ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 66)

EM[N] - ECAM Parameters
Purpose:
Defines the behavior of ECAM (Electronic CAM) motions. With ECAM, the position
reference to the drive is made an arbitrary function of the external encoder reading.
The ECAM parameters apply only to position modes (UM=3 and 5) and when the
position reference is derived from the auxiliary encoder input (RM=1, FR[3]=non-
zero).
Parameter Description
EM[1] ECAM mode
0: Inactive
1: Linear ECAM
2: Cyclical ECAM
Set EM[1] to enter a change in the EM[2], EM[3], EM[4], EM[5] and
EM[7] parameters.
EM[2] Last valid index of the ECAM table.
Maximum value is 1024.
EM[3] Starting position: the value of the input to the ECAM function for
which the output of the ECAM function will be ET[EM[5]] (ET of
EM[5]).
EM[4] Auxiliary input (∆PY) distance between consecutive points in the
ECAM table ET[N].
EM[5] First valid index of the ECAM table.
EM[6] Index for the next head pointer when using CAN for fast ECAM table
loading.
EM[7] Last segment shortening. Used to generate an ECAM table with an
input range that is not an integer multiple of EM[4].
EM[8] Read-only report of position in the ECAM table. When ECAM motion
is not active, EM[8] reports 0.
Table 3-11: ECAM Parameters
Notes:
When EM[1]=1 or EM[1]=2, the active ECAM table entries —
ET[EM[5]] . . . ET[EM[2]] — cannot be changed. Other members of the
ET[N] array may be changed.
Parameter EM[6] takes effect immediately.
Parameters EM[2], EM[3], EM[4], EM[5] and EM[7] are activated only
when EM[1] is set. In this manner, the next work segment can be
programmed while the present work segment is executing.
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
58