Etel DSC2P - Movement with Predefined Profile

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 157
13.3.4 Movement with predefined profile
This chapter describes the two new mathematical movement types available with the controller.
The working principles are as follows:
• Like a look-up table, the duration of the whole movement is written in parameter K229. The maximum
value is 100000 STI which represents 16.7 sec for the DSC2P/DSC2V or 50s for the DSCDP., DSCDL and
DSCDM
• There is no linear interpolation but at each STI (refer to §4.
), a point is calculated (position versus time).
• Parameter K230 gives the type of movement to use (triangular, S-curve (full jerk), sine modified, real sine.
(*): it is almost a sine but the beginning and the end of the movement is done without acceleration.
13.3.4.1 Movement calculated with predefined profile (MMD=3)
The type of trajectory depends on the value of parameter K230. The target is defined by parameter K210 and
the duration by parameter K229.
Remark: This movement cannot be concatenated with MMC = 1.
The movement stops either when the target has been reached or when a command such as POS, STP or BRK
has been used. If such a command is used, the position is not lost and the movement can start again from this
point.
13.3.4.2 Rotary movement calculated with a predefined movement (MMD=19)
This type of movement works as the previous one (with MMD=3) but a position range limit (parameter
K27=maximum position) has been programmed. Parameter K209 allows the user to define the way of the
rotation (negative, positive or the shortest).
Remark: This movement cannot be concatenated with MMC = 1.
The movement stops either when the target has been reached or when a command such as POS, STP or BRK
has been used. If such a command is used, the position is not lost and the movement can start again from this
point.
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
K230 Movement
0 Triangular
1 S-curve (full jerk)
2 Sine modified (*)
3 Real sine
MMD.x Type of movement Used functions
3 Movement calculated with a predefined movement POS, BRK, STP, K206, K209, K210, K229, K230, MMC
MMD.x Type of movement Used functions
19 Rotary movement calculated with a predefined movement POS, BRK, STP, K27, K206, K209, K210, K229, K230, MMC