Delta MMC120 - Manual (Page 90)

90
4TTTTT+3 150 (Value of profile 7 ACCEL)
Third scan:
4TTTTT+0 0X2Ah (Set profile 2 DECEL)
4TTTTT+1 70 (Value of profile 2 DECEL)
4TTTTT+2 0X2Eh (Set profile 7 DECEL)
4TTTTT+3 70 (Value of profile 7 DECEL)
Fourth scan:
4TTTTT+0 0X2Bh (Set profile 2 SPEED)
4TTTTT+1 12000 (Value of profile 2 SPEED)
4TTTTT+2 0X2Fh (Set profile 7 SPEED)
4TTTTT+3 20000 (Value of profile 7 SPEED)
Set Parameter Commands
Format: 0000 RRRR 0011 NNNN
R Used for Status Area Request
N Used for Command Index described below
These commands allow the Programmable Controller to download new initialization
parameters to the motion controller. New parameters can be downloaded at any time, but
they do not take effect until a 'P' ASCII command is issued. An axis must be stopped
when issuing the 'P' ASCII command .
The format of the Command Register for the Set Parameter commands is given below:
| | 111|1111
BIT # 1234|5678|9012|3456
-------------------
HEX |SAR |CMND|INDX
VALUE -------------------
0X30 0000|XXXX|0011|0000 Set CONFIGURATION
0X31 0000|XXXX|0011|0001 Set SCALE
0X32 0000|XXXX|0011|0010 Set OFFSET
0X33 0000|XXXX|0011|0011 Set EXTEND LIMIT
0X34 0000|XXXX|0011|0100 Set RETRACT LIMIT
0X35 0000|XXXX|0011|0101 Set PROPORTIONAL GAIN
0X36 0000|XXXX|0011|0110 Set INTEGRAL GAIN
0X37 0000|XXXX|0011|0111 Set DIFFERENTIAL GAIN
0X38 0000|XXXX|0011|1000 Set EXTEND FEED FORWARD
0X39 0000|XXXX|0011|1001 Set RETRACT FEED FORWARD
0X3A 0000|XXXX|0011|1010 Set EXTEND ACCEL FEED FORWARD
0X3B 0000|XXXX|0011|1011 Set RETRACT ACCEL FEED FORWARD
0X3C 0000|XXXX|0011|1100 Set DEAD BAND ELIMINATOR
0X3D 0000|XXXX|0011|1101 Set IN POSITION