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R
R Command ......................................................................................................................................... 83
R Link Type ........................................................................................................................................ 132
Ramp ...........................................................................................................................................100, 101
S-Curve .......................................................................................................................................... 100
Trapezoidal ..................................................................................................................................... 100
read-back mode............................................................................................................................ 26, 49
Readback Parameters .......................................................................................121, 122, 123, 128, 129
Actual Position ............................................................................................................................. 122
Actual Speed................................................................................................................................. 128
Command Position ...................................................................................................................... 121
Drive ............................................................................................................................................... 128
Link Value ....................................................................................................................................... 129
Null Drive ....................................................................................................................................... 129
Status Word .................................................................................................................................. 123
Step................................................................................................................................................. 129
Target Position ............................................................................................................................... 122
Transducer Counts......................................................................................................................... 123
Relative Move....................................................................................................................................... 80
repairs ................................................................................................................................................... 72
Requested Position ......................................................................................................................... 104
Restore Integral Drive.......................................................................................................................... 83
Restore Null Drive................................................................................................................................83
Retract Acceleration Feed Forward.............................................................................................. 116
Retract Feed Forward...................................................................................................................... 115
Retract Limit ..................................................................................................................................... 112
retracting ........................................................................................................................................... 138
returns.................................................................................................................................................. 72
RS-232 port
selecting............................................................................................................................................ 31
S
S Command.......................................................................................................................................... 84
S link type ........................................................................................................................................... 133
Save Integral Drive .............................................................................................................................. 84
Save Null Drive .................................................................................................................................... 84
Saving Parameters to FLASH .......................................................................................................... 52
Saving to FLASH.................................................................................................................................. 84
Scale................................................................................................................................................... 109
scale and offset calibration utility................................................................................................... 34
Scale/Offset Calibration................................................................................................................. 34, 35
MDT................................................................................................................................................... 35
position........................................................................................................................................ 34, 35
S-Curves............................................................................................................................................ 100
serial port........................................................................................................................................ 49, 50
changing ........................................................................................................................................... 49
update rate ...................................................................................................................................... 49
Serial Port Cable.................................................................................................................................. 14
serial ports
multiple modules .............................................................................................................................. 32
selecting............................................................................................................................................ 31
Set Feed Forward ................................................................................................................................78
Set Integral Drive ................................................................................................................................. 79
Set Integral Drive to Null Drive............................................................................................................ 80
Set Mode .............................................................................................................................................. 81
- 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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