters of the next motion
segment
MP[4]>0 and
(Write pointer ==	Yes	EMERGENCY:
N+1 or		QUEUE LOW
left time < MP[4])
No
Interpolate
position
command
Go to
position
controller

Figure 29 – PT Auto Increment Mode Flow Chart

The above flow diagram differs from the flow diagram of the basic mode in the following: The read pointer reaching the write pointer identifies motion queue underflow.

•Emergency objects are issued for the queue low and for the queue underflow events.

12.1.7.8Programming Sequence for The Auto Increment PT Mode