Delta RMC101 - Manual (Page 673)

Appendix A: Command Reference
A-21
A.1.21 Set Integral Drive to Null Drive Command
Character: i
Decimal: 105
Hexadecimal: 0x69
Command Value: Unused
This command sets the Integral Drive to the Null Drive value. This can be used to unwind the
integrator. In most cases this is more desirable than using the Set Integral Drive command
because this accounts for the valve being non-nulled. You can also use the Save Integral Drive
and Restore Integral Drive commands to unwind the integrator.
A.1.22 Relative Move Command
Character: J or j
Decimal: 74 or 106
Hexadecimal: 0x4A or 0x6A
Command Value: Change in Position, in position units.
This command changes the Command Position by the amount specified in the Command Value
field. For example, suppose that one position unit is equal to 0.001” and the current position is
5000 (5.0”). If a J command is given with a Command Value of -1000, then the axis will move to
4000 (4.0”).
A.1.23 Disable Drive Output Command
Character: K
Decimal: 75
Hexadecimal: 0x4B
Command Value: Unused
This command immediately sets the drive output on the module to the current null value. This is
equivalent to a Hard Stop. The output will remain at null in open loop control until a new
command is issued. This command will clear any error bits that can be cleared.
When this command is issued from RMCWin, it is issued to all axes simultaneously. When issued
from the controller, only the axis receiving this command is affected.
If an event sequence is in progress when this command is issued, the event sequence will be
stopped. Compare this command with the Halt and Quit Events commands.
A.1.24 Limit Drive Command
Character: L
Decimal: 76
Hexadecimal: 0x4C