Delta MMC120 - Manual (Page 88)

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The data for the command Output register represents the requested position in position
units.
Example
Suppose you would like to move axis 1 to 5000 position units using profile 2 and axis 2
to 10000 position units using profile 5. You would send commands with the following
format:
SAR CMND INDX (HEX)
4TTTTT+1 0000|XXXX|0001|0010 (0X12)
Axis 1 Go using profile 2
+2 5000 (1388)
Axis 1 Requested Position
4TTTTT+3 0000|XXXX|0001|0101 (0X15)
Axis 2 Go using profile 5
+4 10000 (2710)
Axis 2 Requested Position
Set Profile Commands
Format: 0000 RRRR 0010 NNNN
R Used for Status Area Request
N Used for Command Index described below
These commands allow the programmer to change motion profiles stored in the motion
controller. Only one value in one profile can be changed per axis each time the
synchronization register is changed, but the profiles can be changed while the axis is
moving. The new profile will be used by the next Go Using Profile command specifying
that profile . Recall that new Go and Go Using Profile commands can be given while the
axis is moving.
The format of the Command Register for the Set Profile commands is given below:
| | 111|1111
BIT # 1234|5678|9012|3456
-------------------
HEX |SAR |CMND|INDX
VALUE -------------------
0X20 0000|XXXX|0010|0000 SET PROFILE 0 or 4 MODE
0X21 0000|XXXX|0010|0001 SET PROFILE 0 or 4 ACCEL
0X22 0000|XXXX|0010|0010 SET PROFILE 0 or 4 DECEL
0X23 0000|XXXX|0010|0011 SET PROFILE 0 or 4 SPEED
0X24 0000|XXXX|0010|0100 SET PROFILE 1 or 5 MODE
0X25 0000|XXXX|0010|0101 SET PROFILE 1 or 5 ACCEL
0X26 0000|XXXX|0010|0110 SET PROFILE 1 or 5 DECEL
0X27 0000|XXXX|0010|0111 SET PROFILE 1 or 5 SPEED
0X28 0000|XXXX|0010|1000 SET PROFILE 2 or 6 MODE
0X29 0000|XXXX|0010|1001 SET PROFILE 2 or 6 ACCEL