Delta RMC151 - Manual (Page 836)

RMC70/150 and RMCTools User Manual
Cycles (log) Ramp the Frequency logarithmically in the number of cycles specified
by the Ramp Value. Ramping frequency logarithmically typically
gives a smoother frequency transition than linear ramping, especially
over wide frequency ranges.
Notice that if the sine move is in the process of completing the last quarter-cycle of a sine
move that will end at the midpoint, then any attempt by the user to ramp the frequency
during this portion of the move will be ignored.
Cycles
The Cycles parameter is updated immediately when this command is issued. The Ramp
Type and Ramp Value parameters are ignored. The Cycles specifies the total number of
cycles from when the Sine Start command was issued.
Example
Consider a sine move that was started with a Cycles parameter of 1000, and when the
cycle count reached 600 the Change Target Parameter command is issued to change
the Cycles to 1300. The sine move will continue until it completes 1300 cycles from
when the Sine Start command was issued. Therefore, it will complete 700 more cycles
after the Change Target Parameter command is issued.
If the Cycles is less than the current cycles, the sine move will end. It will end at the next
occurrence of the same ending location that is specified by the new Cycles parameter.
This location will be the same as the starting phase if the requested Cycles is a whole
number, but different otherwise.
Example
Consider a sine move on that force axis that started with an Offset of 0, an Amplitude
of 2, a Cycles parameter of 100, and a Start Location of Mid-Pos. After 30 cycles, the
Change Target Parameter command is issued to change the Cycles to 21.25. Since
21.25 would result in an ending location at the positive peak, the sine move will end at
the next occurrence of the positive peak, or a force of 2.
8.5.3.7. Command: Curve Start (Prs/Frc) (87)
Supported Axes: Pressure of Force Control Axes
Firmware Requirement: 2.40 or newer
Hardware Limitations: RMC75S: versions 2.1D or newer only
RMC75P: versions 2.1E or newer only
RMC75E: No limitations
RMC150E: No limitations
Command Parameters
# Parameter Description Data Type Range
1 Curve ID Internal:
DINT
External:
REAL
0-50000
2 Master Register REAL _Time or any
other valid
register of
type REAL.
3 Cycles
0 = infinite,
REAL 0 to 16
million
816 Delta Computer Systems, Inc.