AMCI SD4840EK, User Manual

Page: 70 / 104

C
OMMAND
D
ATA
F
ORMAT
SD4840EK User Manual
ADVANCED MICRO CONTROLS INC.
70
Command Blocks (continued)
Encoder Follower Move
Table R6.12 Encoder Follower Move Command Block
Unused words are ignored by the SD4840EK and can be any value, including parameter values from the pre-
vious command.
† The 32 bit position register is used to store the Electronic Gearing Numerator and Denominator values.
Both of these values are USINT values. The structured text example below combines the two values into
the one 32 bit register. This code was written with TwinCAT software.
//Denominator stored in lower 16 bits.

Position := USINT_TO_DINT(nEGDenominator);

//Numerator converted, shifted, and ANDed into the upper 16 bits.

Position := Position AND SHL(USINT_TO_DINT(nEGNumerator), 16);
Preset Position
Table R6.13 Preset Position Command Block
Unused words are ignored by the SD4840EK and can be any value, including parameter values in the previ-
ous command.
Presetting the position will also reset the
Move_Complete
status bit in the Network Input Data.
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT
CMD_word0
16#0080 or 16#0100
CMD_Word1 UINT
CMD_word1
See pg. 62
Bit 6 must equal “1”
Position
†
DINT
Upper 16 bits: EG Numerator Value between 1 and 255
Lower 16 bits: EG Denominator Value between 1 and 255
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 See Note Below
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT
CMD_word0
16#0200
CMD_Word1 UINT
CMD_word1
See pg. 62
Position DINT Position Preset Value Steps –8,388,608 to +8,388,607
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