Etel DSC2P - Controller Parameters and Commands for RTI

Operation & Software Manual
186
Direct Drives & Systems
Chapter C: System functions ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
13.8.3 Controller parameters and commands for RTI
13.8.3.1 Parameters
Remark for parameters K191 to K193: When bit# 0 = 1, line 0 is activated
When bit# 1 = 1, line 1 is activated
...and so on ...
13.8.3.2 Commands
The following controller commands may be used to set the controller general mode for the RTI process:
RID.<axis> ;Sets the controller in the RTI disable mode.
All valid RTI are always tested, but are not executed.
RIE.<axis> ;Sets the controller in the RTI enable mode.
If some RTI have been activated during the disable period, they are directly executed.
REI.<axis> ;Executes the RIE and RET commands within one instruction.
The sequence returns to the line which follows the last executed line before the call of the RTI
label.
K Name Bit value Bit # Comment
K190 Controller RTI mode
0
1
0
disable
enable
K191 Valid RTI lines
1
2
...
128
0
1
...
7
line 0
line 1
...
line 7
K192 Enable RTI lines
K193 Flag of active RTI lines in the RTI table