Command words for digital i/o’s command mode, A.3 programmable controller commands, A.3.1 command words for digital i/o’s command mode – Delta RMC101 User Manual
Page 706
RMC100 and RMCWin User Manual
A-54
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)
0xDC
220
Dead Band
Eliminator
Compensation Window
(2)
Invalid command
0xDD
221
In Position Window
In Position Window (2)
Invalid command
0xDE
222
Following Error
Window
Following Error Window
(2)
Invalid command
0xDF
223
Auto Stop Error
Mask
Auto Stop Error Mask (2)
Invalid command
1. Changing these parameters on-the-fly requires firmware 20000913 or later.
2. Changing these parameters on-the-fly requires firmware 20001204 or later.
3. Changing these parameters on-the-fly requires firmware 20020426 or later.
4. Setting the scale on-the-fly requires that the axis be in open loop.
You will notice that some parameters cannot be changed on the fly. They can be changed by
stopping the axis, writing the parameters, and issuing a Set Parameters command.
Warning:
Changing any of the gains or feed forwards generates a drive discontinuity in most cases.
A.3 Programmable Controller Commands
A.3.1 Command Words for Digital I/O’s Command Mode
There are two command words. First, the command itself is placed on digital inputs 0-15 when
the Command Strobe (CPU input 1) is low. Its value is read by the RMC when the Command
Strobe transitions high. The second word—the command value or data—is placed on digital
inputs 0-15 when the Command Strobe is high and is read by the RMC when the Command
Strobe transitions low. Refer to Command Mode for further details on sending the command and
command value.
The command given in the command word is not executed until the command value is strobed in
(that is, the Command Strobe transitions back low). Commands that request data are an
exception; the low 8 bits of the requested data are available as soon as the RMC toggles the
Acknowledge bit (CPU output 1). This is done to allow a full 16-bit piece of data to be received in
one command cycle.
The following table lists the available commands that can be placed on inputs 0-15: