Delta MMC120 - Manual (Page 64)

Communicating with the MMC120 MMC120 Linear Motion Control Module
64 Delta Computer Systems, Inc. 360/254-8688
Extended Command Type E - Event Step Transfer (1110 DSSS SSSS SNNN)
The "Event Step Transfer" commands are used to move event step information to and from the MMC120. The
‘D’ bit indicates the direction of data transfer (0 = Put Step, 1 = Get Step), the ‘S’ bits specify the step number,
and the ‘N’ bits specify the field of the step to be transferred. Commands E000 to E7FF put (write) data to the
MMC120, while commands E800 to EFFF get (read) data from the MMC120. While writing steps , the new
command value is echoed to the SAR.
To write event step information to the MM120 :
Cmd Reg 1 Parameter Register 1
E000 Step 0 MODE
E001 Step 0 ACCELERATION
E002 Step 0 DECELERATION
E003 Step 0 SPEED
E004 Step 0 COMMAND VALUE
E005 Step 0 COMMAND
E006 Step 0 LINK TYPE and LINK NEXT
E007 Step 0 LINK VALUE
E008 Step 1 MODE
E009 Step 1 ACCELERATION
. .
. .
E7FD Step 255 COMMAND
E7FE Step 255 LINK TYPE and LINK NEXT
E7FF Step 255 LINK VALUE
To update two words every PLC scan, you can also use Command and Data Parameter Register 2 for axis 2.
By using Register 1 for the first half of a table and Register 2 for the second half, transfer time can be cut in
half.
To read event step information from the MMC120:
Cmd Reg 1 Status Word 1
E800 Step 0 MODE
E801 Step 0 ACCELERATION
E802 Step 0 DECELERATION
E803 Step 0 SPEED
E804 Step 0 COMMAND VALUE
E805 Step 0 COMMAND
E806 Step 0 LINK TYPE and LINK NEXT
E807 Step 0 LINK VALUE
E808 Step 1 MODE
E809 Step 1 ACCELERATION
. .
. .
EFFD Step 255 COMMAND
EFFE Step 255 LINK TYPE and LINK NEXT
EFFF Step 255 LINK VALUE
The data will be valid when the ACK bit in the Status word toggles (on the next scan).