Delta RMC151 - Manual (Page 799)

8 Command Reference
To run a curve backwards with a _Time master, use Absolute Master Alignment, a Master
Scale of -1, and a Master Offset value that is equal to the X value of the last point of the
curve.
Specifying a Register Address
When issuing this command from anywhere other than RMCTools, the addresses in the
Master Register and Status Block 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.
Status Bits
In Position Bit
The In Position bit will be set only in the following cases:
• For curves using _Time as the master register, the In Position bit will be set when the
curve has completed.
• For curves with a relative master alignment, and the Truncate and End (+8) option,
the In Position bit will be set when the master has moved beyond the ending point of
the curve.
Target Generator State 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 for determining whether the curve has
reached the starting or ending points.
Target Generator Done bit
Set when the master position is at or beyond the ending point. Notice that for master-
based curves with a zero-velocity ending point, the curve is still being followed (unless
the Truncate and End option has been selected and the master is beyond the ending
point). That is, if the master backs up into the curve, then the curve axis will resume
following the curve backwards, and the Target Generator Done bit will be cleared.
Target Generator State A and B bits
B
A Description
0 0 The master is beyond (not at) the ending point.
0 1 The master is prior to (not at) the starting point.
1 0 The master is between the starting and ending points or at the
starting or ending point.
1 1 Reserved.
Pri. TG SI Busy (Primary Target Generator Superimposed Busy) Bit
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