Delta RMC151 User Manual

Page 154

RMC70/150 and RMCTools User Manual

Offset Register

Description

0 Status

See Above

1 Format

(1) Single Curve - Variable-Spaced Points

2 PointCount Number of points in the curve (N). The minimum number of

points is 2.

3 InterpOpt

Interpolation Options. See the Curve Interpolation Methods

and Options topic for details.

+0: Zero-Velocity Endpoints
+1: Natural-Velocity Endpoints
+2: Cyclic Curve
+8: Overshoot Protection
+16: Auto Constant Velocity

4 X

Point 0 X value
This value is only used when following a curve with absolute

master alignment (only available with the Curve Start

Advanced (88) command).
This value is not used when following a curve using the

Curve Start (86) or Curve Start (Prs/Frc) (87) comamnds;

the X

point is the current value of the master at the time

the command is issued. The remaining X-axis points are

computed relative the master position when the Curve Start

command is issued.

5 Y

Point 0 Y value

6 X

Point 1 X value

7 Y

Point 1 Y value

: :

4+(N-

1)·2

N-1

Point N-1 X value

5+(N-

1)·2

N-1

Point N-1 Y value

Single Curve - Advanced Points (2)

In this format, points are each given independent X and Y values—allowing variable

spacing—and may be given fixed velocities. Also, segments can be designated as having

a constant velocity. The X values must be increasing (X

i+1

> X

Note: Data types are all REAL.