Delta RMC101 - Manual (Page 687)

Appendix A: Command Reference
A-35
This command is used to set the Target Position to any value. This command also changes the
Command Position and Actual Position by the difference between the new target position and the
old target position.
When this command is issued to absolute positioned axes such as MDT, SSI (linear), and analog,
the Offset parameter is adjusted in order to make the position match the requested position. On
resolver axes, the Count Offset parameter is adjusted to make the position match the requested
position. If you wish to store the Count Offset or Offset to non-volatile memory, you must issue
the Update Flash Command.
If the axis is in motion when the ’r;Z’ command is issued, it will continue moving to the same
physical location it was originally going to, but the indicated position will be different.
This command requires firmware 20000918 or newer, but for best results, use only in versions
20011015 or newer.
A.1.49 Offset Positions Command
Character: z
Decimal: 122
Hexadecimal: 0x7A
Command Value: Target Position Offset
Command Value (Resolver): Offset in Turns
For non-resolver axes, this command is used to offset the Command, Target and Actual Positions
by the amount specified in the Command Value (-32767 to +32768). Normally this command is
used when indexing to reset the target position back to 0 before repeating a sequence of steps in
the step table.
When this command is issued to absolute positioned axes such as MDT, SSI (linear), and analog,
the Offset parameter is adjusted in order to make the position match the requested position.
Resolver Axes
For Resolver axes, this command is used to offset the Command, Target, and Actual Positions by
the number of turns specified in the Command Value. This command will not change the Count
Offset.
This command is intended for use on axes that rotate continuously in one direction as the
machine goes through its cycle. After each machine cycle, issuing this command would set the
positions back by the number of revolutions the resolver made in each cycle.
If the axis is in Rotational Mode when this command is issued, it is possible to set the positions
outside the limits established by the Extend and Retract limits. The positions will be moved back
within limits the next loop time. Axis control will not be affected.
A.1.50 Reset Outputs Command
Character: ]
Decimal: 93
Hexadecimal: 0x5D
Command Value: Mask of Digital Output Bits to Clear