Delta RMC151 User Manual
Page 778
RMC70/150 and RMCTools User Manual
The optional Status Block specifies the location in the Variable Table of a block of six
registers that provide read-only information on the sine move. This block will not be
needed by most users and the Status Block parameter should then be set to none. For
more details, see the Sine Move Status section below.
Stopping a Sine Move
If the number of cycles is non-zero, the sine move will automatically stop after reaching
the number of cycles. By specifying the Cycles in various increments of 0.25, you can
control whether the sine wave stops at the bottom, top, or middle. If the Cycles is a
whole number, the sine move will stop at the same location where it started.
The Sine Stop (73) command is designed for stopping a sine move that is in progress.
The stop location can be specified to be the positive peak, negative peak, next peak,
middle, or after the current cycle completes. See the Sine Stop (73) command for more
details.
If the stop location is the middle, the frequency will be ramped to zero hertz during the
last quarter cycle. This prevents a sudden jump in the velocity, because the middle of a
sine move otherwise has a non-zero velocity.
Of course, as with any motion on an axis, when a sine move is in progress, another
motion command can be issued and the axis will immediately stop the sine move and
start the new motion. For example, a Stop (Closed Loop) (6) command will stop the axis.
Ramping Sine Move Parameters
Use the Change Target Parameter (80) command to ramp the Offset, Frequency, or
Amplitude, or change the Cycles of a sine move in progress. Each parameter can be
ramped independently, that is, each parameter can be ramped whether or not other
parameters are ramping. See the Change Target Parameter (80) command for details.
Example
A wave-generating application requires that the amplitude be ramped from 0 to 10
over 20 cycles. To do this, first issue the Sine Start (72) command with an Amplitude
of 0. Then, issue the Change Target Parameter (80) command to ramp the Amplitude
to 10 during 20 cycles.
Sine Move Status
Axis Status Registers for a Sine Move
The Cycles Axis Status register gives the whole number of cycles completed for the sine
move in progress. It is listed in Axis Tools, in the Axis Status Registers pane, on the All
tab, in the Target section. The Cycles Axis Status register is a DINT.
Status Block
Advanced users may wish to use the Sine Start command's Status Block, which provides
read-only information on the sine move. This information is most useful when
manipulating sine moves in user programs.
To use the Status Block, you must specify an address from the Variable Table in the
Status Block parameter of the Start Sine command. The Status Block will require six
registers in the Variable Table, beginning with the specified address. As the sine move
progresses, the selected registers in the Variable Table will be continuously updated. The
selected variables will not be named automatically; you should give a descriptive name to
each to help you keep track of them.
To prevent confusion, sine moves that are running simultaneously should not use the
same Status Block address. Non-simultaneous sine moves can use the same Status Block
address.
The Status Block provides the following information:
Status
Block
Offset
Name
Data
Type
Description
758
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