Delta RMC151 - Manual (Page 742)

RMC70/150 and RMCTools User Manual
The Advanced Time Move Absolute and Advanced Time Move Relative are intended for
use in user programs. Typically, these commands are programmed in a loop and cycle
through an array or arrays of positions, speeds, and/or accelerations. To do this, use the
variable table to set up arrays. A variable for incrementing the array is also required. It
must be of data type DINT.
Timing Considerations
When looping through long arrays with the Advanced Time Move commands, precise
timing is often important. Each task can execute a maximum of one step per loop time.
However, the commands in a step and the link condition in that same step are not
executed in the same loop time.
When a step is executed, the commands in that step are issued in that loop time. Then, in
the next loop time of the controller, the Link Type is evaluated. When the Link Type
condition becomes true or tells the program to jump, the program will jump to the
specified step and issue the commands in that step in the same loop time that the
condition became true.
Once the Requested Position is reached, the Done status bit will be set. If either the
Final Velocity or Final Acceleration are non-zero, the polynomial will continue for one
loop time after the Done Status bit is set, and if a new command is not issued during this
time, then a Closed Loop Halt will occur and the Runtime Error will be set (notice that if
the Runtime Error AutoStop is set to a different type of halt, that halt will also occur).
Make sure to create your program such that the next Advanced Time Move command will
be issued within one loop time after the Done bit is set.
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 Requested 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
8.4.5.8. Command: Advanced Time Move Relative (27)
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.
Command Parameters
# Parameter Description Range
1 Requested Distance (position-units) any
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