AMCI SMD23E2 Series, User Manual

Page: 73 / 134

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786
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Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
SMD23E2 and SMD24E2 User Manual
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OMMAND
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Command Word 1
Figure R6.3 Command Word 1 Format
Bit 15: Enable_Driver – “0” to disable the motor current, “1” to enable motor current. A valid configura-
tion must be written to the SMD23E2 or SMD24E2 before the driver can be enabled.
Bit 14: Virtual_Encoder_Follower – When using the SMD23E2 or SMD24E2 as an axis follower
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(Synchrostep Mode), set this bit to ‘1’ to close the position loop with respect to the encoder position.
This bit is only available when the unit is configured to use encoder feedback. This bit must equal ‘0’
if the Virtual_Position_Follower bit, bit 12 of this word, is set to ‘1’.
Bit 13: Preset_to_Encoder – Only used when the Preset Motor Position bit (Command Word 0, Bit 9) is
set to “1”. If this bit equals “0” when the Preset Motor Position bit equals “1”, the Motor Position is
set to the value contained in words 2 and 3 of the command block. If this bit equals “1” when the
Preset Motor Position bit equals “1”, the Motor Position is set to:
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In either case, the Move_Complete and Position_Invalid bits in the Network Input Data are reset to
“0”.
Bit 12: Virtual_Position_Follower – When using the SMD23E2 or SMD24E2 as an axis follower
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(Synchrostep Mode), set this bit to ‘1’ to close the position loop with respect to the motor position.
This bit must equal ‘0’ if the
Virtual_Encoder_Follower bit, bit 14 of this word, is set to ‘1’.
Bit 11: Backplane_Proximity_Bit – When the SMD23E2 or SMD24E2 is configured to use the
Backplace_Proximity_ Bit , the unit will ignore the state of the Home Input as long as this bit equals
“0”. This bit must equal “1” before a transition on the Home Input can be used to home the machine.
Further information on using the
Backplace_Proximity_Bit can be found in the Profile with
Backplane_Proximity_Bit section found on page 58.
Bit 10: Reserved – Must equal “0”.
Bit 9: Assembled_Move_Type – When this bit equals “0”, a Blend Move is started when the Run Assem-
bled Move bit, (Command Word 1, Bit 13) makes a 0
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1 transition. When this bit equals “1”, a
Dwell Move is started on the transition. The direction of a Blend Move is controlled by the
Reverse_Blend_Direction bit, (Command Word 1, Bit 4). In a Dwell Move, the Dwell Time between
segments is programmed in Word 9 of the command data.
Bit 8: Indexed_Command – If this bit is set when a move command is issued, the SMD23E2 or
SMD24E2 will not run the move immediately, but will instead wait for an inactive-to-active transi-
tion on an input configured as a
Start Indexer Move input. The move command data, including this
bit, must remain in the Network Output Registers while performing an Indexed Move.
Bit 7: Registration_Move – When this bit equals “0”, and a Jog Move command is issued, it will run as a
standard Jog Move. When this bit equals “1” and a Jog Move command is issued, the move will run
as a Registration Move.
Bit 6: Reserved – Must equal “0”.
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Command Word 1
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Sa
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Motor Position Encoder Position
Motor Programmed Steps per Turn
Encoder Programmed Pulses per Turn
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