Delta RMC151 - Manual (Page 761)

8 Command Reference
The Master Direction and Slave Direction parameters of this command are for use on
rotary axes. For non-rotary axes, the direction parameters can only be "Nearest". The
other options will have no effect. If the master register is not a Target Position or Actual
Position register, the master directions cannot be rotary.
On rotary axes, the direction parameters specify the direction of the Slave Sync position
from it's current position and the direction of the Master Start Distance from the Master
Sync Position. See the Rotary Motion topic for details on the meaning of the direction
options.
Direction Options
• Negative (-1)
• Nearest (0)
• Positive (1)
• Current (2)
• Absolute (3)
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
Set when the master position is at or beyond the Master Sync Position. The gear ratio
is now locked and will no longer change even if the master moves prior to the Master
Sync Position.
Target Generator State A and B bits
B A Description
0 0 The master is beyond the Master Start Position. Use the
Target Generator Done bit to determine if it has reached the
Master Sync Position.
0 1 Reserved
1 0 The master is prior to the Master Start Position.
1 1 Reserved
8.4.6.6. Command: Phasing (34)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 1.70 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 Master Phase Offset (position-units) Any REAL number
2 Master Distance (position-units) Any REAL number
Description
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