AMS DCB-274 manual Move at a Constant Velocity, Port 4 Input Flag, Gentle Limit Flag

Page 52

ADVANCED MICRO SYSTEMS, INC.

SMC-27X2 SOFTWARE

Port 4 Input (Flag 16)

This flag informs the controller that Port 4 is to be used as an input. Jumpers JP1 and JP2 must be set accordingly. The commands; read inputs (A129), branch (G 2048) and loop (L n) will use this input port.

Conflicts - Flag 2 and Flag 4 (outputs) are not permitted.

Example- turn on 3 options:

“l 25” = 1+8+16 = (invert limits) + (PLC mode) + (port 4 = input).

In general, a miss-installed jumper will not cause damage, other than a dysfunction.

Gentle Limit (Flag 32)

Preliminary – not fully tested. When a limit input is activated, the motion (presumably high speed) will decelerate to zero based on the deceleration value defined by the “K” command. This means that there will be some travel overshoot. The mechanical design should take this into account.

Command	Function			Type		NV Bytes
M	Move at Constant Velocity			Immediate, Program		3

	Mnemonic		Data 1		Data 2	Result

	(Name) M		SPS (±40-36,000)		None	None

M (Move at a Constant Velocity)

The “+” or “-” sign determines direction during the move at constant velocity function. The motor will ramp up, or down to a constant velocity. Motion will continue at the given speed until a new velocity is entered. The specified slew speed is in steps per second. Ramp parameters may be modified prior to each velocity command, allowing different ramp slopes. The direction is specified by the sign preceding the velocity. The SMC-27X2 has the capability of decelerating from full speed in one direction, then accelerating to full speed in the opposite direction with this single command.

Motion may be terminated by:

1.The “M 0” command

2.Soft stop command or interrupt

3.Abort (ESC) interrupt (without deceleration)

The default initial velocity is used at the first invocation of the command. The following commands modify effective speeds and resolutions:

4.Divide

5.Ramp factor

6.Step Resolution

An example of this command within a program, in conjunction with the Loop on Port and Soft Stop commands, is as follows:

P 0	Enter program mode.
M 2000	Move at a constant step rate of 2000 SPS.
L0 0	Loop to memory address location 0 until port 1 is low.

@Decelerate and stop program execution.

P	Exit program mode.

4 6

Image 52

Contents Nashua, NH Page Revision Date 07/05/06 Page Advanced Micro SYSTEMS, INC Addenum Introduction Limitations or Exceptions for the DCB-274Features Product OverviewRequired Hardware for Operation SIN-8Out of the Box Quick Start Connect the Motor After Sign-onDual Ammeter Circuit Serial Interface J2, J3 Advanced Micro SYSTEMS, INC Hardware Connections J1, J4Pin 7 VIO Reference Input Input PortsStandard Mode- Sinking Inputs PLC Mode- Sourcing InputsTypical User Input Circuit Output PortsPort Encoder Input Option J1Typical Output Circuit Step and Direction Inputs J1 Power Supply and Motor Connection J5Encoder Inputs J1 Typical Wiring Diagrams for Step Motors Baud Rate Jumpers B1, B2Specifications ElectricalEnvironmental PhysicalPhysical Dimensions Overview RS-232 HardwareRS-232 RS-422Single axis, RS-232 connection using AMS SIN-7 adapter RS-232 Daisy Chain connectionCable Specifications RS-422 Party Line HardwareParty Line Connect RS-422 Party LineRS-422/485 BUS-drop SIN-8 Serial AdapterSIN-8, RS-232 to RS-422 converter SIN-10 Intelligent Serial Adapter Other Party Line SignalsSIN-10, intelligent serial line converter Party Line Mode Daisy Chain Mode not recommended for more than 1 axisSerial Communications Overview Serial Communications SoftwareSerial Interface Using Easi Baud RateEasi Software Sign-OnExamine Command Daisy Chain Start-Up Simple Command ExamplesAxis Name Assignment Verify the Program NV Memory ProgrammingExecute the Program Edit Program Party Line and Daisy Chain Line CommandsSome Rules Command Example Party Line StartupAnatomy of Instruction Execution Interrupt Commands Command Cycle ExamplesAdvanced Micro SYSTEMS, INC Serial Interface Advanced Micro SYSTEMS, INC Serial Interface Non-Volatile Memory Details Memory MapDefault Table Turbo RamESC Global Abort Command Format Description@ Soft Stop Reset Port Read/WriteInputs OutputsProgramming Example Set Jog Speeds Lower case B Fast and Slow DecayClear and Restore NV Memory Divide SpeedsNormally Closed Home Switch Normally Open Home SwitchFind Home Special case Go Step Resolution Initial VelocityJump to Address a, n+1 times Lower case I Restart Special TripRamp Slope Lower case K Trip Output Value Advanced Micro SYSTEMS, INC SMC-27X2 Software Lower case L Option Flags Loop on PortFlags and Numbers PLC Mode Flag Limit Polarity FlagMake Step and Direction Outputs Flag Moving Output FlagPort 4 Input Flag Move at a Constant VelocityGentle Limit Flag Program Mode Set OriginIndex Relative to Origin Save Trip PointSet Slew Speed Wait Lower case W Pre-energizeExamine Hold and Run CurrentRead Position Read NV Memory Read Limits, Hardware+ Index in Plus Direction Index in Minus DirectionRead Moving Status \ Write to NV MemorySelective Termination Name AxisParty Line Mode AMS SIN-11 Serial AdapterCommand Summary Advanced Micro SYSTEMS, INC AddendumAscii Character Code Ctrl Char Dec Hex CodeStep Motor Characteristics About Step Motor CurrentMotor Choice Determining the Current ValueAmps and Wire Count and Power Basic 8 Wire MotorWire Motor Application Notes V1.10 Double Speed Characteristics Decay ControlSerial Adapter Summary