COMMAND MODE DATA FORMAT
SMD17E2 User Manual
ADVANCED MICRO CONTROLS INC.
82
Input Data Format (continued)
Status Word 0 Format (continued)
Bit 13: Configuration_Error – “1” on power up before a valid configuration has been written to the
SMD17E2, or after any invalid configuration has been written to the unit. “0” when the unit has a
valid configuration in memory.
When in Command Mode, bit 13 of word 0 is set to “1” when there is a configuration error.
When in Configuration Mode, bit 13 of word 0 is set to “1” when stall detection is enabled.
When using the state of bit 13 of word 0 in your logic, always include the state of bit 15 of
word 0 to assure that you are only acting on the bit when in the proper mode.
Bit 12: Command_Error – “1” when an invalid command has been written to the SMD17E2. This bit can
only be reset by the Reset_Errors bit, Command Word 0, Bit 10.
Bit 11: Input_Error – “1” when:
Emergency Stop input has been activated
Either of the End Limit Switches activates during any move operation except for homing
Starting a Jog Move in the same direction as an active End Limit Switch
If the opposite End Limit Switch is reached during a homing operation.
This bit is reset by a Reset Errors command. The format of the command is given on page 78.
Bit 10: Position_Invalid – “1” when:
A configuration is written to the SMD17E2
The motor position has not been preset or the machine has not been homed
The network connection has been lost and re-established
An Immediate or Emergency Stop has occurred
An End Limit Switch has been reached
A motor stall has been detected.
Absolute moves cannot be performed while the position is invalid. The state of this bit is ignored for
all other move types.
Bit 9: Waiting_For_Assembled_Segment – The SMD17E2 sets this bit to tell the host that it is ready to
accept the data for the next segment of your assembled move profile. Its use is explained in the
Assembled Move Programming section of this manual starting on page 38.
Bit 8: In_Assembled_Mode – The SMD17E2 sets this bit to signal the host that it is ready to accept
assembled move profile programming data. Its use is explained in the
Assembled Move Program-
ming section of this manual starting on page 38.
Bit 7: Move_Complete – Set to “1” when the present Absolute, Relative, Jog, Registration, or Assembled
Move command completes without error. This bit is reset to “0” when the next move command is
written to the SMD17E2, when the position is preset, or a Reset Errors command is issued to the
unit. This bit is also set along with the Command_Error bit (Bit 12 of this word), when any Jog
Move or Registration Move parameters are outside of their valid ranges. This bit is not set on a com
-
mand error for any other type of command. Finally, this bit is not set at the end of a homing opera-
tion.
Bit 6: Decelerating – Set to “1” when the present move is decelerating. Set to “0” at all other times.
Bit 5: Accelerating – Set to “1” when the present move is accelerating. Set to “0” at all other times.
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