User's Manual

HARSFEN0602
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
microseconds, of the position
controller.
A read only parameter. WS[29] is
an integer multiple of the basic
sampling time as set by TS.
Table 12-11 – PT Related Parameters
The following CAN emergencies are supported, all as manufacturer specific:
Error
code
(Hex)
Error
code
(Dec)
Reason Data field 1
0x56 86 The time for the entire left valid PT
program has dropped below the
value stated in MP[4]
Time msec left with valid motion
program
0x5b 91 Write pointer out of the physical
[1,1024] range of the QP vector.
The reason may be a bad setting of
MP[6].
The value of MP[6]
0x5c 92 The PDO 0x3xx is not mapped
0x34 52 Ann attempt has been made to
program more PT points then
supported by the queue.
The index of the PT table entry that
could not be programmed.
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
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]
Read pointer
Table 12-12 – PT CAN Emergency Messages
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