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Networked Indexer/Driver User Manual
M
OTION
C
ONTROL
35
Assembled Move Programming
All of the segments in a Blend or Dwell Move must be written to the Networked Driver before the move can
be run. Segment programming is controlled with two bits in the Network Output Data and two bits in the Net-
work Input Data. Blend and Dwell Moves are programmed in exactly the same way. When you start the
move, a bit in the command data determines which type of Assembled Move is run. In the case of a Blend
Move, the signs of the segment’s Target Positions are ignored and all segments are run in the same direction.
In the case of a Dwell Move, the signs of the segment’s Target Positions determine the direction of the seg-
ment. For Dwell Moves, the Dwell Time is sent to the Networked Driver as part of the command.
Control Bits – Output Data
Program_Assembled bit –
A 0
1 transition on this bit tells the Networked Driver that you want to
program a Blend or Dwell Move Profile. The Networked Driver will respond by setting the
In_Assembled_Mode
bit in the Network Input Data. At the beginning of the programming cycle, the
Networked Driver will also set the
Waiting_For_Assembled_Segment
bit to signify that it is ready for
the first segment.
Read_Assembled_Data bit –
A 0
1 transition on this bit tells the Networked Driver that the data for
the next segment is available in the remaining data words.
Control Bits – Input Data
In_Assembled_Mode bit –
The Networked Driver sets this bit to tell you that it is ready to accept seg-
ment programming data in the remaining output data words. The actual transfer of segment data is con-
trolled by the
Waiting_For_Assembled_Segment
and
Read_Assembled_Data
bits.
Waiting_For_Assembled_Segment bit –
A 0
1 transition on this bit from the Networked Driver is
the signal to the host that the Networked Driver is ready to accept the data for the next segment.
Programming Routine
1) The host sets the
Program_Assembled
bit in the Network Output Data.
2) The Networked Driver responds by setting both the
In_Assembled_Mode
and
Waiting_For_Assembled_Segment
bits in the Network Input Data.
3) When the host detects that the
Waiting_For_Assembled_Segment
bit is set, it writes the data for the first
segment in the Network Output Data and sets the
Read_Assembled_Data
bit.
4) The Networked Driver checks the data, and when finished, resets the
Waiting_For_Assembled_Segment
bit. If an error is detected, it also sets the
Command_Error
bit.
5) When the host detects that the
Waiting_For_Assembled_Segment
bit is reset, it resets the
Read_Assembled_Data
bit.
6) The Networked Driver detects that the
Read_Assembled_Data
bit is reset, and sets the
Waiting_For_Assembled_Segment
bit to signal that it is ready to accept data for the next segment.
7) Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered. The
maximum number of segments per profile is sixteen.
8) After the last segment has been transferred, the host exits Assembled Move Programming Mode by
resetting the
Program_Assembled
bit.
9) The Networked Driver resets the
In_Assembled_Mode
and the
Waiting_For_Assembled_Segment
bits.
