Specifications

20 Gear Drive, Plymouth Industrial Park, Terryville, CT 06786 page: 19
Tel: [phone] Fax: [phone] E-mail: Sales @amci.com
3401 Manual
Point I/O Stepper Module
Revision 2.0
Input Active Level
This parameter defines the active level of the inputs. These bits will be set for high level active, Normally
Open (NO), or reset for low level active or Normally Closed (NC). High-level active means that
supplying current to the input will activate it. Low-level active means that removing current from the
input will activate it.
Please note that only one of bits 0, 1, and 2 can be set at one time and that the active level bits can only be
set when the input has been selected in configuration word 0.
The inputs to the 3401 module are always sinking. That is, to operate they must be connected to sensors
that source current.
Starting Speed
The starting speed has a range of 1 to 1,000,000 pulses/sec and is the pulse frequency at which every
move begins and ends. That is, the first and last pulses of the move profile will be at the starting speed.
Some portions of the homing operations are also performed at the starting speed.
Note 1: Although it is not necessary, the smoothest transition from rest to the programmed speed
will be achieved with a Starting Speed equal to the square root of the acceleration.
Note 2: A lower starting speed will also increase the length of time between moves.
Invalid Configurations
The 3401 module will not accept all possible configurations. The following is a list of the invalid
configurations:
1. If more than one of the bits that determine the function of the Limit Input are set at one time. This
refers to bits 0, 1, and 2 in configuration word 0.
2. Selecting the use of the Backplane Home Proximity bit without allowing either CW or CCW
homing by setting bit 4 and or 5 in Configuration word 0.
3. Selecting any of the Input Active level bits in Configuration word 1 without first selecting that the
input will be used in Configuration word 0. This also includes selecting the active state of the
home input without allowing either CW or CCW homing.
4. A starting speed outside the range of 1 < starting speed < 1,000,000.
5. If the lower word of the starting speed is outside of the range of 0 to 999.
6. Setting any of the unused bits in either word 0 or word 1 of the configuration data.
7. Setting any of the unused words to a value other than zero.
The 3401 module has to be configured before starting any operations. When the Configuration Mode flag
is set in the output registers, the stepper controller enters Configuration Mode. When in this mode, the
stepper controller will stop its operations and set the Configuration Mode flag in the input registers. It
then waits for the configuration file to be transferred. If there is no current Configuration File present or
if the transferred Configuration File is not valid, the Configuration Error Input bit will be set. If the
transferred configuration file is accepted, and if it is different from the current configuration, the
configuration data will be mirrored in the input registers.