Delta MMC120 - Manual (Page 63)

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See also:
Input Register Overview
Output Register Overview
Programmable Controller Commands
Input Register Overview
In addition to the Output registers , there are four 16-bit registers that are read from the
MMC120 controller:
Register Number Contents
3TTTTT + 0 STATUS for axis 1
3TTTTT + 1 Specified by command for axis 1
3TTTTT + 2 STATUS for axis 2
3TTTTT + 3 Specified by command for axis 2
In the table above, 3TTTTT is the Input base address. For most commands, the value
returned in the second register for each axis is selected using the Status Area Request bits
in the command register . Refer to the individual commands for exceptions. The possible
fields that can be returned in the second register when is it controlled by the Status Area
Request bits are:
Status Area Request Read-back Register
0 (0000) COMMAND POSITION
1 (0001) TARGET POSITION
2 (0010) ACTUAL POSITION
3 (0011) TRANSDUCER COUNTS
4 (0100) STATUS Word
5 (0101) DRIVE OUTPUT
6 (0110) ACTUAL SPEED
7 (0111) NULL DRIVE
8 (1000) CURRENT STEP
9 (1001) LINK VALUE
10-15 (1010-1111) Reserved
Example
Suppose you would like the STATUS and ACTUAL POSITION for axis 1, and you
would like the STATUS and DRIVE for axis 2. You would send commands with the
following format:
SAR CMND INDX (HEX)
4TTTTT+1 0000|0010|XXXX|XXXX
(02XX)
Requests ACTUAL POSITION
+2 XXXX|XXXX|XXXX|XXXX
Data for command on axis 1