Delta RMC151 - Manual (Page 832)

RMC70/150 and RMCTools User Manual
Frequency
5 Current
Offset
REAL The current offset of the sine move in pressure or force units.
Specifying a Register Address
When issuing this command from anywhere other than RMCTools, the addresses in the
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.
Status Bits
Pressure/Force Target Generator Done bit
This bit indicates that the sine move has completed the specified number of cycles. If the
motion move is interrupted, e.g. due to a halt, the done bit will not be set because the
commanded motion was not completed (it may be set after the interrupting motion is
complete). Notice that this bit does not indicate whether the Actual Pressure or Force has
reached the Requested Pressure or Force. If the Pressure/Force Target Generator Done
bit is set, and the Actual Pressure or Force is within the At Pressure/Force Tolerance
window, the At Pressure/Force Status bit will be set. This bit indicates that the move is
complete and the axis is at pressure or force.
Pressure/Force Target Generator State A and B bits
B A Description
0 0 Reserved
0 1 Reserved
1 0 Reserved
1 1 Reserved
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.
8.5.3.5. Command: Sine Stop (Prs/Frc) (77)
Supported Axes: Pressure or 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.
812 Delta Computer Systems, Inc.