Delta MMC120 User Manual

Page 94

0xAC-0xAF

The second

Input register

for the axis will hold the requested data on the scan following

these commands being issued.

Example:

We wish to get profiles 2 and 7 into the motion controller. Looking at the chart above,

we can see that we issue Get Profile commands to axis 0 to get profile 2 and we use axis

1 Get Profile commands to get profile 7. Therefore, we can do both at the same time.

Suppose that the motion controller had the following values for profiles 2 and 7:

PROFILE 2 PROFILE 7

MODE

00001

ACCEL

100

150

DECEL

SPEED

12000

20000

This would take at least five scans because we can get one word of each profile on each

axis per scan:
First scan:

4TTTTT+0 00A8h (Get profile 2 MODE)

4TTTTT+1 XXXXh (Unused)

4TTTTT+2 00ACh (Get profile 7 MODE)

4TTTTT+3 XXXXh (Value of profile 7 MODE)

Second scan:

After the Synchronization Output register is incremented, the motion controller

will process the commands and update the Synchronization Input register to match.

At this time, the input registers would hold the following values:

3TTTTT+0 XXXXh (Axis 1 STATUS)

3TTTTT+1 0001h (Profile 2 MODE)

3TTTTT+2 XXXXh (Axis 2 STATUS)

3TTTTT+3 0001h (Profile 7 MODE)

We can now send the second set of requests:

4TTTTT+0 00A9h (Get profile 2 ACCEL)

4TTTTT+1 XXXXh (Unused)

4TTTTT+2 00ADh (Get profile 7 ACCEL)

4TTTTT+3 XXXXh (Unused)

Third scan:

After the Synchronization Output register is incremented, the motion controller

will process the commands and update the Synchronization Input register to match.