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Delta MMC120 User Manual

Page 54

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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.