Moog Animatics SmartMotor™ Developer's Guide,Rev. L
Page 788 of 909
VT=formula
Velocity Target
APPLICATION: Motion control
DESCRIPTION: Gets/sets the velocity target
EXECUTION: Buffered until a G command is issued
CONDITIONAL TO: MP, MV, G, PIDn (sample rate), encoder resolution.
LIMITATIONS: N/A
READ/REPORT: RVT
WRITE: Read/write
LANGUAGE ACCESS: Assignment, formulas and conditional testing
UNITS: (encoder counts / sample) * 65536
RANGE OF VALUES: -2147483648 to 2147483647
TYPICAL VALUES: -3200000 to 3200000
DEFAULT VALUE: 0
FIRMWARE VERSION: 5.x and later
COMBITRONIC: VT:3=1234
where ":3" is the motor address — use the actual address or a
variable
DETAILED DESCRIPTION:
The VT command is used to get (read) or set the velocity target as follows:
l
=VT
Read the current target velocity
l
VT=frm
Set the target velocity
The VT command specifies a target velocity (specifies speed and direction) for velocity moves
or a slew speed for position moves. The value must be in the range -2147483648 to
2147483647. Note that in position moves, this value is the unsigned speed of the move and
does not imply direction. The value set by the VT command only governs the calculated
trajectory of MP and MV modes (position and velocity). In either of these modes, the PID
compensator may need to "catch up" if the actual position has fallen behind the trajectory
position. In this case, the actual speed will exceed the target speed. The value defaults to
zero, so it must be set before any motion can occur. The new value does not take effect until
the next G command is issued.
Part 2: Commands: VT=formula
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