3.153
EDH0162En1040 – 06/99
MM4005
VV — Define the vector velocity on trajectory
(trajectory velocity)
Usage
IMM
PGM
MIP
Syntax
VVnn
or
VV?
Parameters
Description
nn
[double]
— Desired trajectory velocity.
Range
nn
—
>0
to
Max Trajectory Velocity
(MTV).
Units
nn
— Units/sec.
Defaults
nn
Missing: MTV.
Out of range: Error C.
Description
This command defines the vector velocity on trajectory that the controller
uses to start and stop execution of the trajectory. In association with the
trajectory acceleration this will define the necessary time to reach the tra-
jectory velocity.
NOTE
The controller calculates automatically MTV for the trajectory to execute
(set of trajectory elements entered before this command) one time this
command is entered and limits the trajectory velocity to MTV if the para-
meter entered is greater than MTV. It is then pratical to read MTV just
before this command with help of the command XV1 and to read
assigned trajectory velocity after this command with help of the com-
mand VV? or XV.
In fact, MTV is defined as the minimum value of minimum value of maximum
allowed X assigned axis and Y assigned axis velocities and of minimum
value of all trajectory arc elements maximum allowed contouring velocities,
that are calculated as square of product of maximum allowed trajectory
acceleration (MTA) with arc element contouring radius (
√
(MTA * Radius)).
Returns
If the sign
“?”
takes place of the
nn
value, this command reportes the actu-
al trajectory velocity value.
Errors
C
—
Parameter out of limits.
S
—
Communication time-out.
Rel. Commands
VS
—
Define the vector acceleration on trajectory (trajectory acceleration).
XV
—
Tell the vector velocity on trajectory (trajectory velocity).
Example
XV1
|
Read MTV.
XV20
|
Controller tells MTV.
VV5
|
Define 5 units/sec as trajectory velocity.
XV
|
Read trajectory velocity.
XV5.0
|
Controller tells trajectory velocity.
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