ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 144)

PT - Position Time Command
Purpose:
Specifies that the next BG will start a PT (Position - Time) tabulated motion and defines
the starting index in the QP[N] array.
In a PT motion, a new position reference value is picked from the QP[N] array once per
MP[4] position controller sampling time. The motion is interpolated between the points
specified by the QP[N] array. The MP[N] parameters specify which indices of the QP[N]
array are used for the motion. After BG, the PT motion starts from position QP[PT].
A PT motion terminates when, in non-cyclical mode (MP[3]=0), the index of MP[2] is
reached, or if the PT buffer underflows (CANopen only). When a PT motion
terminates, the motor is brought to a complete stop using the SD deceleration.
When a PT motion is executing, PT reads the presently executing index of the QP[N]
array.
Attributes: Type: Command/Parameter, Integer
Source: Program, RS-232, CANopen
Restrictions: MO=1, PT motion executing,
Advanced model only
Default value: None, Volatile
Range: [1…1024]
Unit modes:
Position control (UM=3, 4, 5)
Activation: Next BG
SimplIQ: Similar
See also:
PV , MP[N] , QP[N] , QV[N] , QT[N]
Application note:
The Position Reference Generator
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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