Delta RMC101 - Manual (Page 692)

RMC100 and RMCWin User Manual
A-40
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The distance the user wishes the slave to travel (given by the Command Value) is added to
the distance that the slave’s target position lags behind the master’s target position. For
example, if the master is at 1000 position units, the slave is at 850 position units, and a
Master Relative Sine Move is given with a Speed (master distance) of 500, and a Command
Value (slave distance) of 500, then the master will move 500, and the slave will move 650
(500 requested distance plus 1000 - 850 = 150 position units to catch up) so that both arrive
at 1500 position units.
Example of the Master Relative Sine Move:
Axis 0 and 1 are controlling two rollers via quadrature encoder feedback from motors. Both axes use
the same position units. The drums are rotating at the same speed, but because the drums started at
different times, their positions are not guaranteed to be exactly lined up. The user wishes to catch up
one drum to the other.
To catch up the two drums, the user would use a sine move superimposed on the speed control of
the drum that the user wishes to catch up to the other drum. The following command would be issued
to axis 1 (the slave):
Mode 0x2600 (Geared to axis 0, speed control,
superimposed)
Accel 0 (Unused)
Decel 0 (Unused)
Speed 1000 (Master distance)
Cmd
Value 0 (Slave distance; difference in positions will
be added to this value)
Command | (0x7C)
This single command will calculate the distance between the two axes, and it will generate a move
which will move this distance (plus the command value, which is 0) in the time that the master axis
moves 1000 position units. This command works whether the master is ahead of the slave (the slave
will speed up temporarily) or the slave is ahead of the slave (the slave will slow down temporarily).
A.1.55 Set and Reset Wait Bits Command
Character: none
Decimal: 23
Hexadecimal: 0x17
Command Value: Bits to Reset : Bits to Set
Note: This command is supported in RMC100 CPU firmware dated 20060216 or newer.
The RMC100 has 8 internal bits that can be used as semaphores. These bits can be set and
reset using the Set and Reset Wait Bits command. These same internal bits can be tested with
the Check Wait Bits link type. This allows an axis' task to signal other tasks or allows a task to
wait until some event has happened.