AMCI SMD17K, Руководство пользователя

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C
OMMAND
D
ATA
F
ORMAT
SMD17K User Manual
ADVANCED MICRO CONTROLS INC.
60
CMD_word0
Figure R6.2 Command Word 0 Format
Bit 15: Mode_Select – “0” for Command Mode programming.
It is possible to write configuration data to the unit using the output words, but the use of this
method is discouraged. Configuration data should be written to the SMD17K using the CoE
interface as described in the previous chapter.
Bit 14: Preset_Encoder –
When this bit makes a 0

1 transition, the unit will preset the Encoder Position to
the value stored in the Position double integer register defined by the ESI file.
Bit 13: Run_Assembled_Move –
When this bit makes a 0

1 transition, the unit will run the Assembled
Move already stored in memory.

Assembled_Move_Type – Command Word 1, Bit 9:
This bit determines the type of move that
is run. When this bit equals “0”, a Blend Move is run. When this bit equals “1”, a Dwell Move is
run. When starting a Dwell Move, the Dwell Time is programmed in word 9 of the Command
Data. The value is programmed in milliseconds and can range from 0 to 65,536.

Reverse_Blend_Direction – Command Word 1, Bit 4:
This bit is used to determine the direc-
tion that the Blend Move will be run in. When this bit equals “0”, the Blend Move runs in the
clockwise direction. When this bit equals “1”, the Blend Move is run in the counter-clockwise
direction.
Bits 12 & 11: Program_Assembled & Read_Assembled_Data –
These bits are used to program the seg-
ments of an Assembled Move before the move can be run. Their use is explained in the Assembled
Move Programming section of this manual starting on page 36.
Bit 10: Reset_Errors –
When this bit makes a 0

1 transition, the unit will clear all existing command
errors and reset the Move_Complete bit in the Network Input Data. This bit does not clear a configu-
ration error or the Position_Invalid status bit.
Bit 9: Preset_Position –
When this bit makes a 0

1 transition, the unit will preset the Motor Position. The
value depends on the state of the Preset_To_Encoder bit (Command Word 1, bit 13). If the
Preset_To_Encoder bit equals “0”, the Motor Position is preset to the value stored in the Position
double integer register defined by the ESI file. If the Preset_To_Encoder bit equals “1”, the Motor
Position is set to:

In either case, the Move_Complete and Position_Invalid bits in the Network Input Data are reset to
“0”.
Bit 8: Jog_CCW –
When this bit makes a 0

1 transition, the unit will run a Jog Move in the counter-
clockwise direction. The full explanation of a CW/CCW Jog Move can be found starting on page 30.

Registration_Move – Command Word 1, Bit 7:
When this bit equals “0”, and a Jog Move
command is issued, it will run as a standard Jog Move. When this bit equals “1” and a

Jog Move command is issued, the move will run as a Registration Move.
CMD_word0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Prst
_Enc
Run_A
M
ov
R
d_A
Dat
a
Pr
g_A
ss
m
RSet
_
Er
r
Pr
st_
P
os
Jog_CCW
Jog_CW
Hom
e_CCW
Ho
me_CW
I-
S
to
p
Re
sm
_M
v
Ho
ld_
M
v
Motor Position Encoder Position
Motor Programmed Steps per Turn
Encoder Programmed Pulses per Turn
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