Delta RMC151 - Manual (Page 828)

RMC70/150 and RMCTools User Manual
• Auto (0)
• Mid-Pos (1)
• Pos Peak (2)
• Mid-Neg (3)
• Neg Peak (4)
6 Status Block (address)
Note: See Specifying a Register Address below.
Address or none
(0)
*See the Frequency section below for details on the lower limit.
Description
This command starts a continuous sinusoidal move on the pressure or force. If the
number of cycles is specified, the sine move will end after completing the cycles and will
remain at that pressure or force. For position axes, use the Sine Start (72) command.
Before issuing this command, the Target Pressure/Force must be at the location specified
by the Start Location command parameter, or, a Transition command must previously
have been issued to specify how the axis should move to get to the sine curve. A
transition command will allow you to start a sine curve even though the axis is not at the
correct starting point.
If you want the axis to follow the sine curve exactly starting from the beginning, do not
use a transition; instead, make sure the axis is at the starting point before issuing the
Sine Start command.
Offset
The Offset specifies the center of the sine wave.
Amplitude
The Amplitude specifies the distance from the center to the peak. The amplitude can be
zero or a positive number. An amplitude of zero is typically only used when it will be
followed by the Change Target Parameter (Prs/Frc) (81) command to ramp the amplitude
from zero to some value.
Cycles
The Cyles specifies the number of cycles, in increments of 0.25. Each cycle begins at the
location specified by the Start Location parameter. If Cycles is zero, the sine wave will
repeat endlessly. By specifying various increments of 0.25, you can control whether the
sine wave stops at the bottom, top, or middle.
A cycle count of 0.25 is not allowed if the Start Location is at one of the peaks, and the
Frequency is zero.
Due to the limits of 32-bit floating point values, the Cycles parameter can be a maximum
of 16 million only if it is a whole number. If it contains a half, such a 45.5, it can be a
maximum of 7,999,999.5. If it contains a quarter, such a 12.25 or 97.75, it can be a
maximum of 3,999,999.75.
Frequency
The frequency can be any value from zero up to the maximum frequency listed in the
table below. The maximum frequency is a quarter of the loop frequency (the loop
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