Delta MMC120 - Manual (Page 89)

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0X2A 0000|XXXX|0010|1010 SET PROFILE 2 or 6 DECEL
0X2B 0000|XXXX|0010|1011 SET PROFILE 2 or 6 SPEED
0X2C 0000|XXXX|0010|1100 SET PROFILE 3 or 7 MODE
0X2D 0000|XXXX|0010|1101 SET PROFILE 3 or 7 ACCEL
0X2E 0000|XXXX|0010|1110 SET PROFILE 3 or 7 DECEL
0X2F 0000|XXXX|0010|1111 SET PROFILE 3 or 7 SPEED
Notice that for each command, two different profile numbers are listed. The actual
profile affected is determined by the axis issuing the command. The following chart
show which commands affect which profiles when issued on a particular axis (Notice that
only the first eight (8) profiles can be modified from the Programmable Controller):
COMMAND AXIS 1 AXIS 2
0x20-0x23 0 4
0x24-0x27 1 5
0x28-0x2B 2 6
0x2C-0x2F 3 7
The data for the command Output register represents the value of the field to be set in the
profile.
Example:
We wish to set profiles 2 and 7 with the following values:
PROFILE 2 PROFILE 7
MODE 00001 00001
ACCEL 100 150
DECEL 70 70
SPEED 12000 20000
Looking at the chart above, we can see that we issue Set Profile commands to axis 0 to
set profile 2 and we use axis 1 Set Profile commands to set profile 7. Therefore, we can
do both at the same time. This would take four scans because we can send one word of
each profile on each axis per scan:
First scan:
4TTTTT+0 0X28h (Set profile 2 MODE)
4TTTTT+1 0001h (Value of profile 2 MODE)
4TTTTT+2 0X2Ch (Set profile 7 MODE)
4TTTTT+3 0001h (Value of profile 7 MODE)
Second scan:
4TTTTT+0 0X29h (Set profile 2 ACCEL)
4TTTTT+1 100 (Value of profile 2 ACCEL)
4TTTTT+2 0X2Dh (Set profile 7 ACCEL)