ElmoMC SimplIQ Command Reference - Manual (Page 44)

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.
ƒ
For UM=1, DV[1] reports the torque command. DV[2] and DV[3] report zero.
ƒ 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].
ƒ 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].
ƒ 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
Reference chapter in the SimplIQ Software Manual:
Chapter 11, ”Unit Modes”
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-31