Delta Tau GEO BRICK LV Reference Manual
Turbo PMAC/PMAC2 Software Reference
Turbo PMAC Program Command Specification
463
PVT{data}
Function:
Set Position-Velocity-Time mode
Type:
Motion program (PROG and ROT)
Syntax:
PVT{data}
where:
{data} is a positive constant or expression representing the time of a segment in milliseconds
This command puts the motion program into Position-Velocity-Time move mode, and specifies the time
for each segment of the move, in milliseconds. In this mode, each move segment in the program must
specify the ending position and velocity for the axis. Taking the starting position and velocity (from the
previous segment), the ending position and velocity, and the segment time, Turbo PMAC computes the
unique cubic position profile (parabolic velocity profile) to meet these constraints.
for each segment of the move, in milliseconds. In this mode, each move segment in the program must
specify the ending position and velocity for the axis. Taking the starting position and velocity (from the
previous segment), the ending position and velocity, and the segment time, Turbo PMAC computes the
unique cubic position profile (parabolic velocity profile) to meet these constraints.
If global I-variable I42 is set to the default value of 0, the specified time uses the move time register, and
has a range of 0 to 4095.9998 milliseconds, with a resolution of ¼-microsecond. In this case, if the
segment time in a sequence of moves is changed on the fly, either another PVT command is used, or a TM
command.
has a range of 0 to 4095.9998 milliseconds, with a resolution of ¼-microsecond. In this case, if the
segment time in a sequence of moves is changed on the fly, either another PVT command is used, or a TM
command.
If I42 is set to 1, the specified time uses the acceleration time register, and has a range of 0 to 8,388,607
milliseconds(about 2 hours, 20 minutes), with a resolution of 1 millisecond. In this case, if the segment
time in a sequence of moves is changed on the fly, either another PVT command is used, or a TA
command.
milliseconds(about 2 hours, 20 minutes), with a resolution of 1 millisecond. In this case, if the segment
time in a sequence of moves is changed on the fly, either another PVT command is used, or a TA
command.
The segment time in a sequence of moves can be changed on the fly, either with another PVT command,
or with a TM command. TS, TA, and F settings are irrelevant in this mode.
or with a TM command. TS, TA, and F settings are irrelevant in this mode.
The PVT command takes the program out of any of the other move modes (LINEAR, CIRCLE, SPLINE,
RAPID), and any of the other move mode commands takes the program out of PVT move mode.
RAPID), and any of the other move mode commands takes the program out of PVT move mode.
Refer to the Writing and Executing Motion Programs section of this manual for more details of this mode.
Examples:
INC
; incremental mode, specify moves by distance
PVT200
; enter this mode -- move time 200ms
X100:1500
; cover 100 units ending at 1500 units/sec
X500:3000
; cover 500 units ending at 3000 units/sec
X500:1500
; cover 500 units ending at 1500 units/sec
X100:0
; cover 100 units ending at 0 units/sec
PVT(P37)
See Also:
Position-Velocity-Time Mode Moves (Writing and Executing Motion Programs)
Program commands {axis}{data}:{data}..., TA, LINEAR, CIRCLEn, RAPID, SPLINE1.
Position-Velocity-Time Mode Moves (Writing and Executing Motion Programs)
Program commands {axis}{data}:{data}..., TA, LINEAR, CIRCLEn, RAPID, SPLINE1.
Q{data}={expression}
Function:
Set Q-Variable Value
Type:
Motion program (PROG and ROT); PLC program
Syntax:
Q{data}={expression}
where:
{data} is a constant, or an expression in parentheses, for an integer value from 0 to 8191
representing the Q-variable number;
representing the Q-variable number;
{expression} represents the value to be assigned to the specified Q-variable.