AMCI SMD17E2 - Command Word 1

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SMD17E2 User Manual COMMAND MODE DATA FORMAT
71
Command Word 1
Figure R6.3 Command Word 1 Format
Bit 15: Enable_Driver – “0” to disable the motor current, “1” to enable motor current. A valid configura-
tion must be written to the SMD17E2 before the driver can be enabled.
Bit 14: Reserved – Must equal “0”.
Bit 13: Preset_to_Encoder – Only used when the Preset Motor Position bit (Command Word 0, Bit 9) is
set to “1”. If this bit equals “0” when the Preset Motor Position bit equals “1”, the Motor Position is
set to the value contained in words 2 and 3 of the command block. If this bit equals “1” when the
Preset Motor Position bit equals “1”, the Motor Position is set to:

In either case, the Move_Complete and Position_Invalid bits in the Network Input Data are reset to
“0”.
Bit 12: Reserved – Must equal “0”.
Bit 11: Backplane_Proximity_Bit – When the SMD17E2 is configured to use the Backplace_Proximity_
Bit, the unit will ignore the state of the Home Input as long as this bit equals “0”. This bit must equal
“1” before a transition on the Home Input can be used to home the machine. Further information on
using the Backplace_Proximity_Bit can be found in the
Profile with Backplane_Proximity_Bit sec-
tion found on page 56.
Bit 10: Reserved – Must equal “0”.
Bit 9: Assembled_Move_Type – When this bit equals “0”, a Blend Move is started when the Run Assem-
bled Move bit, (Command Word 1, Bit 13) makes a 01 transition. When this bit equals “1”, a
Dwell Move is started on the transition. The direction of a Blend Move is controlled by the
Reverse_Blend_Direction bit, (Command Word 1, Bit 4). In a Dwell Move, the Dwell Time between
segments is programmed in Word 9 of the command data.
Bit 8: Indexed_Command – If this bit is set when a move command is issued, the SMD17E2 will not run
the move immediately, but will instead wait for an inactive-to-active transition on an input config
-
ured as a Start Indexer Move input. The move command data, including this bit, must remain in the
Network Output Registers while performing an Indexed Move.
Bit 7: Registration_Move – When this bit equals “0”, and a Jog Move command is issued, it will run as a
standard Jog Move. When this bit equals “1” and a Jog Move command is issued, the move will run
as a Registration Move.
Bit 6: Reserved – Must equal “0”.
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
Command Word 1
En_Driver
Preset_to_Enc
R
eg_Move
I
ndex_Cmd
A
sMv_Type
R
ev_BlendDir
Mo
tor_Current
Sa
ve_to_Flash
Motor Position Encoder Position
Motor Programmed Steps per Turn
Encoder Programmed Pulses per Turn
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