AMCI SMD17E2 - Page 4

TABLE OF CONTENTS SMD17E2 User Manual
ADVANCED MICRO CONTROLS INC.
4
Reference: Motion Control 
(continued)
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 Accel ............. 46
Trapezoidal S-Curve Accel ........... 48
Determining Waveforms 
by Values .................................... 50
Reference: Homing an SMD17E2
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
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
Reference: Configuration Mode
Data Format (continued)
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 
(Word 0) ...................................... 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
Registration Move CCW ............... 77
Preset Position ............................... 78
Reset Errors ................................... 78
Run Assembled Move ................... 79
Preset Encoder Position ................. 79
Programming Blocks ................................ 80
First Block ..................................... 80
Segment Block .............................. 80
Input Data Format ..................................... 81
Format of Position Data Values .... 81
Status Word 0 Format ................... 81
Status Word 1 Format ................... 83
Notes on Clearing a Driver Fault .............. 84