Installation guide

Keyword Reference Guide
MN1270 02.2002 123
All position points are reached and each segment takes the specified duration.
PVT
A PVT allows both position and velocity data to be specified for a profile. The profile produced
reaches all the position points specified in the position array at the velocity specified in the velocity
array but the profile is only continuous in position and velocity. The segment durations may be
specified with the
SPLINETIME keyword or with a duration array.
Example:
REM Position array. First element specifies number of position points
DIM pArray (6) = 5, 2, 5, 6, 2, 0
REM Velocity array. Only the number of segments required
DIM vArray (5) = 5, 0.5, 0, -5.3, 0
REM Duration array. Only the number of segments required
DIM tArray (5) = 600, 1000, 2000, 900, 600
SPLINETABLE(0, pArray, vArray, tArray) : REM Name arrays to use
SPLINE.0 = _spABSOLUTE : REM Absolute PVT
GO.0 : REM Start motion
The profile reaches each requested segment position at the specified velocity. Each segment takes the
specified duration to complete