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• The command in an event will be executed as soon as a step is reached in the event
sequence.
• The next Step in the sequence will be executed as soon as the conditions from the
LinkTypeandLinkValueare met.
• Multiple axes can be made to follow identical patterns simultaneously by using the
same steps on each.
• You cannot conditionally branch steps. This is because each step only has a single
Link Next field.
Example
In the following example three steps are executed. They cause the axis to make a move,
wait and then make another move:
Step 15
Step 16 Step 17
Mode
00001 00001 00001
Accel
100 100 100
Decel
100 100 100
Speed
10000 10000 10000
Command Value
15500 10000 3000
Command
GG
Link Type
BD D
Link Value
00001 500 0
Link Next
16 17 0
Step 15 issues a Go command to 15.5 inches (15500). The link type is B with a link
value of 00001, which causes the motion controller to look for the least significant bit in
the STATUS word (the In Position bit). When the In Position bit turns on, indicating the
move is complete, Step 16 (Link Next – 16) is executed.
Step 16 has no command so no command is issued. The link type is a Delay with a value
of 500 milliseconds. After 500 milliseconds pass, Step 17 executes.
Step 17 issues a Go commandto3inches. TheLinkTypeDwithavalueof0(zero)
causes the axis to go immediately to Step 0, which ends the sequence.
FLASH Memory
The MMC120 contains FLASH memory that has two user-accessible sections. Section 1
contains the following:
• All axes’ parameters
• The profile table
Section 2 contains the following data:
- 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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