Delta RMC151 - Manual (Page 919)

9 Register Reference
Type: Axis Parameter Register Bit Parameter
RMC70 Address: %MDn.9.0, where n = 12 + the axis number
RMC150 Address: %MDn.9.0, where n = 24 + the axis number
System Tag: _Axis[n].PriInputBits.Rotary
How to Find: Axes Parameters Pane, Setup tab: Primary Control Setup
Data Type: bit
Range: Linear (0), Rotary (1)
Default Value: Linear (0)
Description
The Linear/Rotary Bit Parameter specifies whether the axis is set as a Rotary axis or a
Linear axis. Each axis’s input is either linear or rotary. When this bit is set, the axis is
rotary. When this bit is cleared, the axis is linear.
To determine whether you should set your axis as Rotary, see the Rotary Axis topic.
See the Primary Input Bits Register for details about the register containing this bit.
Note: For rotary axes, the encoder counts per revolution must be a multiple of 2.
Changing this Parameter
Because this parameter affects motion, the axis must be disabled or in Direct Output
before writing to this parameter. The Enabled and Direct Output Status Bits indicate these
states of the axis. When changing this parameter from RMCTools, the software will
automatically do this for you. This may cause a halt on the axis, which is expected.
9.2.2.2.15. Stop Threshold
Type: Axis Parameter Register
RMC70 Address: %MDn.5, where n = 12 + the axis number
RMC150 Address: %MDn.5, where n = 24 + the axis number
System Tag: _Axis[n].StopThreshold, where n is the axis number
How to Find: Axes Parameters Pane, All tab: Feedback
Data Type: REAL
Units: pu/s
Range: ≥ 0
Default Value: 0.1
Description
The Stop Threshold specifies a velocity threshold for considering an axis stopped. When
the absolute value of the velocity falls below this threshold, the axis is considered
stopped, and the Stopped Status bit will be set. The Stopped bit is not latched and will
clear when the velocity exceeds the threshold.
The Stop Threshold does not apply to axes with only pressure or force control because
the axis may be physically moving even though the pressure does not change. The
stopped status of axes with position-pressure or velocity-pressure control is determined
by the position or velocity axis.
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