Delta MMC120 User Manual download pdf (Page 63)

MMC120 Linear Motion Control Module Communicating with the MMC120

Delta Computer Systems, Inc. 360/254-8688 63

Command Type E - Event Step Edit (0000 XXXX 1110 00NN)

The "Event Step Edit" commands let you change an event parameter's value across a range of steps in a single

scan.

E0 = 0000|XXXX|1110|0000 Beginning Step Number (0 to 255)

E1 = 0000|XXXX|1110|0001 Ending Step Number (0 to 255; > E0)

E2 = 0000|XXXX|1110|0010 Parameter to Modify 0 to 7)

E3 = 0000|XXXX|1110|0011 Value to be Used

E2 Parameter Values

0 MODE

1 ACCEL

2 DECEL

3 SPEED

4 POSITION

5 COMMAND

6 LINK TYPE/NEXT

7 LINK VALUE

These commands must be issued once to initialize the parameters; this will take four scans. Once the

beginning step number, the ending step number, and the parameter to be changed have been defined, all the

steps can be changed in a single scan by sending an E3 command with the new parameter value.

For example, if you have a step table that is 100 steps long and you want to change the time delay link value in

each step, it would take 100 scans using the E007 extended command type. If the scan time is 20ms, this

would take 2 seconds. By using the Event Step Edit commands, it would take 80ms for the first change (four

scans times 20ms/scan), and only 20ms for another change.

Command Type F - Diagnostics (0000 XXXX 1111 XXXX)

The "Diagnostic" commands are for testing the MMC120 under safe conditions. The command echoes the

output registers in the input registers. This tests the Quantum-to-MMC120 communications.

4TTTTT+0 = 0000|XXXX|1111|XXXX (XXFXh) 3TTTTT+0 = Echo 4TTTTT+0

4TTTTT+1 = don't care 3TTTTT+1 = Echo 4TTTTT+1

4TTTTT+2 = " " 3TTTTT+2 = Echo 4TTTTT+2

4TTTTT+3 = " " 3TTTTT+3 = Echo 4TTTTT+3

When using this command the SAR field is ignored by the MMC120.

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Delta MMC120 User Manual Page 63