AMCI SV160E2, User Manual, Page: 4 / 120

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ABLE OF
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ONTENTS
SV160E2 User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Motion Control
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(continued)
CW/CCW Jog Move ..................... 31
Controlled Stops ................. 31
Immediate Stops ................. 31
CW/CCW Registration Move ....... 32
Controlled Stops ................. 33
Immediate Stops ................. 33
Indexed Moves ......................................... 34
Axis Follower Moves ............................... 35
Controlling Moves In Progress ................ 36
Jog Moves ..................................... 36
Registration Moves ....................... 36
Absolute and Relative Moves ....... 36
Disabling the Motor ................................. 36
Reference: Move Profile
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Calculations
Constant Acceleration Equations ............. 37
Variable Definitions ...................... 37
Total Time Equations .................... 39
Reference: Homing an SV160E2
Definition of Home Position .................... 41
Definition of Homing Speed .................... 41
Position Preset .......................................... 41
CW/CCW Find Home Commands ........... 41
Homing Inputs .......................................... 41
Homing Configurations ............................ 41
Homing Profiles ....................................... 42
Home Input Only Profile .............. 42
Profile with Overtravel Limit ....... 43
Controlling Find Home
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Commands In Progress .......................... 44
Controlled Stops ........................... 44
Immediate Stops ........................... 44
Reference: Configuration Mode
Data Format
Modes of Operation .................................. 45
Configuration Mode ...................... 45
Command Mode ........................... 45
Power Up Behavior .................................. 45
Data Format .............................................. 45
Command Mode Data Formats ................ 46
Output Data Format .................................. 47
Configuration Word 0 Format ...... 47
Reference: Configuration Mode
Data Format (cont’d)
Read Data Blocks ..................................... 49
Extended Drive Status ................... 49
Remaining Read Data Blocks ....... 49
Write Data Blocks .................................... 50
Block 1: Data Config Block .......... 50
Block 2: I/O Config Block ............ 50
Block 3: Motor Config Block ....... 51
Block 5: Velocity Control
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Loop Config Block ...................... 52
Block 6: Position Control
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Loop Config Block ...................... 53
Block 15: Save Config To
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Flash Block ................................. 53
Input Data Format ..................................... 54
Config Mode Input Word 0 ........... 54
Config Mode Input Word 1 ........... 55
Invalid Configurations .............................. 55
Reference: Command Mode Data
Format
Command Bits Must Transition ............... 57
Data Format .............................................. 57
Output Data Format .................................. 57
Command Word 0 .................................... 58
Command Word 1 .................................... 59
Command Blocks ..................................... 60
Absolute Move .............................. 60
Relative Move ............................... 61
Hold Move .................................... 61
Resume Move ................................ 62
Immediate Stop ............................. 62
Find Home CW ............................. 63
Find Home CCW ........................... 63
Jog CW .......................................... 64
Registration Move CW ................. 64
Axis Follower Moves .................... 65
Jog CCW ....................................... 66
Registration Move CCW ............... 66
Preset Position ............................... 67
Reset Errors ................................... 67
Enable Driver or
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Preset On Enable ......................... 68
Disable Driver ............................... 68
Input Data Format ..................................... 69
Status Word 0 Format ................... 69
Status Word 1 Format ................... 70
Notes on Clearing a Driver Fault .............. 72