Command Word 0 - Advanced Micro Controls Inc. SMD17E2 User Manual

SMD17E2 User Manual

Command Word 0

Bit 15: Mode_Select –
Bit 14: Preset_Encoder –
the value stored in Output Words 2 and 3.
Bit 13: Run_Assembled_Move –
Move already stored in memory.
 Assembled_Move_Type – Command Word 1, Bit 9:
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:
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: Read_Assembled_Data & Program_Assembled –
ments of an Assembled Move before the move can be run. Their use is explained in the
Move Programming
Bit 10: Reset_Errors –
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 –
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 –
clockwise direction. The full explanation of a
 Registration_Move – Command Word 1, Bit 7:
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.
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Command Word 0
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Figure R6.2 Command Word 0 Format
"1" for Configuration Mode Programming "0" for Command Mode Programming.
When this bit makes a 0
When this bit makes a 0
section of this manual starting on page 38.
When this bit makes a 0
When this bit makes a 0
Motor Position = Encoder Position
When this bit makes a 0
C
OMMAND

1 transition, the unit will preset the Encoder Position to

1 transition, the unit will run the Assembled
This bit determines the type of move that
This bit is used to determine the direc-
These bits are used to program the seg-

1 transition, the unit will clear all existing command

1 transition, the unit will preset the Motor Position. The
Motor Programmed Steps per Turn

------------------------------------------------------------------------------------------ -
Encoder Programmed Pulses per Turn

1 transition, the unit will run a Jog Move in the counter-
CW/CCW Jog Move
When this bit equals "0", and a Jog Move
M D F
ODE ATA ORMAT
Assembled
can be found starting on page 32.
69