Etel DSC Series User Manual

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter D: Programming
Operation & Software Manual
Direct Drives & Systems 215
14.1.1.3 WTW command
The WTW command (WaiT for Window) allows the user to define a ’window’ around the target position to reach
(refer to §13.7
for more information about the definition of the window) when the standard reference mode is
selected (K61=1). The WTW command stops the execution of the sequence on the used axis until the motor
arrive inside the window.
Here is a graphical representation of the above-mentioned explanations:
Command format <P1> Comment
WTW.<axis> = <P1>
0
1
2
Waits for the bit ’in-window’ (bit# 5 of SD1) to be at 1. If the theoretical trajectory is finished (bit#
4 of SD1 at 0) when this command is executed, the controller acknowledges the command
without testing if the motor is in the window or not. WTW.<axis>=0 command must not be
preceded by a WTM.<axis> command because the WTW command must be executed before
reaching the theoretical position.
Waits for the bit ’in-window’ (bit# 5 of SD1) to be at 1 without taking into account if the theoretical
trajectory is finished or not.
Restarts a new test by clearing the bit ’in-window’ (bit# 5 of SD1) without taking into account if the
theoretical trajectory is finished or not.
K39
WTW=0
WTW=1
WTW=2
K38
Real position
Theoretical trajectory
finished
In-window
WTW=0 executed here
Here is the end of the wait
WTW=0 executed here
Here is the end of the wait
WTW=1 executed here
WTW=1 executed here
Here is the end of the wait
WTW=2 executed here
WTW=2 executed here
WTW=2 executed here
In-window
Time
K38
Here is the end of the wait
Here is the end of the wait

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English