Owner's manual

See also:

Input Register Overview

Output Register Overview

Programmable Controller Commands

Input Register Overview

In addition to the Output registers, there are four 16-bit registers that are read from the

MMC120 controller:

3TTTTT + 0 STATUS for axis 1

3TTTTT + 1 Specified by command for axis 1

3TTTTT + 2 STATUS for axis 2

3TTTTT + 3 Specified by command for axis 2

In the table above, 3TTTTT is the Input base address. For most commands, the value

returned in the second register for each axis is selected using the Status Area Request bits

in the command register. Refer to the individual commands for exceptions. The possible

fields that can be returned in the second register when is it controlled by the Status Area

Request bits are:

Status Area Request Read-back Register

0 (0000)COMMAND POSITION

1 (0001)TARGET POSITION

2 (0010)ACTUAL POSITION

3 (0011)TRANSDUCER COUNTS

4 (0100) STATUS Word

5 (0101)DRIVE OUTPUT

6 (0110)ACTUAL SPEED

7 (0111) NULL DRIVE

8 (1000)CURRENT STEP

9 (1001) LINK VALUE

10-15 (1010-1111) Reserved

Example

Suppose you would like the STATUS and ACTUAL POSITION for axis 1, and you

would like the STATUS and DRIVE for axis 2. You would send commands with the

following format:

SAR CMND INDX (HEX)

4TTTTT+1 0000|0010|XXXX|XXXX

(02XX)

Requests ACTUAL POSITION

+2 XXXX|XXXX|XXXX|XXXX

Data for command on axis 1