Etel DSC2P User Manual

Operation & Software Manual
152
Direct Drives & Systems
Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
13.3.2 Look-up table movements
The LooK-up Table (LKT) movements functioning principle has already been explained in §3.1.1. Here will be
exposed how to set them up.
13.3.2.1 Start and end at the same point, max. stroke
It is possible with the look-up tables to begin and finish a movement at the same point (when K207=1).Refer
to the drawing below.
In that case, the 'position to reach' parameter (K210, alias of POS command) is not used any more, as the end
is the same as the start position and it only starts the LKT movement.
Instead, the movement's maximum stroke is defined by parameter K208 in [upi]. This parameter defines the
furthest point (with respect to the start/end point) reached during the LKT movement.
13.3.2.2 Look-up table points definition
There are 2000 points in the LKT (0 to 1999 stored in the register L) which must be not signed. The LKT points
max. possible value is: 2
32
-1. Ideally, the point corresponding to the movement's maximum stroke should bear
this value, to have the highest possible resolution with the LKT movement. Position during the movement is
given by the formula:
So, the LKT max. value for the max. stroke will use the whole LKT resolution:
13.3.2.3 LTN and LTI commands
To realize a look-up table movement, the movement must first be selected with the MMD command. Then the
requested table is selected with the LTN command (Look-up Table Number) and the total movement duration
t
movement
with the LTI command (Look-up table TIme). Finally the movement is executed with the POS
command which also determines the final position x
final
to reach.
Remark: LTI alias use the same syntax than the corresponding parameter K. Refer to §6.3
for more
information about the syntax and the possible operators.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
MMD.x Type of movement Usable functions
10 Look-up table movement (sti) (linear motor) POS, K203, K204, K206, K207, K208, MMC
K Alias <p1> Comment Units
K203 LTN.<axis> = <p1> 0-7 Number of user look-up table movement selected. -
K204 LTI -
Time to execute a look-up table movement.
Time = K204 x 166.67µs or K204 x 500µs
[sti]
Position upi[]
LKTvalues
2
32
1–
-------------------------------
K208 upi[]⋅=
K208 [upi]
LKT values [-]
max =2
32
-1
max. stroke
LKT max. point
LKT points [-]
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0 1 2
1998 1999

Etel DSC2P Specifications

General

Brand	Etel
Model	DSC2P
Category	Controller
Language	English