AMCI SV160E2, User Manual, Page: 65 / 120

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SV160E2 User Manual
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OMMAND
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65
Command Blocks (continued)
Axis Follower Moves
The Axis Follower Moves requires a controller with the capacity for motion axis programming. The follow-
ing is table is offered as a trouble shooting aid if you need to decode the data being sent to the SV160E2.
Table R6.10 Axis Follower Move Command Block
When the command is accepted, the value in words 8 and 9 determine the type of move. If the value equals
zero, the move is treated as a linear axis follower. If the value is between 1,024 and 1,073,741,824, the move
is treated as a circular axis follower. Once the move has begun, the type of follower move cannot be changed.
Once the command is accepted, the Stopped bit (Word 0, bit 3 in the Input Data), is reset to “0” and remains
zero as long as the axis follower command remains active. It will not be reset to zero if the position from the
master axis stops changing. Use the
Moving_CW and Moving_CCW bits (Word 0, bits 0 and 1 in the Input
Data), to determine when motion from the SV160E2 is occurring.
When the command is accepted, the acceleration programmed in word 6 is used to accelerate to the present
speed of the move. Once this speed is achieved, the SV160E2 will use the value in word 6 to determine how
quickly it reacts to the changes in position from the master axis. (Once the SV160E2 initially accelerates to
the preset speed of the virtual axis, the unit accepts changes in the acceleration value in word 6 as part of the
virtual axis commands.)
Once the SV160E2 is following the axis, (the Stopped bit is reset to “0”), Word 8 can be used to program the
Maximum Move Torque. The Motor_Torque bit (Command Word 1, bit 1) must be set to “1” to program the
torque. The Maximum Move Torque must be in word 8 and word 9 must equal 0.
A sample program that demonstrates virtual axis programming on ControlLogix is available on the AMCI
website at
https://www.amci.com/industrial-automation-support/sample-programs/ . The Linear and Circu-
lar Add On Instructions available in the sample program, have all of the above parameters and automatically
place the values in the correct registers based on the state of the Stopped status bit.
If you are using a different host controller that supports motion axis programming, feel free to contact AMCI
technical support for assistance in programming your controller.
EtherNet/IP
or PROFINET
Word
Modbus TCP
Register
Function Units Range
0 1024 Command Word 0 16#0080 or 16#0100
1 1025 Command Word 1 16#1000
2 1026
32 bit Position Value Steps
Range of -1,073,741,824
to +1,073,741,823
3 1027
4 1028
32 bit Programmed Speed Steps/Second Range of ±1,048,575
5 1029
6 1030 Acceleration Steps/ms/sec Range of ±15,999
7 1031 Deceleration Steps/ms/sec 1 to 15,999
8 1032 32 bit Unwind Value
or
Maximum Move Torque
Steps
or
0.01 Nm
0, 1,024 to 1,073,741,824
or
0, 10 to 130
9 1033