AMCI SD4840EK, User Manual

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T
ABLE OF
C
ONTENTS
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Move Profiles
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(continued)
Encoder Registration Moves .................... 29
Controlled Stops ........................... 29
Immediate Stops ........................... 29
Assembled Moves .................................... 29
Blend Move ................................... 30
Controlled Stops ................. 31
Immediate Stops ................. 31
Dwell Move .................................. 31
Controlled Stops ................. 32
Immediate Stops ................. 32
Assembled Move Programming ............... 33
Control Bits – Output Data ........... 33
Control Bits – Input Data .............. 33
Programming Routine ................... 33
Saving an Assembled
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Move in Flash ............................. 33
Indexed Moves ......................................... 34
Controlling Moves In Progress ................ 35
Jog Moves ..................................... 35
Registration Moves ....................... 35
Absolute, Relative and

Encoder Registration Moves ....... 35
Assembled Moves ......................... 35
Electronic Gearing .................................... 36
Motor Steps/Turn .......................... 36
ELGearing Multiplier

and Divisor .................................. 36
How It Works ................................ 36
Controlled Stops ........................... 36
Immediate Stops ........................... 36
Advanced Ratio Control ............... 37
Reference: Calculating Move

Profiles
Constant Acceleration Equations ............. 39
Variable Definitions ...................... 39
Total Time Equations .................... 41
S-Curve Acceleration Equations .............. 42
Triangular S-Curve

Acceleration ................................ 42
Trapezoidal S-Curve
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Acceleration ................................ 44
Determining Waveforms

by Values .................................... 46
Chapter 4: Homing the SD4840EK
Definition of Home Position .................... 49
Position Preset .......................................... 49
CW/CCW Find Home Commands ........... 49
Homing Inputs .......................................... 49
Physical Inputs .............................. 49
Backplane Inputs ........................... 49
Homing Configurations ............................ 50
Homing Profiles ........................................ 50
Home Input Only Profile ............... 50
Profile with Proximity Input ......... 51
Profile with Overtravel Limit ........ 52
Reference: Configuration Data

Format
CoE Registers ........................................... 53
Output Data Format .................................. 53
CFG_Word_0 Format ............................... 53
CFG_Word_1 Format ............................... 56
Current Loop Gain .................................... 57
Determining Current Loop Gain ... 58
Notes on Other Configuration Words ....... 58
Invalid Configurations .............................. 58
Reference: Command Data Format
Command Bits Must Transition ............... 59
Output Data Format .................................. 59
CMD_word0 ............................................. 60
CMD_word1 ............................................. 62
Command Blocks ..................................... 64
Absolute Move .............................. 64
Relative Move ............................... 64
Hold Move .................................... 65
Resume Move ................................ 65
Immediate Stop ............................. 66
Find Home CW ............................. 66
Find Home CCW ........................... 67
Jog CW .......................................... 67
Registration Move CW ................. 68
Jog CCW ....................................... 68
Registration Move CCW ............... 69
Encoder Follower Move ................ 70
Preset Position ............................... 70
Reset Errors ................................... 71
Run Assembled Move ................... 71
Preset Encoder Position ................. 72