ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 209
Remark: The TEB synchronization must be activated! If it is not the case, the real-time values read by
the DSMAX could be not updated at each cycle! Then, parameter K87 must be equal to 1 for a
DSC2P/DSC2V and to 257 for a DSCDP, DSCDL and DSCDM.
When K219 = 0, the controller does not send any value to the RTM channels.
Example:
The measured position (monitoring M7) and the theoretical force (monitoring M30) of the axis 5 are sent to the
master.
K219:0.5=0x03000007 ;Register 1 is monitoring M7 (03 = monitoring M; 07 = monitoring number)
K219:1.5=0x0300001E ;Register 2 is monitoring M30 (03 = monitoring M; 1Eh= 30 = monitoring number)
K Name Byte # Comment
K219 RTM register
0
1
Number of the register to be sent
2 Depth of the register (only available for the parameters K)
3
1 = the register sent is a user's variable X
2 = the register sent is a parameter K
3 = the register sent is a monitoring M
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