Delta RMC151 - Manual (Page 719)

8 Command Reference
The control output, integrator, and output filter are reset, ignoring their states prior
to this command being issued. This occurs in both Position PID and Position I-PD
whether or not the axis is already in closed loop control.
This option is recommended for situations where you want the Control Output to
start at zero volts unconditionally. This option is also recommended when the Actual
Velocity is particularly noisy, which can result in an unexpected jump in the
integrator value in Standard mode.
The Reset option is available in firmware versions 3.53.2 and newer.
8.4.2.4. Command: Closed Loop Halt (1)
Supported Axes: All
Supported Control Modes: All
Firmware Requirement: 1.00 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
None.
Description
This command initiates a Closed Loop Halt. See the Closed Loop Halt topic for details.
This command will set the Target Position to the Actual Position. Do not continuously send
this command, as doing so may cause the axis to drift.
Status Bits
In Position Bit
The In Position status bit will not be set. Do not attempt to use the In Position bit to tell if
the axis has stopped after a Closed Loop halt (1) command.
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 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
8.4.2.5. Command: Open Loop Halt (2)
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