3202 Rev A Module Specifications - Advanced Micro Controls Inc

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Chapter 5: Command Mode Output Data(Sixteen 32 bit words sent from the PLC to the 3202 module)3202 Rev A Module SpecificationsTwo Channel ControlLogix Stepper ModuleRevision 4.0All stepper motor operations are performed in command mode. This mode is entered, after a successfulconfiguration file has been transferred to the stepper controller, by resetting the Mode Flag bit 31. InCommand Mode, the PLC program can issue commands and activate different operations or moves. Amove profile typically consists of a Target Position, Programmed Speed, Acceleration, and Decelerationparameters. The following table shows the function of the output words.32 bitOutput WordChannel Function Units Range0 1 Command Word See description below1 1 Target Position Steps -8,388,608 to 8,388,6072 1 Programmed Speed Steps/Second Starting Speed to 1,000,0003 1 Acceleration Steps/Second/Second 1,000 to 2,000,0004 1 Deceleration Steps/Second/Second 1,000 to 2,000,0005 1 Reserved6 1 Reserved7 1 Reserved8 2 Command Word See description below9 2 Target Position Steps -8,388,608 to 8,388,60710 2 Programmed Speed Steps/Second Starting Speed to 1,000,00011 2 Acceleration Steps/Second/Second 1,000 to 2,000,00012 2 Deceleration Steps/Second/Second 1,000 to 2,000,00013 2 Reserved14 2 Reserved15 2 ReservedCommand Mode Programming Information1. Only a single bit can be set at any one time in the Most Significant Command Word.2. A Command Error will be generated if a move operation is started before the previous moveoperation has completed. A move operation should only be started if the Move Complete,Stopped, or Hold status bits are set.3. A negative Target Position value will be programmed as a negative decimal number. If viewed inbinary, this will be 2s compliment format.4. The Position parameter has a range of -8,388,608 < Target Position < 8,388,607.5. The Programmed Speed has a range of Starting Speed < Programmed Speed < 1,000,000steps/sec.6. The acceleration and deceleration parameters have a range of 1,000 < acceleration / deceleration< 2,000,000 and is measured in steps/sec/sec.7. Switching the PLC to Program Mode will cause any move operation to stop and the position tobecome invalid.20 Gear Drive, Plymouth Industrial Park, Terryville, CT 06786 page: 28Tel: (860) 585-1254 Fax: (860)584-1973 E-mail: Sales @amci.com
3202 Rev A Module SpecificationsTwo Channel ControlLogix Stepper ModuleRevision 4.0Command Word Layoutbit 0 = set to start an ABSOLUTE MOVE operationbit 1 = set to start a RELATIVE MOVE operationbit 2 = set to perform a HOLD MOVE operationbit 3 = set to perform a RESUME MOVE operationbit 4 = set to perform an IMMEDIATE STOP operationbit 5 = set to start a FIND HOME +/(CW) operationbit 6 = set to start a FIND HOME -/(CCW) operationbit 7 = set to start a MANUAL MOVE +/(CW) operation. Reset this bit to stop the Manual MoveOperation.bit 8 = set to start a MANUAL MOVE -/(CCW) operation Reset this bit to stop the Manual MoveOperation.bit 9 = set to PRESET the Current Position and if appropriate the Diagnostic Feedback data. This bitdoes not reset the Move Complete input bit.bit 10 = set to PRESET optical encoderbit 11 = set to perform a RESET ERRORS operation on this channel. (Errors on the other channelwill be unaffected)bit 12 = set to RUN BLEND MOVE PROFILE in the positive directionbit 13 = set to RUN BLEND MOVE PROFILE in the negative directionbits 14 & 15 = reservedbit 16 = reset for CONSTANT ACCELERATION, set for S CURVE ACCELERATIONbit 17 = reset for TRIANGULAR S CURVE ACCELERATION, set for TRAPOZOIDAL SCURVE ACCELERATION. This bit is ignored if bit 16 is not set.bit 18 = reset for a TARGET POSITION move, set for an ENCODER COUNT movebits 19 to 28 = Reservedbit 29: Backplane Home Proximity bit.• The backplane proximity bit is a set by the PLC to indicate to the 3202 module that you arenearing the location of the Home Limit Switch.• The 3202 module will ignore the state of this bit unless the module was configured to acceptbackplane home proximity operations, and if there is no homing operation taking placebit 30 = reservedbit 31 = MODE FLAG: "1" for Configuration Mode "0" for Command Mode20 Gear Drive, Plymouth Industrial Park, Terryville, CT 06786 page: 29Tel: (860) 585-1254 Fax: (860)584-1973 E-mail: Sales @amci.com
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Page 4: Chapter 1: Installing the 3202 modu
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Page 11 and 12: Chapter 2: Calculating Move Profile
Page 13 and 14: Chapter 3: Configuration Programmin
Page 21 and 22: Backplane Home Proximity Bit with H
Page 23 and 24: Manual Move +/(CW), Manual Move -/(
Page 27: 3202 Rev A Module SpecificationsTwo
Page 33 and 34: Chapter 6: Command Mode Input Data(
Page 35 and 36: The Stopped Bit will be set under t
Page 37 and 38: The Home Invalid bit will be set un
Page 39: Revision 2.0 was released on 10/22/

3202 Rev A Module Specifications - Advanced Micro Controls Inc

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