AMCI SD4840EK, User Manual

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SD4840EK User Manual
M
OVE
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ROFILES
35
Controlling Moves In Progress
The SD4840EK has the ability to place a running move on hold and later resume the move if an error did not
occur while the move was in its Hold state. One potential application for this feature is bringing a move to a
controlled stop when your controller senses an end-of-stock condition. The move can be put in its Hold state
until the stock is replenished and then the move can be resumed.
Note that you do not have to resume a move once it has been placed in its Hold state. You can place a move in
its Hold state to prematurely end the move with a controlled stop and issue any type of new move from the
stopped position.
The figure below shows a profile of a move that is placed in its Hold state and later resumed.
Figure R2.14 Hold/Resume a Move Profile
Jog Moves
Jog Moves can be placed in a Hold state and resumed if error conditions, such as programming errors, have
not occurred. New Acceleration, Deceleration, and Programmed Speed parameters can be written to the
SD4840EK while a Jog Move is in its hold state. If these parameters are accepted without error, the move can
be resumed and it will use the new parameter values.
Registration Moves
Registration Moves can be brought to a controlled stop with the Hold bit, but they cannot be restarted.
Absolute, Relative and Encoder Registration Moves
Absolute, Relative and Encoder Registration Moves can be placed in a Hold state and resumed if error condi-
tions, such as programming errors, have not occurred. New Acceleration, Deceleration, and Programmed
Speed parameters can be written to the SD4840EK while these moves are in their hold states. If the parame-
ters are accepted without error, the move can be resumed and it will use the new parameter values. Note that a
change to the Target Position is ignored.
Assembled Moves
A Blend or Dwell Move can be placed in a Hold state but cannot be resumed. This give you the ability to pre-
maturely end an Assembled Move with a controlled stop. The Assembled Move is not erased from memory
and can be run again without having to reprogram it.
SP
EE
D
POSITION
Move
Complete
Position Held for a length of time.
Move resumes when Resume Bit activates.