Delta MMC120 User Manual
Page 54
Communicating with the MMC120
MMC120 Linear Motion Control Module
54
Delta Computer Systems, Inc. 360/254-8688
Command Type 3 - Set Parameters (0000 XXXX 0011 NNNN)
These commands allow the Quantum Programmable Controller to download new initialization parameters to
the MMC120. New parameters can be downloaded at any time, but they do not take effect until a 'P' command
is issued (see Command Type 5). An axis must be stopped when issuing a 'P' command.
Set Parameter commands are defined as follows:
BIT #
|
| 111|1111
1234|5678|9012|3456
-------------------
HEX
|SAR |CMND|INDX
VALUE
-------------------
0X30
0000|XXXX|0011|0000 - Set CONFIGURATION
0X31
0000|XXXX|0011|0001 - Set SCALE
0X32
0000|XXXX|0011|0010 - Set OFFSET
0X33
0000|XXXX|0011|0011 - Set EXTEND LIMIT
0X34
0000|XXXX|0011|0100 - Set RETRACT LIMIT
0X35
0000|XXXX|0011|0101 - Set PROPORTIONAL GAIN
0X36
0000|XXXX|0011|0110 - Set INTEGRAL GAIN
0X37
0000|XXXX|0011|0111 - Set DIFFERENTIAL GAIN
0X38
0000|XXXX|0011|1000 - Set EXTEND FEED FORWARD
0X39
0000|XXXX|0011|1001 - Set RETRACT FEED FORWARD
0X3A
0000|XXXX|0011|1010 - Set EXTEND ACCELERATION FEED FORWARD
0X3B
0000|XXXX|0011|1011 - Set RETRACT ACCELERATION FEED FORWARD
0X3C
0000|XXXX|0011|1100 - Set DEAD BAND ELIMINATOR
0X3D
0000|XXXX|0011|1101 - Set IN POSITION
0X3E
0000|XXXX|0011|1110 - Set FOLLOWING ERROR
oX3F
0000|XXXX|0011|1111 - Set AUTO STOP
The output registers are defined as follows:
4TTTTT + 0
Axis 1 command - set parameter
4TTTTT + 1
Axis 1 parameter value
4TTTTT + 2
Axis 2 command - set parameter
4TTTTT + 3
Axis 2 parameter value
Example: Set the extend limit for both axes
4TTTTT + 0
0X33
Set Axis 1 Extend Limit
4TTTTT + 1
24000
Extend Limit value
4TTTTT + 2
0X33
Set Axis 2 Extend Limit
4TTTTT + 3
12000
Extend Limit value
These commands set the Extend Limit for Axis 1 to 24000 and Axis 2 to 12000.