ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 181
13.7 In-window
It is possible to define a ’window’ around the target position to reach when the standard reference mode is
selected (K61=1). The controller scans the real position of the motor when the position is inside the ’window’
and actives a status bit SD1 (bit# 5 of monitoring M60). The user has the possibility to stop the programmed
sequence until the motor arrives into the ’window’ with the WTW command (refer to §14.1.1.3
for more
information about the WTW command).
The motor is considered to be positioned when its real position is between [target position - K39] and [target
position + K39] during a minimum time given by parameter K38 (in [sti]) without interruption.
This In-window bit (bit# 5 of monitoring M60 (SD1)) is set to 1 when the motor reaches the position window
and stays within the tolerance during the time defined by parameter K38. This bit is set to 0 during the next
movement (with POS, STA, STI or WTW.<axis>=2 command).
Remark: When K38 = 0, the In-window bit (bit# 5 of monitoring M60) is set to 1 at the end of the theoretical
trajectory whatever the value of parameter K39.
When K39 = 0, the In-window bit (bit# 5 of monitoring M60) is set to 1 at the end of the theoretical
trajectory plus the value of parameter K38.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K Name Comment Units
K38 In-window time Minimum time for the real position to stay in the position window [sti]
K39 In window position Maximum (absolute) position error for the real position to stay in the position window [upi], [rupi]
Real position
K39
Target position
K38
Time
SD1 bit# 5
K38
Time
In window
In window
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