ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 165)

10.3 Profile Velocity (PV) Mode
This section describes how to set profile velocity movement when a target velocity is
applied to the trajectory generator. For a more detailed description of DSP 402 PV Mode,
see Profile Velocity of “Elmo CANopen DS 402 Implementation Guide”.
10.3.1 Profile Velocity (PV) COMMANDS
Note: The Set and get commands are allowed for Axis objects and only set commands are
allowed for the Vector and Group objects.
The following commands are implemented in PV mode:
Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x60FF, 0x00
(for more
information,
view PDO
Mapping table) ProfileTargetVelocity ptv jv Profile target velocity
0x606C, 0x00 ProfileActualVelocity pav vx Profile actual velocity
(for Axis only)
0x6083, 0x00 ProfileAcceleration pac ac Profile acceleration
0x6084, 0x00 ProfileDeceleration pdc dc Profile deceleration
0x6085, 0x00 QuickStopDeceleration qsdc sd Quick stop deceleration
Commands using:
a1.pac=a1.pdc=100000
a1.ptv=2000
vel=a1.pav
Axis properties in PV mode:
• anv - negative velocity polarity (define bit 6 object 0x607E – polarity, default
value 0– velocity value multiply by 1. If anv=1 - velocity value multiply by -
1)
• ato - status word waiting timeout (for wswd command (or awm property),
default value – 500 milliseconds)
• awm - motion completed waiting
• amc - motion completed callback control (must be set to 1 for callback
mechanism activation)
Vector properties in PV mode:
• vnv - negative velocity polarity
• vto - status word waiting timeout
• vwm - motion completed waiting
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-20