Delta RMC101 User Manual
Page 202
RMC100 and RMCWin User Manual
4-16
Note:
Speed Control with Velocity Loop is supported in RMC100 CPU firmware dated 20030515
or later.
Using Speed Control with Position Loop
Speed control with Position Loop is used in the same way as position control with the following
exceptions:
• The Rotational bit must be set in the Mode word.
• The Command Value field for the Go command indicates the direction of the move, rather than
the Requested Position.
Using Speed Control with Velocity Loop
Speed control with Velocity Loop is used in the same way as Speed Control with Position Loop
with the following addition:
• The Velocity Loop bit must be set in the Mode word.
Speed Control Commands
There are three main commands to use in speed control:
1. Go Command
When a Go command is issued with the Rotational bit in the Mode word set, a Speed Control with
Position Loop move is initiated. The Command Value holds the requested direction. For further
details, see Go Command.
When a Go command is issued with the Rotational bit and the Velocity loop bits in the Mode word
set, a Speed Control with Position Loop move is initiated. The Command Value holds the requested
direction. For further details, see Go Command.
Advantages:
This command can start a speed control move. All command fields can be set with a single
command.
Disadvantages:
When used with a communication type that allows only a Command and Command Value each
command cycle (PROFIBUS-DP in Compact Mode and Communication DI/O using Command
Mode or Parallel Position Mode), the speeds and accelerations are limited to those in the Motion
Profile Table.
2. Set Speed (Signed) Command
This command takes a number between –32,768 and 32,767 as the Command Value and sets both
the requested direction (positive indicates an extend or clockwise move, and negative indicates a
retract or counter-clockwise move) and the requested speed. The Rotational bit in the Mode word
must be set prior to issuing this command.
Advantages:
Both the speed and direction can be changed with a single command.
Disadvantages: