Delta MMC120 User Manual download pdf (Page 141)

141

Retracting: Going in the direction where the transducer’s counts are decreasing.

Soft Stop: An emergency stop condition where the drive ramps down to the null

drive value.

Target Generator: The part of the motion control software that determines where the axis

should be at any moment using the requested position, speed, acceleration

and deceleration provided by the user. A different target generator is used

for position control, speed control, gearing, synchronized moves and

pressure control.

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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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