MOTION CONTROL
SMD17E2 User Manual
ADVANCED MICRO CONTROLS INC.
38
Assembled Move Programming
All of the segments in a Blend or Dwell Move must be written to the SMD17E2 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 SMD
17E
2 that you want to program a
Blend or Dwell Move Profile. The unit will respond by setting the
In_Assembled_Mode
bit in the Net-
work 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 01 transition on this bit tells the SMD17E2 that the data for the next
segment is available in the remaining data words.
Control Bits – Input Data
In_Assembled_Mode bit – The SMD17E2 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 01 transition on this bit from the SMD17E2 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 SMD17E2 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 SMD17E2 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 SMD17E2 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 SMD
17E
2 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 SMD
17E
2 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 SMD
17E
2 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.
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