Delta MMC120 - Manual (Page 99)

MMC120 Linear Motion Control Module Appendix B: Event Control
Delta Computer Systems, Inc 360/254-8688 99
Enhanced Link Types
Enhanced Link Types provide a way to trigger an event on one axis from the other axis' parameters. The
Enhanced Link Types have the same link description, value, and range as the Basic Link Types, plus additional
link types.
The bits in the Enhanced Link Type byte are defined as follows:
MSB LSB
Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8
Bit 1 - Enhanced Link Type flag. 1 = Enhanced Link Type
0 = Basic Link Type
Bits 2 and 3 - Define target axis:
01 = Axis 2
00 = Axis 1
Bit 4 - Direction flag: 1 - Enables Step when monitored parameter is greater than link value
0 - Enables Step when monitored parameter is less than link value
Bit 5 - Reserved
Bits 6, 7, and 8 - Define link type:
111 = Reserved
110 = Status Word bit
101 = Actual Speed
100 = Target Speed
011 = Reserved
010 = Reserved
001 = Actual Position
000 = Target Position
For example:
Parameter Link Type Byte
Monitored Axis Direction Binary Hex Go to Link Next when:
Target Pos. 2 1 1011 0000 B0 Axis 2 Target Position >= Link Value
Actual Speed 1 0 1000 0101 85 Axis 1 Actual Speed <= Link Value
Step Execution
When a Step is started the command is executed immediately, then the link condition (Link Type and Link
Value) is evaluated. If the condition is met, the next Step in the sequence (Link Next) executes on the next
millisecond control loop interval. If the condition is not met, it will be re-evaluated every millisecond until the
condition is met, then the next Step will execute.