Elmo HARSFEN0602, HARmonica software manual 159, External Position Reference Generator

HARSFEN0602ElmoHARmonicaSoftwareManual			PRELIMINARYDRAFT
		MP[4] = Ratio between the
		command sampling time and
		the position controller
		sampling time
		MP[5] = Time for queue low
		alarm
		MP[6] = Initial value for
		write pointer
	WS[29]	Sampling time, in	A read only parameter. WS[29] is
		microseconds, of the position	an integer multiple of the basic
		controller.	sampling time as set by TS.

Table 12-11 – PT Related Parameters

The following CAN emergencies are supported, all as manufacturer specific:

Error	Error	Reason	Data field 1
code	code
(Hex)	(Dec)
0x56	86	The time for the entire left valid PT	Time msec left with valid motion
		program has dropped below the	program
		value stated in MP[4]
0x5b	91	Write pointer out of the physical	The value of MP[6]
		[1,1024] range of the QP vector.
		The reason may be a bad setting of
		MP[6].
0x5c	92	The PDO 0x3xx is not mapped
0x34	52	Ann attempt has been made to	The index of the PT table entry that
		program more PT points then	could not be programmed.
		supported by the queue.
0x7	7	Cannot initialize motion due to bad
		setup data. Reasons:
		- The write pointer is outside the
		range specified by the start pointer
		and the end pointer.
0x8	8	Mode terminated, and the motor	Read pointer
		has been automatically stopped (In
		MO=1). Reasons are:
		End of trajectory in non cyclic
		mode (MP[3]=0) [Additional code
		1]
		A zero or negative time specified
		for a motion interval [Additional
		code 2]
		Read pointer reached write pointer
		[Additional code 3]

Table 12-12 – PT CAN Emergency Messages

159

12.2 The External Position Reference Generator

This section summarizes how the Amplifier generates the external motion command for the position controller.

The external position reference is useful for:

Positioning a manipulator on a moving object. The desired position of the manipulator

•with respect to the object on the conveyer can be programmed as a software motion, like