Delta RMC151 - Manual (Page 797)

8 Command Reference
endpoints will continue for
two loop times after the
master moves beyond the
starting or ending point. If
another motion command
is not issued within two
loop times of the master
moving beyond the
starting or ending point,
then a Closed Loop Halt
will occur and the Runtime
Error bit will be set. Notice
that if the Runtime Error
AutoStop is set to a halt,
that halt will also occur.
Use a Link Condition in a
user program to check the
Target Generator bits to
determine whether the
master has moved beyond
the endpoints. See the
Target Generator State
Bits section below.
Truncate
(+4)
If the master moves past
the beginning or end, the
curve axis' Target Position
will stop at that point.
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.
Truncate
and End
(+8)
If the master moves past
the end, the curve axis'
Target Position will stop at
the endpoint and the curve
will stop executing. If the
master moves back into
the range, the curve will
not resume. Notice that if
the master moves past the
beginning point, the curve
will still continue executing
when the master moves
back in to the range.
Curve Scale and Offset
The Curve Scale and Curve Offset parameters operate on the Y-values of the curve.
These parameters can be used to shift the curve up or down in the y-axis, or compress or
expand the curve in the y-axis. For each Y-value of the curve, the new Y-value is
calculated as follows:
Y
new
= (Y
original
x Curve Scale) + Curve Offset
The Curve Offset applies only to absolute curve alignment. The Curve Scale applies to
both absolute and relative curve alignment.
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