Delta MMC120 User Manual
Page 53
53
•
The command in an event will be executed as soon as a step is reached in the event
sequence.
•
The
next
Step in the sequence will be executed as soon as the conditions from the
Link Type and Link Value
are met.
•
Multiple axes can be made to follow identical patterns simultaneously by using the
same steps on each.
•
You cannot conditionally branch steps. This is because each step only has a single
Link Next field.
Example
In the following example three steps are executed. They cause the axis to make a move,
wait and then make another move:
Step 15 Step 16
Step 17
Mode 00001
00001
00001
Accel 100
100
100
Decel 100
100
100
Speed 10000
10000
10000
Command Value 15500
10000
3000
Command G
G
Link Type B
D
D
Link Value 00001
500
0
Link Next 16
17
0
Step 15 issues a
Go
command to 15.5 inches (15500). The link type is B with a link
value of 00001, which causes the motion controller to look for the least significant bit in
the
STATUS
word (the In Position bit). When the In Position bit turns on, indicating the
move is complete, Step 16 (Link Next – 16) is executed.
Step 16 has no command so no command is issued. The link type is a Delay with a value
of 500 milliseconds. After 500 milliseconds pass, Step 17 executes.
Step 17 issues a
Go
command to 3 inches. The Link Type D with a value of 0 (zero)
causes the axis to go immediately to Step 0, which ends the sequence.
FLASH Memory
The MMC120 contains FLASH memory that has two user-accessible sections. Section 1
contains the following:
•
All axes’ parameters
•
The profile table
Section 2 contains the following data: