AMCI SD17060E2, Руководство пользователя

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Networked Indexer/Driver User Manual
C
OMMAND
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ODE
D
ATA
F
ORMAT
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Input Data Format
The correct format for the Network Input Data when the Networked Driver is in Command Mode is shown
below.
Table R7.21 Network Input Data Format: Command Mode
Format of Position Data Values
The format of the Motor Position, Encoder Position, and Trapped Encoder Position values is controlled by the
Binary_Input_Format bit in the configuration data written to the Networked Driver. (See
Configuration
Word 1 Format , bit 9 starting on page 64.) When the Binary_Input_Format bit equals “0”, the position val-
ues are reported with the bottom three digits of the value in the lower word (000 - 999) and the remaining dig-
its in the upper word. See
Position Data Format Examples on page 67 for an explanation of this format.
When the Binary_Input_Format bit equals “1”, the position values are reported as 32-bit signed integers, with
the location of the least significant bits dependent on the selected endian format.
The range of values when using the multi-word format is -32,768,000 to 32,767,999. When
used in continuous rotation applications, such as control of a conveyor belt, it is possible to
overflow these values. When any of the three position values overflow, the value of the associ-
ated data words will become indeterminate. AMCI strongly suggests using the signed 32-bit
integer format for continuous rotation applications.
Status Word 0 Format
Figure R7.4 Command Mode: Status Word 0 Format
Bit 15: Mode_Flag –
Set to “1” if in Configuration Mode, and set to “0” if in Command Mode. The Net-
worked Driver powers up in Command Mode and shows a configuration error. The Networked
Driver will not power the motor or accept commands until a valid configuration is written to it.
Bit 14: Module_OK –
“1” when the Networked Driver is operating without a fault, “0” when an internal
fault condition exists.
EtherNet/IP
or PROFINET
Word
Modbus/TCP
Register
Command Mode Input Data
0 0 Status Word 0
1 1 Status Word 1
2 2 Motor Position: Upper Word
3 3 Motor Position: Lower Word
4 4 Encoder Position: Upper Word
5 5 Encoder Position: Lower Word
6 6 Trapped Encoder Position: Upper Word
7 7 Trapped Encoder Position: Lower Word
8 8 Programmed Motor Current (X10)
9 9 Value of Acceleration Jerk Parameter
Status Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
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