Get profile commands – Delta MMC120 User Manual

Page 93

Get Profile Commands

Format: 0000 0000 1010 NNNN

N Used for Command Index described below

These commands allow the programmer to retrieve the motion controller’s stored motion

profiles

. Only one value in one

profile

can be read per axis each time the synchronization

NOTE: The Status Area Request area (bits 8-11) of the command and the entire

Command Value

Output register

are ignored.

| 111|1111

BIT # 1234|5678|9012|3456

-------------------

HEX

|CMND|INDX

VALUE -------------------

0XA0

0000|XXXX|1010|0000 GET PROFILE 0 or 4 MODE

0XA1

0000|XXXX|1010|0001 GET PROFILE 0 or 4 ACCEL

0XA2

0000|XXXX|1010|0010 GET PROFILE 0 or 4 DECEL

0XA3

0000|XXXX|1010|0011 GET PROFILE 0 or 4 SPEED

0XA4

0000|XXXX|1010|0100 GET PROFILE 1 or 5 MODE

0XA5

0000|XXXX|1010|0101 GET PROFILE 1 or 5 ACCEL

0XA6

0000|XXXX|1010|0110 GET PROFILE 1 or 5 DECEL

0XA7

0000|XXXX|1010|0111 GET PROFILE 1 or 5 SPEED

0XA8

0000|XXXX|1010|1000 GET PROFILE 2 or 6 MODE

0XA9

0000|XXXX|1010|1001 GET PROFILE 2 or 6 ACCEL

0XAA

0000|XXXX|1010|1010 GET PROFILE 2 or 6 DECEL

0XAB

0000|XXXX|1010|1011 GET PROFILE 2 or 6 SPEED

0XAC

0000|XXXX|1010|1100 GET PROFILE 3 or 7 MODE

0XAD

0000|XXXX|1010|1101 GET PROFILE 3 or 7 ACCEL

0XAE

0000|XXXX|1010|1110 GET PROFILE 3 or 7 DECEL

0XAF

0000|XXXX|1010|1111 GET PROFILE 3 or 7 SPEED

Notice that for each command, two different profile numbers are listed. The actual

profile read is determined by the axis issuing the command. The following chart show

which commands affect which profiles when issued on a particular axes (Notice that one

the first eight (8) profiles can be modified from the Programmable Controller):

COMMAND

AXIS 1

AXIS 2

0xA0-0xA3

0xA4-0xA7

0xA8-0xAB