Delta MMC120 User Manual download pdf (Page 56)

Communicating with the MMC120 MMC120 Linear Motion Control Module

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

NOTE: When issued by the PLC, these commands must be entered in Hex or Binary. The ASCII representation is

used by the DCS120 software package.

'A' - Change ACCELERATION (41h)

This commands sets the ACCELERATION parameter to the value in the data register of the PLC or the

COMMAND VALUE field in DCS120.

'D' - Change DECELERATION (44h)

This commands sets the DECELERATION parameter to the value in the data register of the PLC or the

COMMAND VALUE field in DCS120.

'E' - Start Events (45h)

This commands starts the Events sequence at the step specified in the data register of the PLC or the

COMMAND VALUE field in DCS120.

'F' - Set Feed Forward (46h)

The 'F' command is used to automatically set the feed forward values. After a move is made where the axis is

allowed to reach constant velocity and the overdrive bit is not set, an 'F' command will set the FEED

FORWARD for the direction last moved. This command is quick and easy, and it will allow the system to

adjust for changing system dynamics. This will also make setup easier.

NOTE: The 'F' command should be used only after the axis is moving smoothly.

'G' - Go to COMMAND VALUE (47h)

When the Quantum Programmable Controller issues an ASCII 'G' command with a requested position

specified in the data register of the PLC or the COMMAND VALUE field in DCS120, the MMC120 executes

the move with the last profile used. When no previous Go Using Profile commands have been executed, the

last profile used defaults to profile 0. In general, the PLC should use the Go Using Profile commands rather

than the ASCII GO command.

When the GO command is issued from DCS120 the profile information (MODE, ACCEL, DECEL, and

SPEED) are taken from the DCS120 screen (the COMMAND VALUE contains the requested position). New

GO commands with different MODE, ACCEL, DECEL, SPEED, or positions can be issued while the axis is

in motion.

'H'-HALT(48h)

The HALT command is used for a Soft Stop, jogging the axis, or when the drive power is off. Putting an 'H' in

the Command word while the axis is moving will cause the axis to ramp down until it stops. Jogging an axis

is accomplished by alternating GO and HALT commands. The 'H' command disables the integral gain term

and the null update.

NOTE: Issue a HALT command when hydraulic power is turned off. This prevents the integrator from winding up.

'I' - Integral Drive Set (49h)

This command sets the Integral Drive to the value in the COMMAND VALUE field.

'i' - Integral Drive Clear (69h)

This command sets the Integral Drive to the Null Drive value.

'J' - Relative Move (4Ah)

This command changes the COMMAND POSITION by the amount specified in the data register of the PLC

or the COMMAND VALUE field in DCS120.

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Delta MMC120 User Manual Page 56