Etel DSC Series User Manual

Operation & Software Manual
286
Direct Drives & Systems
Chapter E: Appendixes ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
16.2 Parameters K for DSCDP
DSC2P and DSC2V parameters
K224 Control source gain 8388608 -2147483648 2147483647
K229 Execution time of the movement selected by K230 10000 4 1500000
K230 Movement type selection for MMD = 3 or 19 0 0 3
0 Triangular speed movement
1 S-curve (full jerk) movement
2 Sine modified movement
3 Real sine movement
K231
Slave to slave RTM register type: depth 0 for slave to
slave RTM1 and depth 1 for slave to slave RTM2
313
1 Source type is a user's variable X
2 Source type is a parameter K
3 Source type is a monitoring M
K232
Slave to slave RTM index: depth 0 for slave to slave
RTM1 and depth 1 for slave to slave RTM2
6 0 255
K233 Slave to slave RTM destination mask axis 1 -2147483648 2147483647
K240
Motor type. 0: linear motor, 1:rotary motor. Depth 0 for
primary encoder and depth 1 for secondary encoder
001
K241
Encoder period in [nm] for linear encoder or number of
period for rotary encoder. Depth 0 for primary encoder
and depth 1 for secondary encoder
1 -2147483648 2147483647
K242
Position multiplication factor (is used by the DLL to
calculate the position unit with indirect encoder)
1 1 2147483647
K243
Position division factor (is used by the DLL to calculate
the position unit with indirect encoder)
1 1 2147483647
K Alias
Val
<P1>
Bit #
<P1>
Comment for parameters K
and <P1> of the DSCDP
Def. Val
<P1>
Min. Val
<P1>
Max. Val
<P1>
DSCDP parameters
K1 Position loop proportional gain 100 0 2147483647
K2 Position loop speed feedback gain 20 0 2147483647
K3 Position loop force feedback gain 0 0 2147483647
K4 Position loop integrator gain 0 0 2147483647
K5 Position loop anti-windup gain 10 0 2147483647
K6 Position loop integrator limitation 1073741823 0 2147483647
K7 Position loop integrator mode 0 0 2
0 Position loop integrator gain (K4) always on
2 Position loop integrator gain (K4) always off
K8 Position loop speed filter 0 0 511
K9 Force reference filter on the position regulator output 0 0 511
K11 Speed smooth filter for TTL encoder 0 0 256
K20 Position loop speed feedforward gain 0 0 2147483647
K21 Position loop acceleration feedforward gain 0 0 2147483647
K23 Commutation phase advance according to the speed 0 0 65535
K27 Maximum position range limit for rotary movement 1 0 2000000000
K Alias
Val
<P1>
Bit #
<P1>
Comment for parameters K
and <P1> of the DSC2P and DSC2V
Def. Val
<P1>
Min. Val
<P1>
Max. Val
<P1>

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English