Delta RMC101 - Manual (Page 744)

RMC100 and RMCWin User Manual
A-92
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Raw Transducer Counter.
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Option Data A: Low 16 bits of the transducer counter.
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Option Data B: Transducer-type dependent; either upper bits and/or status bits.
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Internal Speeds.
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Option Data A: The Target Speed computed internally in position units per second.
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Option Data B: The Actual Speed computed internally in position units per second.
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Integral Drive.
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Option Data A: The integral drive in drive count units. There are 8192 drive count units in
10000 mV. Therefore a value of 819 is equal to 1000 mV.
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Option Data B: The fractional part of the integral drive. The fractional part is in parts in 65,536
of one drive count. This can usually be ignored except when determining the rate the integral
is winding up or down.
Below are examples of two methods of downloading graph data. The first uses only one axis’s
PROFIBUS registers, which allows the other axes to be receiving different commands but is slow.
The second uses multiple axes’ PROFIBUS registers, which speeds up the graph download by
receiving multiple graph data words per command cycle. In the list of steps below, PROFIBUS
Input Registers are referred to as I+n, where n is the offset from the first input register. Similarly,
PROFIBUS Output Register are referred to as O+n. See Input Register Overview and Output
Register Overview for further details:
To download Axis 0’s Target Position graph data using only axis 0:
1. Write 0x2000 hex to the Axis 0 Command Register (O+1).
2. If using sync registers, increment the Sync Out Register (O+0) and wait for Sync In (I+0) to match
Sync Out (O+0).
3. The Axis 0 Data In Register (I+2) will hold a Axis 0’s Target Position value from the graph. Store
this value in your graph array.
4. Increment the Axis 0 Command Register (O+1) to the next time period.
5. Repeat steps 2 through 4 until all the desired data has been read.
To download Axis 0’s Target Position graph data using axes 0-3:
1. Write 0x2000 hex to the Axis 0 Command Register (O+1).
2. Write 0x2001 hex to the Axis 1 Command Register (O+3).
3. Write 0x2002 hex to the Axis 2 Command Register (O+5).
4. Write 0x2003 hex to the Axis 3 Command Register (O+7).
5. If using sync registers, increment the Sync Out Register (O+0) and wait for Sync In (I+0) to match
Sync Out (O+0).