Operation & Software Manual
146
Direct Drives & Systems
Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
13.2.1.3 DSMAX position reference mode
Until the firmware version 1.14A for the DSMAX1 and 2, when the interpolation mode is activated, the DSMAX
automatically sends (by default) the ITP=1 command to put the controller into position reference mode. From
the firmware version 1.20A for the DSMAX1 and 2 and firmware 1.10A for the DSMAX3, the DSMAX
automatically sends (by default) the ITP=2 command to put the controller into position reference mode. Refer
to the ’DSMAX User’s Manual’ for more information.
The Turbo-ETEL-Bus (TEB) cycle is 166,67µs (6kHz). The DSMAX motion controller works at the same
frequency as the TEB and sends a point of interpolation at each cycle (sti).
• ITP=1 mode
In this mode, the controllers use the interpolation points sent by the DSMAX at each sti interrupt that is to say
every 166,67µs for the DSC2P/DSC2V and every 500 µs for the DSCDP, DSCDL and DSCDM. It means that
a dual axes controllers (DSCDP, DSCDL and DSCDM) does not take the interpolation point at each cycle of
the DSMAX unlike the DSC2P/DSC2V. The trajectory with a dual axes controller is then not as precise as with
a DSC2P/DSC2V. The advantage of the ITP=1 mode is the possibility to use the encoder scaling/mapping
(refer to §13.13
for more information) and the filter set by parameter *K600 (refer to the ’DSMAX User’s
Manual’ for more information).
• ITP=2 mode
This mode allows all the controllers (even the dual axes controllers) to use all the interpolation points sent by
the DSMAX. These points are read every three fti cycles (refer to §4.
) for the DSCDP, DSCDL and DSCDM
and every four fti cycles for the DSC2P and DSC2V. However, it is not possible any more to use the encoder
scaling/mapping and the filter set by parameter *K600
Monitoring M110 allows the user to know the interpolation mode selected in the position controller:
M Name Value Comment
M110
Interpolation
mode type
0
1
2
Interpolation mode disabled
Interpolation mode at every sti interrupt. Takes jerk time (IJT) and encoder scaling /
mapping into account
Interpolation mode on fti interrupt. Does not take jerk time (IJT) and encoder scaling /
mapping into account
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