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ADVANCED MICRO SYSTEMS, INC. SMC-27X2 SOFTWARE
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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.
Function Type NV Bytes
Move at Constant Velocity Immediate, Program 3
Command
M
Mnemonic
(Name) M
Data 1
SPS (±40-36,000)
Data 2
None
Result
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.