Elmo HARSFEN0602, HARmonica software manual 163

HARSFEN0602ElmoHARmonicaSoftwareManual PRELIMINARYDRAFT

	ET[3]
output
table	ET[4]
ECAM	ET[2]
			EM[4]
	ET[1]		EM[4]
			EM[4]
		EM[3]	EM[3]+3 EM[4]

ECAM table input

Example:

Suppose that we want the following functional relationship between the voltage of the analog input and the motor position:

2 0 0 0
1 9 0 0
1 8 0 0	P o s i ti o n c o u n ts
1 7 0 0
1 6 0 0
1 5 0 0
1 4 0 0
1 3 0 0
1 2 0 0
1 1 0 0
1 0 0 0	A n a lo g	vo lta g e	(V o lts )
1	1 .5	2	2 .5	3	3 .5	4

We set:
AG[3]=1000	Set 1000 counts at the input of the ECAM function for 1v of input
FR[3]=0	Don't use the auxiliary encoder.
EM[2]=4	Last ECAM points has the index 4.
EM[3]=1000	The first point is at 1v, which by AG[3] is equivalent to 1000
	counts
EM[4]=1000	Each two position break points are separated by 1v that by AG[3]

163