PVT Command

PVT commands execute a sequence of Position-Velocity-Time points.

PVT Command Example

The following code executes a simple PVT command consisting of four points.

Motion::PVTCommand pvt;

pvt.axis = 0;
pvt.pointCount = 5;

//Define point data
pvt.points[0].pos = 0;
pvt.points[0].velocity = 0;
pvt.points[0].timeMilliseconds = 0;

pvt.points[1].pos = 5500;
pvt.points[1].velocity = 10000;
pvt.points[1].timeMilliseconds = 1000;

pvt.points[2].pos = 20500;
pvt.points[2].velocity = 20000;
pvt.points[2].timeMilliseconds = 2000;

pvt.points[3].pos = 45000;
pvt.points[3].velocity = 30000;
pvt.points[3].timeMilliseconds = 3000;

pvt.points[4].pos = 60000;
pvt.points[4].velocity = 0;
pvt.points[4].timeMilliseconds = 4000;

//Start PVT motion
wmxlib_CoreMotion->motion->StartPVT(&pvt);

The following plots show the position, velocity, and acceleration when the above code is executed.