Elmo HARSFEN0602 169, Stop Manager Internals, Vhn,Vln, Xm,Ym, Hard Stop Marked as 2 in the Figure

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

169

The commands relevant to the stop manager are:

Command	Description
SD	The maximum rate that the motor can accelerate/decelerate.
IL[N]	Input logic – define the functions associated to digital inputs.
VH[N],VL[N]	The maximum allowed controller command
XM,YM	Modulo count for the main and the auxiliary sensors

12.3.2 Stop Manager Internals

The Stop Manager is depicted in the block diagram below:

Clip Position command

to range

Position 1

com m and
(Software and
External)
Select zero	Select	Select
if hard-stop	direction limit	direction limit
	if RLS	if RLS
2
		4
3
Prevent backwards motion	Prevent Forward Motion

Rate &

Acceleration

limiter

Position command to

5

motion controller

Figure 32: Stop Manager Block Manager

In the next paragraphs, we shall explain the blocks in Figure 32.

Position command clipping (Marked as 1 in the Figure) The position command is clipped to the following values:

VH[3] above and VL[3] below, if the position feedback sensor counts linearly. XM/2-1 above, and -XM/2 below in UM=4, if PX is counted modulo.

•YM/2-1 above, and -YM/2 below in UM=5, if PY is counted modulo.

The clipping is necessary since, in some circumstances explained above, the sum of the software command and the external command, or even the software command alone, may exceed the command limits.

Hard Stop (Marked as 2 in the Figure)