Delta RMC151 - Manual (Page 730)

RMC70/150 and RMCTools User Manual
0 1 Acceleration
1 0 Constant Velocity
1 1 Deceleration
8.4.4.3. Command: Sync Stop (17)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 3.00 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 Deceleration Rate (pos-units/s
2
) >0
Description
This command stops all synchronized axes in this axis's sync group. All axes remain
synchronized together throughout the stop.
For the synchronized axes to which this command is issued, the current velocities and
positions of those axes will be used to determine the deceleration rates such that none of
those axes exceed the requested Deceleration Rate. Any other axes in the same group
to which the Sync Stop (17) command was not issued will be ratioed according to their
current ratios.
If this command is issued to an axis that is not synchronized, a command error will occur.
For more details on synchronizing axes, refer to the Sync Move Absolute (13) command.
Status Bits
In Position Bit
The Sync Stop (17) command will not turn on this bit.
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 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
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