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HARSFEN0602
Stop Deceleration (SD) The rate of deceleration in the
case where motion is killed by
queue underflow or by an
exception.
The rate off acceleration to
catch up if PVT is started with
bad initial conditions.
Position/Velocity/Time
(PV)
Set a PVT motion command
PVT table entries: QP[N],
QV[N], QT[N]
Set values to the PVT table The PVT table elements can
also be set using PDOs as
described above.
MP[1] = First valid row in
PVT table
MP[2] = Last valid row in
PVT table
MP[3]:
Bit0 = Cyclical motion (0
non-cyclical, 1 cyclical)
Bit1 = Expected stop (0 –
Issue Emergency on stop, 1 –
Expect stop)
MP[5] = Number of yet
unexecuted table rows for
queue low alarm.
Motion Parameters (MP)
MP[6] = Initial value for the
write pointer
Configure a PT or PVT
motion.
MP[6] and MP[5] are for the
CANopen auto increment
mode only.
Table 12-8 – PVT Related Parameters