AMCI SV160E2, User Manual, Page: 61 / 120

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SV160E2 User Manual
C
OMMAND
M
ODE
D
ATA
F
ORMAT
61
Command Blocks (continued)
Relative Move
Table R6.2 Relative Move Command Block
Hold Move
Table R6.3 Hold Move Command Block
Unused words are ignored by the SV160E2 and can be any value, including parameter values from the previ-
ous command.
EtherNet/IP
or PROFINET
Word
Modbus/TCP
Register
Function Units Range
0 1024 Command Word 0 16#0002
1 1025 Command Word 1 See pg. 59
2 1026
32 bit Relative Target Position Steps
Range of -1,073,741,824
to +1,073,741,823
3 1027
4 1028
32 bit Programmed Speed Steps/Second Range of 1 to 1,048,575
5 1029
6 1030 Acceleration Steps/sec/ms 1 to 15,999
7 1031 Deceleration Steps/sec/ms 1 to 15,999
8 1032 Maximum Move Torque 0.01 Nm
0, 10 to 130. “0” only allowed if
bit 1 of Command Word 1 is “0”.
9 1033 Reserved Must be 0
EtherNet/IP
or PROFINET
Word
Modbus/TCP
Register
Function Units Range
0 1024 Command Word 0 16#0004
1 1025 Command Word 1 See pg. 59
2 1026 Unused See Note Below
3 1027 Unused See Note Below
4 1028 Unused See Note Below
5 1029 Unused See Note Below
6 1030 Unused See Note Below
7 1031 Unused See Note Below
8 1032 Unused See Note Below
9 1033 Unused See Note Below