Etel DSC2P - Basic Movements

Operation & Software Manual
128
Direct Drives & Systems
Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
12.10 Basic movements
A movement is made between two points, on a trajectory limited by the speed, the acceleration and the jerk.
The basic movements features, described in this part of the manual, are using only S-curve and Rotary
S-curve movements types. Advanced users may also refer to §13.3
, for other movements types description.
12.10.1 SET command: zero machine
The SET command (SET ’0 machine’) defines the motor current position value.
This command is generally used at the beginning of a sequence (after the homing) to place the ’0 machine’ in
a different position than the reference mark because after a homing, the ’0 machine’ is automatically placed
where the reference mark is (in case of a mono-reference mark encoder). This command must be used if the
power is on and if K61=1.
Caution: After the homing, the ’0 machine’ is set on the reference mark but the motor does not exactly
stop. The motor braking distance is determined by its speed when it crosses the reference mark
and with parameters K41 and K42 (homing speed and acceleration). Therefore. it is really
important to execute a POS command (POS.1=0, for instance) to place the motor in a precise
pre-defined position before starting the SET command.
12.10.2 Linear or rotary movement
Parameter K202 (also available via the MMD alias) defines the movement type.
K202 = 1 (or MMD = 1): defines a linear movement (S-curve movement)
K202 = 17 (or MMD = 17): defines a rotary movement (rotary S-curve movement)
Remark: These two movements are available only with the standard reference mode (K61=1).
12.10.3 Movement trajectory parameters
In these parameters are memorized final position to reach, maximum speed, acceleration and jerk time values
when an (S-curve) movement is executed. They define the movements trajectory and are available with K61=1.
Remark: ACC, SPD, POS and JRT alias use the same syntax than their corresponding parameter K. Refer
to §6.3
for more information about the syntax and the possible operators.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Command format <p1> Comment Units
SET.<axis> = <p1>
-2
31
to (2
31
-1)
’0 machine’ positioning. [upi], [rupi]
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K Alias Name Comment Units
K210 POS Target position Starts the movement (only depth 0) and gives the target position, with POS command [upi], [rupi]
K211 SPD Maximum speed Pre-programmed maximum speed, with SPD command [usi], [rusi]
K212 ACC Max. acceleration Pre-programmed maximum acceleration, with ACC command [uai], [ruai]
K213 JRT Jerk time Pre-programmed jerk time, with JRT command [sti]