Delta RMC101 - Manual (Page 658)

RMC100 and RMCWin User Manual
A-6
Step 19:
This step issues a Go (G) command to Axis1. The Command Value will have been overwritten by
step 18 with a value that is 90% of the Axis0 Actual Position. This step then waits for the In Position
bit to set before linking to step 20.
See also: Add Command, Subtract Command
A.1.5 Add Command
Character: +
Decimal: 43
Hexadecimal: 0x2B
Command Value: Destination Address (80-2303)
Note: This command is supported in RMC100 CPU firmware dated 20010402 or newer.
Note: This command should only be used in the Event Step table. It is usually not useful to issue
this command directly from the PLC.
This command allows the user to add a constant value to a memory location in the RMC and
store the result in another memory location in the RMC. The memory locations available for the
source of this operation include any Status, Command, Parameter, or Event Step register. The
memory locations available for the destination of this operation include any Command,
Parameter, or Event Step register.
The addresses of the source and destination registers match the addresses shown in the RMC
Register Map (PROFIBUS-DP Message Mode) topic, except that only addresses 0-2303 are
usable by this command.
Tip: Use the Address Tool to greatly simplify entering addresses for this and other commands that
use 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.