Delta RMC101 - Manual (Page 538)

RMC100 and RMCWin User Manual
5-288
(MaxPts+2)*3 (MaxPts+2)*3 (MaxPts+2)*3
Axis 4 Interval 2 +
(MaxPts+2)*4
12291+
(MaxPts+2)*4
12290+
(MaxPts+2)*4
Axis 5 Interval 2 +
(MaxPts+2)*5
12291+
(MaxPts+2)*5
12290+
(MaxPts+2)*5
Axis 6 Interval 2 +
(MaxPts+2)*6
12291+
(MaxPts+2)*6
12290+
(MaxPts+2)*6
Axis 7 Interval 2 +
(MaxPts+2)*7
12291+
(MaxPts+2)*7
12290+
(MaxPts+2)*7
Interval Table Format
This single-register field defines the format of the Interval Table. The two formats defined are as
follows:
Format Interval Table
0 The interval between each spline point is equal. Only the first Interval
Table entry is used. It is used for the intervals between all points.
If the first Interval Table format register is 0, it specifies that Static
Spline Download Area format is to be used. You must use the Static
Spline Download Area Format Tables.
1 One Interval Table entry is used for each interval between points.
If the first Interval Table format register is 0, it specifies that Static
Spline Download Area format is to be used. You must use the Static
Spline Download Area Format Tables.
2 The value 2 is only valid in the first register of the Spline Download
Area. It specifies that Dynamic Spline Download Area format is to be
used. You must use the Dynamic Spline Download Area Format table.
Interval Table
These registers are used to determine the distance between each point in the spline segment.
The distance is in terms of milliseconds if the spline will be executed based on time, or counts the
master moves if the spline will be geared to an axis or digital I/O counter. If the Interval Table
Format is 0, then only the first register is used from this table, but it is used for the interval
between every pair of points. If the Interval Table Format is 1, then as many intervals as the
number of points that are in the spline minus one are used (since there are n-1 intervals between
n points).
Note: The contents of this table are not used until the Point Table is filled in. Generally the Point
Count and Point Table are downloaded after the Interval Table is downloaded. However, this
table must be filled in prior to downloading values to the Point Table.
Point Count
This register indicates the number of points in the spline.
Point Table
This table must be downloaded to last. When a number of points equal to the Point Count has
been downloaded to this area, the spline segment is calculated and added to the given axis’s
spline table. If this operation is successful, the Acknowledge bit of the Status Word is toggled. If
the operation fails, the Parameter Error bit of the Status Word is set and the Last Parameter Error
register is set with the error number.