AMCI SD4840EK, User Manual

Page: 59 / 104

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59
REFERENCE 6
C
OMMAND
D
ATA
F
ORMAT
Command Bits Must Transition
The command bits are split between two, 16 bit words, CMD_word0 and CMD_word1. Only one bit in
CMD_word0 can make a 0

1 transition at a time.
Output Data Format
The following table shows the format of the output network data words when writing command data to the
SD4840EK.
Figure R6.1 Command Data Format
This chapter covers the format of the Network Output Data used to command the
SD4840EK and the format of the Network Input Data that contains the responses
from the device. The parameter names of the input and output data are defined by
the device ESI file. The size of each data element is also defined by the ESI file.
Commands are only accepted when a command bit makes a 0

1 transition. The
easiest way to do this is to write a value of zero into the CMD_word0 before writ-
ing the next command.
ESI File
Name
Data
Size
Function
CMD_word0 UINT Command Word 0
CMD_word1 UINT Command Word 1
Position DINT
Command Parameters
Word meaning depends
on the command set
to the SD4840EK
Velocity UDINT
Acceleration UINT
Deceleration UINT
Motor_Current UINT
Jerk UINT