Delta MMC120 User Manual
Page 59
MMC120 Linear Motion Control Module
Communicating with the MMC120
Delta Computer Systems, Inc. 360/254-8688
59
Command Type 9 - Open Loop Using Profile (0000 XXXX 1001 NNNN)
The Open Loop Using Profile command allows the Quantum to tell the MMC120 to change the output drive to
a specified value with respect to null. The drive output will change at a rate specified by the selected pre-
stored profile.
NOTE: This command shares the profile table used by the "Go Using Profile" commands. Profiles used for one type
of command should NOT be used for the other.
The information stored in the profile table is used as follows:
MODE -- Only mode bit 1 (Graph Disable) is valid. All other bits are ignored.
ACCELERATION -- The rate of change of the drive output is controlled with this parameter. It is specified in
millivolts of drive per millisecond. It applies while the drive is ramping away from null.
DECELERATION -- This parameter is the same as the acceleration, except it applies while the drive is
ramping toward null.
SPEED -- The speed parameter is used as a drive limit. A value of 1000 will let the drive ramp up or down to
plus or minus 1000 (1 volt) from null regardless of the value in the COMMAND VALUE field.
The Open Loop command sets the state bits in the Status word (bits 11 and 12) to indicate whether the drive is
ramping up, ramping down, or at constant speed (other than null).
The format of the Command Register is given below:
BIT #
|
| 111|1111
1234|5678|9012|3456
-------------------
HEX
|SAR |CMND|INDX
VALUE
-------------------
0X90
0000|XXXX|1001|0000
- OPEN LOOP USING PROFILE
0
\
0X91
0000|XXXX|1001|0001
- OPEN LOOP USING PROFILE
1
\ Modify by
0X92
0000|XXXX|1001|0010
- OPEN LOOP USING PROFILE
2
/ writing to
0X93
0000|XXXX|1001|0011
- OPEN LOOP USING PROFILE
3
/
Axis 1
0X94
0000|XXXX|1001|0100
- OPEN LOOP USING PROFILE
4
\
0X95
0000|XXXX|1001|0101
- OPEN LOOP USING PROFILE
5
\ Modify by
0X96
0000|XXXX|1001|0110
- OPEN LOOP USING PROFILE
6
/ writing to
0X97
0000|XXXX|1001|0111
- OPEN LOOP USING PROFILE
7
/
Axis 2
0X98
0000|XXXX|1001|1000
- OPEN LOOP USING PROFILE
8
Predefined
0X99
0000|XXXX|1001|1001
- OPEN LOOP USING PROFILE
9
profiles -
0X9A
0000|XXXX|1001|1010
- OPEN LOOP USING PROFILE 10
changed only
0X9B
0000|XXXX|1001|1011
- OPEN LOOP USING PROFILE 11
from DCS120
0X9C
0000|XXXX|1001|1100
- OPEN LOOP USING PROFILE 12
0X9D
0000|XXXX|1001|1101
- OPEN LOOP USING PROFILE 13
0X9E
0000|XXXX|1001|1110
- OPEN LOOP USING PROFILE 14
0X9F
0000|XXXX|1001|1111
- OPEN LOOP USING PROFILE 15