Delta RMC101 - Manual (Page 683)

Appendix A: Command Reference
A-31
Hexadecimal: 0x76
Command Value: New Speed Value (Signed)
This command sets the Speed of the axis to the Command Value, which is a value between -
32,768 and 32,767. In addition, the axis is given a Command Position of either the extend or
retract limit depending on the sign of the Command Value.
If the Command Value is positive, the axis will move in the direction of increasing position units. If
the Command Value is negative, the axis will move in the direction of decreasing position units.
If you wish to change only the speed of a move in progress, you may wish to use the Set Speed
(Unsigned) command instead.
A.1.44 Reference Command
Character: W
Decimal: 87
Hexadecimal: 0x57
Note: This command is available only in RMC CPU firmware dated 20020620 or later.
The Reference (W) command places the axis in the reference state, and configures the position
filter used while in this state. The reference state is defined as follows:
• The Actual Position status field reflects the actual reading from the transducer, and the Target
Position reflects the filtered position, after applying the Filter Time Constant, Reference
Deadband, Velocity Limit, and Acceleration Limit parameters described below. Axes gearing to
this reference axis should select to gear to the reference axis's Target Position to use the
filtered position.
• The drive output is in open loop. It can be changed normally using Open Loop (O) commands.
When the Reference (W) command is issued, the axis will switch from closed to open loop, if
necessary.
• While in the reference state, all motion commands for this axis are disabled. For example, Go
(G) and Relative Move (J) commands will generate an Invalid Command parameter error but
otherwise be ignored.
• To exit the reference state, you must issue a Set Parameters (P) command, which will place the
axis back into closed loop, disable the position filter, and re-enable motion commands.
Analog inputs configured as Position Reference or Velocity Reference axes are always in the
reference state. Therefore, the Set Parameters (P) command will not exit the reference state.
These axes have axis parameters dedicated to the position filter parameters: Filter Time
Constant, Velocity Limit, Acceleration Limit, and Reference Deadband. These parameters can be
edited like any other axis parameter or set through the Reference (W) command.
The Reference (W) command parameters are defined as follows:
Command
Parameter
Description
Mode Rotational/Linear Mode Select: All bits of the Mode must be
zero except for the Rotational bit. The Rotational bit can only
be set on axes with Quadrature, SSI, or analog velocity
feedback. When this bit is set, the positions are wrapped