Delta RMC101 - Manual (Page 666)

RMC100 and RMCWin User Manual
A-14
overdrive error occurs, and otherwise jumps to step 13 when the axis gets in position.
Here is a summary of the advantages and disadvantages of doing a polled loop using this method
versus the method shown in Example 1:
• The advantage of this method is that both conditions will be checked every two control loops
since there are only two steps in the polling loop (steps 11 and 12).
• The disadvantage of this method is that many users will find it confusing to have to reverse the
sense of the last condition in the polling loop. That is, the user has to use the BitsOFF (b) link
type instead of the more intuitive BitsON (B) link type.
A.1.9 Arm Home Command
Character: @
Decimal: 64
Hexadecimal: 0x40
Command Value: Home Position
Note: This command is available on quadrature controlled axes only. This includes quadrature
axes with servo or stepper output.
This command is issued to arm the home input before homing the axis. The axis must have the
home input armed to detect and report a home condition. When both the Home (H) and Index (Z)
inputs are active and the home is enabled, the axis is in the Home Active state. When either of
these signals go inactive, the axis position is set to the home position specified by the Command
Value of the @ command. This gives software the final say over when the position gets reset. It is
recommended that homing is always done in the same direction and at the same speed for
repeatability.
The Home Status bit will go on only if the home input is armed. For details on homing, see
Homing a Quadrature Axis.
A.1.10 Change Acceleration Command
Character: A
Decimal: 65
Hexadecimal: 0x41
Command Value: New Acceleration value (units depend on Accel/Decel Mode in the Mode
word)
This command sets the Acceleration parameter to the value in the Command Value field. The
change in acceleration takes place immediately if a move is in progress.
A.1.11 Amp Enable/Disable Command
Character: a
Decimal: 97
Hexadecimal: 0x61