Delta MMC120 User Manual
Page 62
Communicating with the MMC120
MMC120 Linear Motion Control Module
62
Delta Computer Systems, Inc. 360/254-8688
Command Type B - Get Parameters (0000 XXXX 1011 NNNN)
These commands allow the Programmable Controller to read the current state of the MMC120 initialization
parameters. These commands are similar to the Type A commands. The requested parameter will be returned
in the corresponding axis status area, and it will be available the next scan after the ACK bit toggles. It will
take 17 scans to get all 16 parameters.
BIT #
|
| 111|1111
1234|5678|9012|3456
-------------------
HEX
|SAR |CMND|INDX
VALUE
-------------------
0XB0
0000|XXXX|1011|0000 - Get CONFIGURATION
0XB1
0000|XXXX|1011|0001 - Get SCALE
0XB2
0000|XXXX|1011|0010 - Get OFFSET
0XB3
0000|XXXX|1011|0011 - Get EXTEND LIMIT
0XB4
0000|XXXX|1011|0100 - Get RETRACT LIMIT
0XB5
0000|XXXX|1011|0101 - Get PROPORTIONAL GAIN
0XB6
0000|XXXX|1011|0110 - Get INTEGRAL GAIN
0XB7
0000|XXXX|1011|0111 - Get DIFFERENTIAL GAIN
0XB8
0000|XXXX|1011|1000 - Get EXTEND FEED FORWARD
0XB9
0000|XXXX|1011|1001 - Get RETRACT FEED FORWARD
0XBA
0000|XXXX|1011|1010 - Get EXTEND ACCELERATION FEED FORWARD
0XBB
0000|XXXX|1011|1011 - Get RETRACT ACCELERATION FEED FORWARD
0XBC
0000|XXXX|1011|1100 - Get DEAD BAND ELIMINATOR
0XBD
0000|XXXX|1011|1101 - Get IN POSITION
0XBE
0000|XXXX|1011|1110 - Get FOLLOWING ERROR
0XBF
0000|XXXX|1011|1111 - Get AUTO STOP
The output registers are defined as follows:
4TTTTT + 0
Axis 1 command - Get parameter
4TTTTT + 1
Don't care
4TTTTT + 2
Axis 2 command - Get parameter
4TTTTT + 3
Don't care
When using this command the SAR field and the data register are ignored by the MMC120.