Input register overview – Delta MMC120 User Manual
Page 63
63
See also:
Input Register Overview
Output Register Overview
Programmable Controller Commands
Input Register Overview
In addition to the
Output registers
, there are four 16-bit registers that are read from the
MMC120 controller:
Register Number
Contents
3TTTTT + 0
STATUS
for axis 1
3TTTTT + 1
Specified by command for axis 1
3TTTTT + 2
STATUS
for axis 2
3TTTTT + 3
Specified by command for axis 2
In the table above, 3TTTTT is the Input base address. For most commands, the value
returned in the second register for each axis is selected using the Status Area Request bits
in the
command register
. Refer to the individual commands for exceptions. The possible
fields that can be returned in the second register when is it controlled by the Status Area
Request bits are:
Status Area Request
Read-back Register
0 (0000)
COMMAND POSITION
1 (0001)
TARGET POSITION
2 (0010)
ACTUAL POSITION
3 (0011)
TRANSDUCER COUNTS
4 (0100)
STATUS Word
5 (0101)
DRIVE OUTPUT
6 (0110)
ACTUAL SPEED
7 (0111)
NULL DRIVE
8 (1000)
CURRENT STEP
9 (1001)
LINK VALUE
10-15 (1010-1111)
Reserved
Example
Suppose you would like the
STATUS
and
ACTUAL POSITION
for axis 1, and you
would like the
STATUS
and
DRIVE
for axis 2. You would send commands with the
following format:
SAR
CMND INDX (HEX)
4TTTTT+1 0000|0010|XXXX|XXXX
(02XX)
Requests
ACTUAL POSITION
+2 XXXX|XXXX|XXXX|XXXX
Data for command on axis 1