AMCI SD17060E-K, Руководство пользователя

Страница: 79 / 110

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
Networked Indexer/Driver User Manual
C
OMMAND
M
ODE
D
ATA
F
ORMAT
79
Programming Blocks
The following blocks are used to program an Assembled Move. Both of the moves, Blend Move, and Dwell
Move, are programmed exactly the same way. The bit configuration used when starting the move determines
which type of Assembled Move is run.
First Block
Table R7.17 Assembled Move First Programming Block
Unused words are ignored by the Networked Driver and can be any value, including parameter values from
the previous command.
Once the first block is transmitted, the Networked Driver responds by setting bits 8 and 9 in STATUS_word0. (See
STATUS_word0 Format starting on page 80.) Once these are set, you can then start transmitting Segment
Blocks.
Segment Block
Table R7.18 Assembled Move Segment Programming Block
Note that each Segment Block starts with bits 11 and 12 set in the CMD_word0 word (16#1800). When the Net-
worked Driver sees bit 12 of CMD_word0 set, it will accept the block and reset bit 9 in STATUS_word0. When
your program sees this bit reset, it must respond by resetting bit 12 of CMD_word0. The Networked Driver will
respond to this by setting bit 9 in STATUS_word0 and the next Segment Block can be written to the Networked
Driver. You can write a maximum of sixteen Segment Blocks for each Assembled Move.
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT CMD_word0 16#0800
CMD_Word1 UINT CMD_word1 See pg. 68
Position DINT Unused See Note Below
Velocity UDINT Unused See Note Below
Acceleration UINT Unused See Note Below
Deceleration UINT Unused See Note Below
Motor_Current UINT Unused See Note Below
Jerk UINT Unused See Note Below
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT CMD_word0 16#1800
CMD_Word1 UINT CMD_word1 See pg. 68
Position DINT Relative Target Position Steps –8,388,608 to +8,388,607
Velocity UDINT Programmed Speed Steps/Second
Value between the
configured Starting
Speed and 2,999,999
Acceleration UINT Acceleration Steps/sec/ms 1 to 5000
Deceleration UINT Deceleration Steps/sec/ms 1 to 5000
Motor_Current UINT Unused See Note Below
Jerk UINT Acceleration Jerk 0 to 5000