User manual

Chapter 6 Block Transfer Programming
54
ADVANCED MICRO CONTROLS INC.
Positioning Setup Data
When the Positioning Setup bit, (bit 9) of the Command word is set, the 2762-17 uses the
rest of the data to configure the positioning data of the transducer specified by the LSB of the
Command Word. Configuring both transducers requires two block transfer writes. Positioning
Setup programs the parameters shown below. The data format is shown in figure 6.3.
!
Positioning Direction
!
Target Position
!
Overshoot Offset
!
Low Speed Offset
!
Stop Offset
!
Target Range
Fig. 6.3 Positioning Setup Command Data Format
Programming Bit Values
ChNum:
Channel Number Bit. Set to '0' to program channel one positioning data or set to '1'
to program channel two positioning data.
PDir:
Positioning Direction Bit. Set to '0' to approach the Target Position from a position
greater than the Target Position, a "positive approach". Set to '1' to approach the
Target Position from a position less than the Target Position, a "negative approach".
SGN:
Sign Bit: Set to 0 if the Target Position is positive or set to 1 if the value is
negative.
Lower 3 digits: Target Position
Word 1
Upper 1, 2 or 3 digits: Target Position
Lower 3 digits: Overshoot Offset
Upper 1, 2 or 3 digits: Overshoot Offset
Word 2
Word 3
Word 4
Word 5
Word 6
Word 7
Word 8
Word 9
Word 10
Word 11
Lower 3 digits: Low Speed Offset
Upper 1, 2 or 3 digits: Low Speed Offset
Lower 3 digits: Stop Offset
Upper 1, 2 or 3 digits: Stop Offset
Upper 1, 2 or 3 digits: Target Range
Lower 3 digits: Target Range
SGN
15 14 13 12 10 09 08 07 06 05 04 03 02 01 0011
Positioning Setup Command
0000 001 00
ChNm
PDir
Word 0
0 0000
Retry Value