Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Blend Move
This command allows the user to create more complicated move profiles consisting of two to sixteen
segments, as the following diagram illustrates.
Each segment is defined by four parameters:
1. Acceleration Type (Constant, Triangular S Curve, or Trapezoidal S curve)
2. Relative Segment Length
3. Target speed
4. Acceleration/Deceleration Rate
The minimum amount of information necessary to define a new move segment is the Target Speed. The
Segment Length and the Acceleration/Deceleration rate do not have to change from one segment to the
next. An Invalid Profile Error will be generated if the Target Speed parameter is not different in two
consecutive blend move segments.
The blend move programming is done at one time, with the segments of the blend move profile stored in
the internal memory of the 3401. This data will remain in the module’s memory until power is removed
from the module, the configuration data is programmed, or a new blend move profile is sent to the unit.
The Blend Move Profile is programmed as a series of Relative Moves (segments), so the position does
not have to be valid for the blend move operation to take place. The first segment starts at the Starting
Speed and accelerates to the specified Programmed speed. The starting speed for the next segment is
equal to the programmed speed of the current segment. The final segment will decelerate from the final
programmed speed to the starting speed and then stop. It is not possible to program a direction reversal in
the blend move profile.
Programming the configuration data will clear a stored blend move profile from the 3401 modules
memory.
Because the 3401 module stores the data for the Blend Move Profile in its memory, the programmed
profile can be run more than once and from any location. Two command bits allow the blend move
profile to be run in either direction. Please note that it is possible to perform other move or home
operations between performing the blend move profiles.
Velocity
Position
1. Jumps to the
starting speed
2. Accelerates from the starting speed
to the first programmed speed using
the first programmed rate and type
3. Runs at the first
programmed target
speed
4. Runs at the final
programmed speed
5. Decelerates to the starting
speed using the final segment
deceleration parameter and
stops