Delta RMC151 - Manual (Page 802)

RMC70/150 and RMCTools User Manual
• Positive (1): Moves at a positive velocity. Speed
must be positive.
• Negative (-1): Moves at a negative velocity. Speed
must be positive.
• Current (2): Moves at the current Target velocity. If
the Target Velocity is zero when the command is
issued, it will move with a positive velocity. Speed
must be positive.
• Signed (4): The direction of the move is determined
by the sign of the Speed command parameter.
described
Description
This command is an advanced command. Do not use it unless you specifically intend to
use the Velocity I-PD control mode. If you want to make a basic velocity move, use the
Move Velocity (37) command instead.
This command moves the axis at the Requested Speed. When this command is issued,
the Target Velocity is immediately set to the Requested Speed. The axis will
automatically be switched to the Velocity I-PD control mode during the motion, and will
remain in the Velocity I-PD control mode until another command is issued to the axis.
However, if a closed-loop halt occurs on the axis during the motion, the axis will remain
in the Velocity I-PD control mode.
8.4.9. Transitions
8.4.9.1. Command: Transition Disable (55)
Supported Axes: Position Control Axes
Supported Control Modes: Position PID, Position I-PD
Firmware Requirement: 2.70 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
None.
Description
This command disables transitions on a position axis. When transitions are disabled,
issuing any command that requires a transition will cause a command error, which will
halt the axis if the AutoStops are set to do so.
Transitions are useful for starting certain types motion even though the axis is not at the
correct starting point. For example, the Curve Start (86), Sine Start (72), and Gear
Absolute (25) commands normally require that the axis be at the correct starting point.
However, if a transition has been enabled (by issuing the Transition Rate (56) command),
then these commands can be issued even though the axis is not at the correct starting
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