Delta MMC120 - Manual (Page 35)

MMC120 Linear Motion Control Module Motion Control Parameters
Delta Computer Systems, Inc. 360/254-8688 35
Motion Control Commands
The motion control command words (MODE, ACCELERATION, DECELERATION, SPEED, COMMAND
VALUE, and COMMAND) can be changed while the axis is in motion.
MODE (Default: 00000)(See page 36 for the MODE Word bit map)
Eight bits in the MODE word determine the way the MMC120 responds to control commands and parameters.
Bit 1 is the MSB and bit 16 is the LSB.
Bit 1 - Graph Disable
When this bit is set on an axis of the MMC120, the controller will not log graph data during the move. This is
useful for troubleshooting long sequences of moves.
Bit 9 - S-Curve
When this bit is set the MMC120 calculates an s-shaped target, resulting in smoother motion with more
gradual starts and stops and higher peak speeds. In an S-Curve move, the maximum acceleration is about 1.5
times the straight-line acceleration. If another move command is given before the S-Curve is finished, there
may be a discontinuity (jerk) at the transition.
Bit 11 - Quick Mode
When this bit is set, a move will ramp the drive up in Open Loop mode to the value specified (in millivolts) in
the SPEED field, then maintain it there until it reaches the deceleration point. It will then ramp down to the
requested position (specified by the COMMAND VALUE) in Closed Loop mode. The ACCELERATION and
DECELERATION fields specify the ramp times in milliseconds.
Bit 12- Sync
When this bit is set, it causes the axes to move in synchronization. The axes are synchronized as follows:
A) The axis with the longest move is the master.
B) The profile of the other axis is determined by the length of its move relative to the master axis.
Both axes will accelerate together, move at constant speed together (their constant speeds will
differ, depending on their move lengths), and decelerate together, arriving simultaneously at their
individual COMMAND POSITIONS.
C) If either axis is halted by an error condition, the other axis will also be halted.
Bits 13 and 14 - Integrator Mode Select
These two bits define four integrator modes:
Bit #
13 14
Mode 0 - Integrator always active - - -- - - - - - - - - - - - - - - - - - - - - - - - - - 0 0
Mode 1 - Integrator active only during DECEL and IN POSITION - - - - 0 1
Mode 2 - Integrator active only during IN POSITION - - - - - - - - - - - - - - 1 0
Mode 3 - Integrator never active - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 1