AMCI SMD17K, Руководство пользователя

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C
OMMAND
D
ATA
F
ORMAT
SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
64
Command Blocks (continued)
Relative Move
Table R6.2 Relative Move Command Block
Hold Move
Table R6.3 Hold Move Command Block
Unused words are ignored by the SMD17K and can be any value, including parameter values from the

previous command.
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT CMD_word0 16#0002
CMD_Word1 UINT CMD_word1 See pg. 62
Position DINT Relative Target Position Steps –8,388,608 and +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 Motor Current 0.1 amps
0 to 20. Ignored if bit 1 of
Command Word 1 is not set.
Jerk UINT Acceleration Jerk 0 to 5000
ESI File
Name
Data
Size
Function Units Range
CMD_Word0 UINT CMD_word0 16#0004
CMD_Word1 UINT CMD_word1 See pg. 62
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