Delta RMC151 - Manual (Page 827)

8 Command Reference
Shown below is an example of how the various options work for one sample profile.
Notice that the behavior will vary for other master signals.
Seek Reach Superimposed
The Seek method waits until the
pressure/force and
pressure/force rate are close
before locking in. If the master
was not accelerating or
decelerating, it would lock in
quicker.
The Reach method locks in as
soon as the pressure/force
reaches the master. This can
cause a jerk in the Target
Pressure/Force of the slave axis.
The gray line shows the move
that is superimposed onto the
master, and results in the slave
target.
Status Bits
Prs/Frc TG SI Busy (Pressure/Force Target Generator Superimposed Busy) Bit
This bit will be set when the transition begins. Notice that this is when the motion
command is issued, not necessarily when the Transition rate command is issued. When
the transition actually takes place, this bit will be set until the axis "locks on".
8.5.3.4. Command: Sine Start (Prs/Frc) (76)
Supported Axes: Pressure/Force Control Axes
Firmware Requirement: 2.30 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
# Parameter Description Range
1 Offset (pressure- or force-units) any
2 Amplitude (pressure- or force-units) ≥ 0
3 Frequency (Hz) 0* to 1/4 of the
loop frequency
4 Cycles 0 to 16 million in
0.25 steps (0 =
continuous)
5 Start Location a valid integer as
described
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