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57
ACCEL
10000 12000 15000 18000
DECEL
10000 12000 15000 18000
SPEED
10000 12000 15000 18000
Profile 8 9 10 (0A) 11 (0B)
MODE
1111
ACCEL
100 100 100 200
DECEL
100 100 100 200
SPEED
20000 25000 30000 35000
Profile 12 (0C) 13 (0D) 14 (0E) 15 (0F)
MODE
1111
ACCEL
200 200 200 100
DECEL
200 200 200 100
SPEED
40000 45000 50000 10000
Synchronizing Axes
Axis synchronization is achieved by setting the Sync bit in the MODE word on both axes
andthenissuingaGo or Relative Move command to the last axis.
The following requirements exist when synchronizing axes:
• Both axes must be initialized, as indicated by the Parameter Initialized bit in the
STATUS word. Do this by issuing the Set Parameters command.
• The low eight MODE bits of both synchronized axes must match exactly.
• Synchronized commands (Go and Relative Move) must be issued to the second axis.
• Synchronized commands issued to the first axis are ignored.
• The MODE, ACCELERATION, DECELERATION, SPEED,andCOMMAND
VALUE fields must be set on both axes before any synchronized commands are
issued.
Internal to the MMC120, the synchronization is accomplished as follows:
• The axis with the longest travel distance is designated the “master”. If both axes are
moving the same distance, then first axis is designated the “master”. The other axis is
designated as the “slave”.
• The maximum speed of the master axis is limited so neither of the synchronized axes
will go above their requested SPEED.
• The master then moves toward its destination using its own ACCELERATION,
DECELERATION, and the speed calculated in the above step.
• Atthesametime,theTARGET POSITION of the slave axis is ratioed to the target
position of the master based on the distance each is traveling.
• If either synchronized axis is halted during the move, the other axis will halt as well.
- 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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