AMCI SV160E2, Руководство пользователя, Страница: 59 / 120

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com
SV160E2 User Manual
C
OMMAND
M
ODE
D
ATA
F
ORMAT
59
Command Word 0 (continued)
Bit 3: Resume_Move – When this bit makes a 0

1 transition, the SV160E2 will resume a move that you
previously placed in a hold state. Use of the Resume_Move and Hold_Move bits can be found in the
Controlling Moves In Progress section of this manual starting on page 36. Note that a move in its
hold state need not be resumed. The move is automatically cancelled if another move is started in its
place.
Bit 2: Hold_Move – When this bit makes a 0

1 transition, the SV160E2 will place a move in its hold
state. The move will decelerate and stop. The move can be completed by using the Resume_Move
bit. Use of the Hold_Move and Resume_Move bits can be found in the
Controlling Moves In Prog-
ress section of this manual starting on page 36.
Bit 1: Relative_Move – When this bit makes a 0

1 transition, the SV160E2 will perform a Relative Move
using the data in the rest of the Command Data. The full explanation of a Relative Move can be
found starting on page 29.
Bit 0: Absolute_Move – When this bit makes a 0

1 transition, the SV160E2 will perform an Absolute
Move using the data in the rest of the Command Data. The full explanation of an Absolute Move can
be found starting on page 30.
Command Word 1
Figure R6.3 Command Word 1 Format
Bit 15: Enable_Driver – “0” to disable the motor current, A 0

1 transition attempts to enable motor cur-
rent. A valid configuration must be written to the SV160E2 before the driver can be enabled. Addi-
tionally, the Encoder Position must be within the range of Profile Position ± 4,096 counts or the
Preset_on_Enable bit, bit 14 of this word, must be set to “1”.
Bit 14: Preset_on_Enable – Only used when the Enable_Driver bit makes a 0

1 transition. If this bit is set
during a transition on the Enable_Driver bit, the Profile Position is set equal to the current Encoder
Position when the motor is enabled. If this bit is not set during a transition on the Enable_Driver bit,
the Encoder Position must be within the range of Profile Position ± 4,096 counts to enable the driver.
Once enabled, the
Move_Complete bit in the Network Input Data is reset to “0”.
Bit 13: Reserved – Must equal “0”.
Bit 12: Virtual_Axis_Follower – Set to “1” when using the SV160E2 as an axis follower. The Jog_CCW and
Jog_CW bits are used to control when the move actually occurs.
Bits 11-9: Reserved – Must equal “0”.
Bit 8: Indexed_Command – If this bit is set when a move command is issued, the SV160E2 will not run
the move immediately, but will instead wait for an inactive-to-active transition on an input config-
ured as a
Start Indexed Move input. The move command data, including this bit, must remain in the
Network Output Registers while performing an Indexed Move.
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Command Word 1
En
_D
riv
er
Pr
es
et
_on_E
n
V_
Ax
is
_F
ollo
w
Reg_M
ov
e
Inde
x_
Cm
d
M
ot
or_T
or
que
Sa
ve
_t
o_F
las
h