Delta RMC151 - Manual (Page 717)

8 Command Reference
The Target Generator bits in the Status Bits register indicate which portion of the move
the axis is currently in. These bits are useful when programming complex motion
sequences.
Target Generator Done bit
This bit indicates the move is complete, which occurs when the Target Position has
stopped.
Target Generator State A and B bits
B
A Description
0 0 Done
0 1 Reserved
1 0 Reserved
1 1 Decelerating to zero velocity
8.4.2.2. Command: Stop (Open Loop) (22)
Supported Axes: Control Axes
Supported Control Modes: All
Firmware Requirement: 3.40 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Ramp Rate > 0
Description
This command puts the axis in open loop control and ramps the Control Output linearly to
zero volts at the rate specified by the Ramp Rate. If the Output Bias is set, the Control
output will ramp to the Output Bias value.
Notice that when the axis is in open loop, it may drift, even if the Control Output is zero.
To stop the axis and hold position in closed-loop control, use the Stop (Closed Loop) (6)
command.
This command is identical to the Open Loop Rate (10) command with a Requested Output
of zero.
Default Ramp Rate
When choosing the Stop (Open Loop) command in the Command Tool, a User Program,
or Shortcut Commands, the default value of the Ramp Rate is 100 V/sec. You should
consider what value of ramp rate your application requires. 100 V/sec may be a very
abrupt stop on some systems.
Target Generator State Bits
The Target Generator bits in the Status Bits register indicate which portion of the move
the axis is currently in. These bits are useful when programming complex motion
sequences.
Target Generator Done bit
This bit indicates the move is complete, which occurs when the Control Output has
reached zero (or the Output Bias value).
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