Etel DSC Series User Manual

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 143
13.2 Advanced reference modes (K61≠1)
Parameter K61 selects the input reference given to the controller. When K61≠1, an Advanced reference mode
is selected.
13.2.1 External reference modes (K61=0, 3, 4 or 36)
The external reference mode includes all the cases where the reference is not given by the set point generator
but by an external source. It can be any controller’s register (K, M or X).
In all cases the external source can be used as position (K61=4) or force (K61=0) reference. Parameters used
with the external reference mode are given in the following table:
Parameters K220 and K221 determine which parameter will be used as an external reference. For the DSC2P,
DSC2V and DSCDL, the analog input is usually used and is accessible via monitoring M51 (refer to §13.6
)
(monitoring M51 does not exist on the DSCDP and DSCDM) because parameters K220 and K221 default
values are 3 and 51 respectively, corresponding to AIN controller’s analog input. For the dual axes controller,
the user's variable X0 is used by default.
Caution: The external position reference must be given in user position increments [upi], the external speed
reference in user speed increments [usi], the external force reference in force increments [foi] and
the external torque reference in torque increments [toi]. The SET command is disabled. When one
of the external reference modes is used, the user must set first parameters K220 to K224 before
parameter K61.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K Name Value Comment
K61 Reference mode
0
1
3
4
36
Force/torque reference mode defined by parameters K220 to K224.
Standard mode with set point generator movement profiles.
Controller controlled by a speed reference defined by parameters K220 to K224
Controller controlled by a position reference defined by parameters K220 to K224.
Like K61 = 4, but the actual position is kept as a reference when the controller is switched on.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K Name Value Comment
K220 Reference type
1
2
3
The external reference is a user variable X
The external reference is a parameter K
The external reference is a monitoring M.
K221 Reference index - External reference index.
K222
Reference multiplication
factor
- External reference multiplication factor.
K223 Reference offset - External reference offset correction.
K224 Reference amplitude - External reference amplitude correction.

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English