ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 50)

DV[N] - Reference Desired Value
Purpose:
Reports the reference commands to the position, speed and current controllers of the
drive. DV[N] reports the final value of the controller references, as synthesized by all
their sources: software reference generators, external reference inputs and external
control loops.
For UM=1, DV[1] reports the torque command. DV[2] and DV[3] report zero.
For UM=2, DV[2] reports the speed command. DV[1] reports the torque
command derived by the speed controller. The speed command may differ
from the desired speed as specified by the JV command and the analog input,
because the filters and the profiler “smooth the edges” before transferring the
desired speed as a speed command to the speed controller. DV[3] returns zero.
The speed command reported by DV[2] is generated by the sum of an external
analog reference and a software reference. This sum is further processed for
acceleration and speed limiting as well as the switch response. DV[4] and
DV[5] retrieve the external and software components of DV[2].
For UM=3, 4, 5, DV[1] reports the torque command derived by the speed
controller, DV[3] reports the command to the position controller and DV[2]
reports the speed command, which is the rate of change of DV[3]. The position
command may differ from the desired position as specified by software
commands and by superimposed analog input, because the stop manager may
affect the position command to the controller.
The position command reported by DV[3] is generated by the sum of an
external follower reference and a software reference. This sum is further
processed for acceleration speed limits, as well as the switch response. DV[6]
and DV[7] retrieve the external and the software components of DV[3].
In summary:
DV[1] reports the current command value.
DV[2] reports the velocity command value.
DV[3] reports the position command value.
DV[4] reports the external speed command (0 for RM=0).
DV[5] reports the software speed command.
DV[6] reports the external position command (0 for RM=0).
DV[7] reports the software position command.
When the motor is disabled (MO=0), DV[N] returns zero.
Attributes: Type: Status report, Real
Source: Program, RS-232, CANopen
Restrictions: None
Index range: [1…7]
Unit modes: All
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