AMCI SD4840EK, User Manual

Page: 30 / 104

M
OVE
P
ROFILES
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
30
Assembled Moves (continued)
Blend Move
Each Relative Move defines a
segment
of the Blend Move. The following restrictions apply when program-
ming Blend Moves.
1) Each segment of the Blend Move must be written to the SD4840EK before the move can be initiated.

The SD4840EK supports Blend Moves with up to sixteen segments.
2) Each segment is programmed as a relative move. Blend Moves cannot be programmed with absolute
coordinates.
3) All segments run in the same direction. The sign of the target position is ignored and only the
magnitude of the target position is used. The move’s direction is controlled by the bit pattern used to
start the move. If you want to reverse direction during your move, consider using the
Dwell Move
which is explained starting on page 31.
4) The Programmed Speed of each segment must be greater than or equal to the Starting Speed.
5) The Programmed Speed can be the same between segments. This allows you to chain two segments
together.
6) For all segments except for the last one, the programmed position defines the end of the segment. For
the last segment, the programmed position defines the end of the move.
7) Once you enter a segment, that segment’s programmed acceleration and deceleration values are used
to change the speed of the motor.
8) The blend segment must be long enough for the acceleration or deceleration portions of the segment
to occur. If the segment is not long enough, the motor speed will jump to the speed of the next
segment without acceleration or deceleration.
The figure below shows a three segment Blend Move that is run twice. It is first run in the clockwise direc-
tion, and then in the counter-clockwise direction.
Figure R2.12 Blend Move
1) You do not have to preset the position or home the machine before you can use a Blend
Move. Because the Blend Move is based on Relative Moves, it can be run from any location.
2) The Blend Move is stored in the internal memory of the SD4840EK and can be run multiple
times once it is written to the unit. The Blend Move data stays in memory until power is
removed, the unit is sent new Configuration Data, or a new Blend or Dwell Move is written to
the SD4840EK. As described in
Assembled Move Programming
on page 33, it is also possi-
ble to save a Blend Move to flash memory. This move is restored on power up and can be run
as soon as you configure the SD4840EK and enter Command Mode.
3) There are two control bits used to specify which direction the Blend Move is run in. This
gives you the ability to run the Blend Move in either direction.
S
PEE
D
POSITION
CW
CCW