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 217
The value in <P2> is only taken into consideration when WPL, WSL, WPG or WSG commands
are executed.
Example:
Here is the extract of a sequence. The motor is supposed to be initially in position 0.
ACC.1=500000 ;Definition of a
max
.
SPD.1=200000 ;Definition of v
max
.
POS.1=300000 ;The motor moves to the position 300000 at a speed of 200000 and an acceleration
of 500000 increments.
WPG.1=M11.1,10000 ;X2.1=1 command is executed only when the motor real speed given by monitoring
M11 is over 10000 increments.
X2.1=1 ;Value 1 is attributed to the user variable X2.
14.1.4 Controller busy: WTB command
When a controller executes a waiting command like WTM for example, it cannot do something else at the same
time: the controller is busy. The WTB (WaiT Busy) command allows the µ-master to wait for an axis or a group
of axes not to be busy any more before executing the next commands. The typical use of this command is to
wait for the end of a movement on an axis before starting a movement on another axis. This command cannot
be used on a dual axes controller (DSCDP, DSCDL and DSCDM).
Caution: The WTB command can only be used if several axis are chained and can only be executed by the
µ-master (axis 0). It means that the command will always be WTB.0 = <P1>.
The value contained in <P1> is a mask which corresponds to the axis or axes that the µ-master has to wait for.
The selected axis or axes numbers are given when the bits corresponding to <P1> value are set to 1 (in binary),
as shown in the following table. Value 4 only selects axis 2 and value 41 selects axis 0, 3 and 5.
Example:
Command <P1> <P2> Comment
WPL.<axis> = <P1>, <P2> Register to test Value of register Waits for the register <P1> to be lower than the value of <P2>.
WSL.<axis> = <P1>, <P2> Register to test Value of register
Waits for the register <P1> to be lower than the value of <P2>.
<P1> and <P2> can be signed.
WPG.<axis> = <P1>, <P2> Register to test Value of register Waits for the register <P1> to be greater than the value of <P2>.
WSG.<axis> = <P1>, <P2> Register to test Value of register
Waits for the register <P1> to be greater than the value of <P2>.
<P1> and <P2> can be signed.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Command format <P1> Comment
WTB.0 = <P1>
Mask of the axis or axes
numbers
Waits for the axis or axes not to be busy any more before executing the next
command.
<P1>
values
Axis 31 Axis 30 - 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 0
Bit# 31 Bit# 30 - 7 Bit# 6 Bit# 5 Bit# 4 Bit# 3 Bit# 2 Bit# 1 Bit# 0
22 0 000000000000000000000000 0 0 0 0 0 1 0
44 0 000000000000000000000000 0 0 0 0 1 0 0
41 29 0 000000000000000000000000 0 1 0 1 0 0 1
Dec. Hexa. Binary (only bits set to 1 will be tested)

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English