Command: set control direction (96), Command: read register (111), Set control direction (96) – Delta RMC151 User Manual
Page 843: Read register (111)
8 Command Reference
This command sets the Integrator Mode. Currently, only two modes are available, Always
On and Always Off. This command allows the Integrator mode to be changed at any time.
The Integrator Mode applies to both the primary and secondary control loops.
8.6.8. Command: Set Control Direction (96)
Supported Axes: Position, Velocity, Pressure, and Force Control Axes
Supported Control
Modes:
Position PID, Position I-PD, Velocity PID, Velocity I-PD,
Firmware
Requirement:
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description
Range
1 Direction
•
Positive (1)
•
Negative (-1)
a valid integer as
described
Description
This command, together with the Unidirectional Mode axis parameter, is specifically
designed for systems that require a unipolar Control Output, but need to switch direction
externally. This command is only valid when Unidirectional Mode is enabled—that is, set
to Positive, Negative, or Automatic.
If the Unidirectional Mode axis parameter is set to Positive or Negative, issue the Set
Control Direction (96) command at any time to set the desired direction.
If the Unidirectional Mode axis parameter is set to Automatic, the direction is determined
based on the Target Velocity. The Set Control Direction (96) command may still be used
while the axis is stopped to indicate a change in the system direction prior to a move
command. Notice that issuing this command will have no effect in Automatic mode while
the Target Velocity is not stopped.
For many systems, this command is unnecessary, because the Automatic option handles
direction changes very well for most two-valve systems, and for a unidirectional belt, the
direction is set by the Unidirectional Mode parameter on startup and never needs to be
changed after that.
This command can be issued while the axis in closed loop control.
For more details, see the Unidirectional Mode topic.
8.6.9. Command: Read Register (111)
Supported Axes: All
Firmware Requirement: 1.00 or newer
deltamotion.com
823