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SMD23E2 and SMD24E2 User’s Manual
C
OMMAND
M
ODE
D
ATA
F
ORMAT
69
Command Word 0
Figure R6.2 Command Word 0 Format
Bit 15: Mode_Select –
“1” for Configuration Mode Programming “0” for Command Mode Programming.
Bit 14: Preset_Encoder –
When this bit makes a 0
1 transition, the unit will preset the Encoder Position to
the value stored in Output Words 2 and 3.
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
section of this manual starting on page 38.
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 Output Words 2
and 3. 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
can be found starting on page 32.
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.
Command Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
MO
DE
Prst
_Enc
Run_
AM
ov
Rd
_A
D
at
a
Prg
_A
ss
m
RSe
t_
Err
Pr
st
_
P
os
Jog_
CCW
Jo
g_
C
W
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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