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HARSFEN0602
Motion
segment
completed
?
N >= MP[2]-1
Increment
read pointer
Read the N+1 row of the PVT
table and calculate the
parameters of the next motion
segment
Initial
conditions:
PVT read
pointer equals
N
Interpolate
position
command
Go to
position
controller
MP[3]==1
Exit PVT mode:
Set Stop motion,
using the SD
deceleration
Set the read
pointer to
MP[1]
Yes No
Yes
Yes
No
Figure 26 – PVT Decisions Flow Chart