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Networked Indexer/Driver User Manual
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CMD_word1 (continued)
Bit 4: Reverse_Blend_Direction –
When you command a Blend Move to run, this bit determines the
direction of rotation. Set to “0” for a clockwise Blend Move, ‘1’ for a counter-clockwise Blend
Move.
Bit 3: Reserved –
Must be set to “0”.
Bit 2: Encoder_Registration_Move –
This bit is used with the Relative_Move (CMD_word0, bit 1) or
Absolute_Move (CMD_word0, bit 0) bits. Set this bit to “1” to command an Encoder Registration
Move. This move will run until the encoder count reaches the programmed relative or absolute value
and then the move will begin to decelerate and stop. Must equal “0” for normal relative or absolute
moves. A full description of an
can be found starting on page 14.
Bit 1: Motor_Current_Key1 –
See the description below.
Bit 0: Motor_Current_Key0 –
See the description below.
Description of Motor Current Keys
With the exceptions of the CW/CCW Registration Move commands, it is possible to change the motor current
“on the fly” while in Command Mode. To do this, place the new motor current in the UINT Motor_Current
register and set the key bits as shown below.
CMD_word1: Bit 5, (Key2) – “1”
CMD_word1: Bit 1, (Key1) – “0”
CMD_word1: Bit 0, (Key0) – “1”
This feature does not work with CW/CCW Registration Move commands because the last two words in the
command data are used to store the Minimum Registration Distance parameter. For all other commands, the
Networked Driver will respond by changing the motor current and writing the new value into the Network
Input Data, Word 8. Once the motor current has been set, reset the key bits to all zeros to prevent further
changes to the motor current. The motor current can be changed at any time, including during a move.
Setting the motor current to an invalid value does not force a command error. The value will be
ignored and the Networked Driver will use the motor current value programmed while in Con-
figuration Mode. Invalid values are:
Values whose last digit is not even
Values outside the range of 1.0 to 6.0 amps on the SD17060E-K
Values outside the range of 1.0 to 4.4 amps on the SD31045E-K
