ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 151
13.3.1.2 Movements concatenation: MMC
MMC = 1: Concatenated movement activated for MMD = 1 & 17 (S-curve and rotary S-curve movement
respectively).
MMC=2 or 3: The time needed by the motor to reach the end of the LKT (point# 1999) is: LTI x STI. (STI =
166.67µs for DSC2P/DSC2V and 500µs for DSCDP, DSCDL and DSCDM).
Then, the motor goes back to its start point. For the way out like the way back, the LKT points
are read from 0 to 1999.
MMC = 2: The back and forth movement is infinite; BRK, STP, HLT, HLB, HLO commands may stop it (the
POS command will stop the movement at the end of the current back and forth movement).
MMC = 3: One back and forth movement and the motor stops. It may also be stop with BRK, STP, HLT,
HLB, HLO commands.
Remark: Refer to §12.3.6
for more information.
13.3.1.3 Movement definition: MMD
Command MMD (MoveMent moDe) is an alias which chooses the requested type of movement. If MMD
command is not executed before starting a movement, the S-curve movement will be selected by default.
Example:
MMD.1=1 ;Select S-curve movement.
MMD.1=24 ;Select Rotary infinite movement.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Alias Parameter
MMD.<axis> = <p1> K202
<p1> Type of movement Usable functions See also
1 S-curve (jerk time) movement (linear motor) POS, SPD, ACC, JRT, K206, MMC §12.10.3
3 Calculated mvt. with predefined profile (linear motor) POS, K206, K229, K230, MMC, K213 §13.3.4
10 Look-up table movement (linear motor)
POS, K203, K204, K206, K207, K208,
MMC
§13.3.2
17 Rotary S-curve (jerk time) movement
POS, SPD, ACC, JRT, K27, K206,
K209, MMC
§12.10.4
19 Rotary calculated movement with predefined profile
POS, K27, K206, K209, K229, K230,
MMC
§13.3.4
24 Infinite rotary movement
POS, SPD, ACC, JRT, K27, K206,
K209
§13.3.3
26 Rotary look-up table movement
POS, K27, K209, K203, K204, K206,
K207, K208, MMC
§13.3.2.2
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