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 199
13.9.6 Mappings activation
All triggers grouped in the same mapping (refer to §13.9.2) are activated at the same time. They must be
activated with the TRS command (TRigger Selected), which is an alias of parameter K186, otherwise the
actions linked to these triggers will not occur. The TCL command (Trigger CLear) is also used to activate/
deactivate and erase the triggers.
Remark: It is not possible to change the mappings during a movement.
13.9.7 Programming triggers example
Let's consider 2 movements (back and forth) with a trajectory as given below:
• On the way forth (first movement, mapping #0), 4 triggers are positioned: E
0
(position 10000 [upi]), E
1
(position 20000 [upi])
,
E
2
(position 30000 [upi]) and E
3
(position 40000 [upi]).
• On the way back (second movement, mapping #1), 3 triggers are positioned: E
4
(position 15000 [upi]), E
5
(position 25000 [upi])
and E
6
(position 35000 [upi]).
The diagrams below show exactly how the triggers (E
x
) are positioned:
The user wants to activate the digital outputs of the DSC2P (DOUTs) and the ’Status Drive’ (SD2) when the
motor reaches a position with a trigger, as shown below:
Mapping #0: go past E
0
DOUT1="1" DOUT2="0" SD2=1
go past E
2
DOUT1="0" DOUT2="1" SD2=1
go past E
3
DOUT1="1" DOUT2="1" SD2=1
go past E
1
DOUT1="0" DOUT2="0" SD2=0
Mapping #1: go past E
5
DOUT3="1" SD2=2
go past E
6
XDOUT1=''1'' SD2=3
go past E
5
DOUT3="1" SD2=2
go past E
4
DOUT3="0" SD2=0
The table below shows how to program the triggers, according to the above-mentioned list. To avoid modifying
unselected outputs, a Mask (parameter K183 or K185) for each mapping is defined. Bits set to 1 in the mask
show the selected actions.
K Alias Name <p1> Comment
K186 TRS.<axis> = <p1>
Trigger mapping
number
-1
0 - 191
No mapping activated
Mapping number <p1> is activated
Command format Comment
TCL.<axis> All triggers tables are cleared
x = 40000
4
x = 30000
3
x = 20000
2
x = 10000
1
x = 35000
6
x = 25000
7
x =
5
15000
T
3
T
2
T
1
T
4
T
5
T
6
T
7
t
t
Position [upi]
Position [upi]
Mapping #0
Mapping #1
E
1
E
3
E
2
E
0
E
4
E
5
E
5
E
6
45000

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English