Delta MMC120 - Manual (Page 4)

Contents MMC120 Linear Motion Control Module
4 Delta Computer Systems, Inc. 360/254-8688
S AVING P ARAMETERS AND P ROFILES ....................................................................................................... 26
MOTION CONTROL PARAMETERS ..................................................................................................... 27
I NITIALIZATION P ARAMETERS ................................................................................................................. 27
CONFIGURATION Word (Default: 0000)................................................................................... 27
CONFIGURATION Word Bit Map............................................................................................... 29
SCALE (Default: 30300) Range: -32767 to 32767, excluding 0 .................................................... 30
SCALE Calculation Examples ...................................................................................................... 30
OFFSET (Default: 0) .................................................................................................................... 31
EXTEND LIMIT (Defaults to current position on power-up) ........................................................ 31
RETRACT LIMIT (Defaults to current position on power-up) ...................................................... 31
PROPORTIONAL GAIN (Default: 1) Range: 0 to 65535 .............................................................. 31
INTEGRAL GAIN (Default: 1) Range: 0 to 65535....................................................................... 32
DIFFERENTIAL GAIN (Default: 0) Range: 0 to 65535................................................................ 32
EXTEND FEED FORWARD (Default: 100) Range: 0 to 65535.................................................... 32
RETRACT FEED FORWARD (Default: 100) Range: 0 to 65535.................................................. 32
EXTEND ACCELERATION FEED FORWARD (Default: 0) Range: 0 to 65535 ......................... 33
RETRACT ACCELERATION FEED FORWARD (Default: 0) Range: 0 to 65535 ....................... 33
DEAD BAND ELIMINATOR (Default: 0) ................................................................................... 33
IN POSITION (Default: 50) .......................................................................................................... 33
FOLLOWING ERROR (Default: 250)........................................................................................... 33
AUTO STOP (Default: 0FFE0 - Soft Stops enabled, Hard Stop enabled ........................................ 33
M OTION C ONTROL C OMMANDS .............................................................................................................. 35
MODE (Default: 00000)(See page 36 for the MODE Word bit map)............................................. 35
ACCELERATION (Default: 1000) ............................................................................................... 36
MODE Word Bit Map................................................................................................................... 37
DECELERATION (Default: 1000)................................................................................................ 38
SPEED (Default: 1000)................................................................................................................. 38
COMMAND VALUE ................................................................................................................... 38
COMMAND................................................................................................................................. 38
Move Profiles................................................................................................................................ 39
MMC120 Initial Move Profiles ..................................................................................................... 40
R EADBACK P ARAMETERS ........................................................................................................................ 41
ACTUAL POSITION.................................................................................................................... 41
AXIS STATUS Word (See map on page 42) ................................................................................. 41
COMMAND POSITION............................................................................................................... 43
TARGET POSITION.................................................................................................................... 43
TRANSDUCER COUNTS............................................................................................................ 44
ACTUAL SPEED ......................................................................................................................... 44
DRIVE.......................................................................................................................................... 44
STATUS Word Bit Map................................................................................................................ 45
FLASH MEMORY ..................................................................................................................................... 46
COMMUNICATING WITH THE MMC120............................................................................................. 47
Q UANTUM B US C ONFIGURATION ............................................................................................................. 47
M EMORY R EQUIREMENTS ....................................................................................................................... 47
I/O R EGISTER O VERVIEW ....................................................................................................................... 48
O UTPUT R EGISTERS ................................................................................................................................ 49
COMMANDS ....................................................................................................................................... 49
Command Types ........................................................................................................................... 50
Command Type 1 - Go Using Profile (0000 XXXX 0001 NNNN)................................................. 51
Command Type 2 - Set Profiles (0000 XXXX 0010 NNNN) ......................................................... 52
Command Type 3 - Set Parameters (0000 XXXX 0011 NNNN).................................................... 54
Command Types 4, 5, 6, and 7 - ASCII Commands (0000 XXXX 01NN NNNN)......................... 55