Delta MMC120 User Manual download pdf (Page 54)

Communicating with the MMC120 MMC120 Linear Motion Control Module

54 Delta Computer Systems, Inc. 360/254-8688

Command Type 3 - Set Parameters (0000 XXXX 0011 NNNN)

These commands allow the Quantum Programmable Controller to download new initialization parameters to

the MMC120. New parameters can be downloaded at any time, but they do not take effect until a 'P' command

is issued (see Command Type 5). An axis must be stopped when issuing a 'P' command.

Set Parameter commands are defined as follows:

BIT #

| | 111|1111

1234|5678|9012|3456

-------------------

HEX |SAR |CMND|INDX

VALUE -------------------

0X30 0000|XXXX|0011|0000 - Set CONFIGURATION

0X31 0000|XXXX|0011|0001 - Set SCALE

0X32 0000|XXXX|0011|0010 - Set OFFSET

0X33 0000|XXXX|0011|0011 - Set EXTEND LIMIT

0X34 0000|XXXX|0011|0100 - Set RETRACT LIMIT

0X35 0000|XXXX|0011|0101 - Set PROPORTIONAL GAIN

0X36 0000|XXXX|0011|0110 - Set INTEGRAL GAIN

0X37 0000|XXXX|0011|0111 - Set DIFFERENTIAL GAIN

0X38 0000|XXXX|0011|1000 - Set EXTEND FEED FORWARD

0X39 0000|XXXX|0011|1001 - Set RETRACT FEED FORWARD

0X3A 0000|XXXX|0011|1010 - Set EXTEND ACCELERATION FEED FORWARD

0X3B 0000|XXXX|0011|1011 - Set RETRACT ACCELERATION FEED FORWARD

0X3C 0000|XXXX|0011|1100 - Set DEAD BAND ELIMINATOR

0X3D 0000|XXXX|0011|1101 - Set IN POSITION

0X3E 0000|XXXX|0011|1110 - Set FOLLOWING ERROR

oX3F 0000|XXXX|0011|1111 - Set AUTO STOP

The output registers are defined as follows:

4TTTTT + 0 Axis 1 command - set parameter

4TTTTT + 1 Axis 1 parameter value

4TTTTT + 2 Axis 2 command - set parameter

4TTTTT + 3 Axis 2 parameter value

Example: Set the extend limit for both axes

4TTTTT + 0 0X33 Set Axis 1 Extend Limit

4TTTTT + 1 24000 Extend Limit value

4TTTTT + 2 0X33 Set Axis 2 Extend Limit

4TTTTT + 3 12000 Extend Limit value

These commands set the Extend Limit for Axis 1 to 24000 and Axis 2 to 12000.

1 2 ... 49 50 51 52 53 54 55 56 57 58 59 ... 104 105

No comments

Delta MMC120 User Manual Page 54