Delta RMC151 - Manual (Page 728)

RMC70/150 and RMCTools User Manual
S-Curves vs. Trapezoidal
If the Requested Jerk Axis Parameter is non-zero for any of the axes in the sync group,
then all the axes will use s-curves. If the Requested Jerk Axis Parameter is zero for all of
the axes in the sync group, then all the axes will use a trapezoidal profile.
When using s-curves, if the sync move commands are re-issued when the axes are
decelerating, it may cause the axes to overshoot the requested positions.
Issuing Sync Move Commands Simultaneously
This section describes various methods of issuing the Sync Move commands
simultaneously.
• From RMCTools
In the Command Tool, set up the sync commands for each desired axis. Make sure all
other axis have a No-op(0) command, then click the Send All button. If the Send All
button is not visible, right-click in the Command Tool and choose Show Toolbar.
• From a User Program
Including the Sync Move commands in the same step of a user program will ensure
that they are issued simultaneously.
• From a Host Controller (PLC, HMI, etc.)
The Sync Move commands must be written to the RMC such that they are all included
in the same communication packet. Some PLCs and many HMIs are not capable of
doing this. If this is the case, you will need to create a user program to issue the
commands simultaneously. Then use the PLC or HMI to start the user program.
Status Bits
In Position Bit
When the Target Positions of all axes in the sync group reach their final positions, and the
Actual Position of this axis is within the In Position Tolerance window, the In Position
Status bit will be set. This bit indicates that the move is complete and the axis is at
position.
Target Generator 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 that the Target Positions of all axes in the sync group have reached
their final positions. Notice that this bit does not indicate whether the Actual Position has
reached the Requested Position.
Target Generator State A and B bits
B
A Description
0 0 The target generator is complete
0 1 Acceleration
1 0 Constant Velocity
1 1 Deceleration
8.4.4.2. Command: Sync Move Relative (14)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 3.00 or newer
708 Delta Computer Systems, Inc.