Etel DSC2P User Manual

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter E: Appendixes
Operation & Software Manual
Direct Drives & Systems 303
16.4 Parameters K for DSCDM
DSCDL parameters
K213 JRT Jerk time 0 0 500
K219 TEB real-time slave to master monitoring pointer 0 -2147483648 2147483647
K220 Control source type 1 1 3
1 Source type is a user's variable X
2 Source type is a parameter K
3 Source type is a monitoring M
K221 Control source index 0 0 255
K222 Control source shift factor 0 0 16
K223 Control source offset 0 -2147483648 2147483647
K224 Control source gain 16777216 -2147483648 2147483647
K229 Execution time of the movement selected by K230 10000 4 500000
K230 Movement type selection for MMD = 3 or 19 0 0 3
0 Triangular speed movement
1 S-curve (full jerk) movement
2 Sine modified movement
3 Real sine movement
K240 Motor type. 0: linear motor, 1:rotary motor 0 0 1
K241
Encoder period in [nm] for linear encoder or number of
period for rotary encoder
1 -2147483648 2147483647
K242
Position multiplication factor (is used by the DLL to
calculate the position unit with indirect encoder)
1 1 2147483647
K243
Position division factor (is used by the DLL to calculate
the position unit with indirect encoder)
1 1 2147483647
K Alias
Val
<P1>
Bit #
<P1>
Comment for parameters K
and <P1> of the DSCDM
Def. Val
<P1>
Min. Val
<P1>
Max. Val
<P1>
DSCDM parameters
K1 Position loop proportional gain 100 0 2147483647
K2 Position loop speed feedback gain 20 0 2147483647
K3 Position loop force feedback gain 0 0 2147483647
K4 Position loop integrator gain 0 0 2147483647
K5 Position loop anti-windup gain 10 0 2147483647
K6 Position loop integrator limitation 1073741823 0 2147483647
K7 Position loop integrator mode 0 0 2
0 Position loop integrator gain (K4) always on
2 Position loop integrator gain (K4) always off
K8 Position loop speed filter 0 0 511
K9 Force reference filter on the position regulator output 0 0 511
K11 Speed smooth filter for TTL encoder 0 0 256
K20 Position loop speed feedforward gain 0 0 2147483647
K21 Position loop acceleration feedforward gain 0 0 2147483647
K23 Commutation phase advance according to the speed 0 0 65535
K27 Maximum position range limit for rotary movement 1 0 2000000000
K Alias
Val
<P1>
Bit #
<P1>
Comment for parameters K
and <P1> of the DSCDL
Def. Val
<P1>
Min. Val
<P1>
Max. Val
<P1>

Etel DSC2P Specifications

General

Brand	Etel
Model	DSC2P
Category	Controller
Language	English