Delta RMC151 - Manual (Page 796)

RMC70/150 and RMCTools User Manual
Endpoint Behavior with Absolute Master Alignment
The Endpoint Behavior options listed below apply when Absolute Master Alignment (+2) is
selected. The axis is assumed to be in the first cycle when this command is issued.
Option Description Image
Fault (+0) If the master exceeds
either endpoint, the
curve axis' runtime
error bit will be set
which will halt the axis
according to the Auto
Stops setting for the
Runtime error.
Truncate
(+4)
If the master moves
past an endpoint, the
curve axis' Target
Position will stop at the
endpoint. When the
master moves back into
the range, the curve will
resume. If the master is
moving quickly when it
exceeds the endpoint, it
may cause the curve
axis to stop abruptly.
Extrapolate
(+8)
The curve will be
extrapolated linearly,
using the Target
Velocity at the endpoint
of the curve. When the
master moves back into
the range, the curve will
resume.
Endpoint Behavior with Relative Master Alignment
The Endpoint Behavior options listed below apply when Relative Master Alignment (+0) is
selected.
Option Description Image
Standard
(+0)
Curves with zero-velocity
endpoints will follow the
curve until the end is
reached, or another
motion command is issued.
When the master register
moves outside the range of
the curve, the curve axis
will remain stopped at the
appropriate endpoint,
unless master re-enters
the curve by reversing
direction.
Curves with Relative
Master Alignment that end
with non-zero velocity
Zero-velocity endpoints:
Non-zero-velocity endpoints:
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