ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 42)

Property VTM – PVT motion initialization
Explanation Used to prepare the vector for PVT motion when the trajectory is set
for maximum velocity, fixed time or fixed velocity.
VTM is used to initialize "ready-made" PVT tables as well as
trajectories created with the Motion Library.
Default 0
Limitation 0 – disable, 1 - enable
Type Unsigned integer
Example (see Appendix B.1.5.1 Circle-to-Line Sample)
Property VTT – defines PVT trajectory fixed time when VUM=2
Explanation VTT sets the time to perform the motion when using addline or
addcircle.
Dimension Milliseconds
Default 0
See also VUM
Type Unsigned integer
Property VUM – PVT trajectory build mode (for the Maestro's
Mathematical Library)
Note 1 – max velocity mode
2 - fixed time mode
3 - fixed velocity mode
Default 3
Limitation 0-254
Type Unsigned integer
See also VTT
Example (see Appendix B.1.5.1 Circle-to-Line Sample)
Property VVE - calculated velocity error for PVT trajectory
Explanation Limit range of error in terms of velocity – PVT tables can be
calculated accurately for two of the three constraints – VVE tells the
Maestro to "loosen" the constraints on the velocity.
Dimension %
Default 0.005
Limitation 0-1
Type Float
Maestro Software Manual General and Motion Instructions
MAN-MASSW (Ver. Q)
4-23