Specifications

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3401 Manual
Point I/O Stepper Module
Revision 2.0
Blend Move Programming
A Blend Move consists of two to sixteen segments consisting of a Relative Segment Length, a Target
Velocity, the Acceleration and Deceleration parameters. The blend move operation will be run each time
bit 12 or 13 in the output Command Word MSW 1 transitions from 0 to 1.
When bits 8 and 9 of the Command LSW are first activated, the module reads the first part of the
programming block for the blend move operation and activates the BLEND MOVE ACKNOWLEDGE
bit 9 of Status LSW. With bit 8 staying ON deactivating of bit 9 (BLEND MOVE DATA VALID) causes
deactivating of the BLEND MOVE ACKNOWLEDGE. Each additional transition of the bit BLEND
MOVE DATA VALID from 0 to 1 makes the module to read a consecutive part of the blend move
programming data for the next segment.
The following table shows the layout of the Blend Move data sent to the module.
BLEND MOVE DATA – FIRST PROGRAMMING BLOCK
Word Function
0 Command word MSW
1 Command word LSW
2 Number of Segments
3 Acceleration Type MSW
(segments 9 to 16)
4 Acceleration Type LSW
(segments 1 to 8)
5 Final Segment Deceleration
& Acceleration Type
6 0
7 0
BLEND MOVE DATA – PROGRAMMING BLOCKS 2…17
Word Function
0 Command word MSW
1 Command word LSW
2 Segment Length MSW
3 Segment Length LSW
4 Target Speed MSW
5 Target Speed LSW
6 Acceleration/Deceleration
7 0
Number of Segments
This parameter defines the number of blend move segments that are being programmed. This parameter
has a range of 2 to 16. A value outside of this range will generate an Invalid Profile Error.