Delta RMC151 - Manual (Page 782)

RMC70/150 and RMCTools User Manual
Description
This command immediately changes the master register of a curve that is currently in
progress on the axis. A curve must currently be in progress on the axis when this
command is sent, or a Command Error will occur.
If the velocity of the old master and the new master are different, the axis may
experience a jerk when the master changes. Therefore, this command is intended to be
used only when the speed of the old master and new master are approximately equal. An
example application is the execution of a curve across the transition from one master
conveyor belt to another master conveyor belt.
When the master is changed, the master endpoints are recalculated relative from the
position of the new master at the time of the change.
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.
_Time:
The register address for the _Time tag in the RMC70 is %MD20.10. Therefore, the value
is 20*4096 + 10 = 81930.
The register address for the _Time tag in the RMC150 is %MD44.10. Therefore, the value
is 44*4096 + 10 = 180234.
8.4.7.5. Command: Change Target Parameter (80)
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 Parameter
• Offset (0)
• Amplitude (1)
A valid integer as
described
762 Delta Computer Systems, Inc.