Delta RMC151 - Manual (Page 743)

8 Command Reference
2 Final Velocity (position-units/s) any
3 Final Acceleration (position-units/s 2 ) any
4 Time for Move (sec) >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 Advanced Time Move Absolute (26), 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.
See the Advanced Time Move Absolute (26) topic for more details.
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
travelled the Requested Distance.
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
8.4.5.9. Command: Move Absolute (I-PD) (28)
Supported Axes: Position Control Axes
Supported Control Modes: Position I-PD
Firmware Requirement: 1.50 or newer
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