Delta MMC120 User Manual
Page 52
Communicating with the MMC120
MMC120 Linear Motion Control Module
52
Delta Computer Systems, Inc. 360/254-8688
Command Type 2 - Set Profiles (0000 XXXX 0010 NNNN)
These commands allow the programmer to change motion profiles stored in the MMC120. Only one value in
one profile can be changed each time the drop is accessed, but the profiles can be changed while the axis is
moving. The new profile will be used by the next Go Using Profile command specifying that profile. New GO
commands can also be given while the axis is moving.
BIT #
|
| 111|1111
1234|5678|9012|3456
-------------------
4TTTTT+0
4TTTTT+2
HEX
|SAR |CMND|INDX
Axis 1
Axis 2
VALUE
-------------------
0X20
0000|XXXX|0010|0000
- SET PROFILE
0
4
MODE
0X21
0000|XXXX|0010|0001
- SET PROFILE
0
4
ACCEL
0X22
0000|XXXX|0010|0010
- SET PROFILE
0
4
DECEL
0X23
0000|XXXX|0010|0011
- SET PROFILE
0
4
SPEED
0X24
0000|XXXX|0010|0100
- SET PROFILE
1
5
MODE
0X25
0000|XXXX|0010|0101
- SET PROFILE
1
5
ACCEL
0X26
0000|XXXX|0010|0110
- SET PROFILE
1
5
DECEL
0X27
0000|XXXX|0010|0111
- SET PROFILE
1
5
SPEED
0X28
0000|XXXX|0010|1000
- SET PROFILE
2
6
MODE
0X29
0000|XXXX|0010|1001
- SET PROFILE
2
6
ACCEL
0X2A
0000|XXXX|0010|1010
- SET PROFILE
2
6
DECEL
0X2B
0000|XXXX|0010|1011
- SET PROFILE
2
6
SPEED
0X2C
0000|XXXX|0010|1100
- SET PROFILE
3
7
MODE
0X2D
0000|XXXX|0010|1101
- SET PROFILE
3
7
ACCEL
0X2E
0000|XXXX|0010|1110
- SET PROFILE
3
7
DECEL
0X2F
0000|XXXX|0010|1111
- SET PROFILE
3
7
SPEED
Setting one complete profile requires four scans with one command written each scan.
Example: Set profiles 2 and 7
Commands to axis 1 set profile 2 while commands to axis 2 set profile 7, so these two profiles can be set
simultaneously.
First Scan
4TTTTT
+ 0
0X28h (Set profile 2 MODE)
+ 1
0001h (MODE for profile 2)
+ 2
0X2Ch (Set profile 7 MODE)
+ 3
0001h (MODE for profile 7)
Second Scan
4TTTTT
+ 0
0X29h (Set profile 2 ACCEL)
+ 1
100
(ACCEL for profile 2)
+ 2
0X2Dh (Set profile 7 ACCEL)
+ 3
150
(ACCEL for profile 7)
Third Scan
4TTTTT
+ 0
0X2Ah (Set profile 2 DECEL)
+ 1
70
(DECEL for profile 2)
+ 2
0X2Eh (Set profile 7 DECEL)
+ 3
70
(DECEL for profile 7)