PV - Position Velocity Time Command
Purpose:
Specifies that the next BG will start a PVT (Position - Velocity - Time) tabulated motion
and defines the starting index for the QP[N], QV[N] and QT[N] arrays.
In a PVT motion, new position and speed reference values are picked from the QP[N]
and QV[N] arrays at the time specified by the elements of the QT[N] array. The motion is
interpolated between the entries of QP[N] and QV[N]. The MP[N] parameters specify
which indices of QP[N], QV[N] and QT[N] are used for the motion.
After BG the PVT motion starts from the QP[PV] position.
A PVT motion terminates when, in non-cyclical mode (MP[3]=0), the index of MP[2] is
reached, or if the PVT buffer underflows (CANopen only). When a PVT motion
terminates, the motor is brought to a complete stop using the SD deceleration.
When a PVT motion is executing, PV reads the presently executing index of the PVT
table.
Attributes: Type: Command/Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=1, PVT motion executing,
Advanced model only
Default value: None, Volatile
Range: [1…64]
Unit modes: Position control (UM=3, 4, 5)
Activation: Next BG
See also:
PT, MP[N], QP[N], QV[N], QT[N]
Reference chapter in the
SimplIQ Software Manual:
Chapter 12, ”The Position Reference Generator”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-117
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