Delta RMC101 - Manual (Page 691)

Appendix A: Command Reference
A-39
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…the Graph Disable, Rotational, and Monitor Pressure bits may be set if desired.
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The Acceleration field is reserved. It should be set to zero.
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The Deceleration field is used as the requested time in milliseconds that the move may take to
complete. This time may not actually be used if the maximum speed (described below) would be
exceeded. In this case a longer time will be used. If you do not care about the time taken by the
move, but instead want the move to use the maximum speed, enter zero in this field. This field is
unsigned. The time is an unsigned number between 0 and 65,535 milliseconds.
o
The Speed field is used as the maximum speed in position units per second allowed by this
move. If the speed required to complete the move in the time given in the Deceleration field is
above this maximum speed, the time will be extended to use the maximum speed. The speed is
an unsigned number between 0 and 65,535 position units per second.
o
The Command Value field is used as the requested change in position, given in position units. It
is a signed number between -32,768 and 32,767.
Gearing a sine move is most useful when geared to an axis in speed control, or an independent
quadrature input. If the axis is geared, the command fields are used as follows:
• In the Mode word…
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…the Gear Mode bit must be set.
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…the Gear Master Select bits are used to select the axis that will be the master for this move.
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…the Gear Type bit is used to determine if the axis is slaved off its master’s target or actual
position.
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…the Graph Disable, Rotational, and Monitor Pressure bits may be set if desired.
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The Acceleration and Deceleration fields are reserved. They should be set to zero.
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The Speed field is used as the distance that the gear master axis will travel during the slave’s
sine move. This is given in position units.
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The Command Value field is used to determine the distance the slave will travel during the sine
move.
Addendum for Special SI Firmware (e.g. 19980827SI)
The above description of this command is correct except for the following additions:
• The Superimposed mode bit is used. When set, this move can be made while the axis is already
performing another Geared, Speed Control, or Spline move. When cleared, this move will be the
only move performed by the axis. This command is especially useful when superimposed, for
example, to catch up one speed control axis with another.
• A second nearly identical command is added: Master Relative Sine Move (|, decimal 124,
hexadecimal 0x7C). The existing ’r;~’ command is renamed more precisely to be the ”r;Slave
Relative Sine Move.” This command is identical in every way except the following items:
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Both the Superimposed and Geared Mode bits must be set, otherwise a parameter error will
occur.