Delta RMC101 - Manual (Page 675)

Appendix A: Command Reference
A-23
Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational
Mode. Changing this bit while the axis is doing a Point-to-Point, Synchronized, Quick, or Speed
Control move will have no effect, since Point-to-Point, Quick, and Synchronized moves are only
defined in non-Rotational mode and Speed Control is only defined in Rotational mode. It is
allowed in Open Loop, Stopped, Spline, Gear, and Reference control modes.
• Pressure Mode Bits (bits 0-1)—PRESSURE AXES ONLY: If these bits are changed while
regulating pressure, the axis will come out of pressure regulating mode, and return to pressure
monitoring mode. Depending on the conditions, the axis may immediately re-enter pressure
regulating mode, but there will be a discontinuity. For this reason, it is not recommended that the
mode be changed while regulating pressure.
A.1.27 Set Null Drive Command
Character: N
Decimal: 78
Hexadecimal: 0x4E
Command Value: Millivolts of Drive
The 'N' command sets the Null Drive to the value in the Command Value field.
A.1.28 Set Null Drive to Integral Drive Command
Character: n
Decimal: 110
Hexadecimal: 0x6E
Command Value: Unused
This command sets the Null Drive to the current Integral Drive value.
Why Bother?
It is important that the Null Drive be set because it is used in open loop mode and hard stops. The
’n’ command should only be issued when the axis is in position and its speed is zero.
A.1.29 Open Loop Command
Character: O
Decimal: 79
Hexadecimal: 0x4F
Command Value: Millivolts of Drive
CAUTION: Use this command with care! Open Loop operation disables all safety features on the RMC!
Note: The open loop command will not affect drive output while the Simulate bit is set in the
Config word. Drive output is always 0 volts in simulate mode.