Delta MMC120 - Manual (Page 63)

MMC120 Linear Motion Control Module Communicating with the MMC120
Delta Computer Systems, Inc. 360/254-8688 63
Command Type E - Event Step Edit (0000 XXXX 1110 00NN)
The "Event Step Edit" commands let you change an event parameter's value across a range of steps in a single
scan.
E0 = 0000|XXXX|1110|0000 Beginning Step Number (0 to 255)
E1 = 0000|XXXX|1110|0001 Ending Step Number (0 to 255; > E0)
E2 = 0000|XXXX|1110|0010 Parameter to Modify 0 to 7)
E3 = 0000|XXXX|1110|0011 Value to be Used
E2 Parameter Values
0 MODE
1 ACCEL
2 DECEL
3 SPEED
4 POSITION
5 COMMAND
6 LINK TYPE/NEXT
7 LINK VALUE
These commands must be issued once to initialize the parameters; this will take four scans. Once the
beginning step number, the ending step number, and the parameter to be changed have been defined, all the
steps can be changed in a single scan by sending an E3 command with the new parameter value.
For example, if you have a step table that is 100 steps long and you want to change the time delay link value in
each step, it would take 100 scans using the E007 extended command type. If the scan time is 20ms, this
would take 2 seconds. By using the Event Step Edit commands, it would take 80ms for the first change (four
scans times 20ms/scan), and only 20ms for another change.
Command Type F - Diagnostics (0000 XXXX 1111 XXXX)
The "Diagnostic" commands are for testing the MMC120 under safe conditions. The command echoes the
output registers in the input registers. This tests the Quantum-to-MMC120 communications.
4TTTTT+0 = 0000|XXXX|1111|XXXX (XXFXh) 3TTTTT+0 = Echo 4TTTTT+0
4TTTTT+1 = don't care 3TTTTT+1 = Echo 4TTTTT+1
4TTTTT+2 = " " 3TTTTT+2 = Echo 4TTTTT+2
4TTTTT+3 = " " 3TTTTT+3 = Echo 4TTTTT+3
When using this command the SAR field is ignored by the MMC120.