Programming Blocks; First Block; Segment Block - Advanced Micro Controls Inc. SMD23E2 User Manual

C M
OMMAND ODE

Programming Blocks

The following blocks are used to program an Assembled Move. Both of the move types, Blend Move, and
Dwell Move, are programmed exactly the same way. The bit configuration used when starting the move
determines which type of Assembled Move is run.

First Block

PROFINET
Word
0
1
2
3
4
5
6
7
8
9
Unused words are ignored by the SMD23E2 and SMD24E2 and can be any value, including parameter values
from the previous command.
Once the first block is transmitted, the SMD23E2 or SMD24E2 responds by setting bits 8 and 9 in Status Word 0.
(See Status Word 0 Format
Blocks.

Segment Block

PROFINET
Word
0
1
2
3
4
5
6
7
8
9
Note that each Segment Block starts with bits 11 and 12 in Command Word 0 set to "1" (16#1800). When the
unit sees bit 12 of Command Word 0 set, it will accept the block and reset bit 9 in Status Word 0. When your pro-
gram sees this bit reset, it must respond by resetting bit 12 of Command Word 0. The SMD23E2 or SMD24E2
will respond to this by setting bit 9 in Status Word 0 and the next Segment Block can be written to the unit. You
can write a maximum of sixteen Segment Blocks for each Assembled Move.
80
D F
ATA ORMAT
Function
Command Word 0
Command Word 1
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Unused
Table R6.17 Assembled Move First Programming Block
starting on page 81.) Once these are set, you can then start transmitting Segment
Function
Command Word 0
Command Word 1
Rel. Target Position: Upper Word
Rel. Target Position: Lower Word
Programmed Speed: Upper Word
Programmed Speed: Lower Word
Acceleration
Deceleration
Reserved
Acceleration Jerk
Table R6.18 Assembled Move Segment Programming Block
SMD23E2 and SMD24E2 User's Manual
Units
See Note Below
See Note Below
See Note Below
See Note Below
See Note Below
See Note Below
See Note Below
See Note Below
Units
Combined value between
Steps
–8,388,608 and +8,388,607
Combined value between
Steps/Second the Configured Starting
Speed and 2,999,999
Steps/sec/ms
Steps/sec/ms
Must equal zero for compat-
ibility with future releases.
ADVANCED MICRO CONTROLS INC.
Range
16#0800
See pg. 71
Range
16#1800
See pg. 71
1 to 5000
1 to 5000
0 to 5000