Elmomc SimplIQ Command Reference Manuel d'utilisateur Page 130
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- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
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
- SimplIQ 1
- Important Notice 2
- Contents 3
- Chapter 1: Introduction 6
- 1.2 Scope 7
- MAN-SIMCR (Ver. 4.5) 10
- Command Reference Manual 14
- Limit Ranges 16
- (Single_Turn+Multi_Turn) 17
- AC - Acceleration 19
- AG[N] - Analog Gains Array 20
- AN[N] - Analog Inputs Array 21
- SimplIQ electronics 22
- BG - Begin Motion 23
- BP[N] - Brake Parameter 25
- CA[N] - Commutation Array 28
- 16 - CA[34] 30
- 16-CA[34] 33
- CC - Compiled Program Ready 34
- CD - CPU Dump 35
- SimplIQ Software 37
- CP - Clear Program 39
- DC - Deceleration 40
- DD - CAN Controller Status 41
- DF/DS - Download Firmware 42
- DL - Download Program 43
- EC - Error Code 45
- SimplIQ internal use 53
- SimplIQ drive internal use 53
- EM[N] - ECAM Parameters 60
- EO - Echo Mode 62
- FF[N] - Feed Forward 65
- FR[N] - Follower Ratio 66
- GS[N] - Gain Scheduling 67
- SimplIQ can: 70
- HP - Halt Program Execution 73
- HX - Hexadecimal Mode 74
- IB[N] - Input Bits Array 78
- IF[N] - Digital Input Filter 80
- IL[N] - Input Logic 81
- SimplIQ drive will retry 82
- Harmonica drive has 6 86
- IP - Input Port 88
- JV- Jogging Velocity 90
- KI[N], KP[N] - PI Parameters 92
- KL - Kill Motion and Program 93
- LC - Current Limit Flag 95
- LL[N] - Low Feedback Limit 97
- LP[N] - List Properties 98
- LS - List User Program 99
- MF - Motor Failure 101
- MI - Mask Interrupt 104
- SimplIQ Software Manual: 105
- MO - Motor Enable/Disable 106
- MS - Motion Status 110
- OB[N] - Output Bits Array 111
- OC[N] – Output Compare 113
- OC[3]=100(RS), volatile 115
- OC[4]=200(RS), volatile 115
- OL[N] - Output Logic 116
- drive will receive 117
- OP - Output Port 118
- PA - Absolute Position 119
- PE - Position Error 120
- PK - Peak Memory 121
- SimplIQ Software Manual 122
- PM - Profiler Mode 124
- PP[N] - Protocol Parameters 125
- PR - Relative Position 127
- PS - Program Status 128
- PT - Position Time Command 129
- Notes: 131
- PX - Main Position 132
- PY - Auxiliary Position 133
- RG - Recorder Gap 136
- RL - Record Length 137
- RM - Reference Mode 138
- RP[N] - Recorder Parameters 139
- RS - Soft Reset 142
- RV[N] - Recorded Variables 143
- SD - Stop Deceleration 144
- SF - Smooth Factor 145
- SN - Serial Number 146
- SP - Speed for PTP Mode 147
- SR - Status Register 148
- ST - Stop Motion 150
- TC - Torque Command 152
- TM - System Time 154
- TR - Target Radius 156
- TS - Sampling Time 157
- TW[N] - Wizard Command 158
- UF[N] – User Float Array 159
- UI[N] – User Integer 160
- UM - Unit Mode 161
- VE - Velocity Error 163
- VR - Firmware Version 165
- 3-50 below 168
- 3-52 below 169
- 3-53 below 169
- XM[N] - X Modulo 175
- XP[N] - Extra Parameters 176
- YM[N] - Y Modulo 180
- Storage 182
- array · 3-9 183
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