AMCI SD17060E, Руководство пользователя

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NETWORK DATA FORMATS
ADVANCED MICRO CONTROLS INC.
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Command Mode (continued)
Control Word 2 Format (continued)
Bit 6: Enable Electronic Gearing Mode –
Set to “1” to put the SD17060E in Electronic Gearing mode.
Set to “0” for normal operation. A full description of Electronic Gearing mode starts on page 23.
Bit 5: Motor Current Key2 –
See description below.
Bit 4: Blend Move Direction –
When you command a Blend Move to run, this bit determines the direction
of rotation. Set to “0” for a clockwise blend move, ‘1’ for a counter-clockwise blend move.
Bit 3: Reserved –
Must equal “0”.
Bit 2: Encoder Move –
Set to “1” when you command an Absolute or Relative move to cause the move
distance to be based on the encoder position, not on the motor position. Set to “0” for a standard
Relative or Absolute move based on motor position. A full description of
Encoder Moves starts on
page 19.
Bit 1: Motor Current Key1 –
See description below.
Bit 0: Motor Current Key0 –
See description below.
Description of Motor Current Keys
It is possible to change the motor current “on the fly” while in Command Mode. To do this, place the new
motor current in Word 8 and set the key bits as shown below.
h
Control Word 2: Bit 5 – “1”
h
Control Word 2: Bit 1 – “0”
h
Control Word 2: Bit 0 – “1”
The SD17060E will respond by changing the motor current and writing the new value into the Network Input
Data, Word 8. Once the motor current has been set, reset the key bits to all zeros to prevent further changes to
the motor current. The motor current can be changed at any time, including during a move.
Network Input Data (Command Mode)
The correct format for the Network Input Data when the SD17060E is in Command Mode is shown below.
Table 7.6 Network Input Data Format: Command Mode
Word Configuration Data
0 Status Word 1
1 Status Word 2
2 Motor Position: Upper Word
3 Motor Position: Lower Word
4 Encoder Position: Upper Word
5 Encoder Position: Lower Word
6 Captured Encoder Position: Upper Word
7 Captured Encoder Position: Lower Word
8 Value of Motor Current (X10)
9 Value of Acceleration Jerk Parameter