AMCI SV160E2, User Manual, Page: 58 / 120

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SV160E2 User Manual
ADVANCED MICRO CONTROLS INC.
58
Command Word 0
Figure R6.2 Command Word 0 Format
Bit 15: Mode_Select – “1” for Configuration Mode Programming “0” for Command Mode Programming.
Bits 14 - 11: Reserved – Must equal zero.
Bit 10: Reset_Errors – When this bit makes a 0

1 transition, the SV160E2 will clear all command and
input errors and reset the Move_Complete bit in the Network Input Data. This bit does not clear a
configuration error or the Position_Invalid status bit.
Bit 9: Preset_Position – When this bit makes a 0

1 transition, the SV160E2 will preset the Profile Posi-
tion and the Encoder Position to the value specified in the command. The Move_Complete and
Position_Invalid bits in the Network Input Data are reset to “0”.
Bit 8: Jog_CCW – When this bit makes a 0

1 transition, the SV160E2 will run a Jog Move in the coun-
ter-clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on
page 31.

Registration_Move – Command Word 1, Bit 7: 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.

Axis Follower Mode – Command Word 1, Bit 12: If this bit equal “1” when the
Registration_Move bit equals “0”, the SV160E2 will enter its Virtual Axis Follower Mode

when the Jog Move bit makes a 0

1 transition.
Bit 7: Jog_CW – When this bit makes a 0

1 transition, the SV160E2 will run a Jog Move in the clockwise
direction. The full explanation of a CW/CCW Jog Move can be found starting on page 31.

Registration_Move – Command Word 1, Bit 7: 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.

Axis Follower Mode – Command Word 1, Bit 12: If this bit equal “1” when the
Registration_Move bit equals “0”, the SV160E2 will enter its Virtual Axis Follower Mode

when the Jog Move bit makes a 0

1 transition.
Bit 6: Find_Home_CCW – When this bit makes a 0

1 transition, the SV160E2 will attempt to move to the
Home Limit Switch in the counter-clockwise direction. A full explanation of homing can be found in
the
Homing an SV160E2 reference chapter starting on page 41.
Bit 5: Find_Home_CW – When this bit makes a 0

1 transition, the SV160E2 will attempt to move to the
Home Limit Switch in the clockwise direction. A full explanation of homing can be found in the
Homing an SV160E2 reference chapter starting on page 41.
Bit 4: Immediate_Stop – When this bit makes a 0

1 transition, the SV160E2 will stop all motion at the
deceleration rate programmed with the Immediate Stop Deceleration value. (The Immediate Stop
Deceleration is programmed as part of the configuration data,
Block 3: Motor Configuration Block ,
as described on page 51.) If the position error during the stop does not exceed the Maximum Position
Error Limit value, the motor will stop at the Profile Position value. If the position error during the
stop exceeds the Maximum Position Error Limit value, the SV160E2 will disable the motor and
issue a Position_Invalid fault. The Maximum Position Error Limit value is programmed as part of
the
Block 6: Position Control Loop Configuration Block found on page 53.
Command Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
MODE
RSet
_
Er
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Pr
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P
os
Jog_CCW
Jog_CW
Hom
e_CCW
Ho
me_CW
I-
S
to
p
Re
sm
_M
v
Ho
ld_
M
v