Delta RMC151 - Manual (Page 745)

8 Command Reference
• Target Position (2)
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 relative motion move,
use the Move Relative (21) command instead.
This command is identical to the Move Absolute (I-PD) (28), 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 Move Absolute (I-PD) (28) topic for more details.
8.4.6. Gearing
8.4.6.1. Command: Gear Absolute (25)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 2.70 or newer
Hardware Limitations: RMC75S: versions 2.1D or newer only
RMC75P: versions 2.1E or newer only
RMC75E: No limitations
RMC150E: No limitations
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Master Register
Note: See Specifying a Register Address below.
Valid RMC register
2 Master Point A (pu) Any REAL number
3 Master Point B (pu) Any REAL number
4 Slave Point A (pu) Any REAL number
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