Delta RMC151 - Manual (Page 773)

8 Command Reference
command. If you do not need any velocity, acceleration, or jerk limits, consider the Gear
Absolute (25) command.
Specifying a Register Address
When issuing this command from anywhere other than RMCTools, the addresses in the
Master Register command parameter must be entered as an integer value.
RMC addresses are represented in IEC format as:
%MDfile.element, where file = file number, and element = element number.
Use the following equation to convert a register address to integer format, N:
N = file * 4096 + element
Example:
Register address %MD8.33 is 8*4096 + 33 = 32801.
Status Bits
In Position Bit
Indicates the axis is in position. This bit is set when the Target Generator Done bit is set
and the Actual Position is within the In Position Tolerance of the Target Position.
Target Generator 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
Indicates that the Target Position is stopped. This bit is set if the Target Position is
stopped—as defined by the Target Velocity being less than the Stop Threshold axis
parameter.
Target Generator State A and B Bits
The Target Generator State A and State B bits do not apply.
8.4.7. Specialty
8.4.7.1. Command: Speed at Position (36)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 1.00 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 Position (position-units) any
2 Requested Velocity (position-units/s) any
Description
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