Delta RMC101 User Manual
Page 470
RMC100 and RMCWin User Manual
5-220
For most commands, the value returned in the second register for each axis is selected using the
Status Area Request bits in the command register. Refer to the individual commands for
exceptions. The possible fields that can be returned in the second register when is it controlled by
the Status Area Request bits are:
Status
Area
Request
StatusRegister
0 (0000)
Command Position
1 (0001)
Target Position
2 (0010)
Actual Position
3 (0011)
Transducer Counts
4 (0100)
Status Word
5 (0101)
Drive Output
6 (0110)
Actual Speed
7 (0111)
Null Drive
8 (1000)
Current Step
9 (1001)
Link Value
10-15
(1010-
1111)
Reserved
Compact Mode with Sync Example
Suppose you have an RMC100-M1-PROFI and would like the Status and Actual Position for axis
0, and you would like the Status and Drive for axis 1. You would send commands with the
following format:
SAR CMND INDX (HEX)
O+1 0000|0010|XXXX|XXXX (02XX)
Requests Actual Position
+2 XXXX|XXXX|XXXX|XXXX (XXXX)
Data for command on axis 0
O+3 0000|0101|XXXX|XXXX (05XX)
Requests Drive Output
+4 XXXX|XXXX|XXXX|XXXX (XXXX)
Data for command on axis 1
After the Synchronization Output register is incremented, the RMC will process the commands
and update the Synchronization Input register to match. At this time, the input registers would
hold the following values: