ElmoMC SimplIQ Software Manual - Manual (Page 174)

SimplIQ Software Manual The Position Reference Generator
MAN-SIMSW (Ver. 1.4)
11-33
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 ECAM table via CAN bus (see section
11.2.4 ).
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 11.2.2.1 and 11.2.2.2 ).
EM[8] Reports present executing segment of ECAM table. Used to determine
if an action is executing or is complete.
Table 11-10: 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].
11.2.2.1 Linear ECAM
Linear ECAM is selected by EM[1]=1. In this mode:
ƒ
If IET < 0, the external position command (output of the ECAM table) will be
ET[EM[5]].
ƒ If IET > IETmax, the external position command will be ET[EM[2]].
ƒ 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 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.