Delta RMC151 - Manual (Page 781)

8 Command Reference
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 a half-cycle after the first middle point and stop at the next middle point.
When the Stop Location is set to Middle, the target generator performs 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.
• Pos Peak
The sine move will stop at the next positive peak.
• Neg Peak
The sine move will stop at the next positive peak.
• Next Peak
The sine move will stop at the next peak, whether it is negative or positive.
Status Bits
In Position Bit
After the target position stops, and the Actual Position is within the In Position Tolerance
window, the In Position Status bit will be set. This bit indicates that the move is complete
and the axis is at 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
This bit indicates the move is complete, which occurs when the target has stopped.
Target Generator State A and B bits
B
A Description
0 0 Reserved
0 1 Reserved
1 0 Reserved
1 1 Reserved
8.4.7.4. Command: Change Master (79)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 3.56.0 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 Register
Note: See Specifying a Register Address below.
_Time or any
other valid
register of type
REAL.
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