Delta RMC151 - Manual (Page 866)

RMC70/150 and RMCTools User Manual
condition exists for less than 3 loop times. After the 3rd loop time, the Input
Estimated bit will turn off and the Noise Error bit will be set.
• For Quadrature, if a Noise Error condition occurs due to an illegal Quadrature
transition (e.g. overspeed), then the Input Estimated bit is always set, even after
the Noise Error bit is set following the first 3 loop times.
Velocity, Pressure and Force Inputs (Analog):
If a No Transducer or Transducer Overflow condition exists, the Input Estimated bit is
always set, even after the error bit is set following the first 3 loop times.
The Input Estimated bit is not set if a Noise Error condition exists. A Noise Error
condition will immediately set the Noise Error bit.
8 EnableOut Enable Output
This bit is set when the Enable Output is on.
9 TGDone Primary Target Generator Done
This bit is set when the Primary Target Generator has completed its course, that is,
when a motion command has been completed. If the motion move is interrupted, e.g
due to a halt, the done bit will not be set because the last commanded motion was no
completed.
Specific details on the Target Generator status bit are included in the help topics for
each motion command.
Example 1:
After a Move Absolute command has been issued, this bit will turn on when the Targe
Position reached the requested position.
Example 2:
After a Move Velocity command has been issued, this bit will turn on when the Target
Velocity has reached the requested speed.
10 TGStateA Primary Target Generator State A
The Target Generator State A and State B bits indicate the current state of the Prima
Target Generator. For each motion type, the following table describes in general the
state indicated by the combinations of A and B. These bits are only valid for motion
commands.
Specific details on the Target Generator status bit are included in the help topics for
each motion command.
B A Open Loop
Commands
Point-to-
Point
Commands
Velocity
Moves
Quick
Moves
Halts and
Stops
0 0 Constant
Control
Output at 0
V
Done Stopped Done Done
0 1 Ramping
Control
Output
away from
0 V
Accelerating Accelerating
(away from
0 velocity)
Ramping
Control
Output in
Open Loop
Reserved
1 0 Constant
Control
Output at
non-zero V
Constant
Velocity
Constant
Velocity
Constant
Control
Output at
Requested
Output
Reserved
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