New spline point command, Start a graph command, Zero position/set target command – Delta RMC101 User Manual
Page 686: A.1.46 new spline point command, A.1.47 start a graph command, A.1.48 zero position/set target command
RMC100 and RMCWin User Manual
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A.1.46 New Spline Point Command
Character: X or x
Decimal: 88 or 120
Hexadecimal: 0x58 or 0x78
Command Value: Requested Spline Position, Position units
This command adds a point to the current spline segment. This segment cannot be followed
(using the Follow Spline Segment command) until the End Spline Segment command has been
issued to calculate the final curve.
This command will fail for the following reasons, as indicated by the Parameter Error bit in the
Status word:
• The maximum number of points for the axis has been reached. This limit is 1024 points per axis
on a 2-axis RMC, 512 points per axis on a 3- to 4-axis RMC, and 256 points per axis on RMCs
with five or more axes.
• The final calculations for the last segment have not been completed. This can be avoided by
waiting for the Acknowledge bit in the Status word to toggle after sending the End Spline
Segment command to end the previous segment. If this occurs, you will have to re-send the End
Spline Segment command.
• Adding the point generates an overflow in calculating the spline curve. If this happens on this
command, then the point will not be added, but the rest of the spline points will be retained. This
will occur if there is too great a change in position over too short of an interval. You will need to
either increase the interval between the points or move the point closer to the previous point. The
general limitation is that the speed must be between 0 and 65535 position units per second, and
acceleration must be between -512 and 511 position units per second per second. If position
units are thousandths of inches then this would translate to 511 inches per second per second, or
about 1.25 G’s.
A.1.47 Start a Graph Command
Character: y
Decimal: 121
Hexadecimal: 0x79
Command Value: Unused
This command begins a new plot immediately. The only case where a new plot will not be started
is when RMCWin is currently reading up the currently captured plot.
A.1.48 Zero Position/Set Target Command
Character: Z
Decimal: 90
Hexadecimal: 0x5A
Command Value: New Target Position