Delta MMC120 - Manual (Page 4)

4
The command deceleration is invalid................................................................................................... 77
Both sync bits cannot be set in the "Mode" word.................................................................................. 77
One or more synced axes are uninitialized........................................................................................... 77
Incompatible sync mode words............................................................................................................ 77
"Event Step Edit" indices are invalid ................................................................................................... 77
Unknown Parameter Error.................................................................................................................. 78
APPENDIX A: COMMAND REFERENCE........................................................................................ 78
G
ENERAL
ASCII C
OMMANDS
.................................................................................................................. 78
Change Acceleration Command .......................................................................................................... 78
Change Deceleration Command.......................................................................................................... 78
Start Events Command........................................................................................................................ 79
Set Feed Forward Command............................................................................................................... 79
Go Command...................................................................................................................................... 79
Halt Command ................................................................................................................................... 80
Set Integral Drive Command ............................................................................................................... 80
Set Integral Drive to Null Drive Command .......................................................................................... 81
Relative Move Command .................................................................................................................... 81
Disable Drive Output Command ......................................................................................................... 81
Set Mode Command ............................................................................................................................ 82
Set Null Drive Command..................................................................................................................... 82
Set Null Drive to Integral Drive Command .......................................................................................... 82
Open Loop Command ......................................................................................................................... 82
Set Parameters Command ................................................................................................................... 84
Quit Events Command ........................................................................................................................ 84
Restore Null Drive Command.............................................................................................................. 84
Restore Integral Drive Command ........................................................................................................ 84
Save Null Drive Command .................................................................................................................. 85
Save Integral Drive Command ............................................................................................................ 85
Update FLASH Command................................................................................................................... 85
Set Speed (Unsigned) Command.......................................................................................................... 86
Set Speed (Signed) Command.............................................................................................................. 86
Start a Graph Command ..................................................................................................................... 86
P ROGRAMMABLE
C
ONTROLLER
C
OMMANDS
............................................................................................ 87
Go Using Profile Commands............................................................................................................... 87
Set Profile Commands......................................................................................................................... 88
Set Parameter Commands ................................................................................................................... 90
ASCII Commands ............................................................................................................................... 91
Open Loop Using Profile Commands .................................................................................................. 91
Get Profile Commands........................................................................................................................ 93
Get Parameter Commands .................................................................................................................. 95
Event Step Edit Commands ................................................................................................................. 97
LINK TYPE/NEXT .............................................................................................................................. 98
Diagnostics Command ........................................................................................................................ 98
Event Step Transfer Command ............................................................................................................ 99
APPENDIX B: COMMAND FIELD REFERENCE ......................................................................... 101
MODE ................................................................................................................................................. 101
MODE W
ORD
B
IT
M
AP
......................................................................................................................... 103
ACCELERATION................................................................................................................................ 104
DECELERATION................................................................................................................................ 104
SPEED................................................................................................................................................. 105
COMMAND VALUE........................................................................................................................... 105
C OMMAND F IELD .................................................................................................................................. 106
APPENDIX C: PARAMETER FIELD REFERENCE...................................................................... 106