Delta RMC151 User Manual
Page 835
8 Command Reference
sine move in a certain amount of time. For changing target parameters of position,
Change Target Parameter (80) command.
Target parameters can be ramped independently of each other. That is, each parameter
can be ramped whether or not other parameters are ramping. Multiple Change Target
Parameter commands can be issued from a single step in a user program, allowing them
to be ramped together.
This command applies to motion started by the following commands:
•
Sine Start Parameters
When this command is used for changing target parameters of motion started with a Sine
Start (Prs/Frc) (76) command, the following parameters can be changed:
Offset
When ramping the offset, there will be a discontinuity in the pressure/force rate at the
beginning and end of the ramp. This can cause the axis to jump if the Pressure/Force
Rate Feed Forward is being used.
Valid Ramp
Types
Time
Ramp the Offset linearly in the number of seconds specified by the
Ramp Value.
Cycles
Ramp the Offset linearly in the number of cycles specified by the
Ramp Value.
Rate
Ramp the Offset linearly at the rate (units/sec) specified by the
Ramp Value.
Amplitude
The amplitude can be ramped to any positive value, or zero.
Valid Ramp
Types
Time
Ramp the Amplitude linearly in the number of seconds specified by
the Ramp Value.
Cycles
Ramp the Amplitude linearly in the number of cycles specified by the
Ramp Value.
Rate
Ramp the Amplitude linearly at the rate (units/sec) specified by the
Ramp Value.
Frequency
The frequency can be ramped to any positive value, or zero.
Valid Ramp
Types
Time
Ramp the Frequency linearly in the number of seconds specified by
the Ramp Value.
Cycles
Ramp the Frequency linearly in the number of cycles specified by the
Ramp Value.
Rate
Ramp the Frequency linearly at the rate (units/sec) specified by the
Ramp Value.
Time (log)
Ramp the Frequency logarithmically in the number of seconds
specified by the Ramp Value. Ramping frequency logarithmically
typically gives a smoother frequency transition than linear ramping,
especially over wide frequency ranges.
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