Delta RMC151 - Manual (Page 136)

RMC70/150 and RMCTools User Manual
3.6.6. Step Jumps
For closed-loop motion control, the RMC target generator typically generates a motion profile
that ramps the position to the requested position in a controlled manner. This provides smooth
and precise motion. However, some users may prefer that the Target Position jumps
immediately to the requested position. This is called a Step Jump.
The RMC can generate a step-jump command with the Time Move Absolute (23) and Time
Move Relative (24) commands. The Move Time parameter must be set to 0. See the respective
commands for details.
The Move Absolute (I-PD) (28), Move Relative (I-PD) (29), and Move Velocity (I-PD) (38)
commands also generate step jumps.
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3.6.7. Curves, Cams, and Splines
3.6.7.1. Curves Overview
Cams, splines, and custom profiles for position, pressure, or force are handled by curves. The
RMC creates curves by interpolating data points provided by the user or host controller. The
RMC provides many options for creating and following curves to satisfy nearly any application,
including curve sawing, veneer lathes, blow-molding, animation, electronic camming, cyclic
testing profiles, and more.
The RMC curves can be used for both time-based motion, where the curve defines the position
of the axis at certain times, and master-based motion, where the curve defines the position of
the axis based on a master, such as the position of another axis.
For time-based sinusoidal motion, use the Sine Start (72) command instead of curves.
Curves, together with the curve interpolations functions, can be used for other purposes, such
as Gain Scheduling.
Curve Basics
A typical curve profile has many points which the RMC interpolates to create a smooth
curve that goes through all the points. Many options are available, such as constant,
linear or cubic interpolation, zero-velocity endpoints, cyclic curves, overshoot protection,
and more. Curve x-values and y-values can be scaled and offset, and master or relative
alignments can be selected.
Creating Curves
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