Delta MMC120 - Manual (Page 93)

93
Get Profile Commands
Format: 0000 0000 1010 NNNN
N Used for Command Index described below
These commands allow the programmer to retrieve the motion controller’s stored motion
profiles . Only one value in one profile can be read per axis each time the synchronization
register is changed
The format of the Command Register for the Get Profile commands is given below:
NOTE: The Status Area Request area (bits 8-11) of the command and the entire
Command Value Output register are ignored.
| | 111|1111
BIT # 1234|5678|9012|3456
-------------------
HEX | |CMND|INDX
VALUE -------------------
0XA0 0000|XXXX|1010|0000 GET PROFILE 0 or 4 MODE
0XA1 0000|XXXX|1010|0001 GET PROFILE 0 or 4 ACCEL
0XA2 0000|XXXX|1010|0010 GET PROFILE 0 or 4 DECEL
0XA3 0000|XXXX|1010|0011 GET PROFILE 0 or 4 SPEED
0XA4 0000|XXXX|1010|0100 GET PROFILE 1 or 5 MODE
0XA5 0000|XXXX|1010|0101 GET PROFILE 1 or 5 ACCEL
0XA6 0000|XXXX|1010|0110 GET PROFILE 1 or 5 DECEL
0XA7 0000|XXXX|1010|0111 GET PROFILE 1 or 5 SPEED
0XA8 0000|XXXX|1010|1000 GET PROFILE 2 or 6 MODE
0XA9 0000|XXXX|1010|1001 GET PROFILE 2 or 6 ACCEL
0XAA 0000|XXXX|1010|1010 GET PROFILE 2 or 6 DECEL
0XAB 0000|XXXX|1010|1011 GET PROFILE 2 or 6 SPEED
0XAC 0000|XXXX|1010|1100 GET PROFILE 3 or 7 MODE
0XAD 0000|XXXX|1010|1101 GET PROFILE 3 or 7 ACCEL
0XAE 0000|XXXX|1010|1110 GET PROFILE 3 or 7 DECEL
0XAF 0000|XXXX|1010|1111 GET PROFILE 3 or 7 SPEED
Notice that for each command, two different profile numbers are listed. The actual
profile read is determined by the axis issuing the command. The following chart show
which commands affect which profiles when issued on a particular axes (Notice that one
the first eight (8) profiles can be modified from the Programmable Controller):
COMMAND AXIS 1 AXIS 2
0xA0-0xA3 0 4
0xA4-0xA7 1 5
0xA8-0xAB 2 6