AMCI SMD17K, User Manual

Page: 65 / 98

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SMD17K User Manual
C
OMMAND
D
ATA
F
ORMAT
65
Command Blocks (continued)
Resume Move
Table R6.4 Resume Move Command Block
Unused words are ignored by the SMD17K and can be any value, including parameter values from the previ-
ous command. This is typically the case when resuming a move, the words are listed as “Unused” to highlight
that the target position of a held move cannot be changed when the move is resumed.
Immediate Stop
Table R6.5 Immediate Stop Command Block
Unused words are ignored by the SMD17K and can be any value, including parameter values from the
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previous command.
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 20. Ignored if bit 1 of
Command Word 1 is not set.
Jerk UINT Acceleration Jerk 0 to 5000
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT CMD_word0 16#0010
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