Delta MMC120 User Manual
Page 60
Communicating with the MMC120
MMC120 Linear Motion Control Module
60
Delta Computer Systems, Inc. 360/254-8688
The 4 output registers are defined as follows:
4TTTTT+0
Axis 1 Command - Open Loop using profile
4TTTTT+1
Axis 1 Requested Drive
4TTTTT+2
Axis 2 Command - Open Loop using profile
4TTTTT+3
Axis 2 Requested Drive
Command Type A - Get Profiles (0000 XXXX 1010 NNNN)
These commands allow the Programmable Controller to retrieve from the MMC120 profile data that was set
up with DCS120.
BIT #
|
| 111|1111
1234|5678|9012|3456
-------------------
4TTTTT+0
4TTTTT+2
HEX
|SAR |CMND|INDX
Axis 1
Axis 2
VALUE
-------------------
0XA0
0000|XXXX|1010|0000
- GET PROFILE
0
4
MODE
0XA1
0000|XXXX|1010|0001
- GET PROFILE
0
4
ACCEL
0XA2
0000|XXXX|1010|0010
- GET PROFILE
0
4
DECEL
0XA3
0000|XXXX|1010|0011
- GET PROFILE
0
4
SPEED
0XA4
0000|XXXX|1010|0100
- GET PROFILE
1
5
MODE
0XA5
0000|XXXX|1010|0101
- GET PROFILE
1
5
ACCEL
0XA6
0000|XXXX|1010|0110
- GET PROFILE
1
5
DECEL
0XA7
0000|XXXX|1010|0111
- GET PROFILE
1
5
SPEED
0XA8
0000|XXXX|1010|1000
- GET PROFILE
2
6
MODE
0XA9
0000|XXXX|1010|1001
- GET PROFILE
2
6
ACCEL
0XAA
0000|XXXX|1010|1010
- GET PROFILE
2
6
DECEL
0XAB
0000|XXXX|1010|1011
- GET PROFILE
2
6
SPEED
0XAC
0000|XXXX|1010|1100
- GET PROFILE
3
7
MODE
0XAD
0000|XXXX|1010|1101
- GET PROFILE
3
7
ACCEL
0XAE
0000|XXXX|1010|1110
- GET PROFILE
3
7
DECEL
0XAF
0000|XXXX|1010|1111
- GET PROFILE
3
7
SPEED
Retrieving one complete profile requires four scans with one command retrieved each scan.
Example: Retrieve Profile 5 from the MMC120 -
MODE
=
0002h
ACCEL =
50
DECEL =
35
SPEED
=
8000
First Scan
4TTTTT
+ 0
xxxx
+ 1
xxxx
(Don't care - Axis 1 parameters)
+ 2
00A4h (Get profile 5 MODE)
+ 3
xxxx
(Don't care)