Delta MMC120 - Manual (Page 101)

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E806 Step 0 LINK TYPE/NEXT
E807 Step 0 LINK VALUE
E808 Step 1 MODE
E809 Step 1 ACCELERATION
. .
. .
EFFD Step 255 COMMAND
EFFE Step 255 LINK TYPE/NEXT
EFFF Step 255 LINK VALUE
Appendix B: Command Field Reference
MODE
Default: 00000
Nine bits in the MODE word determine the way the motion controller responds to control
commands and parameters. Bit 1 is the MSB and bit 16 is the LSB.
Click here for the Mode Bit Map
Bit 1 - Graph Disable
When this bit is set for an axis, the controller will not log graph data during the move.
This is useful for troubleshooting long sequences of moves.
Bit 9 - S-Curve
When this bit is set the module controller calculates an s-shaped target, resulting in
smoother motion with more gradual starts and stops and higher peak speeds. In an s-
curve move, the maximum acceleration is 1.53 times the straight-line acceleration (used
by a trapezoidal motion profile). If another move command is given before the s-curve is
finished, there may be a discontinuity (jerk) at the transition.
Bit 11 - Quick Mode
When this bit is set, a move will ramp the drive up in Open Loop mode to the value
specified (in millivolts) in the SPEED field and maintain it there until it reaches the
deceleration point. It will then ramp down to the requested position (specified by the
COMMAND VALUE ) in Closed Loop mode. The ACCELERATION and
DECELERATION fields specify the ramp based on MODE bits 15 and 16.
For this mode to work properly the EXTEND FEED FORWARD and RETRACT FEED
FORWARD parameters should be adjusted correctly. They are use to calculate the drive