ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 270)

Commands Action
EM[5] First valid index of ECAM table.
The EM[2] setting goes into effect at next setting of EM[5] or next
MO=1.
EM[6] Write pointer for fast loading of the ECAM table via CAN bus (see
section 6.2.4 ).
EM[7] Last interval shortening. EM[7] allows the ECAM table length
(ECAM cycle in the EM[1]=2 cyclical mode) not to be an integer
multiple of EM[4] (see
sections 6.2.2.1 and 6.2.2.2 ).
EM[8] Reports present executing segment of ECAM table. Used to
determine if an action is executing or is complete.
Table 6-15: ECAM-related Commands
The input to the ECAM table (IET) is FR[3] * (auxiliary encoder - EM[3]).
The ECAM table defines the external position reference for IET values between 0 and
IETmax = (EM[2] - EM[5]) * EM[4] - EM[7].
6.2.2.1 Linear ECAM
Linear ECAM is selected by EM[1]=1. In this mode:
If IET < 0, the external position command (output of the ECAM table) will be
ET[EM[5]].
If IET > IETmax, the external position command will be ET[EM[2]].
If 0 < IET < IETmax, the external position command will be derived by linear
interpolation of the ECAM table.
The output of the ECAM table does not need to be in the range of the main position
sensor (refer to the XM[N] command section in the
SimplIQ for Steppers Command
Reference Manual). If the output of the ECAM table is out of the position sensor range, it is
interpreted modulo the position sensor range.
Example 1:
The following figure illustrates the behavior of linear ECAM for EM[5]=1 and EM[2]=4.
SimplIQ for Steppers Application Note The Position Reference Generator
MAN-STECR (Ver. 1.1)
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