Delta RMC151 - Manual (Page 705)

8. Command Reference
8.1. RMC Commands Overview
The RMC has a rich set of pre-programmed commands that perform anything from simple
moves to complex motions to system control. Each command is represented by a name and a
number. For a list of all the RMC commands, see the Command List topic.
Issuing Commands
For details on how to send commands to the RMC, see the Issuing Commands topic.
Command Format
Each RMC command consists of a command number followed optionally by one to nine
command parameters:
• Command Number
Each RMC command has a number associated with it. You must use this number when
you issue a command to the RMC. The number is typically included in parentheses
whenever the command is mentioned. For example, the Move Absolute Command (20)
has a number of 20. This number is not important when used in RMCTools.
• Command Parameters
Some commands have command parameters. For example, the Move Absolute
Command (20) has 5 command parameters: Position, Velocity, Accel rate, Decel Rate,
and Direction. The RUN Mode (98) command has no parameters. When you issue a
command, you must include any command parameters.
Command Area Registers
In the RMC register map, the command consists of one block of ten 32-bit command
registers per axis. These registers are called the Command Area registers. You must write
to these registers when issuing commands from a PLC or other host controller. When
issuing commands from RMCTools, you need not be concerned with these addresses.
The command area registers are write-only.
RMC70 Command Registers
Address
(DF1)
Register Name Data
Type
F25:0-9 Axis 0 Command Registers REAL
F25:0 Axis 0 Command REAL
F25:1 Axis 0 Parameter 1 REAL
F25:2 Axis 0 Parameter 2 REAL
F25:3 Axis 0 Parameter 3 REAL
F25:4 Axis 0 Parameter 4 REAL
F25:5 Axis 0 Parameter 5 REAL
F25:6 Axis 0 Parameter 6 REAL
F25:7 Axis 0 Parameter 7 REAL
F25:8 Axis 0 Parameter 8 REAL
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