Delta MMC120 - Manual (Page 96)

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These commands allow the Programmable Controller to read the current state of the
motion controller initialization parameters. The requested parameter will be returned in
the corresponding axis status area.
The format of the Command Register for the Get Parameter commands is given below:
NOTE: The Status Area Request area (bits 5-8) of the command and the entire
Command Value Output register are ignored.
| | 111|1111
BIT # 1234|5678|9012|3456
-------------------
HEX | |CMND|INDX
VALUE -------------------
0XB0 0000|XXXX|1011|0000 Get CONFIGURATION
0XB1 0000|XXXX|1011|0001 Get SCALE
0XB2 0000|XXXX|1011|0010 Get OFFSET
0XB3 0000|XXXX|1011|0011 Get EXTEND LIMIT
0XB4 0000|XXXX|1011|0100 Get RETRACT LIMIT
0XB5 0000|XXXX|1011|0101 Get PROPORTIONAL GAIN
0XB6 0000|XXXX|1011|0110 Get INTEGRAL GAIN
0XB7 0000|XXXX|1011|0111 Get DIFFERENTIAL GAIN
0XB8 0000|XXXX|1011|1000 Get EXTEND FEED FORWARD
0XB9 0000|XXXX|1011|1001 Get RETRACT FEED FORWARD
0XBA 0000|XXXX|1011|1010 Get EXTEND ACCEL FEED FORWARD
0XBB 0000|XXXX|1011|1011 Get RETRACT ACCEL FEED FORWARD
0XBC 0000|XXXX|1011|1100 Get DEAD BAND ELIMINATOR
0XBD 0000|XXXX|1011|1101 Get IN POSITION
0XBE 0000|XXXX|1011|1110 Get FOLLOWING ERROR
0XBF 0000|XXXX|1011|1111 Get AUTO STOP
The second Input register for the axis will hold the requested parameter after the motion
controller matches the Synchronization Input register with the Synchronization Output
register .
Example
Suppose you would like to get the SCALE from both axes. You would send commands
with the following format:
CMND INDX (HEX)
4TTTTT+1 0000|0000|1011|0001 (00B1)
Requests SCALE for axis 1
+2 XXXX|XXXX|XXXX|XXXX (XXXX)
Ignored
4TTTTT+3 0000|0000|1011|0001 (00B1)
Requests SCALE for axis 2
+4 XXXX|XXXX|XXXX|XXXX (XXXX)
Ignored
After the Synchronization Output register is incremented, the RMC will process the