Delta RMC151 - Manual (Page 144)

RMC70/150 and RMCTools User Manual
Registers 0 - 4 of the Partial Curve Format listed above must always be included in
each write. The actual data of the curve is included in registers 5 and on. The data
in the registers 5 and on is the data of the corresponding single curve format, but
with the Status and Format registers stripped off.
• Issue the Curve Add (82) command.
• Wait for the Curve Status register to be 2 or 3.
The value 2 indicates that the part was successfully added.
The value 3 indicates that the entire curve has now been successfully added.
Example
Suppose that the user wants to download a 2500-point curve through a block of 512
consecutive variables starting at %MD58.0 (Variable #512). The user decides to use the
evenly-spaced format, and interpolation option of zero (0) for Zero-Velocity Endpoints,
initial X
0
of 0, and an X interval of 0.1.
Since the user chose the Evenly-Spaced Points format, the curve data itself will require
a total of 2504 registers, consisting of the items below. Notice that this is the Single
Curve Evenly-Spaced Points format, but with the Status and Format registers stripped
off.
Curve Data
Offset Data Item
0 Point Count
1 Interpolation
Options
2 X
0
3 X interval
4 Y
0
5 Y
1
: :
2503 Y
2499
The Variable Table area the user decided to use for the curve parts is 512 registers in
length, which means the user can write up to 512 registers each time. The header for the
Partial Curve format has 5 registers, which must be included in each part. Therefore, the
user can write up to 507 Curve Data registers per part.
Here is the sequence of parts that would add this curve to the curve store, with each part
being written and then submitted with a Curve Add (82) command:
Part Address
Number Regs
written to in
Variable Table PartOffset PartLength TotalLength
#1 %MD58.0 512 0 507 2504
#2 %MD58.0 512 507 507 2504
#3 %MD58.0 512 1014 507 2504
#4 %MD58.0 512 1521 507 2504
#5 %MD58.0 481 2028 476 2504
The user would send this curve to the RMC by completing the following sequences of
writes to the Variable Table:
124 Delta Computer Systems, Inc.