AMS DCB-274 manual Wait, Lower case W Pre-energize

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ADVANCED MICRO SYSTEMS, INC.

 

SMC-27X2 SOFTWARE

 

 

 

 

 

 

 

 

Command

Function

 

Type

 

 

NV Bytes

 

W

Wait (n) Milliseconds

 

Immediate, Program

 

3

 

 

 

 

 

 

 

 

Mnemonic

Data 1

Data 2

 

Result

 

 

 

 

 

(Name) W (n)

10 ms. (0-65,535)

None

 

None

 

W (Wait)

The controller will remain in an idle state for the specified time. The Wait command, if issued while indexing (as a result of an R, +, -, or F command), timing will NOT start until the motion has completed.

Wait until motion complete

Using this command with zero time can provide an alternate method of determining motion. If issued while running at constant velocity, the time -out will occur without waiting for motion to cease. High-speed step operation during Wait commands will increase the delay time by as much as 14 times the normal value. The result will NOT be available until the delay is complete.

The following example program makes a move, waits for motion to complete, then turns on an output port. Some uses for this could be illuminating a LED, signaling a sequence is complete or operating a valve.

P 0

Enter program mode.

+1000 Move 1000 steps in the plus direction.

W 0 Wait for move to finish.

A 8 Turn on port 4.

W 500 Wait 50milliseconds.

A 0 Turn off port.

P 0

Exit program mode.

 

 

 

 

 

 

 

 

 

 

 

 

Command

Function

 

 

Type

NV Bytes

w

Wait (n) Milliseconds

 

 

Immediate, Program

3

 

 

 

 

 

 

Mnemonic

Data 1

 

Data 2

Result

 

 

 

(Name) w (n)

10 ms. (0-255)

 

None

None

w (lower case W; Pre-energize)

The “w” command is a “pre-energize” command that can insure that motor current has built up when a step command is executed while in the “holding current” state. This parameter is useful under certain conditions, and should be zero (off) if possible. The following conditions might require “pre -energize” time:

1.Automatic current setback (“E” command) is in effect.

2.If the delay between consecutive motion commands exceeds 1 second.

3.If the initial speed (“I” command) specified is too high.

4.If the acceleration requirements are excessive.

When the auto current setback is used, motor current will be reduced after approximately one second of idle time. When a new motion command (+, -, R, M, F, etc) is executed the windings are re-energized almost instantly with the first motor step. Thus the motor must rapidly change from a “relaxed” position to the next step.

This pre-energize insures a delay after turn on. The delay is not used if the setback timeout (from a prior motion) is not timed-out. That is, the motor current is still at 100%. The drawback is that this function can introduce a substantial start delay.

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Contents Nashua, NH Page Revision Date 07/05/06 Page Advanced Micro SYSTEMS, INC Addenum Limitations or Exceptions for the DCB-274 IntroductionProduct Overview FeaturesSIN-8 Required Hardware for OperationOut of the Box Quick Start After Sign-on Connect the MotorDual Ammeter Circuit Serial Interface J2, J3 Connections J1, J4 Advanced Micro SYSTEMS, INC HardwareInput Ports Pin 7 VIO Reference InputStandard Mode- Sinking Inputs PLC Mode- Sourcing InputsOutput Ports Typical User Input CircuitEncoder Input Option J1 PortTypical Output Circuit Power Supply and Motor Connection J5 Step and Direction Inputs J1Encoder Inputs J1 Baud Rate Jumpers B1, B2 Typical Wiring Diagrams for Step MotorsElectrical SpecificationsEnvironmental PhysicalPhysical Dimensions RS-232 Hardware OverviewRS-232 RS-422RS-232 Daisy Chain connection Single axis, RS-232 connection using AMS SIN-7 adapterRS-422 Party Line Hardware Cable SpecificationsParty Line Connect RS-422 Party LineSIN-8 Serial Adapter RS-422/485 BUS-dropSIN-8, RS-232 to RS-422 converter Other Party Line Signals SIN-10 Intelligent Serial AdapterSIN-10, intelligent serial line converter Daisy Chain Mode not recommended for more than 1 axis Party Line ModeSerial Communications Overview Serial Communications SoftwareBaud Rate Serial Interface Using EasiEasi Software Sign-OnExamine Command Simple Command Examples Daisy Chain Start-UpAxis Name Assignment NV Memory Programming Verify the ProgramExecute the Program Party Line and Daisy Chain Line Commands Edit ProgramSome Rules Party Line Startup Command ExampleAnatomy of Instruction Execution Command Cycle Examples Interrupt CommandsAdvanced Micro SYSTEMS, INC Serial Interface Advanced Micro SYSTEMS, INC Serial Interface Memory Map Non-Volatile Memory DetailsTurbo Ram Default TableCommand Format Description ESC Global Abort@ Soft Stop Port Read/Write ResetInputs OutputsProgramming Example Lower case B Fast and Slow Decay Set Jog SpeedsDivide Speeds Clear and Restore NV MemoryNormally Open Home Switch Normally Closed Home SwitchFind Home Special case Go Initial Velocity Step ResolutionLower case I Restart Special Trip Jump to Address a, n+1 timesRamp Slope Lower case K Trip Output Value Advanced Micro SYSTEMS, INC SMC-27X2 Software Loop on Port Lower case L Option FlagsFlags and Numbers Limit Polarity Flag PLC Mode FlagMake Step and Direction Outputs Flag Moving Output FlagMove at a Constant Velocity Port 4 Input FlagGentle Limit Flag Set Origin Program ModeIndex Relative to Origin Trip Point SaveSet Slew Speed Lower case W Pre-energize WaitHold and Run Current ExamineRead Position Read Limits, Hardware Read NV MemoryIndex in Minus Direction + Index in Plus Direction\ Write to NV Memory Read Moving StatusName Axis Selective TerminationAMS SIN-11 Serial Adapter Party Line ModeAdvanced Micro SYSTEMS, INC Addendum Command SummaryCtrl Char Dec Hex Code Ascii Character CodeAbout Step Motor Current Step Motor CharacteristicsDetermining the Current Value Motor ChoiceBasic 8 Wire Motor Amps and Wire Count and PowerWire Motor Decay Control Application Notes V1.10 Double Speed CharacteristicsSerial Adapter Summary