TABLE OF CONTENTS
SMD23E2 and SMD24E2 User’s Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Motion Control
(continued)
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
Saving an Assembled
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
Profiles
Constant Acceleration Equations ............. 43
Variable Definitions ...................... 43
Total Time Equations .................... 45
S-Curve Acceleration Equations .............. 46
Triangular S-Curve
Acceleration ................................ 46
Trapezoidal S-Curve
Acceleration ................................ 48
Determining Waveforms
by Values .................................... 50
Reference: Homing an SMD23E2 or
SMD24E2
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
Reference: Homing an SMD23E2 or
SMD24E2 (continued)
Homing Profiles ........................................ 55
Home Input Only Profile ............... 55
Profile with
Backplane_Proximity_Bit ........... 56
Profile with Overtravel Limit ........ 57
Controlling Find Home
Commands In Progress ........................... 58
Controlled Stop Conditions ........... 58
Immediate Stop Conditions ........... 58
Reference: Configuration Mode
Data Format
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
Notes on Other
Configuration Words ................... 64
Input Data Format ..................................... 64
Configuration Word 0 Format ....... 64
Starting Speed Format ................... 64
Stall Detect Enable ........................ 65
Invalid Configurations .............................. 65
Reference: Command Mode Data
Format
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
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