User's Manual

HARSFEN0602
Starting speed 100000cnt/sec
End position 1200cnt
End speed 190000cnt/sec
Time 6msec
The interpolated path for the data of the table is depicted in the figure below, for a controller with a sampling
time of 160 µsec.
The + symbols show the points at integer multiples of the controller sampling time. At these points, the
Amplifier evaluates the interpolated motion path.
Position
Time
The end point does not necessarily fall on a controller sampling time.
Weird looking position commands may result if the speed choice is not coherent with the position and time
definitions. The position distance and the time between the points imply an average speed of (1200-
1000)/0.006 = 33000 count/sec. This average conflicts with the boundary point speed specifications of
100000cnt/sec and 190000cnt/sec respectively.
12.1.6.2 The PVT Table
A three-column table defines the PVT motion.
Each row of the table defines the position and the speed at a single time instant.
The table looks as follows:
#Index P (32 bits) V (24 bits) T (8 bits)
1 QP[1] QV[1] QT[1]
2 QP[2] QV[2] QT[2]
… QP… QV… QT…
64 QP[64] QV[64] QT[64]
Table 12-6 – PVT Table
The table has 64 rows, and can thus specify up to 63 consecutive PVT motion segments
3
.
The cells of the PVT table may be accessed using the QP, QV, and QT commands.
The QP[N] command sets/reads the n'th row of the P column.
The QV[N] command sets/reads the n'th row of the V column.
The QT[N] command sets/reads the n'th row of the T column.
The positions in the table are limited to range of the position feedback, which is +/-
30
2
counts at most.
3
64 segment if the table is used cyclically.