Delta RMC151 - Manual (Page 734)

RMC70/150 and RMCTools User Manual
3 Acceleration Rate (position-units/s 2 ) >0
4 Deceleration Rate (position-units/s 2 ) >0
5 Relative to:
• Command Position (0)
• Actual Position (1)
• Target Position (2)
a valid integer as
described
Description
This command moves the axis in closed loop control by the Requested Distance, using
the Requested Speed, Acceleration Rate, and Deceleration Rate. The final
Command Position is computed by adding the Requested Distance to the current value
of the quantity specified in the Relative To parameter. The current value is the value at
the time the RMC received the command.
Relative To Options:
• Command Position (0)
The final Command Position is computed by adding the Requested Distance to the
current Command Position.
• Actual Position (1)
The final Command Position is computed by adding the Requested Distance to the
current Actual Position.
• Target Position (2)
The final Command Position is computed by adding the Requested Distance to the
current Target Position.
This command is similar to the Move Absolute (20) command. However, this command
does not have a Direction command parameter, and the Command Position is computed
relatively instead of absolutely. See the Move Absolute (20) command for more details.
Status Bits
In Position Bit
When the Target Position has reached the Command Position and the Actual Position 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 the move is complete, which occurs when the Target Position has
reached the Command Position. Notice that this bit does not indicate whether the Actual
Position has reached the Command 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
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