Delta RMC101 - Manual (Page 745)

Appendix A: Command Reference
A-93
6. The Axis 0 Data In Registers (I+2, I+4, I+6, I+8) will hold Axis 0’s Target Position values from the
graph. Store these values in your graph array.
7. Add four to each of the Axis 0 Command Registers (O+1, O+3, O+5, O+7) to request the next
four time periods.
8. Repeat steps 5 through 7 until all the desired data has been read.
Tips
• Do not download more data than you need. For example, if only 256 points are required for a
graph, don’t download all 1024 points.
A.3.18 Event Step Transfer Command
Format: 1110 DSSS SSSS SNNN
D Direction. Write (0) or read (1) event step.
S Step number. 0 to 255.
N Field in the event step. 0 to 7.
These commands are used to move event step information to and from the RMC. The D bit
shown in the binary expansion of the Event Step Transfer Command register indicates whether
the command will write an Event Step value (indicated by a 0) or read an Event Step value
(indicated by a 1). Therefore, commands E000 to E7FF set (write) data to the RMC, while
commands E800 to EFFF get (read) data from the RMC. The eight S bits specify the step
number, and the three N bits represent the field in the Event Step to access. Use the following
chart to select the desired field:
N BITS
VALUE
STEP FIELD
000 MODE
001 ACCEL
010 DECEL
011 SPEED
100 COMMAND VALUE
101
COMMAND/COMMANDED
AXES
110 LINK TYPE/NEXT
111 LINK VALUE
To write event step information to the RMC, use the following commands to set the corresponding
fields. The command data value will be copied into the corresponding step field: