Delta MMC120 User Manual
Page 51
MMC120 Linear Motion Control Module
Communicating with the MMC120
Delta Computer Systems, Inc. 360/254-8688
51
Command Type 1 - Go Using Profile (0000 XXXX 0001 NNNN)
The Go Using Profile command allows the Quantum Programmable Controller to tell the MMC120 to move
the axis using stored profiles. These are the most commonly used commands. The Go Using Profile command
toggles the Acknowledge bit and clears the In Position bit in the STATUS word.
Each stored profile contains MODE, ACCELERATION, DECELERATION, and SPEED parameters, which
define the profile of a move.
The format of the Command Register is:
BIT #
|
| 111|1111
1234|5678|9012|3456
-------------------
HEX
|SAR |CMND|INDX
VALUE
-------------------
XX10
0000|XXXX|0001|0000
- GO USING PROFILE
0
XX11
0000|XXXX|0001|0001
- GO USING PROFILE
1
XX12
0000|XXXX|0001|0010
- GO USING PROFILE
2
XX13
0000|XXXX|0001|0011
- GO USING PROFILE
3
XX14
0000|XXXX|0001|0100
- GO USING PROFILE
4
XX15
0000|XXXX|0001|0101
- GO USING PROFILE
5
XX16
0000|XXXX|0001|0110
- GO USING PROFILE
6
XX17
0000|XXXX|0001|0111
- GO USING PROFILE
7
XX18
0000|XXXX|0001|1000
- GO USING PROFILE
8
Predefined profiles -
XX19
0000|XXXX|0001|1001
- GO USING PROFILE
9
modify from DCS120 only
XX1A
0000|XXXX|0001|1010
- GO USING PROFILE 10
XX1B
0000|XXXX|0001|1011
- GO USING PROFILE 11
XX1C
0000|XXXX|0001|1100
- GO USING PROFILE 12
XX1D
0000|XXXX|0001|1101
- GO USING PROFILE 13
XX1E
0000|XXXX|0001|1110
- GO USING PROFILE 14
XX1F
0000|XXXX|0001|1111
- GO USING PROFILE 15
The output registers are defined as follows:
4TTTTT+0
Axis 1 Command - Go using profile
4TTTTT+1
Axis 1 Requested Position
4TTTTT+2
Axis 2 Command - Go using profile
4TTTTT+3
Axis 2 Requested Position