Delta RMC151 - Manual (Page 744)

RMC70/150 and RMCTools User Manual
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 Maximum Speed (position-units/s) ≥0
3 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 is an advanced command. Do not use it unless you specifically intend to
use the Position I-PD control mode. If you want to make a basic motion move, use the
Move Absolute (20) command instead.
This command moves the axis in closed loop control from wherever the axis is when the
command is issued to the Requested Position using the specified Maximum Speed.
The axis will automatically be switched to the Position I-PD control mode during the
motion, and will remain in the Position I-PD control mode until another command is
issued to the axis. However, if a closed-loop halt occurs on the axis during the motion,
the axis will remain in the Position I-PD control mode.
The Direction parameter is required only for rotary axes. For linear axes, it must be 0.
8.4.5.10. Command: Move Relative (I-PD) (29)
Supported Axes: Position Control Axes
Supported Control Modes: Position I-PD
Firmware Requirement: 1.50 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 Maximum Speed (position-units/s) ≥0
3 Relative to:
• Command Position (0)
• Actual Position (1)
a valid integer as
described
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