Delta MMC120 - Manual (Page 99)

99
Example:
If you sent out the following data in the Output registers :
CMND (HEX)
4TTTTT+1 0000|0011|1111|0101 (03F5)
Diagnostic command
+2 0001|0010|0100|1000 (1248)
Diagnostic data
4TTTTT+3 0000|1100|1111|1010 (0CFA)
Diagnostic command
+4 1000|0100|0010|0001 (8421)
Diagnostic data
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+1 0000|0011|1111|0101 (03F5)
Same as Output
+2 0001|0010|0100|1000 (1248)
Same as Output
3TTTTT+3 0000|1100|1111|1010 (0CFA)
Same as Output
+4 1000|0100|0010|0001 (8421)
Same as Output
Event Step Transfer Command
Format: 1110 DSSS SSSS SNNN
D Direction. Write (0) or read (1) event step.
S Step number. 0 to 255.
N Field in the event step. 0 to 7.
These commands are used to move event step information to and from the motion
controller. The D bit shown in the binary expansion of the Event Step Transfer
Command register indicates whether the command will write an Event Step value
(indicated by a 0) or read an Event Step value (indicated by a 1). Therefore, commands
E000 to E7FF set (write) data to the motion controller, while commands E800 to EFFF
get (read) data from the motion controller. The eight S bits specify the step number, and
the three N bits represent the field in the Event Step to access. Use the following chart to
select the desired field:
N BITS
VALUE
STEP FIELD
000 MODE
001 ACCEL
010 DECEL
011 SPEED
100 COMMAND VALUE
101 COMMAND
110 LINK TYPE/NEXT
111 LINK VALUE