Delta MMC120 Bedienungsanleitung PDF herunterladen (Seite 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).

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Delta MMC120 Bedienungsanleitung Seite 64