AMCI SMD23E2 Series, User Manual

Page: 75 / 134

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SMD23E2 and SMD24E2 User Manual
C
OMMAND
M
ODE
D
ATA
F
ORMAT
75
Command Blocks (continued)
Relative Move
Table R6.3 Relative Move Command Block
Hold Move
Table R6.4 Hold Move Command Block
Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values
from the previous command.
PROFINET
Word
Function Units Range
0 Command Word 0 16#0002
1 Command Word 1 See pg. 73
2 Rel. Target Position: Upper Word
Steps
Combined value between
–8,388,608 and +8,388,607
3 Rel. Target Position: Lower Word
4 Programmed Speed: Upper Word
Steps/Second
Combined value between
the Configured Starting
Speed and 2,999,999
5 Programmed Speed: Lower Word
6 Acceleration Steps/sec/ms 1 to 5000
7 Deceleration Steps/sec/ms 1 to 5000
8 Motor Current 0.1 amps
0 to 34. Ignored if bit 1 of
Command Word 1 is not set.
9 Acceleration Jerk 0 to 5000
PROFINET
Word
Function Units Range
0 Command Word 0 16#0004
1 Command Word 1 See pg. 73
2 Unused See Note Below
3 Unused See Note Below
4 Unused See Note Below
5 Unused See Note Below
6 Unused See Note Below
7 Unused See Note Below
8 Unused See Note Below
9 Unused See Note Below