Instruction Manual

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.