Delta MMC120 User Manual download pdf (Page 57)

MMC120 Linear Motion Control Module Communicating with the MMC120

Delta Computer Systems, Inc. 360/254-8688 57

'K' - Disable Drive Output (4Bh)

This command immediately sets the drive output on the module to the current null value. This is equivalent to

a Hard Stop. The output will remain at null until a new command is issued. When a 'K' command is issued

from DCS120 it is issued to all axes simultaneously. When issued from the Quantum PLC, it goes only to the

specified axis.

'M' - Set Mode (4Dh)

This commands sets the Mode to the value in the data register of the PLC or the COMMAND VALUE field in

DCS120.

'N' - Set Null (4Eh)

The 'N' command sets the Null Drive to the value in the data register of the PLC or the COMMAND VALUE

field in DCS120.

'n' - Null Drive Clear (6E)

The 'n' command sets the Null Drive to the current Integral Drive value.

'O' - Open Loop (4Fh)

CAUTION: Use this command with care! Open Loop operation disables all safety features on the MMC120!

The Open Loop command allows the Quantum Controller to directly specify values for the analog output. The

output range is -10000 to 10000 where -10000 is -10 volts and 10000 is +10 volts.

The O command uses the following parameters from the last open loop profile specified:

The COMMAND VALUE field specifies the amount of drive to be added to (or subtracted from) the current

null value.

The ACCELERATION and DECELERATION fields control the rate at which the drive output ramps to the

requested value. The ACCEL and DECEL parameters are in millivolts per millisecond.

To command the MMC120 to output 10% of negative drive you would enter -1000 in the COMMAND

VALUE field and 79 (O) in the COMMAND field. A '25' in the ACCELERATION field would cause the

module to ramp the output at 25 millivolts every millisecond, so the output would ramp to -1000 in 40

milliseconds.

See also Command Type 9.

'P' - Set Parameters (50h)

When a 'P' command is given all initialization parameters are updated . The minimum requirement of this

command is to set the Extend and Retract Limits to their proper values (see Start-Up and Tuning). When a 'P'

command is given, the MMC120 will copy the ACTUAL POSITION of the axis into the TARGET and

COMMAND POSITIONS.

'Q' - Quit Events (51h)

This command stops the event control sequence.

'R' - Restore Null (52h)

The Restore Null command restores the last saved value of null. This value will be 0 if no previous Save Null

was issued.

'r' - Restore Integral Drive (72h)

This command restores a previously saved Integral Drive value.

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Delta MMC120 User Manual Page 57