Delta MMC120 - Manual (Page 65)

MMC120 Linear Motion Control Module Communicating with the MMC120
Delta Computer Systems, Inc. 360/254-8688 65
Input Registers
Status Information can be selectively read by the Quantum Programmable Controller by using the Status Area
Request (SAR) field of the command words. The status word returned per axis is specified in the SAR field of
the command for the axis.
Offset AXIS REGISTER DESCRIPTION
3TTTTT+1 1 specified by Command 1, 3TTTTT + 0 Axis 1 status bits
3TTTTT+3 2 specified by Command 2, 3TTTTT + 2 Axis 2 status bits
The register indexes are as follows:
0 0000 Command Position
1 0001 Target Position
2 0010 Actual Position
3 0011 Transducer Counts
4 0100 Status
5 0101 Drive Output
6 0110 Actual Speed
7 0111 Drive Null
8 1000 Step
9 1001 Link Value
10 - 15 Reserved
To get the STATUS and ACTUAL POSITION, you would set SAR to 2 (0010). In the example below, the
registers are selected by SAR.
SAR CMND INDX (HEX)
4TTTT+0 0000|0010|0XXX|XXXX (02XX) 3TTTT+0 AXIS 1 STATUS
+1 xxxx xxxx xxxx xxxx xxxx 3TTTT+1 AXIS 1 ACTUAL POSITION
4TTTT+2 0000|0101|0XXX|XXXX (05XX) 3TTTT+2 AXIS 2 STATUS
+3 xxxx xxxx xxxx xxxx xxxx 3TTTT+3 AXIS 2 DRIVE OUTPUT
The STATUS is always reflected into 3TTTTT + 0 and 3TTTTT + 2. You can monitor the ACK bit in the
status word (bit 9) to confirm that a command has been received.