AMCI SD17060E2, Руководство пользователя

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Networked Indexer/Driver User Manual
M
OTION
C
ONTROL
37
Assembled Move Programming
All of the segments in a Blend or Dwell Move must be written to the Networked Driver before the move can
be run. Segment programming is controlled with two bits in the Network Output Data and two bits in the Net-
work Input Data. Blend and Dwell Moves are programmed in exactly the same way. When you start the
move, a bit in the command data determines which type of Assembled Move is run. In the case of a Blend
Move, the signs of the segment’s Target Positions are ignored and all segments are run in the same direction.
In the case of a Dwell Move, the signs of the segment’s Target Positions determine the direction of the seg-
ment. For Dwell Moves, the Dwell Time is sent to the Networked Driver as part of the command.
Control Bits – Output Data

Program_Assembled bit –
Set this bit to tell the Networked Driver that you want to program a Blend
or Dwell Move Profile. The Networked Driver will respond by setting the In_Assembled_Mode bit in
the Network Input Data. At the beginning of the programming cycle, the Networked Driver will also set
the
Waiting_For_Assembled_Segment bit to signify that it is ready for the first segment.

Read_Assembled_Data bit –
Set this bit to tell the Networked Driver that the data for the next seg-
ment is available in the remaining data words.
Control Bits – Input Data

In_Assembled_Mode bit – The Networked Driver sets this bit to tell you that it is ready to accept seg-
ment programming data in the remaining output data words. The actual transfer of segment data is con-
trolled by the
Waiting_For_Assembled_Segment and Read_Assembled_Data bits.

Waiting_For_Assembled_Segment bit – The Networked Driver will set this bit to signal the host that
it is ready to accept the data for the next segment.
Programming Routine
1) The host sets the Program_Assembled bit in the Network Output Data.
2) The Networked Driver responds by setting both the In_Assembled_Mode and
Waiting_For_Assembled_Segment bits in the Network Input Data.
3) When the host detects that the Waiting_For_Assembled_Segment bit is set, it writes the data for the first
segment in the Network Output Data and sets the Read_Assembled_Data bit.
4) The Networked Driver checks the data, and when finished, resets the Waiting_For_Assembled_Segment
bit. If an error is detected, it also sets the Command_Error bit.
5) When the host detects that the Waiting_For_Assembled_Segment bit is reset, it resets the
Read_Assembled_Data bit.
6) The Networked Driver detects that the Read_Assembled_Data bit is reset, and sets the
Waiting_For_Assembled_Segment bit to signal that it is ready to accept data for the next segment.
7) Steps 3 to 6 are repeated for the remaining segments until the entire move profile has been entered. The
maximum number of segments per profile is sixteen.
8) After the last segment has been transferred, the host exits Assembled Move Programming Mode by
resetting the Program_Assembled bit.
9) The Networked Driver resets the In_Assembled_Mode and the Waiting_For_Assembled_Segment bits.
Saving an Assembled Move in Flash
The Networked Driver also contains the Save_Assembled_to_Flash bit that allows you to store the Assembled
Move in flash memory. This allows you to run the Assembled Move right after power up, without having to go
through a programming sequence first. To use this bit, you follow the above programming routine and have the
Save_Assembled_to_Flash bit set during step 8. At step 9 in the sequence, the Networked Driver responds by
resetting the In_Assembled_Mode and Transmit Blend Move Segments bits as usual and then flashes the Status
LED. If the LED is flashing green, the write to flash memory was successful. If it flashes red, then there was an
error in writing the data. In either case, power must be cycled to the Networked Driver before you can continue.
With a limit of 10,000 write cycles, the design decision that requires you to cycle power to the Networked
Driver was made to prevent an application from damaging the module by continuously writing to it.