Delta RMC101 User Manual
Page 750
RMC100 and RMCWin User Manual
B-2
Position. If this bit is set, the slave is geared based on the Actual Position. For details on gearing,
see Gearing Axes.
This mode bit can apply to the following commands:
• Go (G)
• Move Relative (J)
• Sine Move (~)
• Follow Spline (f)
Bit 13 - Gear Mode Bit
Note:
This feature is only available in RMC100 CPU firmware dated 19990625 or newer (and
beta firmware dating 19980827B or newer).
This bit makes the move act in Gearing mode. When this bit is set, the Gear Type (bit 14) and
Gear Master Select (bits 4-6) bits are also used. For details on gearing, see Gearing Axes.
This mode bit can apply to the following commands:
• Go (G)
• Move Relative (J)
• Sine Move (~)
• Follow Spline (f)
• Follow Spline Relative
Bit 11 - Velocity Loop Bit
Note:
This feature is only available in RMC100 CPU firmware dated 20030515 or newer.
This bit is used only when the Rotational bit is set in a Go (G) command (a speed control move).
If this bit is cleared, the speed control will be closed loop based on position. If this bit is set, the
speed control will be closed loop based on velocity. See Speed Control for more details.
Bit 10 - Superimposed Bit
Note:
This feature is only available in the special ’r;SI’ RMC100 CPU firmware (e.g.
19980827SI).
This bit may be applied to the Follow Spline (f), Follow Spline Relative and Sine Move (~)
commands. When this bit is set for one of these commands, the move will be superimposed on
top of one of the following types of moves: Spline (started by the Follow Spline (f) command),
Sine Move (started by the Sine Move (~) command), Geared move (started by a Go (G)
command with the Gear Mode bit set), and Speed Control move (started by a Go (G) command
with the Rotational bit set). There may never be more than two moves in progress on an axis at
one time.
If this bit is cleared for the Follow Spline (f) and Sine Move (~) commands, the newly requested
move is executed without being superimposed.