ASCII - Command O_V    
Syntax Transmit O_V [Data]    
Syntax Receive O_V <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer32   CANBus Object Number 35BF (hex)
DIM -   PROFIBUS PNU 1791 (dec) IND = 1 (dec)
Range 0 ... 2147483647   DPR 191 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer32
Drive State -   Weighting  
Start Firmware 1.0    
Configuration No   Last Change of this Object 2.13
Function Group position loop   EEPROM No
Short Description Target Speed for Motion Task 0

Description

The command O_V can be used to define the target speed for motion block 0 (direct motion block). The scaling of the speed depends on the PGEARI, PGEARO, PRBASE and O_C parameters.

1. Bit 13 of the motion block control word = 0 (given in internal units)
The speed is given in counts.
Scaling: PRBASE=20 -> 140/32 increments per rpm
PRBASE=16 -> 140/512 increments per rpm

2. Bit 13 of the motion block control variable is = 1 (taking the resolution into account)
The speed is given in the actual VUNIT - units.
On VUNIT =0 or 5 the speed is converted according to the following formula:
Speed [increments] = O_P * PGEARO / PGEARI / 4000

Note: If PGEARI = PGEARO * 2^PRBASE, then there will be no conversion from user-defined units into increments. In this case, the position and velocity must be given in increments.