Delta RMC151 - Manual (Page 735)

8 Command Reference
8.4.5.3. Command: Quick Move Absolute (15)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
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
# Parameter Description Range
1 Requested Position (position-units) any
2 Output (V) 0≤V≤10
3 Output Ramp Rate (V/sec) >0
4 Deceleration Rate (position-units/s 2 ) >0
5 Direction
• Negative* (-1)
• Nearest (0)
• Positive* (1)
• Current* (2)
• Absolute* (3)
* These options are intended for use with rotary axes.
However, all options are available on linear axes, but have no
effect. For more details, see the Using Rotary Motion topic.
a valid integer as
described
Description
This command moves to the Requested Position with a combination of open loop and
closed loop control. The first part of the move is made in open-loop control, then the axis
switches to closed-loop control for the deceleration to the Requested Position.
This command is called "quick" because it makes it possible to give the maximum Control
Output to move the system at its maximum speed. In closed loop control, reaching the
maximum Control Output would cause an error.
When this command is issued, the axis ramps the Control Output in open loop from the
current value to the Requested Output at the specified Output Ramp Rate. The
Control Output stays at that value until the axis must begin decelerating in order to reach
the Requested Position at the specified Deceleration Rate. Once the axis starts
decelerating (which can happen while the Control Output is being ramped or while it is
constant), the axis switches to closed loop, setting the Target Position and Velocity to the
Actual Position and Velocity. The axis will hold the final position in closed loop control.
It is important that the closed-loop motion is tuned properly before using the Quick Move
command! A Velocity Feed Forward that is incorrect may result in a discontinuity in the
Control Output, causing the system to jerk.
The plot below shows a typical Quick Move.
deltamotion.com 715