Delta MMC120 - Manual (Page 54)

Communicating with the MMC120 MMC120 Linear Motion Control Module
54 Delta Computer Systems, Inc. 360/254-8688
Command Type 3 - Set Parameters (0000 XXXX 0011 NNNN)
These commands allow the Quantum Programmable Controller to download new initialization parameters to
the MMC120. New parameters can be downloaded at any time, but they do not take effect until a 'P' command
is issued (see Command Type 5). An axis must be stopped when issuing a 'P' command.
Set Parameter commands are defined as follows:
BIT #
| | 111|1111
1234|5678|9012|3456
-------------------
HEX |SAR |CMND|INDX
VALUE -------------------
0X30 0000|XXXX|0011|0000 - Set CONFIGURATION
0X31 0000|XXXX|0011|0001 - Set SCALE
0X32 0000|XXXX|0011|0010 - Set OFFSET
0X33 0000|XXXX|0011|0011 - Set EXTEND LIMIT
0X34 0000|XXXX|0011|0100 - Set RETRACT LIMIT
0X35 0000|XXXX|0011|0101 - Set PROPORTIONAL GAIN
0X36 0000|XXXX|0011|0110 - Set INTEGRAL GAIN
0X37 0000|XXXX|0011|0111 - Set DIFFERENTIAL GAIN
0X38 0000|XXXX|0011|1000 - Set EXTEND FEED FORWARD
0X39 0000|XXXX|0011|1001 - Set RETRACT FEED FORWARD
0X3A 0000|XXXX|0011|1010 - Set EXTEND ACCELERATION FEED FORWARD
0X3B 0000|XXXX|0011|1011 - Set RETRACT ACCELERATION FEED FORWARD
0X3C 0000|XXXX|0011|1100 - Set DEAD BAND ELIMINATOR
0X3D 0000|XXXX|0011|1101 - Set IN POSITION
0X3E 0000|XXXX|0011|1110 - Set FOLLOWING ERROR
oX3F 0000|XXXX|0011|1111 - Set AUTO STOP
The output registers are defined as follows:
4TTTTT + 0 Axis 1 command - set parameter
4TTTTT + 1 Axis 1 parameter value
4TTTTT + 2 Axis 2 command - set parameter
4TTTTT + 3 Axis 2 parameter value
Example: Set the extend limit for both axes
4TTTTT + 0 0X33 Set Axis 1 Extend Limit
4TTTTT + 1 24000 Extend Limit value
4TTTTT + 2 0X33 Set Axis 2 Extend Limit
4TTTTT + 3 12000 Extend Limit value
These commands set the Extend Limit for Axis 1 to 24000 and Axis 2 to 12000.