Filter
Top Products
HARSFEN0602
. . . . .
-
-
-
-
-
Interpolated path
PvtPlan output
Time (seconds)
Motion path in counts
12.1.7.3 PT Motion Programming – The Basic Mode
12.1.7.3.1 The PT Table
The vector QP[N] defines the position points for PT motion.
Each element of the vector defines the position at a given time.
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 +/-
30
2
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".
12.1.7.4 Motion 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
5
The 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.