Delta RMC151 - Manual (Page 740)

RMC70/150 and RMCTools User Manual
• 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.
Steps Jumps
If the Time for Move parameter is set to zero, the Target Position will immediately to
jump to the calculated Command Position.
Re-sending While Moving
Re-sending this command while moving will cause the Target Acceleration to be set to
zero, which will cause a velocity bobble. If this is undesired, use the Advanced Time Move
Relative (27) command, which will use the current Target Acceleration. Notice that the
Final Velocity and Final Acceleration of the Advanced Time Move Relative command must
be set to zero to duplicate the Time Move Relative behavior.
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.
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
8.4.5.7. Command: Advanced Time Move Absolute (26)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 1.45 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
720 Delta Computer Systems, Inc.