User's Manual
HARSFEN0602
Motion
segment
completed
?
N >= MP[2]-1
Increment
read pointer
Read the read pointer to the
QP vector and calculate the
parameters of the next motion
segment
Initial
conditions:
PT read
pointer equals
N
Interpolate
position
command
Go to
position
controller
Exit PT mode:
Set Stop motion,
using the SD
deceleration
Set the read
pointer to
MP[1]
Yes
No
No
EMERGENCY:
QUEUE
UNDERFLOW
MP[4]>0 and
(Write pointer ==
N+1 or
left time < MP[4])
EMERGENCY:
QUEUE LOW
Yes
No
Read pointer ==
Write pointer
Yes
Yes
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.
12.1.7.8 Programming Sequence for The Auto Increment PT Mode