AMCI SD4840EK, User Manual

Page: 65 / 104

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SD4840EK User Manual
C
OMMAND
D
ATA
F
ORMAT
65
Command Blocks (continued)
Hold Move
Table R6.3 Hold Move Command Block
Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ-
ous command.
Resume Move
Table R6.4 Resume Move Command Block
Unused words are ignored by the SD4840EK and can be any value, including parameter values from the pre-
vious command. This is typically the case when resuming a move, the words are listed as “Unused” to high-
light that the target position of a held move cannot be changed when the move is resumed.
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT
CMD_word0
16#0004
CMD_Word1 UINT
CMD_word1
See pg. 62
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#0008
CMD_Word1 UINT
CMD_word1
See pg. 62
Position DINT Unused See Note Below
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 Motor Current 0.1 amps 0 to 40 (0.0 to 4.0 amps)
Jerk UINT Acceleration Jerk 0 to 5000