Delta RMC101 - Manual (Page 698)

RMC100 and RMCWin User Manual
A-46
Why Bother?
These commands are handy when exiting open loop or pressure mode and re-synchronizing
axes. Remember the Target and Actual Positions are the same in these modes. That is why there
is not a relative move from an actual position.
A.1.60 Set Parameter On-the-Fly
Character: None
Decimal: 208-223
Hexadecimal: 0xD0-0xDF
Command Value: Value of the Parameter
Note: This command is supported in RMC100 CPU firmware dated 19980414 or later.
Each of these commands sets one of the parameters. The following table can be used to
determine which command sets which parameter. Reference axes parameters cannot be set on-
the-fly. Notice that some parameters can never be set on the fly:
Command MDT, SSI, Quad,
Analog (Position) Stepper Pressure/force
Hex Decimal Parameter Parameter Parameter
0xD0 208 Config. Word Invalid command Invalid command
0xD1 209 Scale (2) (4) Invalid command Invalid command
0xD2 210 Offset (1) Coordinate Limit (2) Invalid command
0xD3 211 Extend Limit (1) Extend Limit (2) Invalid command
0xD4 212 Retract Limit (1) Retract Limit (2) Invalid command
0xD5 213 Proportional Gain Compensation Rate (2) Proportional Gain
0xD6 214 Integral Gain Compensation Timeout
(2) Integral Gain
0xD7 215 Differential Gain Invalid command Differential Gain
0xD8 216 Extend Feed Fwd. Steps/Rev (2) Extend Feed Fwd
0xD9 217 Retract Feed Fwd. Pos. Units/Rev (2) Retract Feed Fwd
0xDA 218 Extend Acc. Feed
Fwd. Quad Counts/Rev (2) Integrator Preload (
0xDB 219 Retract Acc. Feed
Fwd. Max. Steps/ms (2) Filter Time Constan
(3)