There are 3 different types of motion tasks which can be used at the Servostar:

1) A 'normal' trapezoidal motion task.

2) A 1:1 Lookup-Table motion task (please note attachment lookup 1.jpg).

3) A motion task with a sin2-acceleration ramp (please note attachment lookup 2.jpg and lookup 3.jpg).

Point 2:

If you want to use a 1:1 Lookup-Table motion task (motion task without a constant speed between the acceleration and deceleration ramp) you have to set Bit 9 of O_C to 1. This applies for the SR600 and S300. The Servostar try to reach the target position (O_P) within the defined time (O_ACC1+O_DEC1 at the SR600, O_ACC+O_DEC at the S300). The maximum velocity that will be reached depends on the parameter O_P and O_ACC1+O_DEC1 (SR600).

The paremeter O_ACC2 (SR600) or O_TAB (S300) decides which Lookup-Table is used. The Servostar has 2 Lookup-Tables stored in the Flash, Table 0 and 1.

The parameter O_V has no meaning.

Point 3:

If you want to use a motion task with a sin2-acceleration ramp (motion task with a constant speed between the acceleration and deceleration ramp), you must set bit 9 of O_C to 0. This applies for the SR600 and S300. Now there is a difference between the SR600 and S300:

The S300 only uses the Lookup-Table which is stored in our internal flash to generate a sin2-ramp. Therefore you have to set bit 16 of O_C to 1. At the S300 O_C is a 32 bit variable. O_TAB decides which Lookup-Table is used.

The S600 can use the Lookup-Table which is stored in our internal flash to generate a sin2-ramp or can calculate the sin2-ramp by an algorithm (please refer also ASCII command SPSET). If you use the Lookup-Table to generate a sin2-ramp (SPSET=3), ACC2 decides which table is used for the sin2-ramp. At the S600 O_C is only a 16 bit variable.

Point 2 and Point 3:

The command O_DEC2 has no functionality in conjunction with sin2-motion tasks.

The following parameters have the same functionality at sin2 motion tasks:

S600          

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O_ACC1    

O_DEC1      

O_ACC2