Delta MMC120 User Manual

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100

To write event step information to the motion controller, use the following command and

data

Output registers

pairs:

Command

Data

Register

E000

Step 0 MODE

E001

Step 0 ACCELERATION

E002

Step 0 DECELERATION

E003

Step 0 SPEED

E004

Step 0 COMMAND VALUE

E005

Step 0 COMMAND

E006

Step 0 LINK TYPE/NEXT

E007

Step 0 LINK VALUE

E008

Step 1 MODE

E009

Step 1 ACCELERATION

E7FD

Step 255 COMMAND

E7FE

Step 255 LINK TYPE/NEXT

E7FF

Step 255 LINK VALUE

To update multiple words every Programmable Controller scan, you can also use the

Command and Data

Output registers

for multiple axes. For example, by using one axis to

transfer the first half of the table and the second axis to transfer the second half of the

table, transfer time can be cut in half.

To read event step information to the motion controller, use the following command

Output registers

, increment the Synchronization

Output registers

, and wait for the

Synchronization

Input register

to match it. The second

Input register

on the axis will

return the following values:

Command

Data In

Register

E800

Step 0 MODE

E801

Step 0 ACCELERATION

E802

Step 0 DECELERATION

E803

Step 0 SPEED

E804

Step 0 COMMAND VALUE

E805

Step 0 COMMAND