20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
59
REFERENCE 6
C
ONFIGURATION
M
ODE
D
ATA
F
ORMAT
Modes of Operation
Each AMCI Networked Driver has two operating modes, Configuration Mode and Command Mode. You
switch between these modes by changing the state of a single bit in the Network Output Data.
Configuration Mode
Configuration Mode gives you the ability to select the proper configuration for your application without hav-
ing to set any switches. Typically, the Networked Driver should be configured on every power up. This will
help ease system maintenance if you ever need to replace the drive. However, note that the motor will not
receive power until the driver is properly configured.
Command Mode
This mode gives you the ability to program and execute stepper moves, and reset errors when they occur. The
Networked Driver will always power up in this mode, but a valid configuration must be sent to the Networked
Driver before it will apply power to the motor or allow you to issue move commands. The command data for-
mats are described in the following chapter.
Power Up Behavior
A Networked Driver will always power up in Command Mode. The unit will use its stored configuration data
to configure the unit if it is available. The Networked Driver will then check for valid network command data
and will only enable the motor driver section if the Enable_Driver bit is set.
If using EtherNet/IP with an EDS file, the Networked Driver is sent configuration data when it connects
to the network. This data is used to configure the unit. (This data is used in place of any configuration
that may be stored in flash memory.) The Networked Driver will then check for valid network com-
mand data and will only enable the motor driver section if the Enable_Driver bit is set.
Word Addressing
Data format tables in this reference chapter contain EtherNet/IP, PROFINET, and Modbus TCP address col-
umns. Modbus addresses given in the tables follow the zero-based addressing method. If you need additional
information on Modbus addressing schemes, please refer to the task chapter
Configuration Mode Data Format
A Networked Driver requires twenty bytes of Output Data as well as twenty bytes of Input Data. In
EtherNet/IP applications that use an EDS file, these twenty bytes will be a mixture of single and double inte-
gers. In EtherNet/IP applications that do not use an EDS file, the Networked Driver is added to the network as
a generic device. In this case the data is represented as ten 16-bit (single) integers. This ten word format is
also used in Modbus TCP and PROFINET applications.
This chapter covers the formats of the Network Output Data used to configure
the AMCI Networked Driver as well as the formats of the Network Input Data that
contains the responses from the device. An AMCI Networked Driver requires ten
16-bit words (20 bytes) for Output Data as well as ten 16-bit words for Input Data.
