Look-Up Table Movements - Etel DSC Series Operation & Software Manual

152

13.3.2 Look-up table movements

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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.
MMD.x
10 Look-up table movement (sti) (linear motor)
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
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 with the LTI command (Look-up table TIme). Finally the movement is executed with the POS
movement
command which also determines the final position x
K
K203 LTN.<axis> = <p1>
K204
Remark: LTI alias use the same syntax than the corresponding parameter K. Refer to
information about the syntax and the possible operators.
Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems
DSC2P
Type of movement
32
-1. Ideally, the point corresponding to the movement's maximum stroke should bear
[
Position upi
LKT values [-]
32
max =2 -1
| |
0 1 2
Alias <p1>
0-7 Number of user look-up table movement selected.
Time to execute a look-up table movement.
LTI -
Time = K204 x 166.67µs or K204 x 500µs
DSC2V DSCDP
POS, K203, K204, K206, K207, K208, MMC
LKTvalues
] ⋅ [
------------------------------ - K208 upi
=
32
2 – 1
LKT max. point
K208 [upi]
max. stroke
|
LKT points [-]
1998 1999
to reach.
final
Comment
ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05
DSCDL
Usable functions
]
DSCDM
Units
-
[sti]
§6.3 for more