Etel DSC2P - Movements Trajectories Used in the Controller

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter A: Internal functioning & architecture
Operation & Software Manual
Direct Drives & Systems 21
3.1.1 Movements trajectories used in the controller
There are 8 types of movements trajectories available in the controller
Four of them are linear movements:
•Step movement
• S-Curve movement
• Look-up table movement (refer to §4.
)
• Calculated movements with predefined profiles
And four of them are rotary movements:
• Rotary S-Curve movement
• Infinite rotary movement
• Rotary look-up table movement (refer to §4.
)
• Rotary calculated movements with predefined profiles
The Step movement is used by ETEL Tools for the controller & system tuning only (refer to §10.
for more
information).
The S-Curve and Rotary S-Curve movements are used in most applications (refer to §12.10
. for more
information).
The Look-up table, infinite rotary, rotary look-up table and calculated movements are used in some
specific applications, by advanced users only (refer to §13.3
. for more information).
3.1.1.1 Look-up table movement
The look-up table movements are movements whose trajectories are freely set by the user. It is possible to
save in the controller up to 8 different trajectories.
The look-up table movement's trajectory is kept in a table of 2000 points memorized in a controller, so its
name.
.......................
..........................
Position
0
pt 2
pt 4
pt 6
pt 1999
pt 1998
pt 1999
pt 1996
pt 1997
pt 1994
pt 1995
pt 0
pt 1
pt 2
pt 3
pt 1996
Point