AMCI SMD23E2 Series, User Manual

Page: 4 / 134

T
ABLE OF
C
ONTENTS
SMD23E2 and SMD24E2 User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Motion Control
Assembled Moves .................................... 36
Blend Move ................................... 37
Controlled Stop ................... 38
Immediate Stop ................... 38
Dwell Move .................................. 38
Assembled Move Programming ............... 40
Control Bits – Output Data ........... 40
Control Bits – Input Data .............. 40
Programming Routine ................... 40
Saving an Assembled

Move in Flash ............................. 40
Indexed Moves ......................................... 41
Synchrostep (Virtual Axis) Moves ........... 42
Controlling Moves In Progress ................ 43
Jog Moves ..................................... 43
Registration Moves ....................... 43
Absolute and Relative Moves ....... 43
Assembled Moves ......................... 43
Reference: Calculating Move

Profiles
Constant Acceleration Equations ............. 45
Variable Definitions ...................... 45
Total Time Equations .................... 47
S-Curve Acceleration Equations .............. 48
Triangular S-Curve Accel. ............ 48
Trapezoidal S-Curve Accel. .......... 50
Determining Waveforms

by Values .................................... 52
Reference: Homing an SMD23E2

or SMD24E2
Definition of Home Position .................... 55
Position Preset .......................................... 55
CW/CCW Find Home Commands ........... 55
Homing Inputs .......................................... 56
Physical Inputs .............................. 56
Network Data Input ...................... 56
Homing Configurations ............................ 56
Homing Profiles ....................................... 57
Home Input Only Profile .............. 57
Profile with

Backplane_Proximity_Bit ........... 58
Profile with Overtravel Limit ....... 59
Controlling Find Home

Commands In Progress .......................... 60
Controlled Stop Conditions .......... 60
Immediate Stop Conditions ........... 60
Reference: Configuration Mode
Data Format
Modes of Operation .................................. 61
Configuration Mode ...................... 61
Command Mode ............................ 61
Power Up Behavior .................................. 61
Configuration Mode Data Format ............ 61
Command Mode Data Formats ................. 61
Output Data Format .................................. 63
Configuration Word 0 Format ....... 63
Configuration Word 1 Format ....... 65
Notes on Other

Configuration Words ................... 66
Input Data Format ..................................... 66
Configuration Word 0 Format ....... 66
Starting Speed Format ................... 66
Stall Detect Enable ........................ 67
Invalid Configurations .............................. 67
Reference: Command Mode Data
Format
Data Format .............................................. 69
Command Bits Must Transition ............... 70
Output Data Format .................................. 70
Command Word 0 .................................... 71
Command Word 1 .................................... 73
Command Blocks ..................................... 74
Absolute Move .............................. 74
Relative Move ............................... 75
Hold Move .................................... 75
Resume Move ................................ 76
Immediate Stop ............................. 76
Find Home CW ............................. 77
Find Home CCW ........................... 77
Jog CW .......................................... 78
Registration Move CW ................. 78
Jog CCW ....................................... 79
Registration Move CCW ............... 79
Synchrostep Moves ....................... 80
Preset Position ............................... 81
Reset Errors ................................... 81
Run Assembled Move ................... 82
Preset Encoder Position ................. 82
Programming Blocks ................................ 83
First Block ..................................... 83
Segment Block .............................. 83