Poll command, A.1.8 poll command – Delta RMC101 User Manual

Page 662

RMC100 and RMCWin User Manual

A-10

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

Bit 0

Constant Sign Extension. If this bit is 0, then the constant in the Speed field is signed.
Otherwise, this constant is 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

Reserved (must be 0)

Deceleration

Source Address. This is an address (see above) of the register to start with. The register's value can
be signed, unsigned, or a position value depending on Mode bits 0-1.

Speed

This is a constant value that is subtracted from the register specified by 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 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, then an internal error bit is set, which can
be tested with the MathOK (0x12) and MathERR (0x13) link types.

Command

- (45 decimal, 0x2D hexadecimal)

Although this command is limited to subtracting a constant from an RMC register, it is possible to
subtract one register from another using two of these commands in a row. The first event step
would use either an Add or Subtract command with a 0 in the Speed command field to essentially
move 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" Subtract command, but because this
constant had just been set to another register value, the Subtract effectively subtracts one
register from another.