Delta MMC120 - Manual (Page 94)

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0xAC-0xAF 3 7
The second Input register for the axis will hold the requested data on the scan following
these commands being issued.
Example:
We wish to get profiles 2 and 7 into the motion controller. Looking at the chart above,
we can see that we issue Get Profile commands to axis 0 to get profile 2 and we use axis
1 Get Profile commands to get profile 7. Therefore, we can do both at the same time.
Suppose that the motion controller had the following values for profiles 2 and 7:
PROFILE 2 PROFILE 7
MODE 00001 00001
ACCEL 100 150
DECEL 70 70
SPEED 12000 20000
This would take at least five scans because we can get one word of each profile on each
axis per scan:
First scan:
4TTTTT+0 00A8h (Get profile 2 MODE)
4TTTTT+1 XXXXh (Unused)
4TTTTT+2 00ACh (Get profile 7 MODE)
4TTTTT+3 XXXXh (Value of profile 7 MODE)
Second scan:
After the Synchronization Output register is incremented, the motion controller
will process the commands and update the Synchronization Input register to match.
At this time, the input registers would hold the following values:
3TTTTT+0 XXXXh (Axis 1 STATUS)
3TTTTT+1 0001h (Profile 2 MODE)
3TTTTT+2 XXXXh (Axis 2 STATUS)
3TTTTT+3 0001h (Profile 7 MODE)
We can now send the second set of requests:
4TTTTT+0 00A9h (Get profile 2 ACCEL)
4TTTTT+1 XXXXh (Unused)
4TTTTT+2 00ADh (Get profile 7 ACCEL)
4TTTTT+3 XXXXh (Unused)
Third scan:
After the Synchronization Output register is incremented, the motion controller
will process the commands and update the Synchronization Input register to match.