Simulate falling edge command, Sine move command, A.1.53 simulate falling edge command – Delta RMC101 User Manual
Page 690: A.1.54 sine move command
RMC100 and RMCWin User Manual
A-38
This command is used to start event sequences on one or more axes simultaneously. This is
done by simulating a rising edge on an input row of the Input to Event table, even if there is no
physical discrete input on the controller. Each row of the Input to Event table holds the event
number to start on each axis. For further details on the Input to Event table, see Editing the Input
to Event Table.
Note:
In no way does this command affect the physical discrete input; that is, it does not force
the input high.
A.1.53 Simulate Falling Edge Command
Character: }
Decimal: 125
Hexadecimal: 0x7D
Command Value: Input to Simulate in Input-to-Event Table
Note:
This command is supported in RMC100 CPU firmware dated 19980331 or later.
This command is used to start event sequences on one or more axes simultaneously. This is
done by simulating a falling edge on an input row of the Input to Event table, even if there is no
physical discrete input on the controller. Each row of the Input to Event table holds the event
number to start on each axis. For further details on the Input to Event table, see Editing the Input
to Event Table.
Note:
In no way does this command affect the physical discrete input; that is, it does not force
the input low.
A.1.54 Sine Move Command
Character: ~
Decimal: 126
Hexadecimal: 0x7E
Command Value: Change in Position, in position units.
Note:
This command is supported in RMC100 CPU firmware dated 19990625 or later (and beta
firmware dated 19980827B or later).
This command generates a simple move that follows a sine curve for a motion profile. It is
intended to be the simple type of move, whether geared or not. In the non-geared case, give the
distance to move, the time you would like it to take, and as a safeguard, the maximum speed you
allow. In the geared case, give the distance you want the slave axis to move for the distance you
want the master to move.
The primary disadvantage of this command is that the move profile has no constant velocity
section, and therefore may not be suited for longer moves.
If the axis is not geared, the command fields are used as follows:
• In the Mode word…
o
…the Gear Mode bit must be cleared.