Delta RMC101 - Manual (Page 638)

RMC100 and RMCWin User Manual
7-14
commands are specific to only quadrature or only pressure/force control.
7.4.33 Invalid command value
This parameter error is set when the command value exceeds the range for that command, as
described in the table below. The command will be ignored, except Set Null Drive, which will be
truncated to +/-2000.
Command Valid Command Value Range
Set Integral Drive ±10000
Set Null Drive ±2000
Limit Drive 0 to 10000
Amp Enable/Disable
Command 0 or 1
Clear Spline
Segments Command Greater than -16
Map Output to Axis
Position See the Map Output to Axis Position topic for valid
Command Values.
Set Mode Command Only the following bits can be changed: Gear Type bit,
Gear Master Select bits, Monitor Pressure bit, Rotational
bit. The Gear Type and Gear Master Select bits can only
be changed when the Gear Mode bit is set and when in
Spline or Gear states, except Gear mode 2. The
Rotational bit can only be changed when doing a Speed
control move or point-to-point move, unless stopped.
Update Flash
Segment 0 or 1
7.4.34 Invalid Gear Master Selected
This error indicates the Mode word was set wrong. When the Gear Mode bit is selected, bits 4-6
of the mode word select the gearing master. The following are reasons this error may occur:
• An axis cannot be geared to itself.
• An axis cannot be geared in a loop. For example, axis 0 cannot be geared to axis 1 if axis 1 is
geared to axis 0.
• An axis cannot be geared to an auxiliary pressure or force axis.
In RMCWin, use the Popup Editor on the Mode word to select a valid gear master axis.