AMCI SD4840EK, User Manual

Page: 68 / 104

C
OMMAND
D
ATA
F
ORMAT
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
68
Command Blocks (continued)
Registration Move CW
Table R6.9 Registration Move CW 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.

Jerk := UDINT_TO_UINT(SHR(nMRMDist, 16)); //Jerk stores the upper 16 bits.
Jog CCW
Table R6.10 Jog CCW 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#0080
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
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 “00”
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