Delta MMC120 - Manual (Page 98)

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To edit the Event Step table, each of these commands must be issued once to initialize the
parameters; this will take four scans. Once the beginning step number, the ending step
number, and the parameter to be changed have been defined, all the steps can be changed
in a single scan by sending
0XE3
command with the new parameter value. All four of
these commands must be sent on the same axis.
Example:
If you have a step table that is 100 steps long and you want to change the time delay link
value in each step, it would take 100 scans by using the Event Step Transfer commands.
If the scan time is 20ms, this would take 2 seconds. By using the Event Step Edit
commands, it would take 80ms for the first change (four scans times 20ms/scan) and only
20ms for another change.
Assuming that the steps we want to modify are step 0 to 99 and the new link value will be
500, the following commands would be sent:
First scan:
4TTTTT+1 0XE0h (Set Start Step Number)
4TTTTT+2 0 (Start Step Number of 0)
Second scan:
4TTTTT+1 0XE1h (Set End Step Number)
4TTTTT+2 99 (End Step Number of 99)
Third scan:
4TTTTT+1 0XE2h (Set Parameter to Modify)
4TTTTT+2 7 (Select LINK VALUE)
Fourth scan:
4TTTTT+1 0XE3h (Set Actual Value)
4TTTTT+2 500 (LINK VALUE itself)
LINK TYPE/NEXT
In order to fit a single Event Step into eight words, the Link Type and Link Next fields
share a single word. In the most significant byte, the Link Next field is stored; in the
least significant byte, the Link Type is stored:
Link Next Link Type
Diagnostics Command
Format: 0000 XXXX 1111 XXXX
X Don’t care.
These commands are for testing the motion controller under safe conditions. This
command echoes the Output registers for the axis into the Input registers . This tests the
motion controller to Programmable Controller communications.