ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 167)

10.3.3 Profile Velocity Mode Commands Description
The velocity controller calculates a torque variable. When a different value arrives, it
is executed immediately. When receiving the command
a1.jv=newVelocity , the DS402
Axis immediately starts trying to reach the set speed. The direction can be reversed by
the anv property (vnv, gnv for DS402 Vector and Group accordingly).
The pvw (velocity window) command defines if the required process velocity has been
achieved after an eventual acceleration or deceleration phase. The target reached event
occurs when the difference between the target velocity and the actual velocity is
within the velocity window longer than the velocity window time (defined by pvwt
command). The value of the velocity window time is given in milliseconds.
10.3.4 Features of Profile Velocity operating Mode
Using for Group (Vector)
Profile Velocity motion for Group (Vector) DS402 can be implemented using the
following command sequence:
function run()
sync( 0, 10 ) //work with DS402 motion object required sync mechanism
g1.opm=3 //select operation mode for group g1
g1.ato=10000 //statusword waiting timeout
g1.pac=10000000 //define acceleration
g1.pdc=10000000 //define deceleration
g1.prv=10000000 //define quick stop deceleration
g1.pvt=100 //define velocity threshold
g1.pvtt=2 //define velocity threshold time
g1.pvw=100 //define velocity windows
g1.pvwt=2 //define velocity windows time
g1.mo=1 //motor on command
g1.ptv=5000 //set target velocity (and begin motion)
g1.gwm //wait for velocity reached (bit 10 of SW is ON)
wait(1000) //wait 1 sec
g1.ptv=20000 //set target velocity
g1.gwm //wait for velocity reached (bit 10 of SW is ON)
wait(10000) //wait 10 sec
g1.ptv=0 // set target velocity
g1.gwm //wait for velocity reached (bit 10 of SW is ON)
g1.mo=0 //motor off command
end function
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-22