Table of Contents
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ABLE OF
ONTENTS
CW/CCW Jog Move ..................... 32
Controlled Stops ................. 32
Immediate Stops ................. 32
CW/CCW Registration Move ....... 33
Controlled Stops ................. 34
Immediate Stops ................. 34
Assembled Moves .................................... 34
Blend Move ................................... 35
Controlled Stops ................. 36
Immediate Stops ................. 36
Dwell Move .................................. 36
Assembled Move Programming ............... 38
Control Bits - Output Data ........... 38
Control Bits - Input Data .............. 38
Programming Routine ................... 38
Move in Flash ............................. 38
Indexed Moves ......................................... 39
Synchrostep (Virtual Axis) Moves ........... 40
Controlling Moves In Progress ................ 41
Jog Moves ..................................... 41
Registration Moves ....................... 41
Absolute and Relative Moves ....... 41
Assembled Moves ......................... 41
Reference: Calculating Move
Constant Acceleration Equations ............. 43
Variable Definitions ...................... 43
Total Time Equations .................... 45
S-Curve Acceleration Equations .............. 46
Acceleration ................................ 46
Acceleration ................................ 48
by Values .................................... 50
Reference: Homing an SMD23E2 or
Definition of Home Position .................... 53
Position Preset .......................................... 53
CW/CCW Find Home Commands ........... 53
Homing Inputs .......................................... 54
Physical Inputs .............................. 54
Network Data Input ...................... 54
Homing Configurations ............................ 54
4
Reference: Configuration Mode
Reference: Command Mode Data
SMD23E2 and SMD24E2 User's Manual
Homing Profiles ........................................ 55
Home Input Only Profile ............... 55
Backplane_Proximity_Bit ........... 56
Profile with Overtravel Limit ........ 57
Commands In Progress ........................... 58
Controlled Stop Conditions ........... 58
Immediate Stop Conditions ........... 58
Modes of Operation .................................. 59
Configuration Mode ...................... 59
Command Mode ............................ 59
Power Up Behavior .................................. 59
Configuration Mode Data Format ............ 59
Command Mode Data Formats ................. 59
Output Data Format .................................. 61
Configuration Word 0 Format ....... 61
Configuration Word 1 Format ....... 63
Configuration Words ................... 64
Input Data Format ..................................... 64
Configuration Word 0 Format ....... 64
Starting Speed Format ................... 64
Stall Detect Enable ........................ 65
Invalid Configurations .............................. 65
Data Format .............................................. 67
Command Bits Must Transition ............... 68
Output Data Format .................................. 68
Command Word 0 .................................... 69
Command Word 1 .................................... 71
Command Blocks ..................................... 72
Absolute Move .............................. 72
Relative Move ............................... 73
Hold Move .................................... 73
Resume Move ................................ 74
Immediate Stop ............................. 74
Find Home CW ............................. 75
Find Home CCW ........................... 75
Jog CW .......................................... 76
Registration Move CW ................. 76
Jog CCW ....................................... 77
ADVANCED MICRO CONTROLS INC.
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