Delta MMC120 User Manual download pdf (Page 60)

Communicating with the MMC120 MMC120 Linear Motion Control Module

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

The 4 output registers are defined as follows:

4TTTTT+0 Axis 1 Command - Open Loop using profile

4TTTTT+1 Axis 1 Requested Drive

4TTTTT+2 Axis 2 Command - Open Loop using profile

4TTTTT+3 Axis 2 Requested Drive

Command Type A - Get Profiles (0000 XXXX 1010 NNNN)

These commands allow the Programmable Controller to retrieve from the MMC120 profile data that was set

up with DCS120.

BIT #

| | 111|1111

1234|5678|9012|3456

------------------- 4TTTTT+0 4TTTTT+2

HEX |SAR |CMND|INDX Axis 1 Axis 2

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

0XA0 0000|XXXX|1010|0000 - GET PROFILE 0 4 MODE

0XA1 0000|XXXX|1010|0001 - GET PROFILE 0 4 ACCEL

0XA2 0000|XXXX|1010|0010 - GET PROFILE 0 4 DECEL

0XA3 0000|XXXX|1010|0011 - GET PROFILE 0 4 SPEED

0XA4 0000|XXXX|1010|0100 - GET PROFILE 1 5 MODE

0XA5 0000|XXXX|1010|0101 - GET PROFILE 1 5 ACCEL

0XA6 0000|XXXX|1010|0110 - GET PROFILE 1 5 DECEL

0XA7 0000|XXXX|1010|0111 - GET PROFILE 1 5 SPEED

0XA8 0000|XXXX|1010|1000 - GET PROFILE 2 6 MODE

0XA9 0000|XXXX|1010|1001 - GET PROFILE 2 6 ACCEL

0XAA 0000|XXXX|1010|1010 - GET PROFILE 2 6 DECEL

0XAB 0000|XXXX|1010|1011 - GET PROFILE 2 6 SPEED

0XAC 0000|XXXX|1010|1100 - GET PROFILE 3 7 MODE

0XAD 0000|XXXX|1010|1101 - GET PROFILE 3 7 ACCEL

0XAE 0000|XXXX|1010|1110 - GET PROFILE 3 7 DECEL

0XAF 0000|XXXX|1010|1111 - GET PROFILE 3 7 SPEED

Retrieving one complete profile requires four scans with one command retrieved each scan.

Example: Retrieve Profile 5 from the MMC120 - MODE = 0002h

ACCEL = 50

DECEL = 35

SPEED = 8000

First Scan 4TTTTT + 0 xxxx

+ 1 xxxx (Don't care - Axis 1 parameters)

+ 2 00A4h (Get profile 5 MODE)

+ 3 xxxx (Don't care)

1 2 ... 55 56 57 58 59 60 61 62 63 64 65 ... 104 105

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Delta MMC120 User Manual Page 60