Delta RMC101 - Manual (Page 646)

RMC100 and RMCWin User Manual
7-22
or if the axis was accidentally left out of a new synchronized command. Either one of the following
two steps should be taken:
• If the axis no longer should be synchronized, then first explicitly unsynchronize the axis by giving
it a Go or Relative Move without any sync bits set in the Mode word before giving a new
synchronized command to the remaining synchronized axes.
NOTE: If the axis that is being unsynchronized was the master axis, then all slave
axes will halt.
• Ensure that all synchronized axes have valid Mode, Acceleration, Deceleration, Speed, and
Command Value before giving the new synchronized command to the last synchronized axis.
7.4.68 Target position moved outside limits
This parameter error indicates that the axis was about to move its Target Position outside the
extend or retract limit. The target position is truncated to the limit when this error occurs.
Commands that have a requested position outside the limits are caught immediately by the
Attempt to go beyond extend limit and Attempt to go beyond the retract limit parameter errors.
Therefore, this error occurs only in these cases:
• An axis has its deceleration rate lowered in the middle of a move enough so that it overshoots the
commanded position and limit. We could catch this error when the command is issued but do not
because some applications have an axis decelerate slowly for a period of time, but then issue
another command to stop it within the limits. These applications would be impossible if we didn’t
allow this deceleration even though, if uninterrupted, it would bring the axis outside the limit.
• A spline is being followed and the spline goes outside the limits. Unless the Auto Stop is set up to
halt on parameter errors, the spline will continue even though the positions are truncated at the
limits.
Note: This error will not occur when the Actual Position goes outside the limits. That is, you will
be able to control position at either limit even though the Actual Position may go outside the
limits temporarily.
Note: In firmware dated earlier than 19991021, this error is also used for when a
position/pressure axis is controlling pressure and the Actual Position moves beyond the limits. In
firmware on or after this date, this condition uses the new Pressure control went outside position
limits error instead.
7.4.69 Target position must be equal to the first spline point
The axis receiving a Follow Spline Segment command must have its current TARGET POSITION
equal to the position of the first spline point in the segment. This is required to avoid a
discontinuity in TARGET POSITION at the start of the spline. An easy way to change the
TARGET POSITION to a particular position is to issue a Go command to the position and wait for
the axis to reach that position (by monitoring the In Position bit).