Follow spline relative command, A.1.57 follow spline relative command – Delta RMC101 User Manual
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RMC100 and RMCWin User Manual
A-42
Acceleration: Not Used.
Stopping a Sine Move Continuous in Progress:
The cycling can be stopped by issuing a Sine Move Continuous command with the count set to 1.
When the actuator gets to the starting position the cycling will stop.
Note:
Do not change the frequency or amplitude on-the-fly unless the actuator is back at the
start position.
Gearing:
The position or pressure/force PID can be geared to an external reference that represents a rate
in engineering units per second. If the external reference has a rate of 1000 position (or pressure)
units per second, the gear ratio is one to one. If the external reference has a rate of 2000
engineering units per second then the gear ratio is two to one.
A.1.57 Follow Spline Relative Command
Character: none
Decimal: 6
Hexadecimal: 0x06
Command Value: Reserved (must be 0)
This command will begin following the next available spline relative to the current axis position.
This command is identical to the Follow Spline Segment(f) command, with the following
exceptions:
• The axis is not required to be at the position of the first spline point.
• The Accel, Decel, Speed, and Command Value parameters are reserved and must be set to 0.
• The following Mode word bits must be set to 0:
• Acceleration and Deceleration Mode Select Bits (bits 0-1)
• S-Curve Bit (bit 7)
This command allows a spline to be started at any position, effectively shifting the entire spline
along the axis. This may cause parts of the spline to exceed the extend or retract limits, or the
maximum or minimum axis positions. When the position exceeds the limits, the following occurs:
• Exceeding Extend or Retract limits:
This causes a Target Position Moved Outside Limits parameter error and a Hard Stop.
• Exceeding maximum or minimum axis positions (see one of the Scaling topics):
This causes a Target Position Moved Outside Limits parameter error. If the Parameter Error
Auto Stop bit is set to Status Only, the axis will continue to follow the spline. However, the spline