Delta MMC120 User Manual

Page 42

Motion Control Parameters

MMC120 Linear Motion Control Module

Delta Computer Systems, Inc. 360/254-8688

Bit 6 - Position Overflow

This bit is set when the ACTUAL POSITION is greater than its 16 bit limit (above 65535 counts). The
ACTUAL POSITION will display 65535, indicating an invalid value. The Position Overflow bit is not
latched. It causes no action, a Soft Stop, or a Hard Stop, depending on the setting of AUTO STOP bits 6 and
14. This bit will stay on until a new command is given to the axis.

Bit 7 - Integrator Windup

This bit is set when the integrator value is larger than 20% or 80%, depending on the setting of the Integrator
bit in the Configuration word. It causes no action, a Soft Stop, or a Hard Stop, depending on the setting of
AUTO STOP bits 7 and 15. This bit will stay on until a new command is given to the axis.

Bit 8 - Following Error

This bit is set when the difference between the TARGET POSITION and the ACTUAL POSITION is greater
than the MAXIMUM ERROR parameter. It causes no action, a Soft Stop, or a Hard Stop, depending on the
setting of AUTO STOP bits 8 and 16. This bit will stay on until a new command is given to the axis.

Bit 9 - Acknowledge

This bit will toggle after a valid command or Status Area Request is received by the MMC120 from the
Programmable Controller.

Bit 10 - Initialized

This bit is set after a Set Parameter ('P') command is successfully executed. Until this bit is set, the axis will
not respond to any GO ('G') commands. This bit is cleared whenever the module is reset.

Bits 11 & 12 - State Bits

Bits 11 and 12 show the state of the target generator:

STATE

Bit 11 (State Bit B)

Bit 12 (State Bit A)

Stopped

Accelerating

Constant Speed

Decelerating

These bits will also be active when the axis is in open loop (zero output drive, ramping drive up, constant
drive, and ramping drive down).