ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 254)

The PVT Motion Programming Message
An entire row of the PVT table may be programmed by a single PDO — 0x200+ID —
where ID is the node ID of the drive. Note that before using this PDO, it must be mapped
to the object 0x2001. The PDO is mapped for the PVT mode as follows:
Object dictionary index:
0x2001
Type: RECORD, three elements
Access: Write only
Structure: Signed32 position; Signed24 speed; Unsigned8 time
PDO mapping: Yes
Value limits No
Default value: Not applicable
The PDO does not specify the PVT table row to be programmed; instead, a write pointer
specifies the row. The parameter MP[6] initially sets the write pointer. A new PVT
CANopen message (object 0x2001) writes the data to the table row indicated by MP[6]
and then automatically increments MP[6]. The CANopen auto-increment mode is
described in the following flowchart:
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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