Delta RMC151 - Manual (Page 737)

8 Command Reference
8.4.5.4. Command: Quick Move Relative (16)
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 Distance (position-units) any
2 Requested Output (V) 0≤V≤10
3 Output Ramp Rate (V/sec) >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 is identical to the Quick Move Absolute (15), except that 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.
Status Bits
In Position Bit
When the Target Position reaches 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 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
reached the Command Position. Notice that this bit does not indicate whether the Actual
Position has reached the Command Position.
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