AMCI SD4840EK, User Manual

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SD4840EK User Manual
C
OMMAND
D
ATA
F
ORMAT
71
Command Blocks (continued)
Reset Errors
Table R6.14 Reset Errors Command Block
Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ-
ous command.

Issuing a Reset Errors command will reset the
Move_Complete
status bit in the Network Input Data.

Issuing a Reset Errors command will not reset the
Position_Invalid
or
Configuration_Error
bits.
Run Assembled Move
Table R6.15 Run Assembled Move Command Block
Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ-
ous command.
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT
CMD_word0
16#0400
CMD_Word1 UINT
CMD_word1
See pg. 62
Set bit 10 to clear
driver faults
Position DINT Unused See Note Below
Velocity UDINT Unused See Note Below
Acceleration UINT Unused See Note Below
Deceleration UINT Unused See Note Below
Motor_Current UINT Unused See Note Below
Jerk UINT Unused See Note Below
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT
CMD_word0
16#2000
CMD_Word1 UINT
CMD_word1
See pg. 62
Blend Move: Bit 9 = “0”
Dwell Move: Bit 9 = “1”
The Blend Move direction
is controlled by Bit 4.
Position DINT Unused See Note Below
Velocity UDINT Unused See Note Below
Acceleration UINT Unused See Note Below
Deceleration UINT Unused See Note Below
Motor_Current UINT Motor Current 0.1 A 0 to 40 (0.0 to 4.0 amps)
Jerk UINT
Unused with Blend Move
Dwell Time with Dwell
Move
milliseconds 0 to 65,535