Delta RMC101 User Manual
Page 733
Appendix A: Command Reference
A-81
-------------------
HEX | |CMND|INDX
VALUE-------------------
0xD0 0000|XXXX|1101|0000 SET CONFIG WORD ON-THE-FLY
0xD1 0000|XXXX|1101|0001 RESERVED
0xD2 0000|XXXX|1101|0010 RESERVED
0xD3 0000|XXXX|1101|0011 RESERVED
0xD4 0000|XXXX|1101|0100 RESERVED
0xD5 0000|XXXX|1101|0101 SET
PROPORTIONAL GAIN ON-THE-FLY
0xD6 0000|XXXX|1101|0110 SET
INTEGRAL GAIN ON-THE-FLY
0xD7 0000|XXXX|1101|0111 SET
DIFFERENTIAL GAIN ON-THE-FLY
0xD8 0000|XXXX|1101|1000 SET
EXTEND FEED FORWARD ON-THE-FLY
0xD9 0000|XXXX|1101|1001 SET
RETRACT FEED FORWARD ON-THE-FLY
0xDA 0000|XXXX|1101|1010 SET
EXTEND ACC FEED FORWARD ON-THE-FLY
0xDB 0000|XXXX|1101|1011 SET
RETRACT ACC FEED FORWARD ON-THE-FLY
0xDC 0000|XXXX|1101|1100 SET
DEAD BAND ELIMINATOR ON-THE-FLY
0xDD 0000|XXXX|1101|1101 SET
IN POSITION WINDOW ON-THE-FLY
0xDE 0000|XXXX|1101|1110 SET
FOLLOWING ERROR WINDOW ON-THE-FLY
0xDF 0000|XXXX|1101|1111 SET
AUTO STOP ERROR MASK ON-THE-FLY
The command data represents the new parameter value.
If these commands are issued to a pressure control axis, then the parameters above are replaced
by the pressure-axis equivalents.
You will notice that the Scale, Offset, Extend Limit, and Retract Limit cannot be changed on the
fly. They can be changed by stopping the axis, changing the value, and issuing a Set Parameters
(P) command.
Warning:
Changing any of the gains or feed forwards while the axis is moving will generate a drive
discontinuity in most cases.
Example for PROFIBUS-DP in Compact Mode with Sync:
Suppose you have an RMC100-M1-PROFI, and you would like to set the Proportional Gain for
both axes. You would send commands with the following format:
SAR CMND INDX (HEX)
O+1 0000|XXXX|1101|0101 (0XD5)
Sets axis 0 Proportional Gain