Delta RMC101 User Manual

Page 656

RMC100 and RMCWin User Manual

A-4

addresses. See Address Tool for details.

This command uses the command fields as follows:

Mode:

The Mode field controls how the 16-bit source, destination, and constant values are sign-

extended. Its bits are defined as follows:

Bits 7-15 Reserved. Must be 0.

Bits 4-6 Position Range Axis. These bits are used only if bit 1 (Register Sign Extension) is

set. They then determine which axis's position range is used for the source
and destination registers.

Bits 2-3 Reserved. Must be 0.

Bit 1 Register Sign Extension. If this bit is 1, then the source and destination registers are

sign extended to fit the position range for the axis selected by Mode bits 4-6.

If this bit is 0, then the source and destination registers are sign extended the
same way as the constants.

Bit 0 Constant Sign Extension. If this bit is 0, then the constants in the Deceleration and

Speed fields are signed. Otherwise, these constants are unsigned.

Tip:

To simplify computing and entering the Mode value, use the pop-up editor. First enter

the command so that RMCWin knows which Mode dialog box to display. Then either
double-click the mode value or press ENTER when the cursor is in the Mode field. You will
then be able to select the options you want, and the Mode will be computed for you.

Acceleration:

Source Address. This is the address (see above) of the register to start with. The

Deceleration:

This is a constant value that is multiplied by the register specified by the Acceleration

field before being divided by the constant in the Speed field. This constant can be signed or
unsigned as determined by Mode bit 0.

Speed:

This is a constant value that is divided into the product of the register specified by the

Acceleration field and the constant in the Deceleration field. This constant can be signed or
unsigned as determined by Mode bit 0.

Command Value:

Destination Address. This is an address (see above) of the register to store the

result in. Before the result is stored, it is rounded to the nearest integer and checked if it falls
in the range selected by Mode bits 0-1 (signed, unsigned, or a position value). If the result
does not fall within this range, the result is limited to this range and an internal error bit is set,
which can be tested with the MathOK (0x12) and MathERR (0x13) link types.

Command:

' (39 decimal, 0x27 hexadecimal)

Although this command is limited to multiplying and dividing by constants, it is possible to multiply
and divide by computed values by stringing other math commands together whose destinations
are the Deceleration and/or Speed fields of this command. For example, the first event step might
be an Add command with a 0 in the Speed command field to copy a field from the original RMC
register into the Speed command field of the next event step. The next event step would then
perform a "constant" MulDiv command, but because this constant had just been set to another
register value, the MulDiv effectively divides one register by another.

Example:

This manual is related to the following products:

RMC100