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ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE
41
Function Type NV Bytes
Restart Special Trip Default, Program 5
Command
i
Mnemonic
(Name) i (n)
Data 1
Next Trip
Position ±8,388,607
Data 2
Port (0-63)*
Result
None
i (lower case I; Restart Special Trip )
See lower case “k” command. *Actual values are determined by the hardware configuration.
Function Type NV Bytes
Jump to Address Program 4
Command
J
Mnemonic
(Name) J (a, n)
Data 1
Address (0-2047)
Data 2
N + 1 Times 0-255
Result
None
J (Jump to Address a, n+1 times)
This loop command allows repetition of a sequence up to 255 times. The address specified MUST be a valid
instruction address, and is usable only within a program. This instruction may NOT be nested, because only
one jump counter is available for use at any given time.
This command may be implemented within a program. Following, is an example:
P 0 Enter program mode.
+ 1000 Move in the plus direction 1000 steps.
J 0 3 Go to and run command at location 0, 4 times.
P Exit program mode.
Function Type NV Bytes
Set Ramp Slope Time Default, Immediate, Program 3
Command
K
Mnemonic
(Name) K (n1, n2)
Data 1
Accel (0-255)
Data 2
Decel (0-255)
Result
None
K (Ramp Slope)
Specify the ramp acceleration and deceleration time. The "K" command is used to adjust the ramp slope
during the motor acceleration or deceleration. An internal lookup table defines the profile or shape of the
acceleration/deceleration curve. Depending on the values of initial and slew velocities, a number of discrete
velocities are used to define the acceleration or deceleration of the motor armature rotation.
The "K" value determines how many steps are made at each step rate point on the acceleration curve during
ramping. Higher "K" values will increase the dwell time at each discrete point on the acceleration ramp.
Lower values of "K" will increase the acceleration rate. A value of 0 will eliminate any ramping.
In practical applications, it is typically easier to decelerate a system, rather than accelerate a system. The
separate decelerate parameter feature is a valuable time saver when compared to systems with fixed
acceleration/deceleration times.