Delta RMC151 - Manual (Page 151)

3 Controller Features
Example 3
Consider this same curve with both Overshoot Protection and Auto-Constant
Velocity enabled. This particular curve ends up looking the same as it does with
only Overshoot Protection, because both constant-velocity segments are lost
because at least one of each set of 3 consecutive points was identified by Overshoot
Protection as a local minimum or maximum.
3.6.7.6. Curve Data Formats
Several Curve Data Formats are available, which specify several things, including (1) the
format of each point in the curve, (2) whether a single curve or multiple curves are being
submitted, and (3) whether a complete curve or a part of a curve is being submitted.
The Curve Data always starts with the following two registers:
Note: Data types are all REAL.
Offset Register Description
0 Status The value of this register when passed to the Curve Add (82)
command is ignored, but after the Curve Add (82) command is
issued, the value of this register will be controlled by the RMC and
indicates the status of processing the curve. The user should
monitor this to determine when the command is finished processing
the curve data. The following values are defined:
• (0) Processing Not Started
By convention the user may want to set this register to this
value before issuing the command. This is not strictly
necessary, but otherwise the user must make sure not to check
this register until after the command has been received.
• (1) Processing
Once the command has been received, the Status will
immediately be set to Processing. While in this state the
command is currently using the Curve Data structure, and the
curve is not ready for interpolation.
• (2) Part Complete
As described below, very long curves can be submitted in parts.
Once the command has completed processing this Curve Data
structure (i.e. this part of the total curve), this status value will
be used. The user can now write down the next part of the
curve.
• (3) Curve Ready
Once the curve data has been processed, and the entire curve
is ready for interpolation, the status will be set to this value.
Notice that this value will also be used for the final part for long
curves submitted in parts. Therefore, for the last part of a
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