Delta MMC120 User Manual download pdf (Page 59)

MMC120 Linear Motion Control Module Communicating with the MMC120

Delta Computer Systems, Inc. 360/254-8688 59

Command Type 9 - Open Loop Using Profile (0000 XXXX 1001 NNNN)

The Open Loop Using Profile command allows the Quantum to tell the MMC120 to change the output drive to

a specified value with respect to null. The drive output will change at a rate specified by the selected pre-

stored profile.

NOTE: This command shares the profile table used by the "Go Using Profile" commands. Profiles used for one type

of command should NOT be used for the other.

The information stored in the profile table is used as follows:

MODE -- Only mode bit 1 (Graph Disable) is valid. All other bits are ignored.

ACCELERATION -- The rate of change of the drive output is controlled with this parameter. It is specified in

millivolts of drive per millisecond. It applies while the drive is ramping away from null.

DECELERATION -- This parameter is the same as the acceleration, except it applies while the drive is

ramping toward null.

SPEED -- The speed parameter is used as a drive limit. A value of 1000 will let the drive ramp up or down to

plus or minus 1000 (1 volt) from null regardless of the value in the COMMAND VALUE field.

The Open Loop command sets the state bits in the Status word (bits 11 and 12) to indicate whether the drive is

ramping up, ramping down, or at constant speed (other than null).

The format of the Command Register is given below:

BIT #

| | 111|1111

1234|5678|9012|3456

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

HEX |SAR |CMND|INDX

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

0X90 0000|XXXX|1001|0000 - OPEN LOOP USING PROFILE 0 \

0X91 0000|XXXX|1001|0001 - OPEN LOOP USING PROFILE 1 \ Modify by

0X92 0000|XXXX|1001|0010 - OPEN LOOP USING PROFILE 2 / writing to

0X93 0000|XXXX|1001|0011 - OPEN LOOP USING PROFILE 3 / Axis 1

0X94 0000|XXXX|1001|0100 - OPEN LOOP USING PROFILE 4 \

0X95 0000|XXXX|1001|0101 - OPEN LOOP USING PROFILE 5 \ Modify by

0X96 0000|XXXX|1001|0110 - OPEN LOOP USING PROFILE 6 / writing to

0X97 0000|XXXX|1001|0111 - OPEN LOOP USING PROFILE 7 / Axis 2

0X98 0000|XXXX|1001|1000 - OPEN LOOP USING PROFILE 8 Predefined

0X99 0000|XXXX|1001|1001 - OPEN LOOP USING PROFILE 9 profiles -

0X9A 0000|XXXX|1001|1010 - OPEN LOOP USING PROFILE 10 changed only

0X9B 0000|XXXX|1001|1011 - OPEN LOOP USING PROFILE 11 from DCS120

0X9C 0000|XXXX|1001|1100 - OPEN LOOP USING PROFILE 12

0X9D 0000|XXXX|1001|1101 - OPEN LOOP USING PROFILE 13

0X9E 0000|XXXX|1001|1110 - OPEN LOOP USING PROFILE 14

0X9F 0000|XXXX|1001|1111 - OPEN LOOP USING PROFILE 15

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Delta MMC120 User Manual Page 59