Delta RMC151 - Manual (Page 824)

RMC70/150 and RMCTools User Manual
Note:
If a superimposed
transition is used, in
certain cases it can
cause the slave to
exceed the endpoints
during the transition. If
this causes problems,
consider using a
different type of
transition.
Extrapolate The slave will always
follow the master on the
linear relationship.
See the Gearing Overview topic for general information about gearing, including possible
Gear Masters.
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.
Target Generator State Bits
The Pressure/Force Target Generator Done, State A and State B bits are all off during the
gearing.
Prs/Frc TG SI Busy (Pressure/Force Target Generator Superimposed Busy) Bit
This bit will be set during the transition. The transition begins when the motion command
is issued, not necessarily when the Transition command is issued. When the transition
completes, this bit will clear.
8.5.3.2. Command: Transition Disable Prs/Frc (63)
Supported Axes: Pressure/Force Control Axes
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
804 Delta Computer Systems, Inc.