Delta MMC120 User Manual

Page 102

102

given to the axis at the moment ramp down begins.

If the speed achieved by the axis during the open loop portion of the move is greater than

65,535, when the ramp down starts, the target speed will be limited to 65,535.

Bit 12 - Sync

When this bit is set, it causes the axis to move synchronized to the other axes that have

this bit set. The axes are synchronized as follows:

1. The axis with the longest move is the master, which uses its full profile.
2. For each other synchronized axis, the length of its move determines its profile. All

synched axes will accelerate together, move at constant speed together (their

constant speeds will differ, depending on their move lengths), and decelerate

together, arriving simultaneously at their individual

COMMAND POSITIONS

3. If any axis is halted by an error condition, the other axes will also be halted.

For more details on synchronizing axes, see

Synchronizing Axes

Bits 13-14 - Integrator Mode Select

These two bits define four integrator modes:

Bit # 13 14

Mode 0 - Integrator always active

Mode 1 - Integrator active only during deceleration and in position

Mode 2 - Integrator active only during in position

Mode 3 - Integrator never active

Bits 15-16 - Acceleration and Deceleration Mode Select

These two bits define four acceleration/deceleration modes:

Bit # 15 16

Mode 0 - Ramp Rate (Default)

Mode 1 - Ramp Rate * 1000

Mode 2 - Distance to specified speed

Mode 3 - Time to specified speed

The actual meanings of the Acceleration/Deceleration modes depend on whether the

move is in open or closed loop. For open loop mode, see the

Open Loop

command. The

closed loop Acceleration/Deceleration modes are described below:
In Mode 0, the

ACCELERATION

and

DECELERATION

parameters define the ramp

rate in position units per second per second.
In Mode 1, the

ACCELERATION

and

DECELERATION

parameters define the ramp

rate in 1000 position units per second per second. For example, with position units of

0.001 inches, an

ACCELERATION

of 50 will cause the axis to accelerate at 50 inches

per second per second.