Reset position command, Restore null drive command, Restore integral drive command – Delta RMC101 User Manual
Page 678: A.1.32 reset position command, A.1.33 restore null drive command, A.1.34 restore integral drive command
RMC100 and RMCWin User Manual
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position axes, issuing this command to a pressure or force axis will result in a parameter error.
A.1.32 Reset Position Command
Character: q
Decimal: 113
Hexadecimal: 0x71
Command Value: New Position
Command Value (Resolver): Not used
This command is used to put a quadrature encoder axis into a known state. The COMMAND
POSITION, TARGET POSITION and ACTUAL POSITION are set to the value specified in the
Command Value register. The axis is placed in the closed loop position control state and error
bits in the status word are cleared.
Note:
If the axis is in motion or in Open Loop before this command is given, it will come to an
immediate stop and hold the specified position. If the axis is controlling pressure, the positions
will be reset but the pressure control will not be interrupted.
Resolver Axes
This command will determine the axis absolute position within one turn of the resolver and set the
Actual Position to that value. If the position had previously incremented through several turns, all
the turns will be unwound (without causing motion). If the axis is moving when this command is
issued, the axis will come to a stop and will hold position in closed loop position control.
See the Resolver Overview topic for a description of how the absolute position is determined.
A.1.33 Restore Null Drive Command
Character: R
Decimal: 82
Hexadecimal: 0x52
Command Value: Unused
This command restores the last saved value of null. This value will be 0 if no previous Save Null
Drive was issued.
A.1.34 Restore Integral Drive Command
Character: r
Decimal: 114
Hexadecimal: 0x72
Command Value: Unused
This command restores a previously saved Integral Drive value. The Integral Drive value that is
restored is taken from a buffer internal to the RMC that is set using the Save Integral Drive
command. The Integral Drive will be set to 0 if no previous Save Integral Drive command was
issued. The Save/Restore Integral Drive pair can be used to unwind the integrator while in the