Delta RMC151 - Manual (Page 780)

RMC70/150 and RMCTools User Manual
Pri. TG SI Busy (Primary Target Generator Superimposed Busy) Bit
This bit will be set during the transition. The transition begins when the motion command
is issued, not necessarily when the Transition command is issued. When the transition
completes, this bit will clear.
8.4.7.3. Command: Sine Stop (73)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 2.30 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 Stop Location
• Next Cycle (0)
• Middle (1)
• Pos Peak (2)
• Neg Peak (3)
• Next Peak (4)
a valid integer as
described
Description
This command stops a position sine move at a prescribed location. For stopping a
pressure/force sine move, see the Sine Stop (Prs/Frc) (77) command.
The sine move will stop at the next occurrence of the specified Stop Location. The Stop
Location can be any of the following:
• Next Cycle
The sine move will stop at the end of the current cycle. The location of the end of each
cycle is defined by the Sine Start (72)command. Stopping the sine move with the
Next Cycle option will ensure that the sine move stops in the same location that it
started. For example, if it started at the positive peak, this command will stop it at the
next positive peak.
If the stop location is the middle, and the axis is currently on the quadrant after a
peak and before the midpoint, then the axis will not stop on that first middle point
because it could lead to extreme accelerations. Instead, the axis will continue
another full cycle and then stop at the middle point.
If the stop location is the middle, the target generator will perform the stop by
ramping the frequency down to zero over the last quarter-cycle. Due to this, any
attempt to ramp the frequency with the Change Target Parameter (80) command
during this portion of the move will be ignored.
• Middle
The sine move will stop at the first middle point. However, if the axis is currently on
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