AMCI SD4840EK, User Manual

Page: 69 / 104

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SD4840EK User Manual
C
OMMAND
D
ATA
F
ORMAT
69
Command Blocks (continued)
Registration Move CCW
Table R6.11 Registration Move CCW Command Block
† Motor Current and Jerk parameters cannot be programmed as part of a Registration Move. These two
words are used to store the UDINT value of the Minimum Registration Move Distance. The structured text
example below splits the thirty-two bit Minimum Registration Move Distance (nMRMDist) into the two
sixteen bit registers. This code was written with TwinCAT software.
Motor_Current := UDINT_TO_UINT(nMRMDist); //Motor_Current stores the lower 16 bits.
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Jerk := UDINT_TO_UINT(SHR(nMRMDist, 16)); //Jerk stores the upper 16 bits.
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT
CMD_word0
16#0100
CMD_Word1 UINT
CMD_word1
See pg. 62
Bits 7 & 6 must equal “10”
Position DINT Stopping Distance Steps 0 to +8,388,607
Velocity UDINT Programmed Speed Steps/Second
Value between the
configured Starting
Speed and 2,999,999
Acceleration UINT Acceleration Steps/sec/ms 1 to 5000
Deceleration UINT Deceleration Steps/sec/ms 1 to 5000
Motor_Current
†
UINT
Minimum Registration
Move Distance
steps
UDINT value between
0 and +8,388,607
Jerk
†
UINT