Elmo HARmonica, HARSFEN0602 software manual 144, Qp… Qv… Qt…

HARSFEN0602ElmoHARmonicaSoftwareManual		PRELIMINARYDRAFT
			144
Starting speed	100000cnt/sec
End position	1200cnt
End speed	190000cnt/sec
Time	6msec

The interpolated path for the data of the table is depicted in the figure below, for a controller with a sampling time of 160 µsec.

The + symbols show the points at integer multiples of the controller sampling time. At these points, the Amplifier evaluates the interpolated motion path.

12018640		Position
2
0
6
4						Time
The end point does not necessarily fall on a controller sampling time.
Weird0looking8			position commands may result if the speed choice is not coherent with the position and time
definitions. The position distance and the time between the points imply an average speed of (1200-
1000)/0.006 = 33000 count/sec. This average conflicts with the boundary point speed specifications of
12.1.6.2100000cnt/sec2The PVTand 190000cnt/secTable							respectively.
A three00-column table defines the PVT motion.
Each row0of the table1				defines2the position3				and the4speed5at a single6time instant.
The table looks as follows:
	#Index				P (32 bits)				V (24 bits)	T (8 bits)
	1				QP[1]				QV[1]	QT[1]
	2				QP[2]				QV[2]	QT[2]
	…				QP…				QV…	QT…
	64				QP[64]				QV[64]	QT[64]

Table 12-6 – PVT Table

The table has 64 rows, and can thus specify up to 63 consecutive PVT motion segments3.

The cells of the PVT table may be accessed using the QP, QV, and QT commands.

The QP[N] command sets/reads the n'th row of the P column.

The QV[N] command sets/reads the n'th row of the V column.

The QT[N] command sets/reads the n'th row of the T column.

The positions in the table are limited to range of the position feedback, which is +/- 230 counts at most.

364 segment if the table is used cyclically.