Advanced Micro Controls Inc. SMD23E2 User Manual Download

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OTION

ONTROL

SMD23E2 and SMD24E2 User’s Manual

ADVANCED MICRO CONTROLS INC.

Assembled Move Programming

All of the segments in a Blend or Dwell Move must be written to the SMD23E2 or SMD24E2 before the
move can be run. Segment programming is controlled with two bits in the Network Output Data and two bits
in the Network 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 sign of each segment’s Target Position is ignored and all segments are run in the same direction. In
the case of a Dwell Move, the sign of each segment’s Target Position determines the direction of the segment.
For Dwell Moves, the Dwell Time is sent to the unit as part of the command.

Control Bits – Output Data



Program_Assembled bit –

A 0



1 transition on this bit tells the SMD23E2 or SMD24E2 that you want

to program a Blend or Dwell Move Profile. The unit will respond by setting the

In_Assembled_Mode

bit

in the Network Input Data. At the beginning of the programming cycle, the unit will also set the

Waiting_For_Assembled_Segment

bit to signify that it is ready for the first segment.



Read_Assembled_Data bit –

A 0



1 transition on this bit tells the SMD23E2 or SMD24E2 that the

data for the next segment is available in the remaining data words.

Control Bits – Input Data



In_Assembled_Mode bit –

The SMD23E2 or SMD24E2 sets this bit to tell you that it is ready to

accept segment programming data in the remaining output data words. The actual transfer of segment
data is controlled by the

Waiting_For_Assembled_Segment

and

Read_Assembled_Data

bits.



Waiting_For_Assembled_Segment bit –

A 0



1 transition on this bit from the SMD23E2 or

SMD24E2 is the signal to the host that the unit 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 SMD23E2 or SMD24E2 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 SMD23E2 or SMD24E2 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 SMD23E2 or SMD24E2 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 unit resets the

In_Assembled_Mode

and the

Waiting_For_Assembled_Segment

bits.

Saving an Assembled Move in Flash

The SMD23E2 and SMD24E2 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
with the

Save_Assembled_to_Flash

bit set. When you reach step 9 in the sequence, the SMD23E2 or SMD24E2

responds by resetting the

In_Assembled_Mode

and

Transmit Blend Move Segments

bits as usual and then it will

flash 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 SMD23E2 or SMD24E2
before you can continue. With a limit of 10,000 write cycles, the design decision that requires you to cycle power
to the unit was made to prevent an application from damaging the module by continuously writing to it.