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given to the axis at the moment ramp down begins.
If the speed achieved by the axis during the open loop portion of the move is greater than
65,535, when the ramp down starts, the target speed will be limited to 65,535.
Bit 12 - Sync
When this bit is set, it causes the axis to move synchronized to the other axes that have
this bit set. The axes are synchronized as follows:
1. The axis with the longest move is the master, which uses its full profile.
2. For each other synchronized axis, the length of its move determines its profile. All
synched axes will accelerate together, move at constant speed together (their
constant speeds will differ, depending on their move lengths), and decelerate
together, arriving simultaneously at their individual COMMAND POSITIONS.
3. If any axis is halted by an error condition, the other axes will also be halted.
For more details on synchronizing axes, see Synchronizing Axes.
Bits 13-14 - Integrator Mode Select
These two bits define four integrator modes:
Bit # 13
14
Mode 0 - Integrator always active 0 0
Mode 1 - Integrator active only during deceleration and in position 0 1
Mode 2 - Integrator active only during in position 1 0
Mode 3 - Integrator never active 1 1
Bits 15-16 - Acceleration and Deceleration Mode Select
These two bits define four acceleration/deceleration modes:
Bit # 15
16
Mode 0 - Ramp Rate (Default) 0 0
Mode 1 - Ramp Rate * 1000 0 1
Mode 2 - Distance to specified speed 1 0
Mode 3 - Time to specified speed 1 1
The actual meanings of the Acceleration/Deceleration modes depend on whether the
move is in open or closed loop. For open loop mode, see the Open Loop command. The
closed loop Acceleration/Deceleration modes are described below:
In Mode 0, the ACCELERATION and DECELERATION parameters define the ramp
rate in position units per second per second.
In Mode 1, the ACCELERATION and DECELERATION parameters define the ramp
rate in 1000 position units per second per second. For example, with position units of
0.001 inches, an ACCELERATION of 50 will cause the axis to accelerate at 50 inches
per second per second.
- DCS120-Win Software 1
- User Manual 1
- Table of Contents 2
- Introducing the MMC120 7
- MMC120 Overview 7
- Disclaimer 7
- Principle of Operation 9
- Starting Up the MMC120 11
- Step-by-Step MMC120 Startup 11
- Setup Details 15
- Using DCS120-Win 20
- DCS120-Win Overview 20
- Screen Layout 21
- Command area 22
- Parameter area 23
- Plot Time area 24
- Status area 24
- Status Bar 24
- Basic Topics 26
- Read-back versus Write Mode 27
- Using Popup Editors 28
- Using the STATUS Bits Window 28
- Using the Command Log 29
- Using Stored Commands 31
- Setup Options 32
- Using Multiple Motion Modules 33
- Creating a New Board File 33
- Changing Between Board Files 34
- Using Plots 37
- Selecting the Data to Plot 38
- Using the Plot Detail Window 38
- Viewing the Raw Plot Data 39
- Saving and Restoring Plots 40
- Printing a Plot 40
- Plot Time 41
- Table Editors 42
- Editing the Profile Table 44
- Editing the Event Step Table 44
- Advanced Topics 47
- Forcing Initialization 48
- Using Look-only Mode 48
- Using PC Mode 48
- Command Line Options 49
- Options Dialog Box 50
- Controller Features 51
- Event Control Overview 51
- FLASH Memory 53
- LED Indicators 54
- Motion Profiles 55
- Synchronizing Axes 57
- Two per unit 60
- Communicating with the MMC120 61
- Input Register Overview 63
- Output Register Overview 64
- 1514131211109876543210 65
- SAR Type Index 65
- Support and Troubleshooting 66
- Warranty 66
- Troubleshooting 66
- Error Handling 67
- MMC120 Module Problems 67
- Hydraulic System Problems 69
- Technical Support 73
- Parameter Errors 74
- Invalid command received 76
- Appendix A: Command Reference 78
- General ASCII Commands 78
- Start Events Command 79
- Set Feed Forward Command 79
- Go Command 79
- Halt Command 80
- Set Integral Drive Command 80
- Relative Move Command 81
- Disable Drive Output Command 81
- Set Mode Command 82
- Set Null Drive Command 82
- Open Loop Command 82
- Set Parameters Command 84
- Quit Events Command 84
- Restore Null Drive Command 84
- Save Null Drive Command 85
- Save Integral Drive Command 85
- Update FLASH Command 85
- Set Speed (Unsigned) Command 86
- Set Speed (Signed) Command 86
- Start a Graph Command 86
- Go Using Profile Commands 87
- Set Profile Commands 88
- Set Parameter Commands 90
- ASCII Commands 91
- Get Profile Commands 93
- 0xAC-0xAF 37 94
- Get Parameter Commands 95
- Event Step Edit Commands 97
- LINK TYPE/NEXT 98
- Diagnostics Command 98
- Event Step Transfer Command 99
- MODE Word Bit Map 103
- ACCELERATION 104
- DECELERATION 104
- COMMAND VALUE 105
- Command Field 106
- CONFIGURATION Word 107
- CONFIGURATION Word Bit Map 109
- SCALE Calculation Examples 111
- EXTEND LIMIT 112
- RETRACT LIMIT 113
- PROPORTIONAL GAIN 113
- INTEGRAL GAIN 114
- DIFFERENTIAL GAIN 115
- EXTEND FEED FORWARD 115
- RETRACT FEED FORWARD 116
- DEAD BAND ELIMINATOR 117
- IN POSITION 118
- FOLLOWING ERROR 118
- AUTO STOP 119
- AUTO STOP Bit Map 120
- Valid 16-Bit Positions 121
- COMMAND POSITION 122
- TARGET POSITION 123
- ACTUAL POSITION 123
- TRANSDUCER COUNTS 124
- AXIS STATUS Word 124
- STATUS Word Bit Map 128
- ACTUAL SPEED 129
- NULL DRIVE 130
- LINK VALUE 130
- Link Types and Link Values 130
- Link Next 131
- System-wide Link Types 132
- Current Axis Link Types 132
- Link Type and Link Value 133
- Selected Axis Link Types 135
- Link Type - Any Axis Speed 136
- MMC120 Specifications 138
- Appendix G: Glossary 139
- Glossary 139
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